+ python -m lidar_slam --no-model /working/cc565e2a-c168-462e-a9c1-b82429f904d4 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/cc565e2a-c168-462e-a9c1-b82429f904d4 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 0.021052754 Adjusted end_distance from 9.223372036854776e+18 to 124.961052754 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.021052754 meters Centerline goodness [0,1] 0.8650135479103375 Centerline is valid? [0, False] SLAMing on 0.051052754 meters Centerline goodness [0,1] 0.859909023850504 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99996607e-01 2.47689600e-03 -8.06464873e-04 2.25431545e-03] [-2.47619434e-03 9.99996556e-01 8.69890632e-04 7.68730388e-03] [ 8.08616724e-04 -8.67890717e-04 9.99999296e-01 -5.86952729e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.081052754 meters Centerline goodness [0,1] 0.8572917092305806 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 0.99998516 0.00522725 -0.00153376 0.0045866 ] [-0.00522395 0.99998405 0.00214768 0.01478143] [ 0.00154496 -0.00213963 0.99999652 -0.00145429] [ 0. 0. 0. 1. ]] SLAMing on 0.111052754 meters Centerline goodness [0,1] 0.8665631004456074 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 0.99992233 0.01143457 -0.00495892 0.01136698] [-0.01142455 0.99993265 0.00204427 0.02992118] [ 0.00498196 -0.00198745 0.99998561 -0.00356728] [ 0. 0. 0. 1. ]] SLAMing on 0.141052754 meters Centerline goodness [0,1] 0.8722912275675786 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.00 [[ 0.99983779 0.01677854 -0.00654746 0.01625697] [-0.01674076 0.99984313 0.00578396 0.03965938] [ 0.00664348 -0.00567341 0.99996184 -0.00488602] [ 0. 0. 0. 1. ]] SLAMing on 0.171052754 meters Centerline goodness [0,1] 0.8732408813030813 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.01 [[ 0.99984368 0.01614969 -0.00719747 0.01818669] [-0.01612185 0.99986239 0.00390877 0.04480011] [ 0.0072596 -0.00379212 0.99996646 -0.0055639 ] [ 0. 0. 0. 1. ]] SLAMing on 0.201052754 meters Centerline goodness [0,1] 0.8737680683311433 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.01 [[ 0.99980018 0.01807191 -0.00854421 0.02247667] [-0.01803236 0.99982643 0.00468389 0.05202309] [ 0.00862737 -0.00452888 0.99995253 -0.00684114] [ 0. 0. 0. 1. ]] SLAMing on 0.231052754 meters Centerline goodness [0,1] 0.8749460974557999 Centerline is valid? [False, False] Translation: X:0.03, Y:0.06, Z:-0.01 [[ 0.99980336 0.01750067 -0.00932514 0.02507116] [-0.01747421 0.99984308 0.00291102 0.05693778] [ 0.00937463 -0.0027475 0.99995228 -0.00808473] [ 0. 0. 0. 1. ]] SLAMing on 0.261052754 meters Centerline goodness [0,1] 0.8806068060680606 Centerline is valid? [False, False] Translation: X:0.03, Y:0.06, Z:-0.01 [[ 0.99979919 0.01725705 -0.01018715 0.02797572] [-0.01724343 0.99985031 0.00142344 0.06141578] [ 0.01021019 -0.00124749 0.9999471 -0.00943752] [ 0. 0. 0. 1. ]] SLAMing on 0.291052754 meters Centerline goodness [0,1] 0.855584095345731 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.01 [[ 0.99972339 0.02062815 -0.01129706 0.03209622] [-0.02058698 0.99978104 0.0037482 0.06509104] [ 0.01137191 -0.00351459 0.99992916 -0.01075556] [ 0. 0. 0. 1. ]] SLAMing on 0.321052754 meters Centerline goodness [0,1] 0.8371505972170915 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:-0.01 [[ 9.99724724e-01 2.21497330e-02 -7.73723722e-03 5.12485922e-02] [-2.21460726e-02 9.99754590e-01 5.58456360e-04 6.77425749e-02] [ 7.74770808e-03 -3.86953213e-04 9.99969911e-01 -1.30501681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.35105275399999997 meters Centerline goodness [0,1] 0.8494138492284237 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:-0.01 [[ 9.99735936e-01 2.13589491e-02 -8.47669129e-03 5.41501039e-02] [-2.13620482e-02 9.99771768e-01 -2.75222682e-04 6.93496756e-02] [ 8.46887817e-03 4.56229493e-04 9.99964034e-01 -1.42158630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.381052754 meters Centerline goodness [0,1] 0.8129849337000699 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.01 [[ 0.9997617 0.01832702 -0.01186023 0.06646191] [-0.01829345 0.99982836 0.00293338 0.070482 ] [ 0.01191195 -0.00271572 0.99992536 -0.01358475] [ 0. 0. 0. 1. ]] SLAMing on 0.411052754 meters Centerline goodness [0,1] 0.820509129791084 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.01 [[ 0.99981722 0.01439335 -0.01258431 0.06892937] [-0.01441131 0.99989526 -0.00133797 0.07253542] [ 0.01256373 0.00151908 0.99991992 -0.01445512] [ 0. 0. 0. 1. ]] SLAMing on 0.441052754 meters Centerline goodness [0,1] 0.7992485679676433 Centerline is valid? [False, False] Translation: X:0.07, Y:0.07, Z:-0.02 [[ 0.99982406 0.01291338 -0.01360525 0.07268888] [-0.01294489 0.99991372 -0.00223043 0.07285146] [ 0.01357528 0.00240615 0.99990496 -0.01574297] [ 0. 0. 0. 1. ]] SLAMing on 0.47105275399999996 meters Centerline goodness [0,1] 0.7987691545165421 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-0.02 [[ 0.99984878 0.00823253 -0.01531833 0.079028 ] [-0.00831437 0.99995146 -0.00528712 0.07332888] [ 0.01527406 0.00541368 0.99986869 -0.017429 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5010527539999999 meters Centerline goodness [0,1] 0.8120148218684663 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-0.02 [[ 0.99984632 0.0070782 -0.01603873 0.08214949] [-0.00716788 0.99995896 -0.00554106 0.07252318] [ 0.01599885 0.00565517 0.99985602 -0.01863663] [ 0. 0. 0. 1. ]] SLAMing on 0.531052754 meters Centerline goodness [0,1] 0.8022207950943631 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:-0.02 [[ 9.99822163e-01 9.80302775e-04 -1.88330005e-02 9.74893861e-02] [-1.03875195e-03 9.99994674e-01 -3.09401924e-03 7.28011021e-02] [ 1.88298671e-02 3.11303182e-03 9.99817856e-01 -1.98146756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.561052754 meters Centerline goodness [0,1] 0.7942754178489323 Centerline is valid? [False, False] Translation: X:0.12, Y:0.08, Z:-0.02 [[ 0.99977903 -0.00423011 -0.02059105 0.11534938] [ 0.00425186 0.99999045 0.00101251 0.07507815] [ 0.02058657 -0.00109983 0.99978747 -0.02285254] [ 0. 0. 0. 1. ]] SLAMing on 0.5910527539999999 meters Centerline goodness [0,1] 0.7908696284296011 Centerline is valid? [False, False] Translation: X:0.12, Y:0.08, Z:-0.02 [[ 9.99753533e-01 -5.22810443e-03 -2.15763772e-02 1.19486240e-01] [ 5.24200167e-03 9.99986088e-01 5.87586569e-04 7.59466362e-02] [ 2.15730051e-02 -7.00545153e-04 9.99767030e-01 -2.45038932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6210527539999999 meters Centerline goodness [0,1] 0.7877045095922266 Centerline is valid? [False, False] Translation: X:0.12, Y:0.08, Z:-0.03 [[ 9.99724856e-01 -6.14305168e-03 -2.26379048e-02 1.24839413e-01] [ 6.14901894e-03 9.99981076e-01 1.93995356e-04 7.68473253e-02] [ 2.26362846e-02 -3.33142885e-04 9.99743711e-01 -2.71618035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.651052754 meters Centerline goodness [0,1] 0.7742465525489299 Centerline is valid? [False, False] Translation: X:0.15, Y:0.08, Z:-0.03 [[ 0.9997185 -0.00667043 -0.02276912 0.14998901] [ 0.0066261 0.999976 -0.0020218 0.07738064] [ 0.02278206 0.00187036 0.99973871 -0.02971168] [ 0. 0. 0. 1. ]] SLAMing on 0.6810527539999999 meters Centerline goodness [0,1] 0.7647661032530347 Centerline is valid? [False, False] Translation: X:0.18, Y:0.08, Z:-0.03 [[ 0.9996651 -0.00763318 -0.02472716 0.17796382] [ 0.00759028 0.99996952 -0.00182817 0.07624378] [ 0.02474036 0.00163987 0.99969257 -0.03264836] [ 0. 0. 0. 1. ]] SLAMing on 0.7110527539999999 meters Centerline goodness [0,1] 0.7597713902903678 Centerline is valid? [False, False] Translation: X:0.18, Y:0.08, Z:-0.04 [[ 0.9996241 -0.00893374 -0.02591998 0.18441157] [ 0.00889203 0.99995898 -0.00172392 0.0756189 ] [ 0.02593432 0.00149279 0.99966253 -0.03549189] [ 0. 0. 0. 1. ]] SLAMing on 0.7410527539999999 meters Centerline goodness [0,1] 0.7507051740832738 Centerline is valid? [False, False] Translation: X:0.21, Y:0.07, Z:-0.04 [[ 9.99502163e-01 -1.13685649e-02 -2.94309529e-02 2.14964626e-01] [ 1.13561060e-02 9.99935343e-01 -5.90446328e-04 7.22444314e-02] [ 2.94357625e-02 2.55931363e-04 9.99566641e-01 -3.74440290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.771052754 meters Centerline goodness [0,1] 0.7478464656701291 Centerline is valid? [False, False] Translation: X:0.22, Y:0.07, Z:-0.04 [[ 9.99440672e-01 -1.29121588e-02 -3.08483357e-02 2.22892505e-01] [ 1.29075003e-02 9.99916633e-01 -3.50153542e-04 7.12779526e-02] [ 3.08502852e-02 -4.82172098e-05 9.99524016e-01 -4.13167716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.801052754 meters Centerline goodness [0,1] 0.7467432057446673 Centerline is valid? [False, False] Translation: X:0.23, Y:0.07, Z:-0.05 [[ 9.99379167e-01 -1.41321789e-02 -3.22732368e-02 2.31112504e-01] [ 1.41438346e-02 9.99899962e-01 1.32881770e-04 6.98475434e-02] [ 3.22681304e-02 -5.89266597e-04 9.99479075e-01 -4.56003168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8310527539999999 meters Centerline goodness [0,1] 0.7501023199707042 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:-0.05 [[ 9.99192539e-01 -1.66933158e-02 -3.65458925e-02 2.61294318e-01] [ 1.66528223e-02 9.99860335e-01 -1.41215924e-03 6.47269696e-02] [ 3.65643619e-02 8.02426726e-04 9.99330978e-01 -4.98667830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8610527539999999 meters Centerline goodness [0,1] 0.7449800934741215 Centerline is valid? [False, False] Translation: X:0.29, Y:0.06, Z:-0.05 [[ 9.99028718e-01 -1.87908390e-02 -3.98562989e-02 2.91566655e-01] [ 1.87364723e-02 9.99822948e-01 -1.73719338e-03 5.65950473e-02] [ 3.98818856e-02 9.88739632e-04 9.99203912e-01 -5.42052480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.891052754 meters Centerline goodness [0,1] 0.7435247747747749 Centerline is valid? [False, False] Translation: X:0.31, Y:0.05, Z:-0.06 [[ 0.99904448 -0.02086394 -0.0384034 0.30674717] [ 0.02100473 0.99977404 0.0032664 0.05243491] [ 0.03832657 -0.00406993 0.99925698 -0.05902549] [ 0. 0. 0. 1. ]] SLAMing on 0.9210527539999999 meters Centerline goodness [0,1] 0.7381469731867367 Centerline is valid? [False, False] Translation: X:0.34, Y:0.05, Z:-0.06 [[ 0.99891078 -0.02068092 -0.0418277 0.33836565] [ 0.02091956 0.99976724 0.00527568 0.04577989] [ 0.04170886 -0.00614495 0.99911091 -0.06305667] [ 0. 0. 0. 1. ]] SLAMing on 0.9510527539999999 meters Centerline goodness [0,1] 0.737287766652155 Centerline is valid? [False, False] Translation: X:0.35, Y:0.04, Z:-0.07 [[ 0.9988385 -0.02139273 -0.04317404 0.34725087] [ 0.02168724 0.99974455 0.00636462 0.04289375] [ 0.04302686 -0.00729356 0.99904729 -0.06720962] [ 0. 0. 0. 1. ]] SLAMing on 0.9810527539999999 meters Centerline goodness [0,1] 0.737287766652155 Centerline is valid? [False, False] Translation: X:0.35, Y:0.04, Z:-0.07 [[ 0.9988385 -0.02139273 -0.04317404 0.34725087] [ 0.02168724 0.99974455 0.00636462 0.04289375] [ 0.04302686 -0.00729356 0.99904729 -0.06720962] [ 0. 0. 0. 1. ]] SLAMing on 1.011052754 meters Centerline goodness [0,1] 0.7388948135895705 Centerline is valid? [False, False] Translation: X:0.37, Y:0.04, Z:-0.07 [[ 0.99876623 -0.02007178 -0.04542177 0.37138753] [ 0.02046126 0.99975762 0.00812617 0.03715359] [ 0.04524766 -0.00904553 0.99893485 -0.06764707] [ 0. 0. 0. 1. ]] SLAMing on 1.041052754 meters Centerline goodness [0,1] 0.7492478974066186 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.07 [[ 0.99861263 -0.02421835 -0.04675769 0.40312444] [ 0.02463688 0.99966121 0.00839552 0.02659967] [ 0.04653852 -0.00953583 0.99887098 -0.07108736] [ 0. 0. 0. 1. ]] SLAMing on 1.071052754 meters Centerline goodness [0,1] 0.7453173663201298 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.08 [[ 0.99870008 -0.02741753 -0.04297005 0.42017499] [ 0.02794479 0.99954078 0.01171794 0.01913162] [ 0.04262904 -0.01290349 0.99900764 -0.07548878] [ 0. 0. 0. 1. ]] SLAMing on 1.1010527540000001 meters Centerline goodness [0,1] 0.7352921857552602 Centerline is valid? [False, False] Translation: X:0.46, Y:0.01, Z:-0.08 [[ 0.99860515 -0.03399002 -0.0404033 0.45741031] [ 0.03463774 0.99928065 0.01544073 0.00628733] [ 0.0398494 -0.01681868 0.99906414 -0.07847936] [ 0. 0. 0. 1. ]] SLAMing on 1.131052754 meters Centerline goodness [0,1] 0.7318332637500274 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:-0.08 [[ 0.99840853 -0.03949569 -0.04025535 0.4938652 ] [ 0.04041334 0.99893545 0.02224252 -0.00470846] [ 0.03933401 -0.02383398 0.99894183 -0.0797643 ] [ 0. 0. 0. 1. ]] SLAMing on 1.161052754 meters Centerline goodness [0,1] 0.7357863945278993 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:-0.08 [[ 0.99819614 -0.04017597 -0.04461342 0.51401765] [ 0.04102698 0.99898996 0.01832605 -0.00835074] [ 0.04383209 -0.02012335 0.99883622 -0.08000053] [ 0. 0. 0. 1. ]] SLAMing on 1.191052754 meters Centerline goodness [0,1] 0.7376565629883995 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.02, Z:-0.08 [[ 0.99790792 -0.04367099 -0.04767219 0.54495503] [ 0.04457768 0.9988415 0.01812432 -0.01793404] [ 0.04682545 -0.02021152 0.99869859 -0.08262179] [ 0. 0. 0. 1. ]] SLAMing on 1.221052754 meters Centerline goodness [0,1] 0.7298128459713558 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.02, Z:-0.08 [[ 0.99776492 -0.04239692 -0.05164944 0.56149776] [ 0.04315178 0.99897612 0.0135882 -0.02259453] [ 0.05102046 -0.01578659 0.99857283 -0.08331925] [ 0. 0. 0. 1. ]] SLAMing on 1.251052754 meters Centerline goodness [0,1] 0.7305457746478874 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:-0.09 [[ 0.99764535 -0.0439645 -0.05263907 0.56903517] [ 0.04473117 0.99890817 0.01347569 -0.02593379] [ 0.05198915 -0.01579857 0.99852268 -0.08744191] [ 0. 0. 0. 1. ]] SLAMing on 1.281052754 meters Centerline goodness [0,1] 0.7324814238432369 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.03, Z:-0.09 [[ 0.99752793 -0.0429363 -0.05562831 0.59594689] [ 0.04386216 0.99891687 0.01553043 -0.03351635] [ 0.05490124 -0.01793202 0.99833075 -0.0884049 ] [ 0. 0. 0. 1. ]] SLAMing on 1.311052754 meters Centerline goodness [0,1] 0.7305616498464238 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.04, Z:-0.09 [[ 0.99782024 -0.04363943 -0.04950123 0.61383786] [ 0.04428522 0.99894656 0.01202449 -0.03807683] [ 0.04892435 -0.01419045 0.99870168 -0.09024387] [ 0. 0. 0. 1. ]] SLAMing on 1.341052754 meters Centerline goodness [0,1] 0.7442950374490824 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.09 [[ 0.99774445 -0.04431348 -0.05042155 0.6186716 ] [ 0.04497306 0.99891586 0.01202233 -0.03969802] [ 0.04983413 -0.01426283 0.99865566 -0.09249602] [ 0. 0. 0. 1. ]] SLAMing on 1.371052754 meters Centerline goodness [0,1] 0.7309639156220809 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.10 [[ 0.99772028 -0.04231142 -0.05257367 0.63161074] [ 0.04321887 0.99893355 0.01624482 -0.03953711] [ 0.05183026 -0.01847996 0.99848491 -0.09880097] [ 0. 0. 0. 1. ]] SLAMing on 1.401052754 meters Centerline goodness [0,1] 0.7389282454691642 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.10 [[ 0.99772754 -0.04060366 -0.05376893 0.63766054] [ 0.04162834 0.99896964 0.01807583 -0.03912592] [ 0.05297958 -0.02027306 0.99838979 -0.10217474] [ 0. 0. 0. 1. ]] SLAMing on 1.431052754 meters Centerline goodness [0,1] 0.7224323097867191 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.04, Z:-0.10 [[ 0.99808185 -0.038294 -0.04864344 0.65361374] [ 0.0390133 0.99914167 0.01392447 -0.03866831] [ 0.04806846 -0.0157955 0.99871914 -0.10442055] [ 0. 0. 0. 1. ]] SLAMing on 1.461052754 meters Centerline goodness [0,1] 0.7343254610158525 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:-0.11 [[ 0.99829587 -0.03616139 -0.04580086 0.66314944] [ 0.03636972 0.99933147 0.00372307 -0.03720363] [ 0.04563561 -0.00538249 0.99894365 -0.10565142] [ 0. 0. 0. 1. ]] SLAMing on 1.491052754 meters Centerline goodness [0,1] 0.7313142123287671 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:-0.11 [[ 9.98574815e-01 -3.54362381e-02 -3.99075486e-02 6.78951910e-01] [ 3.55008795e-02 9.99369229e-01 9.12063388e-04 -3.64726757e-02] [ 3.98500560e-02 -2.32751660e-03 9.99202960e-01 -1.06111033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.521052754 meters Centerline goodness [0,1] 0.7187985940994781 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:-0.11 [[ 0.99854673 -0.03551743 -0.04053329 0.68420843] [ 0.03561821 0.99936391 0.0017666 -0.0347837 ] [ 0.04044477 -0.00320776 0.99917663 -0.1090543 ] [ 0. 0. 0. 1. ]] SLAMing on 1.551052754 meters Centerline goodness [0,1] 0.7320279424216766 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.03, Z:-0.11 [[ 9.98668822e-01 -3.40313502e-02 -3.87614663e-02 7.05480260e-01] [ 3.40214156e-02 9.99420684e-01 -9.16072071e-04 -3.00409683e-02] [ 3.87701864e-02 -4.03867339e-04 9.99248072e-01 -1.10971410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5810527540000001 meters Centerline goodness [0,1] 0.7300638127033765 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.03, Z:-0.11 [[ 9.98618993e-01 -3.44800885e-02 -3.96387517e-02 7.11346850e-01] [ 3.44720715e-02 9.99405269e-01 -8.85920437e-04 -2.80334683e-02] [ 3.96457240e-02 -4.81732910e-04 9.99213683e-01 -1.14487811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.611052754 meters Centerline goodness [0,1] 0.7346296765475888 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.02, Z:-0.12 [[ 0.99848807 -0.03963078 -0.03809155 0.72799325] [ 0.03973432 0.99920835 0.00196451 -0.02425441] [ 0.03798354 -0.00347508 0.99927232 -0.11910834] [ 0. 0. 0. 1. ]] SLAMing on 1.641052754 meters Centerline goodness [0,1] 0.7358019994504681 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.12 [[ 0.99829815 -0.04242961 -0.04000663 0.73776118] [ 0.04257001 0.99908994 0.00266371 -0.02009172] [ 0.0398572 -0.00436226 0.99919586 -0.12115031] [ 0. 0. 0. 1. ]] SLAMing on 1.671052754 meters Centerline goodness [0,1] 0.7416233574175012 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.12 [[ 0.99786592 -0.04924323 -0.0428801 0.75687407] [ 0.04943572 0.99877138 0.00343953 -0.01153182] [ 0.04265804 -0.005552 0.9990743 -0.12495888] [ 0. 0. 0. 1. ]] SLAMing on 1.701052754 meters Centerline goodness [0,1] 0.7533291058972733 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.13 [[ 0.99769472 -0.05145604 -0.044244 0.76472109] [ 0.05159869 0.99866572 0.00208746 -0.00877079] [ 0.04407755 -0.00436558 0.99901857 -0.12930738] [ 0. 0. 0. 1. ]] SLAMing on 1.731052754 meters Centerline goodness [0,1] 0.7587499205996315 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.00, Z:-0.13 [[ 0.9970572 -0.06157953 -0.04566082 0.7843374 ] [ 0.06170087 0.9980939 0.00125162 -0.00272105] [ 0.04549671 -0.00406525 0.99895622 -0.13276004] [ 0. 0. 0. 1. ]] SLAMing on 1.761052754 meters Centerline goodness [0,1] 0.7612480169222633 Centerline is valid? [False, False] Translation: X:0.79, Y:0.00, Z:-0.13 [[ 9.96611172e-01 -6.67399382e-02 -4.80827732e-02 7.94048597e-01] [ 6.68327670e-02 9.97764139e-01 3.23717901e-04 7.46445654e-04] [ 4.79536619e-02 -3.53612565e-03 9.98843302e-01 -1.32605638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.791052754 meters Centerline goodness [0,1] 0.7731503024662634 Centerline is valid? [False, False] Translation: X:0.82, Y:0.00, Z:-0.14 [[ 0.99598875 -0.07812777 -0.04361722 0.81655498] [ 0.07830624 0.99692647 0.00239549 0.00455711] [ 0.04329601 -0.00580138 0.99904544 -0.1350634 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8210527539999999 meters Centerline goodness [0,1] 0.7752525787389066 Centerline is valid? [False, False] Translation: X:0.83, Y:0.01, Z:-0.13 [[ 0.99617204 -0.07906739 -0.03727763 0.83031985] [ 0.07905315 0.99686867 -0.00185806 0.00648127] [ 0.03730782 -0.00109597 0.99930322 -0.13425622] [ 0. 0. 0. 1. ]] SLAMing on 1.851052754 meters Centerline goodness [0,1] 0.7858019726537696 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.13 [[ 9.95813042e-01 -8.24531833e-02 -3.94697105e-02 8.61436709e-01] [ 8.25381416e-02 9.96587768e-01 5.25060484e-04 1.07778411e-02] [ 3.92917378e-02 -3.78061863e-03 9.99220629e-01 -1.32342286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.881052754 meters Centerline goodness [0,1] 0.7997332034641201 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.13 [[ 0.99558352 -0.08454953 -0.04080233 0.86693946] [ 0.08456017 0.99641729 -0.001468 0.01395071] [ 0.04078027 -0.00198874 0.99916616 -0.13483678] [ 0. 0. 0. 1. ]] SLAMing on 1.911052754 meters Centerline goodness [0,1] 0.8044579104604106 Centerline is valid? [False, False] Translation: X:0.89, Y:0.01, Z:-0.14 [[ 9.95655178e-01 -8.44916435e-02 -3.91398735e-02 8.89371730e-01] [ 8.44241743e-02 9.96424186e-01 -3.37637429e-03 1.38688234e-02] [ 3.92851920e-02 5.73530471e-05 9.99228037e-01 -1.36082621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.941052754 meters Centerline goodness [0,1] 0.8035699161514356 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:-0.14 [[ 0.99614767 -0.08128278 -0.03290797 0.90217639] [ 0.08113924 0.99668661 -0.00567618 0.01490854] [ 0.03326031 0.00298419 0.99944227 -0.13680218] [ 0. 0. 0. 1. ]] SLAMing on 1.971052754 meters Centerline goodness [0,1] 0.8137814415556965 Centerline is valid? [False, False] Translation: X:0.92, Y:0.02, Z:-0.14 [[ 0.996841 -0.07438071 -0.02784841 0.91925559] [ 0.07432164 0.99722934 -0.003152 0.01896309] [ 0.0280057 0.00107231 0.99960719 -0.13816419] [ 0. 0. 0. 1. ]] SLAMing on 2.001052754 meters Centerline goodness [0,1] 0.8172106699384427 Centerline is valid? [False, False] Translation: X:0.92, Y:0.02, Z:-0.14 [[ 9.97016507e-01 -7.13933388e-02 -2.93441041e-02 9.23078894e-01] [ 7.14076069e-02 9.97447060e-01 -5.62737309e-04 2.09284209e-02] [ 2.93093661e-02 -1.53433387e-03 9.99569211e-01 -1.39408295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0310527539999996 meters Centerline goodness [0,1] 0.8213425710785349 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:-0.14 [[ 9.97650148e-01 -6.42923183e-02 -2.36786699e-02 9.37641058e-01] [ 6.43106661e-02 9.97929926e-01 1.33956236e-05 2.42782221e-02] [ 2.36287921e-02 -1.53615518e-03 9.99719621e-01 -1.41406778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.061052754 meters Centerline goodness [0,1] 0.8390523048334988 Centerline is valid? [False, False] Translation: X:0.95, Y:0.03, Z:-0.14 [[ 9.98048928e-01 -5.95376853e-02 -1.88042911e-02 9.54612112e-01] [ 5.95370593e-02 9.98225919e-01 -5.93611464e-04 2.94671199e-02] [ 1.88062730e-02 -5.27098908e-04 9.99823007e-01 -1.44376385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0910527539999997 meters Centerline goodness [0,1] 0.8204211950775997 Centerline is valid? [False, False] Translation: X:0.96, Y:0.03, Z:-0.15 [[ 0.9981045 -0.05802761 -0.02049886 0.9601776 ] [ 0.05806329 0.99831224 0.00114926 0.03122388] [ 0.02039758 -0.00233731 0.99978922 -0.14686064] [ 0. 0. 0. 1. ]] SLAMing on 2.121052754 meters Centerline goodness [0,1] 0.8186468263194606 Centerline is valid? [False, False] Translation: X:0.97, Y:0.03, Z:-0.15 [[ 9.98054638e-01 -5.84013656e-02 -2.18224607e-02 9.65805425e-01] [ 5.84332781e-02 9.98290974e-01 8.27043982e-04 3.30274248e-02] [ 2.17368651e-02 -2.10059300e-03 9.99761520e-01 -1.50083817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1510527539999997 meters Centerline goodness [0,1] 0.8445045311476795 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:-0.15 [[ 9.98011376e-01 -5.88831048e-02 -2.24960614e-02 9.89619883e-01] [ 5.88623040e-02 9.98264851e-01 -1.58626991e-03 3.63500119e-02] [ 2.25504319e-02 2.58945413e-04 9.99745673e-01 -1.51662530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.181052754 meters Centerline goodness [0,1] 0.8477521083891695 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:-0.15 [[ 0.99807133 -0.0566143 -0.02546467 1.01022682] [ 0.05651817 0.99839152 -0.00447949 0.04042984] [ 0.02567731 0.00303163 0.99966569 -0.15223249] [ 0. 0. 0. 1. ]] SLAMing on 2.211052754 meters Centerline goodness [0,1] 0.8305474652821747 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:-0.15 [[ 0.99797499 -0.06025466 -0.02037884 1.03507805] [ 0.06012602 0.99816717 -0.00686767 0.05162102] [ 0.0207553 0.00562847 0.99976874 -0.15348841] [ 0. 0. 0. 1. ]] SLAMing on 2.2410527539999996 meters Centerline goodness [0,1] 0.8582682154171066 Centerline is valid? [False, False] Translation: X:1.05, Y:0.06, Z:-0.15 [[ 0.99810387 -0.0600869 -0.01335015 1.04750745] [ 0.0599414 0.99814079 -0.01104464 0.05553338] [ 0.01398896 0.01022347 0.99984988 -0.15319231] [ 0. 0. 0. 1. ]] SLAMing on 2.271052754 meters Centerline goodness [0,1] 0.8838875542630759 Centerline is valid? [False, False] Translation: X:1.06, Y:0.06, Z:-0.15 [[ 0.99798492 -0.06301266 -0.00745016 1.06461713] [ 0.06287169 0.99786207 -0.01784484 0.06328656] [ 0.00855868 0.01734048 0.99981301 -0.15397171] [ 0. 0. 0. 1. ]] SLAMing on 2.3010527539999996 meters Centerline goodness [0,1] 0.8904028561167797 Centerline is valid? [False, False] Translation: X:1.07, Y:0.07, Z:-0.16 [[ 0.99802905 -0.06215953 -0.00861453 1.06884149] [ 0.06201396 0.99794307 -0.01624504 0.06675461] [ 0.0096066 0.0156788 0.99983093 -0.15536047] [ 0. 0. 0. 1. ]] SLAMing on 2.331052754 meters Centerline goodness [0,1] 0.8956984029872788 Centerline is valid? [False, False] Translation: X:1.09, Y:0.07, Z:-0.16 [[ 0.99768823 -0.06753204 -0.00759123 1.09315005] [ 0.06749667 0.99770784 -0.00482288 0.07419374] [ 0.00789952 0.00429935 0.99995956 -0.15613154] [ 0. 0. 0. 1. ]] SLAMing on 2.3610527539999997 meters Centerline goodness [0,1] 0.891918146685532 Centerline is valid? [False, False] Translation: X:1.10, Y:0.08, Z:-0.16 [[ 0.99757139 -0.06906198 -0.00904258 1.09823365] [ 0.06900323 0.99759423 -0.00665562 0.0777814 ] [ 0.00948047 0.00601549 0.99993697 -0.15867 ] [ 0. 0. 0. 1. ]] SLAMing on 2.391052754 meters Centerline goodness [0,1] 0.8906230254012385 Centerline is valid? [False, False] Translation: X:1.10, Y:0.08, Z:-0.16 [[ 0.99747588 -0.07022953 -0.01047267 1.10457162] [ 0.07014909 0.99750555 -0.0078606 0.0802664 ] [ 0.0109986 0.00710611 0.99991426 -0.16268172] [ 0. 0. 0. 1. ]] SLAMing on 2.4210527539999998 meters Centerline goodness [0,1] 0.8843399882065538 Centerline is valid? [False, False] Translation: X:1.14, Y:0.09, Z:-0.17 [[ 0.99713407 -0.07360005 -0.01751206 1.13895675] [ 0.07341 0.99723828 -0.01125954 0.0890162 ] [ 0.0182924 0.00994171 0.99978325 -0.1672484 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4510527539999996 meters Centerline goodness [0,1] 0.8835531436023643 Centerline is valid? [False, False] Translation: X:1.17, Y:0.10, Z:-0.17 [[ 0.99673613 -0.07734018 -0.02314273 1.17226053] [ 0.07704726 0.99693882 -0.013293 0.09793484] [ 0.02409997 0.01146653 0.99964379 -0.16816386] [ 0. 0. 0. 1. ]] SLAMing on 2.481052754 meters Centerline goodness [0,1] 0.8818849449204407 Centerline is valid? [False, False] Translation: X:1.18, Y:0.10, Z:-0.17 [[ 0.99657735 -0.07896699 -0.02444986 1.17649208] [ 0.07860107 0.99678435 -0.01558334 0.10309171] [ 0.0256018 0.01360822 0.99957959 -0.16983134] [ 0. 0. 0. 1. ]] SLAMing on 2.5110527539999996 meters Centerline goodness [0,1] 0.8891460310113399 Centerline is valid? [False, False] Translation: X:1.20, Y:0.12, Z:-0.17 [[ 0.99671098 -0.07872059 -0.01924291 1.19703457] [ 0.07837343 0.99675838 -0.01817522 0.11529479] [ 0.02061129 0.0166073 0.99964962 -0.17215966] [ 0. 0. 0. 1. ]] SLAMing on 2.541052754 meters Centerline goodness [0,1] 0.893511025161331 Centerline is valid? [False, False] Translation: X:1.21, Y:0.12, Z:-0.17 [[ 0.99689333 -0.0774088 -0.01454545 1.2063811 ] [ 0.07731591 0.99698315 -0.00684403 0.11668419] [ 0.01503135 0.00569818 0.99987079 -0.17390041] [ 0. 0. 0. 1. ]] SLAMing on 2.5710527539999997 meters Centerline goodness [0,1] 0.9013992909140496 Centerline is valid? [False, False] Translation: X:1.22, Y:0.13, Z:-0.18 [[ 0.99721776 -0.07392503 -0.00958282 1.22433173] [ 0.07384918 0.997237 -0.00804189 0.12862811] [ 0.01015084 0.00731183 0.99992175 -0.17592865] [ 0. 0. 0. 1. ]] SLAMing on 2.601052754 meters Centerline goodness [0,1] 0.9075586154782646 Centerline is valid? [False, False] Translation: X:1.23, Y:0.13, Z:-0.18 [[ 0.99739479 -0.07126293 -0.01119091 1.22820468] [ 0.07120026 0.99744458 -0.0059026 0.13266878] [ 0.01158295 0.00509042 0.99991996 -0.1769865 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6310527539999997 meters Centerline goodness [0,1] 0.91350773039082 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.18 [[ 0.99775514 -0.06642966 -0.0084722 1.24981235] [ 0.06638159 0.99777725 -0.00583514 0.14387226] [ 0.00884099 0.00525964 0.99994709 -0.18091542] [ 0. 0. 0. 1. ]] SLAMing on 2.6610527539999995 meters Centerline goodness [0,1] 0.9104339990360234 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.18 [[ 0.9980056 -0.06214864 -0.01106215 1.27680796] [ 0.06209516 0.99805713 -0.00511415 0.15244515] [ 0.01135849 0.00441704 0.99992573 -0.18439752] [ 0. 0. 0. 1. ]] SLAMing on 2.6910527539999998 meters Centerline goodness [0,1] 0.932156542496388 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.19 [[ 0.99804962 -0.06108769 -0.01285514 1.28238565] [ 0.06103609 0.998126 -0.00436944 0.156397 ] [ 0.01309797 0.00357629 0.99990782 -0.18668651] [ 0. 0. 0. 1. ]] SLAMing on 2.7210527539999996 meters Centerline goodness [0,1] 0.9330653434667002 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.19 [[ 0.997914 -0.06409396 -0.00772036 1.30269013] [ 0.06401856 0.99790208 -0.00964688 0.16991908] [ 0.00832247 0.00913251 0.99992366 -0.18880605] [ 0. 0. 0. 1. ]] SLAMing on 2.751052754 meters Centerline goodness [0,1] 0.929046889108204 Centerline is valid? [False, False] Translation: X:1.31, Y:0.17, Z:-0.19 [[ 0.99781505 -0.06552302 -0.00847675 1.30509794] [ 0.06542619 0.99779415 -0.01123619 0.17364371] [ 0.00919428 0.01065703 0.99990094 -0.18900022] [ 0. 0. 0. 1. ]] SLAMing on 2.7810527539999996 meters Centerline goodness [0,1] 0.9233834602235785 Centerline is valid? [False, False] Translation: X:1.32, Y:0.18, Z:-0.19 [[ 0.99753756 -0.06999818 -0.00436625 1.32486364] [ 0.06990635 0.99738217 -0.01849064 0.18046212] [ 0.00564913 0.01813988 0.9998195 -0.18973469] [ 0. 0. 0. 1. ]] SLAMing on 2.811052754 meters Centerline goodness [0,1] 0.9636333095368076 Centerline is valid? [False, True] Translation: X:1.33, Y:0.18, Z:-0.19 [[ 0.99774732 -0.0668544 -0.00554668 1.32732689] [ 0.06676476 0.9976557 -0.01501907 0.18091905] [ 0.00653777 0.01461492 0.99987182 -0.18950728] [ 0. 0. 0. 1. ]] SLAMing on 2.8410527539999997 meters Centerline goodness [0,1] 0.9680828842377909 Centerline is valid? [True, True] Translation: X:1.36, Y:0.18, Z:-0.18 [[ 9.97832606e-01 -6.58011391e-02 5.48470124e-04 1.35731988e+00] [ 6.58011468e-02 9.97832756e-01 3.92294937e-06 1.83155911e-01] [-5.47539590e-04 3.21755163e-05 9.99999850e-01 -1.82958779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.871052754 meters Centerline goodness [0,1] 0.9680828842377909 Centerline is valid? [True, True] Translation: X:1.38, Y:0.18, Z:-0.18 [[ 9.97815952e-01 -6.60532007e-02 5.48602149e-04 1.38487874e+00] [ 6.60532161e-02 9.97816102e-01 -1.00617702e-05 1.83495784e-01] [-5.46739445e-04 4.62767311e-05 9.99999849e-01 -1.84628782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9010527539999997 meters Centerline goodness [0,1] 0.9626714545188835 Centerline is valid? [True, True] Translation: X:1.41, Y:0.18, Z:-0.19 [[ 9.97789693e-01 -6.62473977e-02 5.19717362e-03 1.41429021e+00] [ 6.62480400e-02 9.97803184e-01 4.86513265e-05 1.80295230e-01] [-5.18897942e-03 2.95758774e-04 9.99986493e-01 -1.91105503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9310527539999995 meters Centerline goodness [0,1] 0.9709915721569036 Centerline is valid? [True, True] Translation: X:1.44, Y:0.19, Z:-0.19 [[ 9.97837357e-01 -6.54022978e-02 6.56871990e-03 1.44476771e+00] [ 6.54033019e-02 9.97858910e-01 6.20693347e-05 1.90618876e-01] [-6.55871516e-03 3.67680870e-04 9.99978424e-01 -1.86873060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.961052754 meters Centerline goodness [0,1] 0.9627720384959155 Centerline is valid? [True, True] Translation: X:1.47, Y:0.18, Z:-0.19 [[ 9.97809244e-01 -6.55545170e-02 8.90607577e-03 1.47371800e+00] [ 6.55563716e-02 9.97848864e-01 8.38440687e-05 1.83439245e-01] [-8.89241395e-03 5.00189626e-04 9.99960337e-01 -1.94516183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9910527539999996 meters Centerline goodness [0,1] 0.9753508009437477 Centerline is valid? [True, True] Translation: X:1.50, Y:0.19, Z:-0.18 [[ 9.97635703e-01 -6.67009915e-02 1.65524191e-02 1.50458504e+00] [ 6.67075156e-02 9.97772560e-01 1.58278088e-04 1.88959602e-01] [-1.65261069e-02 9.46266883e-04 9.99862987e-01 -1.82917343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.021052754 meters Centerline goodness [0,1] 0.9761504801012049 Centerline is valid? [True, True] Translation: X:1.53, Y:0.19, Z:-0.18 [[ 9.97393269e-01 -6.88772659e-02 2.15078846e-02 1.53349298e+00] [ 6.88887994e-02 9.97624324e-01 2.05086829e-04 1.87876905e-01] [-2.14709147e-02 1.27710013e-03 9.99768658e-01 -1.81733677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0510527539999996 meters Centerline goodness [0,1] 0.9757526981572051 Centerline is valid? [True, True] Translation: X:1.56, Y:0.19, Z:-0.18 [[ 9.97151126e-01 -7.16333477e-02 2.36282643e-02 1.56201516e+00] [ 7.16479969e-02 9.97429954e-01 2.27094633e-04 1.85379855e-01] [-2.35838061e-02 1.46647014e-03 9.99720788e-01 -1.80018370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.081052754 meters Centerline goodness [0,1] 0.9823036324122943 Centerline is valid? [True, True] Translation: X:1.59, Y:0.19, Z:-0.17 [[ 9.96732056e-01 -7.49964928e-02 3.00122352e-02 1.59123741e+00] [ 7.50217160e-02 9.97181859e-01 2.86311690e-04 1.93554248e-01] [-2.99491289e-02 1.96619335e-03 9.99549490e-01 -1.73692846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1110527539999997 meters Centerline goodness [0,1] 0.9843821202203903 Centerline is valid? [True, True] Translation: X:1.62, Y:0.19, Z:-0.17 [[ 9.96620273e-01 -7.57566203e-02 3.17642261e-02 1.62176205e+00] [ 7.57848127e-02 9.97124146e-01 3.17167536e-04 1.94456042e-01] [-3.16969043e-02 2.09115033e-03 9.99495339e-01 -1.74111162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.141052754 meters Centerline goodness [0,1] 0.9840564125894371 Centerline is valid? [True, True] Translation: X:1.65, Y:0.19, Z:-0.17 [[ 9.96332563e-01 -7.83694354e-02 3.43461183e-02 1.65140341e+00] [ 7.84039602e-02 9.96921613e-01 3.42552536e-04 1.88615797e-01] [-3.42672333e-02 2.35157545e-03 9.99409939e-01 -1.73277610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1710527539999998 meters Centerline goodness [0,1] 0.9827088743250484 Centerline is valid? [True, True] Translation: X:1.68, Y:0.18, Z:-0.17 [[ 9.96339377e-01 -7.90230479e-02 3.26067907e-02 1.68093013e+00] [ 7.90544955e-02 9.96870243e-01 3.25641330e-04 1.84860341e-01] [-3.25304725e-02 2.25326411e-03 9.99468204e-01 -1.74026240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2010527539999996 meters Centerline goodness [0,1] 0.9828466323599314 Centerline is valid? [True, True] Translation: X:1.71, Y:0.18, Z:-0.17 [[ 9.96016328e-01 -8.10085658e-02 3.72704587e-02 1.71029828e+00] [ 8.10511928e-02 9.96709872e-01 3.68278184e-04 1.81142460e-01] [-3.71776678e-02 2.65400404e-03 9.99305147e-01 -1.73849399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.231052754 meters Centerline goodness [0,1] 0.9835882596114097 Centerline is valid? [True, True] Translation: X:1.74, Y:0.18, Z:-0.17 [[ 9.95840745e-01 -8.18588470e-02 4.00042574e-02 1.73990972e+00] [ 8.19081000e-02 9.96639802e-01 4.09002226e-04 1.75888905e-01] [-3.99033156e-02 2.86937163e-03 9.99199426e-01 -1.73679636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2610527539999996 meters Centerline goodness [0,1] 0.9817366692147181 Centerline is valid? [True, True] Translation: X:1.77, Y:0.17, Z:-0.18 [[ 9.95823556e-01 -8.21725180e-02 3.97884648e-02 1.77000057e+00] [ 8.22214527e-02 9.96614001e-01 4.07717421e-04 1.73479029e-01] [-3.96872443e-02 2.86545077e-03 9.99208042e-01 -1.76052275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.291052754 meters Centerline goodness [0,1] 0.9814038060210344 Centerline is valid? [True, True] Translation: X:1.80, Y:0.17, Z:-0.18 [[ 9.95608220e-01 -8.43411948e-02 4.06304641e-02 1.79929591e+00] [ 8.43940449e-02 9.96432372e-01 4.15745010e-04 1.69006060e-01] [-4.05205741e-02 3.01505006e-03 9.99174155e-01 -1.77348216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3210527539999997 meters Centerline goodness [0,1] 0.9797929606625259 Centerline is valid? [True, True] Translation: X:1.83, Y:0.17, Z:-0.18 [[ 9.95461283e-01 -8.56054822e-02 4.15756638e-02 1.82854646e+00] [ 8.56618769e-02 9.96324175e-01 4.26439527e-04 1.65778110e-01] [-4.14593445e-02 3.13694536e-03 9.99135267e-01 -1.78636479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.351052754 meters Centerline goodness [0,1] 0.9725635659075367 Centerline is valid? [True, True] Translation: X:1.86, Y:0.15, Z:-0.18 [[ 9.95008777e-01 -9.01524529e-02 4.27793129e-02 1.85836313e+00] [ 9.02162258e-02 9.95922104e-01 4.41431170e-04 1.53947203e-01] [-4.26446594e-02 3.42016026e-03 9.99084449e-01 -1.79132964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3810527539999997 meters Centerline goodness [0,1] 0.954965980750083 Centerline is valid? [True, True] Translation: X:1.89, Y:0.14, Z:-0.18 [[ 9.94247708e-01 -9.71252396e-02 4.51462308e-02 1.88820660e+00] [ 9.72033871e-02 9.95264429e-01 4.66291035e-04 1.42146048e-01] [-4.49777263e-02 3.92475776e-03 9.98980280e-01 -1.76984513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4110527539999995 meters Centerline goodness [0,1] 0.933962654742682 Centerline is valid? [True, False] Translation: X:1.89, Y:0.14, Z:-0.18 [[ 9.94207792e-01 -9.76711107e-02 4.48466343e-02 1.88961402e+00] [ 9.77279175e-02 9.95212736e-01 9.29305788e-04 1.39536432e-01] [-4.47227080e-02 3.45884512e-03 9.98993451e-01 -1.77511210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4410527539999998 meters Centerline goodness [0,1] 0.8751734852408078 Centerline is valid? [False, False] Translation: X:1.89, Y:0.14, Z:-0.18 [[ 0.9936946 -0.10251548 0.04540509 1.89093038] [ 0.10275205 0.99470277 -0.00290094 0.13671263] [-0.04486718 0.00754812 0.99896444 -0.1784438 ] [ 0. 0. 0. 1. ]] SLAMing on 3.4710527539999996 meters Centerline goodness [0,1] 0.8244689678061732 Centerline is valid? [False, False] Translation: X:1.89, Y:0.13, Z:-0.18 [[ 0.99362771 -0.10315802 0.04541361 1.8918639 ] [ 0.10337079 0.9946401 -0.00235553 0.13369523] [-0.04492721 0.00703496 0.99896549 -0.17889392] [ 0. 0. 0. 1. ]] SLAMing on 3.501052754 meters Centerline goodness [0,1] 0.7645319993385149 Centerline is valid? [False, False] Translation: X:1.90, Y:0.13, Z:-0.18 [[ 0.99330015 -0.10640205 0.0450934 1.89573065] [ 0.1067344 0.99427489 -0.00502079 0.13055895] [-0.04430101 0.00980017 0.99897016 -0.181404 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5310527539999996 meters Centerline goodness [0,1] 0.7422447243375594 Centerline is valid? [False, False] Translation: X:1.90, Y:0.13, Z:-0.18 [[ 0.9933569 -0.10607899 0.04460178 1.89791946] [ 0.10636806 0.99431816 -0.00415187 0.12862569] [-0.04390793 0.0088685 0.99899622 -0.18276682] [ 0. 0. 0. 1. ]] SLAMing on 3.561052754 meters Centerline goodness [0,1] 0.659292860249798 Centerline is valid? [False, False] Translation: X:1.90, Y:0.13, Z:-0.19 [[ 0.99333603 -0.10652582 0.04399758 1.90244812] [ 0.10681074 0.99427063 -0.00416982 0.12738914] [-0.04330131 0.00884145 0.99902294 -0.18654036] [ 0. 0. 0. 1. ]] SLAMing on 3.5910527539999997 meters Centerline goodness [0,1] 0.7048918896528871 Centerline is valid? [False, False] Translation: X:1.90, Y:0.13, Z:-0.19 [[ 0.99338553 -0.10627168 0.04349168 1.90488914] [ 0.1065178 0.99430507 -0.00337485 0.12572231] [-0.04288534 0.00798516 0.99904809 -0.18828138] [ 0. 0. 0. 1. ]] SLAMing on 3.6210527539999995 meters Centerline goodness [0,1] 0.6193858323152424 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:-0.19 [[ 0.9934046 -0.10626468 0.04307098 1.90695357] [ 0.10648985 0.99430938 -0.00296114 0.124631 ] [-0.04251121 0.00752824 0.99906763 -0.18965838] [ 0. 0. 0. 1. ]] SLAMing on 3.6510527539999997 meters Centerline goodness [0,1] 0.5860722961609535 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:-0.19 [[ 0.99333712 -0.10686185 0.04314995 1.90836802] [ 0.10709176 0.99424448 -0.00304572 0.12377741] [-0.04257613 0.00764643 0.99906396 -0.19088861] [ 0. 0. 0. 1. ]] SLAMing on 3.6810527539999995 meters Centerline goodness [0,1] 0.539247311827957 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:-0.19 [[ 0.99312007 -0.10867322 0.04361948 1.9087783 ] [ 0.10895564 0.99403798 -0.00414329 0.1233036 ] [-0.04290916 0.00886737 0.99903963 -0.19111637] [ 0. 0. 0. 1. ]] SLAMing on 3.711052754 meters Centerline goodness [0,1] 0.7066450229963996 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:-0.19 [[ 0.99304258 -0.10930407 0.04380702 1.9089107 ] [ 0.10958526 0.9939691 -0.00406246 0.12182401] [-0.04309879 0.0088348 0.99903175 -0.19112541] [ 0. 0. 0. 1. ]] SLAMing on 3.7410527539999996 meters Centerline goodness [0,1] 0.6652671203127263 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:-0.19 [[ 0.99286414 -0.11062679 0.04452543 1.90841968] [ 0.11092862 0.99381882 -0.00435848 0.11966301] [-0.04376804 0.00926652 0.99899874 -0.19052967] [ 0. 0. 0. 1. ]] SLAMing on 3.771052754 meters Centerline goodness [0,1] 0.6584109908895699 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:-0.19 [[ 0.99287227 -0.11049278 0.04467655 1.90823788] [ 0.11079082 0.99383469 -0.00424331 0.11945355] [-0.04393225 0.00916282 0.99899249 -0.19008958] [ 0. 0. 0. 1. ]] SLAMing on 3.8010527539999996 meters Centerline goodness [0,1] 0.6453831449468085 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:-0.19 [[ 9.93239038e-01 -1.07148660e-01 4.46696600e-02 1.90754284e+00] [ 1.07261590e-01 9.94230825e-01 -1.32035583e-04 1.18276205e-01] [-4.43978055e-02 4.92248166e-03 9.99001804e-01 -1.89196694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.831052754 meters Centerline goodness [0,1] 0.6582404376113713 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:-0.19 [[ 0.99367797 -0.10326743 0.04404474 1.90867197] [ 0.10325156 0.99465177 0.00264116 0.12204725] [-0.04408192 0.00192322 0.99902607 -0.18928109] [ 0. 0. 0. 1. ]] SLAMing on 3.8610527539999997 meters Centerline goodness [0,1] 0.6671647056382162 Centerline is valid? [False, False] Translation: X:1.92, Y:0.13, Z:-0.19 [[ 9.94630780e-01 -9.42393482e-02 4.27616183e-02 1.91888854e+00] [ 9.43630906e-02 9.95537459e-01 -8.80067427e-04 1.27195605e-01] [-4.24878558e-02 4.91046061e-03 9.99084916e-01 -1.88359565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8910527539999995 meters Centerline goodness [0,1] 0.6770025299517008 Centerline is valid? [False, False] Translation: X:1.92, Y:0.13, Z:-0.19 [[ 9.95093367e-01 -8.95291277e-02 4.21156218e-02 1.91946272e+00] [ 8.94420926e-02 9.95984191e-01 3.95014202e-03 1.26321358e-01] [-4.23001463e-02 -1.63850781e-04 9.99104935e-01 -1.88132467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9210527539999998 meters Centerline goodness [0,1] 0.7114310537420876 Centerline is valid? [False, False] Translation: X:1.94, Y:0.13, Z:-0.19 [[ 9.96231131e-01 -7.69960759e-02 3.99391808e-02 1.93856646e+00] [ 7.70902676e-02 9.97023779e-01 -8.21396107e-04 1.27898498e-01] [-3.97570687e-02 3.89722251e-03 9.99201775e-01 -1.88484964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9510527539999996 meters Centerline goodness [0,1] 0.7238588607331586 Centerline is valid? [False, False] Translation: X:1.94, Y:0.13, Z:-0.19 [[ 9.96575428e-01 -7.25782858e-02 3.96208108e-02 1.93863323e+00] [ 7.24837443e-02 9.97362281e-01 3.81936034e-03 1.27341264e-01] [-3.97935049e-02 -9.34415948e-04 9.99207488e-01 -1.88154810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.981052754 meters Centerline goodness [0,1] 0.757231426379414 Centerline is valid? [False, False] Translation: X:1.94, Y:0.13, Z:-0.19 [[ 9.96672640e-01 -7.15173596e-02 3.91013589e-02 1.93990752e+00] [ 7.14061522e-02 9.97438332e-01 4.23508433e-03 1.28325754e-01] [-3.93040763e-02 -1.42891509e-03 9.99226275e-01 -1.88369748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.011052754 meters Centerline goodness [0,1] 0.7626387304221554 Centerline is valid? [False, False] Translation: X:1.94, Y:0.12, Z:-0.19 [[ 0.99684965 -0.06950116 0.03821468 1.94185448] [ 0.06930439 0.9975747 0.00645149 0.12469282] [-0.03857038 -0.00378272 0.99924873 -0.18825142] [ 0. 0. 0. 1. ]] SLAMing on 4.041052754 meters Centerline goodness [0,1] 0.7510909770998712 Centerline is valid? [False, False] Translation: X:1.94, Y:0.12, Z:-0.19 [[ 0.99690244 -0.06892627 0.03787742 1.94280522] [ 0.0686853 0.99760921 0.00762813 0.1216075 ] [-0.03831264 -0.00500288 0.99925328 -0.18836859] [ 0. 0. 0. 1. ]] SLAMing on 4.071052754 meters Centerline goodness [0,1] 0.7282078934815521 Centerline is valid? [False, False] Translation: X:1.95, Y:0.12, Z:-0.19 [[ 0.99689065 -0.06941998 0.03728144 1.94703246] [ 0.06918487 0.9975752 0.00756141 0.11830862] [-0.03771595 -0.00495859 0.9992762 -0.19171908] [ 0. 0. 0. 1. ]] SLAMing on 4.101052754 meters Centerline goodness [0,1] 0.6934633904399761 Centerline is valid? [False, False] Translation: X:1.95, Y:0.11, Z:-0.19 [[ 0.99682966 -0.07069102 0.03651574 1.95091678] [ 0.0704875 0.99748926 0.00683258 0.11389587] [-0.03690706 -0.00423701 0.99930972 -0.19391325] [ 0. 0. 0. 1. ]] SLAMing on 4.131052754 meters Centerline goodness [0,1] 0.6785721758416505 Centerline is valid? [False, False] Translation: X:1.95, Y:0.11, Z:-0.19 [[ 0.99687097 -0.07031042 0.03612094 1.95163843] [ 0.07006332 0.99750996 0.00806321 0.10988368] [-0.03659793 -0.00550723 0.9993149 -0.19352635] [ 0. 0. 0. 1. ]] SLAMing on 4.161052754 meters Centerline goodness [0,1] 0.6575425536364017 Centerline is valid? [False, False] Translation: X:1.96, Y:0.10, Z:-0.20 [[ 0.99685406 -0.07111341 0.03499813 1.95562955] [ 0.07088104 0.99745398 0.00783762 0.10442695] [-0.03546639 -0.00533226 0.99935664 -0.19521953] [ 0. 0. 0. 1. ]] SLAMing on 4.191052754 meters Centerline goodness [0,1] 0.648363803322481 Centerline is valid? [False, False] Translation: X:1.96, Y:0.10, Z:-0.20 [[ 0.99687676 -0.07097645 0.03462768 1.9569729 ] [ 0.07072368 0.99745997 0.00847229 0.10208909] [-0.03514106 -0.00599683 0.99936437 -0.19586442] [ 0. 0. 0. 1. ]] SLAMing on 4.2210527540000005 meters Centerline goodness [0,1] 0.6392287261852478 Centerline is valid? [False, False] Translation: X:1.96, Y:0.10, Z:-0.20 [[ 0.99691287 -0.07061496 0.03432588 1.9576279 ] [ 0.07032848 0.9974788 0.00948428 0.09840975] [-0.03490907 -0.00704091 0.99936569 -0.19522781] [ 0. 0. 0. 1. ]] SLAMing on 4.251052754 meters Centerline goodness [0,1] 0.9555508919202519 Centerline is valid? [False, True] Translation: X:1.96, Y:0.10, Z:-0.19 [[ 0.99693187 -0.07049191 0.03402552 1.95785066] [ 0.07019878 0.99748551 0.00973557 0.09687332] [-0.03462624 -0.00731715 0.99937355 -0.19416249] [ 0. 0. 0. 1. ]] SLAMing on 4.281052754 meters Centerline goodness [0,1] 0.9889363842092029 Centerline is valid? [True, True] Translation: X:1.99, Y:0.11, Z:-0.19 [[ 0.9967424 -0.07003382 0.03999818 1.98712527] [ 0.07017336 0.99753261 -0.0020938 0.10902512] [-0.03975285 0.00489379 0.99919756 -0.19047168] [ 0. 0. 0. 1. ]] SLAMing on 4.311052754 meters Centerline goodness [0,1] 0.9323062753799137 Centerline is valid? [True, False] Translation: X:1.99, Y:0.11, Z:-0.19 [[ 9.96762114e-01 -6.97626390e-02 3.99807647e-02 1.98732289e+00] [ 6.98719965e-02 9.97555062e-01 -1.34277801e-03 1.07073995e-01] [-3.97893385e-02 4.13196610e-03 9.99199547e-01 -1.90188729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.341052754000001 meters Centerline goodness [0,1] 0.850329050454403 Centerline is valid? [False, False] Translation: X:1.99, Y:0.11, Z:-0.19 [[ 9.96738874e-01 -7.02800208e-02 3.96526975e-02 1.98889475e+00] [ 7.03799769e-02 9.97519616e-01 -1.12878992e-03 1.05607080e-01] [-3.94750122e-02 3.91586473e-03 9.99212885e-01 -1.91160246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.371052754 meters Centerline goodness [0,1] 0.5747666465708999 Centerline is valid? [False, False] Translation: X:1.99, Y:0.10, Z:-0.19 [[ 9.96746007e-01 -7.03924153e-02 3.92721869e-02 1.99046308e+00] [ 7.04804926e-02 9.97512786e-01 -8.61049316e-04 1.04851974e-01] [-3.91138972e-02 3.62617054e-03 9.99228179e-01 -1.92184786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.401052754 meters Centerline goodness [0,1] 0.5338613120478922 Centerline is valid? [False, False] Translation: X:1.99, Y:0.10, Z:-0.19 [[ 9.96706455e-01 -7.11049989e-02 3.89912995e-02 1.99161780e+00] [ 7.11895665e-02 9.97462497e-01 -7.83013074e-04 1.03341611e-01] [-3.88366828e-02 3.55620789e-03 9.99239243e-01 -1.92526466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.431052754 meters Centerline goodness [0,1] 0.7262576788975594 Centerline is valid? [False, False] Translation: X:1.99, Y:0.10, Z:-0.19 [[ 9.96727533e-01 -7.09621187e-02 3.87117961e-02 1.99243715e+00] [ 7.10344927e-02 9.97473737e-01 -4.95583356e-04 1.02767391e-01] [-3.85788323e-02 3.24383437e-03 9.99250295e-01 -1.92669436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.461052754 meters Centerline goodness [0,1] 0.829121993019416 Centerline is valid? [False, False] Translation: X:1.99, Y:0.10, Z:-0.19 [[ 9.96993198e-01 -6.74310477e-02 3.81787603e-02 1.99342902e+00] [ 6.73643114e-02 9.97723834e-01 3.03318549e-03 1.03537580e-01] [-3.82963900e-02 -4.52179403e-04 9.99266322e-01 -1.93069415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.491052754 meters Centerline goodness [0,1] 0.8546296680928842 Centerline is valid? [False, False] Translation: X:1.99, Y:0.10, Z:-0.19 [[ 0.99726994 -0.06369147 0.03736386 1.99493523] [ 0.06348742 0.99796066 0.00662386 0.10446904] [-0.03770954 -0.00423364 0.99927977 -0.19351907] [ 0. 0. 0. 1. ]] SLAMing on 4.521052754 meters Centerline goodness [0,1] 0.9039147383262834 Centerline is valid? [False, False] Translation: X:2.00, Y:0.11, Z:-0.19 [[ 0.99784937 -0.05254871 0.03918255 2.00490232] [ 0.05241045 0.99861527 0.00454811 0.109457 ] [-0.03936729 -0.00248476 0.99922172 -0.19361126] [ 0. 0. 0. 1. ]] SLAMing on 4.5510527540000005 meters Centerline goodness [0,1] 0.9951579914012606 Centerline is valid? [False, True] Translation: X:2.01, Y:0.11, Z:-0.19 [[ 9.98693676e-01 -3.63117895e-02 3.59498934e-02 2.00599486e+00] [ 3.63550938e-02 9.99338783e-01 -5.51398838e-04 1.14120198e-01] [-3.59061005e-02 1.85764028e-03 9.99353442e-01 -1.92768756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.581052754 meters Centerline goodness [0,1] 0.9806756189676877 Centerline is valid? [True, True] Translation: X:2.03, Y:0.10, Z:-0.19 [[ 0.99895912 -0.02886025 0.03532363 2.03451637] [ 0.02896525 0.99957738 -0.00246444 0.10086726] [-0.03523758 0.00348503 0.99937289 -0.19476097] [ 0. 0. 0. 1. ]] SLAMing on 4.611052754 meters Centerline goodness [0,1] 0.997983997983998 Centerline is valid? [True, True] Translation: X:2.07, Y:0.11, Z:-0.20 [[ 0.99922009 -0.01769521 0.03529999 2.06646183] [ 0.01779315 0.99983866 -0.00246227 0.11464288] [-0.03525072 0.00308844 0.99937373 -0.19537066] [ 0. 0. 0. 1. ]] SLAMing on 4.641052754 meters Centerline goodness [0,1] 0.9982001590557114 Centerline is valid? [True, True] Translation: X:2.10, Y:0.11, Z:-0.20 [[ 0.99925481 -0.01415388 0.03590945 2.09732823] [ 0.01425298 0.99989528 -0.00250498 0.11379447] [-0.03587023 0.00301493 0.99935191 -0.19554068] [ 0. 0. 0. 1. ]] SLAMing on 4.671052754 meters Centerline goodness [0,1] 0.9983621703342852 Centerline is valid? [True, True] Translation: X:2.13, Y:0.11, Z:-0.20 [[ 0.99936732 -0.00846088 0.03454513 2.12726654] [ 0.0085492 0.99996055 -0.00240982 0.11223855] [-0.03452338 0.00270362 0.99940023 -0.19678681] [ 0. 0. 0. 1. ]] SLAMing on 4.701052754 meters Centerline goodness [0,1] 0.9984873949579832 Centerline is valid? [True, True] Translation: X:2.16, Y:0.11, Z:-0.20 [[ 0.99944143 -0.00536982 0.0329848 2.15681452] [ 0.00544866 0.99998251 -0.00230084 0.1094183 ] [-0.03297186 0.00247928 0.99945321 -0.19962415] [ 0. 0. 0. 1. ]] SLAMing on 4.731052754 meters Centerline goodness [0,1] 0.9989541936833298 Centerline is valid? [True, True] Translation: X:2.19, Y:0.11, Z:-0.20 [[ 9.99568157e-01 2.67748304e-03 2.92631250e-02 2.18723712e+00] [-2.61887674e-03 9.99994488e-01 -2.04087849e-03 1.10235616e-01] [-2.92684281e-02 1.96336063e-03 9.99569660e-01 -2.04216308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7610527540000005 meters Centerline goodness [0,1] 0.9991803967720242 Centerline is valid? [True, True] Translation: X:2.22, Y:0.11, Z:-0.21 [[ 9.99554993e-01 6.22473748e-03 2.91730803e-02 2.21856158e+00] [-6.16799474e-03 9.99978908e-01 -2.03462366e-03 1.10629521e-01] [-2.91851300e-02 1.85377883e-03 9.99572304e-01 -2.05972294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.791052754 meters Centerline goodness [0,1] 0.9991803967720242 Centerline is valid? [True, True] Translation: X:2.25, Y:0.11, Z:-0.21 [[ 9.99553260e-01 6.49637461e-03 2.91732167e-02 2.25099938e+00] [-6.43980376e-03 9.99977198e-01 -2.03267395e-03 1.08313931e-01] [-2.91857565e-02 1.84389609e-03 9.99572304e-01 -2.07233897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.821052754 meters Centerline goodness [0,1] 0.9991041666666667 Centerline is valid? [True, True] Translation: X:2.28, Y:0.10, Z:-0.21 [[ 9.99519562e-01 9.56969770e-03 2.94799110e-02 2.27995059e+00] [-9.51294678e-03 9.99952619e-01 -2.06472401e-03 9.70843096e-02] [-2.94982730e-02 1.78329122e-03 9.99563241e-01 -2.09362725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.851052754 meters Centerline goodness [0,1] 0.9992049377549953 Centerline is valid? [True, True] Translation: X:2.31, Y:0.10, Z:-0.21 [[ 9.99376926e-01 1.51145118e-02 3.18953217e-02 2.31062950e+00] [-1.50508888e-02 9.99884234e-01 -2.23390167e-03 1.00717450e-01] [-3.19253936e-02 1.75245684e-03 9.99488718e-01 -2.08857835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.881052754 meters Centerline goodness [0,1] 0.9990612679141373 Centerline is valid? [True, True] Translation: X:2.34, Y:0.09, Z:-0.21 [[ 9.99355931e-01 1.70793272e-02 3.15597916e-02 2.34062636e+00] [-1.70180218e-02 9.99852740e-01 -2.21012592e-03 9.05886410e-02] [-3.15928916e-02 1.67161722e-03 9.99499422e-01 -2.11761438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.911052754 meters Centerline goodness [0,1] 0.9991439607474685 Centerline is valid? [True, True] Translation: X:2.37, Y:0.09, Z:-0.21 [[ 9.99374928e-01 2.02430904e-02 2.89822457e-02 2.37166552e+00] [-2.01926948e-02 9.99794045e-01 -2.03049626e-03 8.54439676e-02] [-2.90173801e-02 1.44399741e-03 9.99577864e-01 -2.14478594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.941052754 meters Centerline goodness [0,1] 0.999061835466789 Centerline is valid? [True, True] Translation: X:2.40, Y:0.07, Z:-0.22 [[ 9.99376578e-01 2.14852592e-02 2.80149681e-02 2.40188931e+00] [-2.14386884e-02 9.99768240e-01 -1.96169176e-03 7.34309506e-02] [-2.80506228e-02 1.35986463e-03 9.99605579e-01 -2.17614448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9710527540000005 meters Centerline goodness [0,1] 0.9991240327862014 Centerline is valid? [True, True] Translation: X:2.43, Y:0.07, Z:-0.22 [[ 9.99310208e-01 2.35786506e-02 2.86906795e-02 2.43344095e+00] [-2.35304309e-02 9.99721086e-01 -2.01718474e-03 7.19275322e-02] [-2.87302397e-02 1.34068925e-03 9.99586302e-01 -2.17981514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.001052754 meters Centerline goodness [0,1] 0.9990013938876984 Centerline is valid? [True, True] Translation: X:2.46, Y:0.06, Z:-0.22 [[ 9.99252582e-01 2.50924622e-02 2.94048527e-02 2.46422254e+00] [-2.50424888e-02 9.99684252e-01 -2.06658739e-03 6.05527315e-02] [-2.94474240e-02 1.32867209e-03 9.99565448e-01 -2.20438274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.031052754 meters Centerline goodness [0,1] 0.9994370543346817 Centerline is valid? [True, True] Translation: X:2.50, Y:0.05, Z:-0.22 [[ 9.99141722e-01 2.65548170e-02 3.17908903e-02 2.49594428e+00] [-2.64968820e-02 9.99646381e-01 -2.24235072e-03 4.87438344e-02] [-3.18391937e-02 1.39806669e-03 9.99492027e-01 -2.17999136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.061052754 meters Centerline goodness [0,1] 0.9992536075634434 Centerline is valid? [True, True] Translation: X:2.53, Y:0.04, Z:-0.21 [[ 9.99018428e-01 2.59994362e-02 3.58637812e-02 2.52789597e+00] [-2.59250164e-02 9.99660667e-01 -2.53862403e-03 3.92206444e-02] [-3.59176143e-02 1.60636307e-03 9.99353463e-01 -2.14059768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.091052754 meters Centerline goodness [0,1] 0.9994199175454225 Centerline is valid? [True, True] Translation: X:2.56, Y:0.04, Z:-0.21 [[ 9.98994077e-01 2.61966725e-02 3.63946302e-02 2.56107822e+00] [-2.61198611e-02 9.99655477e-01 -2.58446278e-03 3.64711044e-02] [-3.64497957e-02 1.63124032e-03 9.99334154e-01 -2.14152259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.121052754 meters Centerline goodness [0,1] 0.9993971645948531 Centerline is valid? [True, True] Translation: X:2.59, Y:0.03, Z:-0.21 [[ 9.98990381e-01 2.65175667e-02 3.62634428e-02 2.59412576e+00] [-2.64411705e-02 9.99647030e-01 -2.58474349e-03 3.34609283e-02] [-3.63191840e-02 1.62328600e-03 9.99338922e-01 -2.14798287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.151052754 meters Centerline goodness [0,1] 0.9993756113805232 Centerline is valid? [True, True] Translation: X:2.62, Y:0.02, Z:-0.22 [[ 9.99059342e-01 2.56465351e-02 3.49669268e-02 2.62412384e+00] [-2.55746217e-02 9.99669784e-01 -2.50240725e-03 2.35521840e-02] [-3.50195583e-02 1.60578741e-03 9.99385337e-01 -2.15599916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.181052754 meters Centerline goodness [0,1] 0.9993123137516411 Centerline is valid? [True, True] Translation: X:2.66, Y:0.02, Z:-0.22 [[ 9.99062968e-01 2.43410818e-02 3.57868351e-02 2.65535173e+00] [-2.42648930e-02 9.99702282e-01 -2.56180894e-03 1.65517645e-02] [-3.58385379e-02 1.69104472e-03 9.99356163e-01 -2.15077847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.211052754 meters Centerline goodness [0,1] 0.9993756113805232 Centerline is valid? [True, True] Translation: X:2.69, Y:0.01, Z:-0.21 [[ 9.99088420e-01 1.85306383e-02 3.84570549e-02 2.68549348e+00] [-1.84380057e-02 9.99826190e-01 -2.76203060e-03 7.70597924e-03] [-3.85015529e-02 2.05044139e-03 9.99256437e-01 -2.12164042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.241052754 meters Centerline goodness [0,1] 0.9993762215660997 Centerline is valid? [True, True] Translation: X:2.72, Y:0.00, Z:-0.21 [[ 9.99132895e-01 1.47478392e-02 3.89353333e-02 2.71583251e+00] [-1.46500183e-02 9.99888772e-01 -2.79652451e-03 1.37713480e-03] [-3.89722453e-02 2.22369628e-03 9.99237819e-01 -2.11142924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.271052754 meters Centerline goodness [0,1] 0.9994182422605443 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.01, Z:-0.21 [[ 9.99318414e-01 6.12790202e-03 3.64026963e-02 2.74470049e+00] [-6.03668453e-03 9.99978359e-01 -2.61517449e-03 -9.99772383e-03] [-3.64179341e-02 2.39364043e-03 9.99333780e-01 -2.12314919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.301052754 meters Centerline goodness [0,1] 0.9988747890229418 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.02, Z:-0.21 [[ 9.99382543e-01 2.94063122e-04 3.51346795e-02 2.77449375e+00] [-2.05493539e-04 9.99996792e-01 -2.52444380e-03 -1.51172775e-02] [-3.51353092e-02 2.51566511e-03 9.99379398e-01 -2.14388169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.331052754 meters Centerline goodness [0,1] 0.9987523653074379 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.02, Z:-0.21 [[ 9.99331017e-01 -7.96846477e-04 3.65634252e-02 2.80670017e+00] [ 8.93514463e-04 9.99996149e-01 -2.62757958e-03 -1.75014302e-02] [-3.65611906e-02 2.65849172e-03 9.99327880e-01 -2.13478762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.361052754 meters Centerline goodness [0,1] 0.998688483637272 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.02, Z:-0.21 [[ 9.99281511e-01 -3.30502895e-04 3.78992338e-02 2.83869953e+00] [ 4.34127205e-04 9.99996190e-01 -2.72600903e-03 -2.02462462e-02] [-3.78981884e-02 2.74050351e-03 9.99277848e-01 -2.11775417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.391052754 meters Centerline goodness [0,1] 0.9995214912828194 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.02, Z:-0.21 [[ 9.99286366e-01 1.87754706e-03 3.77257547e-02 2.86944510e+00] [-1.77610621e-03 9.99994717e-01 -2.72223630e-03 -1.58339409e-02] [-3.77306665e-02 2.65328868e-03 9.99284422e-01 -2.10238014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.421052754 meters Centerline goodness [0,1] 0.9992101598387063 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.02, Z:-0.21 [[ 9.99258606e-01 4.31212087e-03 3.82575947e-02 2.89941526e+00] [-4.20957276e-03 9.99987329e-01 -2.76061312e-03 -2.01496527e-02] [-3.82690141e-02 2.59751829e-03 9.99264097e-01 -2.09979423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.451052754 meters Centerline goodness [0,1] 0.9991288475898117 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.02, Z:-0.21 [[ 9.99227827e-01 5.53359207e-03 3.88989626e-02 2.92956978e+00] [-5.42849509e-03 9.99981326e-01 -2.80689704e-03 -1.99054920e-02] [-3.89137684e-02 2.59356680e-03 9.99239207e-01 -2.10620640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.481052754 meters Centerline goodness [0,1] 0.9996053997923157 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.01, Z:-0.21 [[ 9.99270313e-01 8.30106691e-03 3.72818118e-02 2.96146907e+00] [-8.20642881e-03 9.99962706e-01 -2.69076639e-03 -1.04517485e-02] [-3.73027577e-02 2.38285244e-03 9.99301169e-01 -2.12251366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5110527540000005 meters Centerline goodness [0,1] 0.9996484625405819 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.01, Z:-0.21 [[ 9.99280517e-01 9.82162695e-03 3.66330997e-02 2.99219422e+00] [-9.73125242e-03 9.99949153e-01 -2.64451010e-03 -1.37403378e-02] [-3.66572105e-02 2.28612148e-03 9.99325284e-01 -2.13851845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.541052754 meters Centerline goodness [0,1] 0.9997723509933775 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.01, Z:-0.22 [[ 9.99335788e-01 1.17565501e-02 3.44929780e-02 3.02465653e+00] [-1.16775456e-02 9.99928712e-01 -2.49102090e-03 -8.21394120e-03] [-3.45198049e-02 2.08657301e-03 9.99401836e-01 -2.15152806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.571052754 meters Centerline goodness [0,1] 0.999730486161501 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.01, Z:-0.22 [[ 9.99362114e-01 1.25966821e-02 3.34168855e-02 3.05645900e+00] [-1.25229781e-02 9.99918671e-01 -2.41398017e-03 -1.12227866e-02] [-3.34445758e-02 1.99396140e-03 9.99438585e-01 -2.17065529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.601052754 meters Centerline goodness [0,1] 0.9996887514784305 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.02, Z:-0.22 [[ 9.99360570e-01 1.38402402e-02 3.29681372e-02 3.08691369e+00] [-1.37689206e-02 9.99902349e-01 -2.38934918e-03 -1.58885040e-02] [-3.29979870e-02 1.93388570e-03 9.99453547e-01 -2.19245536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.631052754 meters Centerline goodness [0,1] 0.9996683731630982 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.03, Z:-0.22 [[ 9.99351027e-01 1.47369842e-02 3.28686224e-02 3.11770712e+00] [-1.46663424e-02 9.99889589e-01 -2.38929019e-03 -2.50101457e-02] [-3.29002043e-02 1.90567713e-03 9.99456825e-01 -2.21948233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.661052754 meters Centerline goodness [0,1] 0.9998134289682622 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.02, Z:-0.22 [[ 9.99388458e-01 1.52206283e-02 3.14808209e-02 3.15028915e+00] [-1.51558760e-02 9.99882510e-01 -2.29449092e-03 -2.37490241e-02] [-3.15120458e-02 1.81596832e-03 9.99501722e-01 -2.24654073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.691052754 meters Centerline goodness [0,1] 0.999647441879757 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.03, Z:-0.23 [[ 9.99419935e-01 1.47488584e-02 3.06963173e-02 3.18148840e+00] [-1.46868178e-02 9.99889621e-01 -2.24561049e-03 -2.99036643e-02] [-3.07260493e-02 1.79347667e-03 9.99526234e-01 -2.26518369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7210527540000005 meters Centerline goodness [0,1] 0.9997110482755774 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.04, Z:-0.23 [[ 9.99458272e-01 1.33759427e-02 3.00706887e-02 3.21220136e+00] [-1.33155713e-02 9.99908908e-01 -2.20701265e-03 -3.97837417e-02] [-3.00974704e-02 1.80540865e-03 9.99545338e-01 -2.26969840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.751052754 meters Centerline goodness [0,1] 0.9997306481021051 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.04, Z:-0.23 [[ 9.99463200e-01 1.31527067e-02 3.00052971e-02 3.24449281e+00] [-1.30924298e-02 9.99911860e-01 -2.20446587e-03 -4.41216683e-02] [-3.00316471e-02 1.81044027e-03 9.99547309e-01 -2.27453053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.781052754 meters Centerline goodness [0,1] 0.9998343548119927 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.05, Z:-0.23 [[ 9.99468471e-01 1.24125202e-02 3.01447266e-02 3.27638849e+00] [-1.23511383e-02 9.99921254e-01 -2.22159792e-03 -4.68555358e-02] [-3.01699285e-02 1.84809539e-03 9.99543076e-01 -2.27248498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.811052754 meters Centerline goodness [0,1] 0.9997319587628866 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.05, Z:-0.23 [[ 9.99466580e-01 1.10791618e-02 3.07214531e-02 3.30734623e+00] [-1.10145574e-02 9.99936758e-01 -2.27134741e-03 -5.10217867e-02] [-3.07446749e-02 1.93175262e-03 9.99525404e-01 -2.28184058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.841052754 meters Centerline goodness [0,1] 0.9997514035342131 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.06, Z:-0.23 [[ 9.99473335e-01 5.45417006e-03 3.19891249e-02 3.33701246e+00] [-5.38098777e-03 9.99982706e-01 -2.37336699e-03 -5.91695273e-02] [-3.20015164e-02 2.19998393e-03 9.99485399e-01 -2.28795588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.871052754 meters Centerline goodness [0,1] 0.9993775933609959 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.06, Z:-0.23 [[ 9.99460207e-01 2.74931730e-03 3.27373778e-02 3.36769600e+00] [-2.67121538e-03 9.99993482e-01 -2.42920798e-03 -6.32665514e-02] [-3.27438431e-02 2.34044812e-03 9.99461036e-01 -2.29151257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.901052754 meters Centerline goodness [0,1] 0.999191743347426 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.06, Z:-0.23 [[ 9.99375873e-01 -8.36798047e-04 3.53152170e-02 3.39853276e+00] [ 9.29941324e-04 9.99996132e-01 -2.62113955e-03 -6.40924570e-02] [-3.53128870e-02 2.65234470e-03 9.99372786e-01 -2.29048597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.931052754 meters Centerline goodness [0,1] 0.9995851310985728 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.06, Z:-0.23 [[ 9.99383081e-01 -9.21389723e-04 3.51085358e-02 3.43106590e+00] [ 1.01347251e-03 9.99996093e-01 -2.60509749e-03 -5.97800133e-02] [-3.51059983e-02 2.63907189e-03 9.99380110e-01 -2.30520224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.961052754 meters Centerline goodness [0,1] 0.9986926476996825 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.07, Z:-0.24 [[ 9.99493927e-01 1.11207328e-03 3.17907862e-02 3.46074591e+00] [-1.03735674e-03 9.99996661e-01 -2.36665425e-03 -6.92355429e-02] [-3.17933119e-02 2.33247816e-03 9.99491743e-01 -2.37177310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.991052754 meters Centerline goodness [0,1] 0.9996257251575074 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.07, Z:-0.24 [[ 9.99516704e-01 3.37738393e-03 3.09022926e-02 3.49205885e+00] [-3.30783092e-03 9.99991880e-01 -2.30158478e-03 -6.66731892e-02] [-3.09098150e-02 2.19825288e-03 9.99519760e-01 -2.39673878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.021052754 meters Centerline goodness [0,1] 0.9998549132588554 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.07, Z:-0.24 [[ 9.99520808e-01 7.82609026e-03 2.99484005e-02 3.52152184e+00] [-7.76273402e-03 9.99967380e-01 -2.23119772e-03 -7.31184901e-02] [-2.99648852e-02 1.99764708e-03 9.99548956e-01 -2.41719604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.051052754 meters Centerline goodness [0,1] 0.9996493688639552 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.08, Z:-0.24 [[ 9.99516688e-01 1.06538876e-02 2.92042068e-02 3.55089948e+00] [-1.05948379e-02 9.99941506e-01 -2.17595789e-03 -8.43044119e-02] [-2.92256809e-02 1.86549239e-03 9.99571098e-01 -2.44198423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.081052754 meters Centerline goodness [0,1] 0.9999377941816825 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.09, Z:-0.25 [[ 9.99453694e-01 1.85557995e-02 2.73495288e-02 3.58092787e+00] [-1.85069629e-02 9.99826655e-01 -2.03771372e-03 -8.87590446e-02] [-2.73825993e-02 1.53044379e-03 9.99623855e-01 -2.48796985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.111052754 meters Centerline goodness [0,1] 0.9999792332931844 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.09, Z:-0.25 [[ 9.99381204e-01 2.26457953e-02 2.69142377e-02 3.61130050e+00] [-2.25999728e-02 9.99742576e-01 -2.00554534e-03 -8.75246569e-02] [-2.69527265e-02 1.39604327e-03 9.99635734e-01 -2.50090915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.141052754 meters Centerline goodness [0,1] 0.9998542334763234 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.09, Z:-0.25 [[ 9.99112869e-01 3.08333931e-02 2.86840943e-02 3.64188291e+00] [-3.07847205e-02 9.99523754e-01 -2.13701681e-03 -9.32821342e-02] [-2.87363251e-02 1.25208917e-03 9.99586242e-01 -2.51924944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.171052754 meters Centerline goodness [0,1] 0.9999164159144099 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.10, Z:-0.25 [[ 9.98950294e-01 3.51643000e-02 2.93561350e-02 3.67220145e+00] [-3.51151749e-02 9.99380878e-01 -2.18743974e-03 -9.85372952e-02] [-2.94148797e-02 1.15429776e-03 9.99566622e-01 -2.52247744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.201052754 meters Centerline goodness [0,1] 0.9999583420120808 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.11, Z:-0.25 [[ 9.98605358e-01 4.32068846e-02 3.03398128e-02 3.70119472e+00] [-4.31580870e-02 9.99065696e-01 -2.26169420e-03 -1.08835381e-01] [-3.04091869e-02 9.49131671e-04 9.99537083e-01 -2.51329918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.231052754 meters Centerline goodness [0,1] 0.9998950836183562 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.12, Z:-0.25 [[ 9.98483074e-01 4.59795044e-02 3.02891965e-02 3.73221140e+00] [-4.59321704e-02 9.98942011e-01 -2.25703799e-03 -1.15156667e-01] [-3.03609283e-02 8.62365701e-04 9.99538629e-01 -2.52259439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2610527540000005 meters Centerline goodness [0,1] 0.999958157245073 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.12, Z:-0.25 [[ 9.98364512e-01 4.83760799e-02 3.04640111e-02 3.76348464e+00] [-4.83293324e-02 9.98828877e-01 -2.26940510e-03 -1.22346854e-01] [-3.05381189e-02 7.93388199e-04 9.99533288e-01 -2.53811034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.291052754 meters Centerline goodness [0,1] 0.999748454040457 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.13, Z:-0.26 [[ 9.98325953e-01 4.87813713e-02 3.10752353e-02 3.79519563e+00] [-4.87326990e-02 9.98809157e-01 -2.32217811e-03 -1.28597308e-01] [-3.11515086e-02 8.03910588e-04 9.99514351e-01 -2.55741187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.321052754 meters Centerline goodness [0,1] 0.9998335310152527 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.14, Z:-0.26 [[ 9.98207982e-01 4.96433718e-02 3.34119897e-02 3.82613331e+00] [-4.95873071e-02 9.98766651e-01 -2.50504252e-03 -1.39078031e-01] [-3.34951399e-02 8.43742843e-04 9.99438524e-01 -2.55658638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.351052754 meters Centerline goodness [0,1] 0.9998118571786939 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.14, Z:-0.25 [[ 9.98092945e-01 5.07268172e-02 3.51747613e-02 3.85824232e+00] [-5.06650538e-02 9.98712197e-01 -2.64559873e-03 -1.44253828e-01] [-3.52636659e-02 8.58422252e-04 9.99377675e-01 -2.54660279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.15, Z:-0.25 [[ 9.98031811e-01 5.16341973e-02 3.55867043e-02 3.88830686e+00] [-5.15712642e-02 9.98665708e-01 -2.68471244e-03 -1.54438568e-01] [-3.56778442e-02 8.44177098e-04 9.99362987e-01 -2.54678907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.411052754 meters Centerline goodness [0,1] 0.9999790470603026 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.16, Z:-0.26 [[ 9.98080271e-01 5.19328562e-02 3.37453948e-02 3.92087737e+00] [-5.18762262e-02 9.98650261e-01 -2.55212638e-03 -1.62687985e-01] [-3.38323865e-02 7.96643263e-04 9.99427203e-01 -2.57357295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.441052754 meters Centerline goodness [0,1] 0.9999160439929476 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.18, Z:-0.26 [[ 9.98348100e-01 4.84067313e-02 3.09493221e-02 3.95101196e+00] [-4.83571343e-02 9.98827346e-01 -2.34944726e-03 -1.77361508e-01] [-3.10267583e-02 8.48945685e-04 9.99518194e-01 -2.62933550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4710527540000005 meters Centerline goodness [0,1] 0.9999581002660634 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.18, Z:-0.26 [[ 9.98487357e-01 4.48313249e-02 3.18300098e-02 3.98273419e+00] [-4.47770231e-02 9.98994082e-01 -2.41711435e-03 -1.84630042e-01] [-3.19063539e-02 9.88205038e-04 9.99490374e-01 -2.64162535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.501052754 meters Centerline goodness [0,1] 0.9999372817929045 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.21, Z:-0.26 [[ 9.98800168e-01 3.55717574e-02 3.36581978e-02 4.01097466e+00] [-3.55056957e-02 9.99366199e-01 -2.55857724e-03 -2.10946178e-01] [-3.37278783e-02 1.36044965e-03 9.99430127e-01 -2.63482278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.531052754 meters Centerline goodness [0,1] 0.9998328423076119 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.22, Z:-0.26 [[ 9.98962441e-01 3.07133764e-02 3.36263234e-02 4.04032279e+00] [-3.06446845e-02 9.99527072e-01 -2.55640066e-03 -2.24623354e-01] [-3.36889363e-02 1.52328017e-03 9.99431206e-01 -2.63489653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.561052754 meters Centerline goodness [0,1] 0.9998532217818875 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.24, Z:-0.26 [[ 9.99096542e-01 2.64259226e-02 3.32831873e-02 4.06998260e+00] [-2.63562446e-02 9.99649411e-01 -2.53056071e-03 -2.36956165e-01] [-3.33383910e-02 1.65105463e-03 9.99442758e-01 -2.64046940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.591052754 meters Centerline goodness [0,1] 0.9999790457431427 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.25, Z:-0.26 [[ 9.99245400e-01 1.87285702e-02 3.40275136e-02 4.09978967e+00] [-1.86512825e-02 9.99822702e-01 -2.58736002e-03 -2.54810118e-01] [-3.40699381e-02 1.95075083e-03 9.99417547e-01 -2.60161548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.621052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.26, Z:-0.25 [[ 9.99173244e-01 1.78946572e-02 3.65049171e-02 4.13194874e+00] [-1.78051380e-02 9.99837623e-01 -2.77589980e-03 -2.60502996e-01] [-3.65486633e-02 2.12362972e-03 9.99329618e-01 -2.54423623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.651052754 meters Centerline goodness [0,1] 0.9998954040541389 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.28, Z:-0.25 [[ 9.99101670e-01 1.99960789e-02 3.73632025e-02 4.16161723e+00] [-1.99034029e-02 9.99797843e-01 -2.85076033e-03 -2.78122235e-01] [-3.74126533e-02 2.10454453e-03 9.99297686e-01 -2.54896584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.681052754 meters Centerline goodness [0,1] 0.9999370726181986 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.27, Z:-0.26 [[ 9.98950442e-01 2.63349609e-02 3.74764482e-02 4.19297366e+00] [-2.62461171e-02 9.99651418e-01 -2.86074870e-03 -2.67794950e-01] [-3.75387222e-02 1.87413493e-03 9.99293416e-01 -2.56901704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.711052754 meters Centerline goodness [0,1] 0.9999370726181986 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.27, Z:-0.26 [[ 9.98943106e-01 2.66117403e-02 3.74764744e-02 4.22530492e+00] [-2.65231036e-02 9.99644108e-01 -2.86040518e-03 -2.70314078e-01] [-3.75392572e-02 1.86338962e-03 9.99293416e-01 -2.58159671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.741052754 meters Centerline goodness [0,1] 0.9999790154026944 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.29, Z:-0.26 [[ 9.98893597e-01 2.85993232e-02 3.73317760e-02 4.25427705e+00] [-2.85123532e-02 9.99589349e-01 -2.86007663e-03 -2.85202812e-01] [-3.73982419e-02 1.79249544e-03 9.99298833e-01 -2.61174408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.28, Z:-0.26 [[ 9.98864994e-01 2.92378461e-02 3.76014796e-02 4.28750448e+00] [-2.91500434e-02 9.99570894e-01 -2.88132228e-03 -2.78327706e-01] [-3.76695882e-02 1.78196720e-03 9.99288660e-01 -2.62759137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.801052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.29, Z:-0.26 [[ 9.98875717e-01 2.83067648e-02 3.80266873e-02 4.31876618e+00] [-2.82161691e-02 9.99597588e-01 -2.91710129e-03 -2.85180888e-01] [-3.80939587e-02 1.84085421e-03 9.99272466e-01 -2.62686563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.29, Z:-0.26 [[ 9.98995273e-01 2.73940225e-02 3.54684579e-02 4.34967376e+00] [-2.73143799e-02 9.99623170e-01 -2.72814906e-03 -2.91941683e-01] [-3.55298273e-02 1.75660909e-03 9.99367073e-01 -2.64883989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.29, Z:-0.27 [[ 9.99055861e-01 2.70118001e-02 3.40257170e-02 4.38143998e+00] [-2.69380448e-02 9.99633660e-01 -2.62428139e-03 -2.89320650e-01] [-3.40841386e-02 1.70521742e-03 9.99417512e-01 -2.68339266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.891052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.29, Z:-0.27 [[ 9.99208451e-01 2.30630953e-02 3.24124153e-02 4.41128496e+00] [-2.29938267e-02 9.99732460e-01 -2.50826838e-03 -2.91444007e-01] [-3.24615921e-02 1.76099750e-03 9.99471432e-01 -2.73732303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.921052754 meters Centerline goodness [0,1] 0.9999579416650894 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.30, Z:-0.27 [[ 9.99269504e-01 1.93255687e-02 3.29693874e-02 4.44221443e+00] [-1.92518772e-02 9.99811411e-01 -2.55116375e-03 -2.96007251e-01] [-3.30124724e-02 1.91457754e-03 9.99453106e-01 -2.74922957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.951052754 meters Centerline goodness [0,1] 0.999915754001685 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.31, Z:-0.27 [[ 9.99349574e-01 1.18164524e-02 3.40705275e-02 4.47147266e+00] [-1.17333651e-02 9.99927683e-01 -2.63760009e-03 -3.07099273e-01] [-3.40992307e-02 2.23612259e-03 9.99415951e-01 -2.72488166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.981052754 meters Centerline goodness [0,1] 0.9997892962494732 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.31, Z:-0.27 [[ 9.99353785e-01 9.45372127e-03 3.46790958e-02 4.50231812e+00] [-9.36617828e-03 9.99952529e-01 -2.68596331e-03 -3.08627634e-01] [-3.47028419e-02 2.35941701e-03 9.99394890e-01 -2.72357601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.011052754 meters Centerline goodness [0,1] 0.9998948652172085 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.31, Z:-0.27 [[ 9.99317534e-01 1.04687450e-02 3.54241788e-02 4.53414332e+00] [-1.03780355e-02 9.99942383e-01 -2.74357746e-03 -3.08086770e-01] [-3.54508596e-02 2.37407168e-03 9.99368601e-01 -2.72944051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.041052754 meters Centerline goodness [0,1] 0.9997904925520102 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.30, Z:-0.27 [[ 9.99191456e-01 1.65645072e-02 3.66340148e-02 4.56570561e+00] [-1.64712155e-02 9.99860287e-01 -2.84694884e-03 -3.02511833e-01] [-3.66760549e-02 2.24124021e-03 9.99324694e-01 -2.73988332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.071052754 meters Centerline goodness [0,1] 0.9998953033063216 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.30, Z:-0.27 [[ 9.99039100e-01 2.45023885e-02 3.63388173e-02 4.59732599e+00] [-2.44158057e-02 9.99697899e-01 -2.82457793e-03 -2.99489445e-01] [-3.63970482e-02 1.93462230e-03 9.99335535e-01 -2.73574339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.101052754 meters Centerline goodness [0,1] 0.9999161161790919 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.30, Z:-0.27 [[ 9.98932767e-01 2.76804363e-02 3.69746021e-02 4.62836040e+00] [-2.75929411e-02 9.99615109e-01 -2.87465750e-03 -3.00141322e-01] [-3.70399426e-02 1.85135155e-03 9.99312071e-01 -2.73769295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.131052754 meters Centerline goodness [0,1] 0.9999161161790919 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.30, Z:-0.28 [[ 9.98925071e-01 2.79567995e-02 3.69745862e-02 4.66068885e+00] [-2.78694855e-02 9.99607436e-01 -2.87486201e-03 -3.02707006e-01] [-3.70404433e-02 1.84130904e-03 9.99312071e-01 -2.75027556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.161052754 meters Centerline goodness [0,1] 0.9998323554065381 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.30, Z:-0.27 [[ 9.98658846e-01 3.33144169e-02 3.96315296e-02 4.69069534e+00] [-3.32178434e-02 9.99443349e-01 -3.09297211e-03 -3.01722692e-01] [-3.97125092e-02 1.77235002e-03 9.99209575e-01 -2.74196541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.191052754 meters Centerline goodness [0,1] 0.9999371464487744 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.30, Z:-0.28 [[ 9.98493513e-01 3.62238828e-02 4.12132944e-02 4.72136294e+00] [-3.61219288e-02 9.99342215e-01 -3.21604329e-03 -3.02507941e-01] [-4.13026825e-02 1.72249467e-03 9.99145195e-01 -2.75608790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.221052754 meters Centerline goodness [0,1] 0.9999580325667282 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.31, Z:-0.28 [[ 9.98504355e-01 3.69793030e-02 4.02689008e-02 4.75363963e+00] [-3.68825260e-02 9.99314663e-01 -3.14378713e-03 -3.06838330e-01] [-4.03575581e-02 1.65386635e-03 9.99183933e-01 -2.78299776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.251052754 meters Centerline goodness [0,1] 0.9998952023642347 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.31, Z:-0.28 [[ 9.98604344e-01 3.67463649e-02 3.79350634e-02 4.78446865e+00] [-3.66602048e-02 9.99323391e-01 -2.96459964e-03 -3.13638393e-01] [-3.80183345e-02 1.56975489e-03 9.99275809e-01 -2.81250654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.281052754 meters Centerline goodness [0,1] 0.9999368221543645 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.32, Z:-0.28 [[ 9.98730624e-01 3.59268811e-02 3.53043842e-02 4.81548782e+00] [-3.58516125e-02 9.99353305e-01 -2.76294271e-03 -3.22190406e-01] [-3.53808169e-02 1.49371640e-03 9.99372787e-01 -2.83573098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.311052754 meters Centerline goodness [0,1] 0.9999366821443647 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.33, Z:-0.28 [[ 9.98735643e-01 3.58852438e-02 3.52046004e-02 4.84613840e+00] [-3.58100911e-02 9.99354793e-01 -2.76316095e-03 -3.30746627e-01] [-3.52810429e-02 1.49898738e-03 9.99376306e-01 -2.84782917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.341052754 meters Centerline goodness [0,1] 0.9999788045782111 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.34, Z:-0.29 [[ 9.98756813e-01 3.76466148e-02 3.26735415e-02 4.87815026e+00] [-3.75825766e-02 9.99290215e-01 -2.57209140e-03 -3.38776396e-01] [-3.27471808e-02 1.34093794e-03 9.99462768e-01 -2.87650403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.371052754 meters Centerline goodness [0,1] 0.9998723458576231 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.35, Z:-0.29 [[ 9.98731909e-01 3.98398964e-02 3.07791523e-02 4.90835232e+00] [-3.97840665e-02 9.99205359e-01 -2.42441290e-03 -3.50588536e-01] [-3.08512823e-02 1.19681868e-03 9.99523269e-01 -2.91787487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.401052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.36, Z:-0.29 [[ 9.98593498e-01 4.46444029e-02 2.85989931e-02 4.93759871e+00] [-4.45979332e-02 9.99002459e-01 -2.26099349e-03 -3.59322289e-01] [-2.86714051e-02 9.82357413e-04 9.99588408e-01 -2.93903964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.431052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.36, Z:-0.29 [[ 9.98497244e-01 4.73156945e-02 2.76491973e-02 4.96930817e+00] [-4.72733561e-02 9.98879604e-01 -2.18329431e-03 -3.63037234e-01] [-2.77215233e-02 8.72943000e-04 9.99615304e-01 -2.93342103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.38, Z:-0.29 [[ 9.98411118e-01 4.93633310e-02 2.71753658e-02 4.99904856e+00] [-4.93230120e-02 9.98780560e-01 -2.15238619e-03 -3.77276574e-01] [-2.72484760e-02 8.08595409e-04 9.99628364e-01 -2.92111192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.38, Z:-0.29 [[ 9.98368459e-01 4.82439794e-02 3.05440351e-02 5.03250675e+00] [-4.81922976e-02 9.98835129e-01 -2.42638234e-03 -3.78590434e-01] [-3.06255136e-02 9.50436372e-04 9.99530477e-01 -2.87591977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.38, Z:-0.29 [[ 9.98357524e-01 4.66694956e-02 3.32296915e-02 5.06393403e+00] [-4.66070724e-02 9.98909782e-01 -2.65107140e-03 -3.83784608e-01] [-3.33171880e-02 1.09797845e-03 9.99444225e-01 -2.86309252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.551052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.39, Z:-0.29 [[ 9.98398089e-01 4.45088766e-02 3.49315858e-02 5.09470409e+00] [-4.44384084e-02 9.99008226e-01 -2.79150833e-03 -3.90733736e-01] [-3.50211885e-02 1.23473250e-03 9.99385807e-01 -2.85495656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.581052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.40, Z:-0.28 [[ 9.98629884e-01 3.96671148e-02 3.41302602e-02 5.12495374e+00] [-3.95967227e-02 9.99211996e-01 -2.73617354e-03 -4.01339648e-01] [-3.42119015e-02 1.38097821e-03 9.99413647e-01 -2.84726839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.41, Z:-0.28 [[ 9.98730005e-01 3.78282072e-02 3.32776641e-02 5.15507289e+00] [-3.77602548e-02 9.99283265e-01 -2.66830179e-03 -4.11456372e-01] [-3.33547499e-02 1.40833999e-03 9.99442583e-01 -2.83762728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.641052754 meters Centerline goodness [0,1] 0.9999780658463293 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.42, Z:-0.28 [[ 9.98731697e-01 3.87892082e-02 3.20997471e-02 5.18609347e+00] [-3.87264656e-02 9.99246533e-01 -2.57426205e-03 -4.16896129e-01] [-3.21754146e-02 1.32788735e-03 9.99481355e-01 -2.84458438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.671052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.42, Z:-0.29 [[ 9.98688408e-01 4.08576598e-02 3.08563639e-02 5.21793652e+00] [-4.08005689e-02 9.99164238e-01 -2.47784600e-03 -4.20093826e-01] [-3.09318143e-02 1.21563888e-03 9.99520758e-01 -2.85865636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.701052754 meters Centerline goodness [0,1] 0.9999779750236768 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.42, Z:-0.29 [[ 9.98590191e-01 4.55530390e-02 2.72497735e-02 5.24921907e+00] [-4.55100465e-02 9.98961467e-01 -2.19615149e-03 -4.23214149e-01] [-2.73215150e-02 9.52916876e-04 9.99626244e-01 -2.88104756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.731052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.43, Z:-0.29 [[ 9.98520452e-01 4.80440060e-02 2.54692249e-02 5.27971376e+00] [-4.80073027e-02 9.98844879e-01 -2.05094061e-03 -4.28889123e-01] [-2.55383403e-02 8.25197360e-04 9.99673503e-01 -2.90187069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.761052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.44, Z:-0.29 [[ 9.98548264e-01 4.98939335e-02 2.02968163e-02 5.31098014e+00] [-4.98709560e-02 9.98754328e-01 -1.63698383e-03 -4.37897979e-01] [-2.03532087e-02 6.22385725e-04 9.99792658e-01 -2.92537840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.791052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.45, Z:-0.30 [[ 9.98598419e-01 4.98476568e-02 1.77878905e-02 5.34117479e+00] [-4.98299391e-02 9.98756682e-01 -1.43816412e-03 -4.46903679e-01] [-1.78374636e-02 5.49778914e-04 9.99840749e-01 -2.95177492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.821052754 meters Centerline goodness [0,1] 0.9999551398515129 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.45, Z:-0.29 [[ 9.98657849e-01 4.92929212e-02 1.58967840e-02 5.37256175e+00] [-4.92786609e-02 9.98784239e-01 -1.28776307e-03 -4.52368381e-01] [-1.59409349e-02 5.02662474e-04 9.99872809e-01 -2.94623548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.47, Z:-0.30 [[ 9.98800194e-01 4.67767494e-02 1.44951131e-02 5.40127713e+00] [-4.67645118e-02 9.98905242e-01 -1.18223732e-03 -4.67328393e-01] [-1.45345457e-02 5.02961980e-04 9.99894241e-01 -2.98980217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.48, Z:-0.30 [[ 9.98892658e-01 4.50056701e-02 1.37093857e-02 5.43303736e+00] [-4.49945798e-02 9.98986607e-01 -1.11648349e-03 -4.75068130e-01] [-1.37457408e-02 4.98399118e-04 9.99905399e-01 -2.99365481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.49, Z:-0.29 [[ 9.99108227e-01 3.99255757e-02 1.37367904e-02 5.46272043e+00] [-3.99139316e-02 9.99202493e-01 -1.12088653e-03 -4.90411806e-01] [-1.37705873e-02 5.71597638e-04 9.99905018e-01 -2.94392102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.941052754 meters Centerline goodness [0,1] 0.9999537486702743 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.50, Z:-0.29 [[ 9.99224574e-01 3.68666205e-02 1.38239912e-02 5.49391439e+00] [-3.68545386e-02 9.99320004e-01 -1.12779938e-03 -4.98167860e-01] [-1.38561691e-02 6.17448038e-04 9.99903808e-01 -2.90727968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.51, Z:-0.29 [[ 9.99317619e-01 3.45338768e-02 1.31037309e-02 5.52329723e+00] [-3.45228101e-02 9.99403337e-01 -1.06987024e-03 -5.12095017e-01] [-1.31328592e-02 6.16762567e-04 9.99913570e-01 -2.91209476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.52, Z:-0.29 [[ 9.99421725e-01 3.17723258e-02 1.21134229e-02 5.55360735e+00] [-3.17626644e-02 9.99494950e-01 -9.89173945e-04 -5.19609582e-01] [-1.21387334e-02 6.03847343e-04 9.99926141e-01 -2.87927994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.031052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.53, Z:-0.29 [[ 9.99405823e-01 3.32260296e-02 9.16689833e-03 5.58440864e+00] [-3.32206134e-02 9.99447767e-01 -7.42522059e-04 -5.27647644e-01] [-9.18650713e-03 4.37550884e-04 9.99957707e-01 -2.90452166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.061052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.53, Z:-0.29 [[ 9.99402811e-01 3.35194948e-02 8.39436434e-03 5.61659013e+00] [-3.35149588e-02 9.99437984e-01 -6.80490517e-04 -5.30748360e-01] [-8.41245627e-03 3.98747361e-04 9.99964535e-01 -2.90791483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.091052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.54, Z:-0.29 [[ 9.99410003e-01 3.33587506e-02 8.17559992e-03 5.64703983e+00] [-3.33544237e-02 9.99443365e-01 -6.65059746e-04 -5.38277408e-01] [-8.19323466e-03 3.91974938e-04 9.99966358e-01 -2.92860315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.121052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.55, Z:-0.29 [[ 9.99442319e-01 3.25298159e-02 7.54068947e-03 5.67718741e+00] [-3.25260593e-02 9.99470695e-01 -6.20317925e-04 -5.47226953e-01] [-7.55687698e-03 3.74703073e-04 9.99971376e-01 -2.93395644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.151052753999998 meters Centerline goodness [0,1] 0.9999282056191069 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.55, Z:-0.29 [[ 9.99408412e-01 3.38324202e-02 6.18001249e-03 5.70917351e+00] [-3.38299636e-02 9.99427477e-01 -5.01635459e-04 -5.48138439e-01] [-6.19344583e-03 2.92269100e-04 9.99980778e-01 -2.92864206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.181052754 meters Centerline goodness [0,1] 0.9998796572638875 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.56, Z:-0.30 [[ 9.99286702e-01 3.75904103e-02 3.61214184e-03 5.73923353e+00] [-3.75896040e-02 9.99293219e-01 -2.90872307e-04 -5.56618014e-01] [-3.62052286e-03 1.54885848e-04 9.99993434e-01 -2.97147248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.211052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.56, Z:-0.30 [[ 9.99187803e-01 4.02615708e-02 1.65531534e-03 5.77116844e+00] [-4.02614130e-02 9.99189172e-01 -1.28529380e-04 -5.57038530e-01] [-1.65914796e-03 6.17796538e-05 9.99998622e-01 -2.97390738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.241052753999998 meters Centerline goodness [0,1] 0.9998784490093594 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.56, Z:-0.30 [[ 9.99021384e-01 4.40885069e-02 -3.53242908e-03 5.80112836e+00] [-4.40877387e-02 9.99027619e-01 2.95080233e-04 -5.64205036e-01] [ 3.54200386e-03 -1.39054652e-04 9.99993717e-01 -3.02897116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.57, Z:-0.31 [[ 9.98911786e-01 4.64460953e-02 -4.24319854e-03 5.83151101e+00] [-4.64449758e-02 9.98920784e-01 3.62046948e-04 -5.71519179e-01] [ 4.25543489e-03 -1.64577710e-04 9.99990932e-01 -3.06269343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.301052753999999 meters Centerline goodness [0,1] 0.9992872766595394 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.58, Z:-0.30 [[ 9.98730178e-01 5.01509384e-02 -4.78685704e-03 5.86255609e+00] [-5.01495938e-02 9.98741637e-01 4.00577784e-04 -5.75692732e-01] [ 4.80092279e-03 -1.60010185e-04 9.99988463e-01 -3.04174958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.331052754 meters Centerline goodness [0,1] 0.999506258177599 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.58, Z:-0.30 [[ 9.98625148e-01 5.21229980e-02 -5.56842642e-03 5.89469263e+00] [-5.21211594e-02 9.98640656e-01 4.74889768e-04 -5.79002312e-01] [ 5.58560969e-03 -1.84004024e-04 9.99984383e-01 -3.04633113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.361052754 meters Centerline goodness [0,1] 0.9995289450849139 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.59, Z:-0.30 [[ 9.98543436e-01 5.36852452e-02 -5.37590631e-03 5.92669858e+00] [-5.36835452e-02 9.98557893e-01 4.60123373e-04 -5.85881358e-01] [ 5.39285551e-03 -1.70855464e-04 9.99985444e-01 -3.04158279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.391052753999999 meters Centerline goodness [0,1] 0.9995048647042805 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.59, Z:-0.30 [[ 9.98433075e-01 5.58292158e-02 -3.80704250e-03 5.95685244e+00] [-5.58284009e-02 9.98440327e-01 3.20079999e-04 -5.90085907e-01] [ 3.81897457e-03 -1.07037363e-04 9.99992702e-01 -3.04904727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.421052754 meters Centerline goodness [0,1] 0.9996271253853037 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.59, Z:-0.30 [[ 9.98179022e-01 6.02554527e-02 -2.81448282e-03 5.98730051e+00] [-6.02550262e-02 9.98182987e-01 2.36146238e-04 -5.91873500e-01] [ 2.82359797e-03 -6.61294850e-05 9.99996011e-01 -3.01240480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.451052754 meters Centerline goodness [0,1] 0.9996771309358236 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.59, Z:-0.30 [[ 9.98006245e-01 6.30767852e-02 -2.20338709e-03 6.01905576e+00] [-6.30765095e-02 9.98008675e-01 1.94442553e-04 -5.92877136e-01] [ 2.21126425e-03 -5.50729153e-05 9.99997554e-01 -3.00577743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.481052753999998 meters Centerline goodness [0,1] 0.9996278654361417 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.59, Z:-0.30 [[ 9.97865573e-01 6.52316077e-02 -3.02236279e-03 6.05181217e+00] [-6.52311027e-02 9.97870148e-01 2.65474773e-04 -5.93653152e-01] [ 3.03324295e-03 -6.77560792e-05 9.99995397e-01 -3.02414386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.511052754 meters Centerline goodness [0,1] 0.9995529283195073 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.60, Z:-0.31 [[ 9.97907825e-01 6.45562680e-02 -3.53015661e-03 6.08233105e+00] [-6.45555991e-02 9.97914066e-01 3.03224993e-04 -5.96267684e-01] [ 3.54236801e-03 -7.46992181e-05 9.99993723e-01 -3.05937956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.541052753999999 meters Centerline goodness [0,1] 0.9994060582062958 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.60, Z:-0.31 [[ 9.98008795e-01 6.30664883e-02 -1.03107657e-03 6.11422880e+00] [-6.30664223e-02 9.98009327e-01 9.63905509e-05 -5.97412413e-01] [ 1.03510305e-03 -3.11723072e-05 9.99999464e-01 -3.07907759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.571052753999998 meters Centerline goodness [0,1] 0.999381126844242 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.60, Z:-0.31 [[ 9.98207231e-01 5.98328101e-02 1.53599720e-03 6.14531803e+00] [-5.98326929e-02 9.98208412e-01 -1.22179947e-04 -6.02186806e-01] [-1.54055569e-03 3.00580578e-05 9.99998813e-01 -3.09348914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.601052754 meters Centerline goodness [0,1] 0.999381126844242 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.61, Z:-0.31 [[ 9.98191865e-01 6.00886148e-02 1.53610113e-03 6.17757834e+00] [-6.00884998e-02 9.98193046e-01 -1.20971370e-04 -6.05017931e-01] [-1.54059447e-03 2.84506251e-05 9.99998813e-01 -3.10609767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.631052753999999 meters Centerline goodness [0,1] 0.9992320840248705 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.61, Z:-0.31 [[ 9.98287511e-01 5.84768106e-02 1.58392760e-03 6.21005662e+00] [-5.84766838e-02 9.98288767e-01 -1.26325218e-04 -6.06484361e-01] [-1.58860423e-03 3.34860539e-05 9.99998738e-01 -3.07803278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.661052754 meters Centerline goodness [0,1] 0.9992811461999901 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.61, Z:-0.31 [[ 9.98335326e-01 5.76724028e-02 6.86372943e-04 6.24193860e+00] [-5.76723821e-02 9.98335562e-01 -4.98490586e-05 -6.10620009e-01] [-6.88105433e-04 1.01813135e-05 9.99999763e-01 -3.09596263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.691052754 meters Centerline goodness [0,1] 0.9991084253801575 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.62, Z:-0.31 [[ 9.98527203e-01 5.42354245e-02 -1.39448360e-03 6.27203570e+00] [-5.42353095e-02 9.98528175e-01 1.20178195e-04 -6.15117992e-01] [ 1.39894908e-03 -4.43709474e-05 9.99999020e-01 -3.13234669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.721052753999999 meters Centerline goodness [0,1] 0.9992557493363765 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.62, Z:-0.32 [[ 9.98873388e-01 4.74138269e-02 -1.97058799e-03 6.30115852e+00] [-4.74135842e-02 9.98875329e-01 1.69726489e-04 -6.21133869e-01] [ 1.97641911e-03 -7.61026334e-05 9.99998044e-01 -3.18173223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.751052754 meters Centerline goodness [0,1] 0.9990338403606996 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.62, Z:-0.32 [[ 9.99047074e-01 4.36197437e-02 -1.50404765e-03 6.33193211e+00] [-4.36195979e-02 9.99048204e-01 1.29619462e-04 -6.24287133e-01] [ 1.50827007e-03 -6.38899903e-05 9.99998861e-01 -3.18440736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.781052754 meters Centerline goodness [0,1] 0.9991337276934881 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.63, Z:-0.32 [[ 9.99211227e-01 3.97085778e-02 -3.90820383e-04 6.36246646e+00] [-3.97085675e-02 9.99211303e-01 3.41577862e-05 -6.28730742e-01] [ 3.91868501e-04 -1.86119259e-05 9.99999923e-01 -3.18907438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.811052753999999 meters Centerline goodness [0,1] 0.9990581470282061 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.63, Z:-0.32 [[ 9.99357962e-01 3.58142814e-02 -1.00097041e-03 6.39206066e+00] [-3.58142118e-02 9.99358462e-01 8.73892768e-05 -6.34791873e-01] [ 1.00345803e-03 -5.14842033e-05 9.99999495e-01 -3.21638722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.841052754 meters Centerline goodness [0,1] 0.9988847860028252 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.63, Z:-0.32 [[ 9.99370580e-01 3.53708551e-02 -2.71058566e-03 6.42393703e+00] [-3.53703415e-02 9.99374246e-01 2.37216684e-04 -6.32635930e-01] [ 2.71728006e-03 -1.41193034e-04 9.99996298e-01 -3.19801688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.871052753999999 meters Centerline goodness [0,1] 0.9988618932158939 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.64, Z:-0.32 [[ 9.99396065e-01 3.43226942e-02 -5.42744043e-03 6.45336640e+00] [-3.43206502e-02 9.99410763e-01 4.69308904e-04 -6.37639062e-01] [ 5.44035032e-03 -2.82752187e-04 9.99985161e-01 -3.24422171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.901052753999998 meters Centerline goodness [0,1] 0.9989361965315059 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.64, Z:-0.32 [[ 9.99405873e-01 3.41268072e-02 -4.82307666e-03 6.48621102e+00] [-3.41251450e-02 9.99417477e-01 4.26534245e-04 -6.35455740e-01] [ 4.83482336e-03 -2.61692639e-04 9.99988278e-01 -3.22719485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.931052754 meters Centerline goodness [0,1] 0.9989641650430364 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.64, Z:-0.33 [[ 9.99411332e-01 3.41219639e-02 -3.56095094e-03 6.51690779e+00] [-3.41210651e-02 9.99417658e-01 3.12875139e-04 -6.37454169e-01] [ 3.56955317e-03 -1.91187520e-04 9.99993611e-01 -3.25835696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.961052753999999 meters Centerline goodness [0,1] 0.9989453287876187 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.63, Z:-0.33 [[ 9.99307506e-01 3.72044480e-02 -5.80470635e-04 6.54790729e+00] [-3.72044251e-02 9.99307674e-01 5.01898618e-05 -6.34679338e-01] [ 5.81936047e-04 -2.85590294e-05 9.99999830e-01 -3.26353601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.991052753999998 meters Centerline goodness [0,1] 0.9989729042355473 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.64, Z:-0.32 [[ 9.99108410e-01 4.20943861e-02 3.23242031e-03 6.57747515e+00] [-4.20937003e-02 9.99113628e-01 -2.79924777e-04 -6.35169643e-01] [-3.24133845e-03 1.43610666e-04 9.99994737e-01 -3.23825232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.021052754 meters Centerline goodness [0,1] 0.9992683819046457 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.63, Z:-0.32 [[ 9.98994199e-01 4.45059978e-02 5.45948423e-03 6.60850551e+00] [-4.45040839e-02 9.99009091e-01 -4.71603790e-04 -6.33438580e-01] [-5.47506358e-03 2.28160106e-04 9.99984986e-01 -3.19667240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.051052753999999 meters Centerline goodness [0,1] 0.9989788972089857 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.63, Z:-0.32 [[ 9.98754927e-01 4.91723227e-02 8.40704360e-03 6.63856811e+00] [-4.91679457e-02 9.98790261e-01 -7.26658069e-04 -6.33760549e-01] [-8.43260474e-03 3.12396263e-04 9.99964396e-01 -3.20135344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.081052754 meters Centerline goodness [0,1] 0.9991985817325206 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.63, Z:-0.32 [[ 9.98636728e-01 5.13476321e-02 9.38645087e-03 6.67007783e+00] [-5.13422872e-02 9.98680787e-01 -8.09674372e-04 -6.32956779e-01] [-9.41564300e-03 3.26648710e-04 9.99955618e-01 -3.20887199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.111052754 meters Centerline goodness [0,1] 0.9989583837992345 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.64, Z:-0.33 [[ 9.98606915e-01 5.17972692e-02 1.00634463e-02 6.70071353e+00] [-5.17911982e-02 9.98657562e-01 -8.63119566e-04 -6.36310546e-01] [-1.00946440e-02 3.40719227e-04 9.99948990e-01 -3.27112884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.141052753999999 meters Centerline goodness [0,1] 0.9991020071354028 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.64, Z:-0.33 [[ 9.98660753e-01 5.04228647e-02 1.15859616e-02 6.73154938e+00] [-5.04146774e-02 9.98727873e-01 -9.97820286e-04 -6.40634883e-01] [-1.16215357e-02 4.12381443e-04 9.99932383e-01 -3.30812805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.171052754 meters Centerline goodness [0,1] 0.9991789026275116 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.64, Z:-0.33 [[ 9.98632029e-01 5.06908774e-02 1.28260046e-02 6.76405648e+00] [-5.06808263e-02 9.98714287e-01 -1.10767254e-03 -6.40918309e-01] [-1.28656630e-02 4.56124767e-04 9.99917130e-01 -3.31068617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.201052754 meters Centerline goodness [0,1] 0.999106668598194 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.64, Z:-0.33 [[ 9.98490464e-01 5.26669685e-02 1.55879326e-02 6.79472802e+00] [-5.26521994e-02 9.98611989e-01 -1.35663645e-03 -6.41461101e-01] [-1.56377463e-02 5.33849628e-04 9.99877580e-01 -3.33333206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.231052753999998 meters Centerline goodness [0,1] 0.9992978718252912 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.64, Z:-0.33 [[ 9.98408512e-01 5.38736709e-02 1.66754748e-02 6.82722773e+00] [-5.38570030e-02 9.98547609e-01 -1.44734126e-03 -6.41790548e-01] [-1.67292290e-02 5.46946742e-04 9.99859907e-01 -3.32935088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.261052754 meters Centerline goodness [0,1] 0.9993211133740665 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.65, Z:-0.33 [[ 9.98354079e-01 5.44377525e-02 1.80461446e-02 6.85922061e+00] [-5.44182298e-02 9.98516994e-01 -1.57148571e-03 -6.46813667e-01] [-1.81049302e-02 5.86859924e-04 9.99835920e-01 -3.33322558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.291052753999999 meters Centerline goodness [0,1] 0.9992496853519218 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.65, Z:-0.34 [[ 9.98331199e-01 5.49533254e-02 1.77468106e-02 6.88980541e+00] [-5.49344116e-02 9.98488759e-01 -1.55186701e-03 -6.52723506e-01] [-1.78052711e-02 5.74366658e-04 9.99841309e-01 -3.36489587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.321052753999998 meters Centerline goodness [0,1] 0.9990769978139422 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.65, Z:-0.34 [[ 9.98267484e-01 5.60858040e-02 1.77880037e-02 6.92235708e+00] [-5.60669788e-02 9.98425798e-01 -1.55563947e-03 -6.52960651e-01] [-1.78472511e-02 5.55624672e-04 9.99840571e-01 -3.37774444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.351052754 meters Centerline goodness [0,1] 0.9992233198223344 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.66, Z:-0.34 [[ 9.98043105e-01 5.94818151e-02 1.92840193e-02 6.95208725e+00] [-5.94601627e-02 9.98229241e-01 -1.69475821e-03 -6.56741048e-01] [-1.93506792e-02 5.44810823e-04 9.99812610e-01 -3.42802097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.381052753999999 meters Centerline goodness [0,1] 0.9992483026188167 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.66, Z:-0.34 [[ 9.97899361e-01 6.14012706e-02 2.06578878e-02 6.98433695e+00] [-6.13768317e-02 9.98113014e-01 -1.81558397e-03 -6.58712239e-01] [-2.07303858e-02 5.43854377e-04 9.99784955e-01 -3.44036789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.411052753999998 meters Centerline goodness [0,1] 0.9995392710783482 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.66, Z:-0.35 [[ 9.97864316e-01 6.14290533e-02 2.22098771e-02 7.01457444e+00] [-6.14006712e-02 9.98111278e-01 -1.95823637e-03 -6.64056845e-01] [-2.22882214e-02 5.90352831e-04 9.99751412e-01 -3.46134121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.441052754 meters Centerline goodness [0,1] 0.9993691464065608 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.67, Z:-0.35 [[ 9.97976211e-01 5.91748090e-02 2.32771320e-02 7.04616691e+00] [-5.91428964e-02 9.98247406e-01 -2.05763952e-03 -6.70153928e-01] [-2.33580971e-02 6.76798282e-04 9.99726933e-01 -3.47094481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.471052753999999 meters Centerline goodness [0,1] 0.999317156444336 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.68, Z:-0.34 [[ 9.98290479e-01 5.09942216e-02 2.85606283e-02 7.07599558e+00] [-5.09425151e-02 9.98698368e-01 -2.53559381e-03 -6.81527436e-01] [-2.86527535e-02 1.07630892e-03 9.99588846e-01 -3.44489081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.501052754 meters Centerline goodness [0,1] 0.9994138048947291 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.68, Z:-0.34 [[ 9.98321577e-01 4.65665949e-02 3.44322753e-02 7.10662761e+00] [-4.64887786e-02 9.98914133e-01 -3.05756770e-03 -6.83461003e-01] [-3.45372669e-02 1.45172138e-03 9.99402356e-01 -3.43666279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.531052754 meters Centerline goodness [0,1] 0.9995593635250918 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.69, Z:-0.35 [[ 9.98268295e-01 4.59388982e-02 3.67427434e-02 7.13763340e+00] [-4.58498472e-02 9.98943013e-01 -3.26302802e-03 -6.86007743e-01] [-3.68538067e-02 1.57272825e-03 9.99319430e-01 -3.45934439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.561052753999999 meters Centerline goodness [0,1] 0.999341286686672 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.69, Z:-0.35 [[ 9.98403100e-01 4.28895568e-02 3.67659530e-02 7.16890405e+00] [-4.27980178e-02 9.99078382e-01 -3.27355312e-03 -6.89252292e-01] [-3.68724701e-02 1.69481567e-03 9.99318542e-01 -3.47018925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.591052754 meters Centerline goodness [0,1] 0.9994664467780661 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.69, Z:-0.35 [[ 9.98432552e-01 4.22045169e-02 3.67589205e-02 7.19958480e+00] [-4.21125166e-02 9.99107511e-01 -3.27382920e-03 -6.93034513e-01] [-3.68642840e-02 1.72068699e-03 9.99318800e-01 -3.48160715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.621052753999999 meters Centerline goodness [0,1] 0.9993227881778165 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.69, Z:-0.35 [[ 9.98379554e-01 4.30556278e-02 3.72085809e-02 7.23179964e+00] [-4.29616451e-02 9.99071199e-01 -3.32207148e-03 -6.89123501e-01] [-3.73170554e-02 1.71814640e-03 9.99301999e-01 -3.51635916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.651052753999998 meters Centerline goodness [0,1] 0.9994458765991279 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.69, Z:-0.36 [[ 9.98351909e-01 4.47748691e-02 3.58981558e-02 7.26291369e+00] [-4.46882020e-02 9.98995815e-01 -3.21339999e-03 -6.90735625e-01] [-3.60059870e-02 1.60387997e-03 9.99350287e-01 -3.55617035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.681052754 meters Centerline goodness [0,1] 0.9994456094680261 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.69, Z:-0.36 [[ 9.98196066e-01 4.82350426e-02 3.57490369e-02 7.29520321e+00] [-4.81510084e-02 9.98834915e-01 -3.20840649e-03 -6.88302694e-01] [-3.58621439e-02 1.48126656e-03 9.99355649e-01 -3.58335542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.711052753999999 meters Centerline goodness [0,1] 0.9994255762188554 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.68, Z:-0.36 [[ 9.97792535e-01 5.79046381e-02 3.25132391e-02 7.32642686e+00] [-5.78401985e-02 9.98321585e-01 -2.91978760e-03 -6.81790855e-01] [-3.26277376e-02 1.03277007e-03 9.99467040e-01 -3.62939768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.741052753999998 meters Centerline goodness [0,1] 0.9996413713957826 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.68, Z:-0.37 [[ 9.97319650e-01 6.59972833e-02 3.15891450e-02 7.35729846e+00] [-6.59405091e-02 9.97819524e-01 -2.83680506e-03 -6.76999694e-01] [-3.17074870e-02 7.46197122e-04 9.99496913e-01 -3.66472466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.771052754 meters Centerline goodness [0,1] 0.9995228893819031 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.68, Z:-0.37 [[ 9.97143557e-01 6.81788055e-02 3.25019465e-02 7.38949350e+00] [-6.81199061e-02 9.97672876e-01 -2.91734657e-03 -6.78513045e-01] [-3.26252116e-02 6.94983789e-04 9.99467414e-01 -3.66959531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.801052753999999 meters Centerline goodness [0,1] 0.9996424570352538 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.68, Z:-0.37 [[ 9.97016017e-01 6.92909938e-02 3.40267582e-02 7.42094020e+00] [-6.92267958e-02 9.97596247e-01 -3.06262240e-03 -6.80912989e-01] [-3.41571785e-02 6.97920141e-04 9.99416230e-01 -3.66962242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.831052754 meters Centerline goodness [0,1] 0.9995936611133686 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.68, Z:-0.37 [[ 9.96983461e-01 6.79568553e-02 3.74945803e-02 7.45308593e+00] [-6.78775928e-02 9.97687916e-01 -3.38438177e-03 -6.83899588e-01] [-3.76378817e-02 8.29130795e-04 9.99291100e-01 -3.66555587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.861052754 meters Centerline goodness [0,1] 0.9998084153555092 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.69, Z:-0.37 [[ 9.97274943e-01 6.14299918e-02 4.08539391e-02 7.48301902e+00] [-6.13300039e-02 9.98110695e-01 -3.69745685e-03 -6.91740482e-01] [-4.10038883e-02 1.18180882e-03 9.99158288e-01 -3.66978371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.891052753999999 meters Centerline goodness [0,1] 0.9998075998075998 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.70, Z:-0.37 [[ 9.97479235e-01 5.74087916e-02 4.17062018e-02 7.51352661e+00] [-5.73010080e-02 9.98349806e-01 -3.77618381e-03 -6.97551224e-01] [-4.18541646e-02 1.37685754e-03 9.99122782e-01 -3.67053789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.921052754 meters Centerline goodness [0,1] 0.9998308034419414 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.71, Z:-0.37 [[ 9.97890905e-01 4.94847540e-02 4.20119045e-02 7.54264640e+00] [-4.93683388e-02 9.98773394e-01 -3.80462101e-03 -7.08871124e-01] [-4.21486432e-02 1.72253876e-03 9.99109866e-01 -3.66524024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.951052754 meters Centerline goodness [0,1] 0.9996848179217379 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.72, Z:-0.37 [[ 9.98030978e-01 4.62497543e-02 4.23689466e-02 7.57184654e+00] [-4.61283881e-02 9.98928146e-01 -3.83821289e-03 -7.16805221e-01] [-4.25010497e-02 1.87624415e-03 9.99094660e-01 -3.66832547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.981052753999998 meters Centerline goodness [0,1] 0.9998786260468503 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.72, Z:-0.37 [[ 9.98161111e-01 4.31776565e-02 4.25451009e-02 7.60256520e+00] [-4.30524914e-02 9.99065377e-01 -3.85423833e-03 -7.16743405e-01] [-4.26717543e-02 2.01547822e-03 9.99087113e-01 -3.69111768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.011052754 meters Centerline goodness [0,1] 0.9999271278663039 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.72, Z:-0.37 [[ 9.98200825e-01 4.30276797e-02 4.17580158e-02 7.63465573e+00] [-4.29069162e-02 9.99071907e-01 -3.78434807e-03 -7.19448297e-01] [-4.18820922e-02 1.98583168e-03 9.99120587e-01 -3.71728909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.041052753999999 meters Centerline goodness [0,1] 0.999757293335275 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.73, Z:-0.37 [[ 9.98176449e-01 4.35348340e-02 4.18150176e-02 7.66479059e+00] [-4.34137612e-02 9.99049953e-01 -3.79958956e-03 -7.29871410e-01] [-4.19407058e-02 1.97731363e-03 9.99118145e-01 -3.73848486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.071052753999998 meters Centerline goodness [0,1] 0.9999756968916325 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.73, Z:-0.37 [[ 9.98055692e-01 4.47252498e-02 4.34106921e-02 7.69637311e+00] [-4.45954376e-02 9.98997301e-01 -3.95463623e-03 -7.31604782e-01] [-4.35440363e-02 2.01102839e-03 9.99049485e-01 -3.74947272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.101052754 meters Centerline goodness [0,1] 0.999878525788975 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.73, Z:-0.38 [[ 9.97841834e-01 4.82237841e-02 4.45661394e-02 7.72870303e+00] [-4.80900186e-02 9.98834716e-01 -4.06939684e-03 -7.29055333e-01] [-4.47104489e-02 1.91742793e-03 9.98998148e-01 -3.75134442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.131052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.73, Z:-0.38 [[ 9.97504836e-01 5.55434607e-02 4.35778129e-02 7.75937532e+00] [-5.54224093e-02 9.98455057e-01 -3.98202255e-03 -7.29075704e-01] [-4.37316630e-02 1.55689937e-03 9.99042100e-01 -3.76342750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.161052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.73, Z:-0.38 [[ 9.97254015e-01 6.02492541e-02 4.30634164e-02 7.78870188e+00] [-6.01354053e-02 9.98182471e-01 -3.93547531e-03 -7.30153908e-01] [-4.32222568e-02 1.33503256e-03 9.99064590e-01 -3.78160738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.191052754 meters Centerline goodness [0,1] 0.9999757487571238 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.73, Z:-0.38 [[ 9.97022093e-01 6.44025386e-02 4.24176705e-02 7.82035227e+00] [-6.42957228e-02 9.97923350e-01 -3.87906455e-03 -7.28660657e-01] [-4.25794054e-02 1.14023827e-03 9.99092435e-01 -3.80980287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.221052753999999 meters Centerline goodness [0,1] 0.9999273114944757 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.73, Z:-0.39 [[ 9.96590969e-01 7.09109560e-02 4.21672528e-02 7.85106842e+00] [-7.08111534e-02 9.97482280e-01 -3.85764037e-03 -7.30192236e-01] [-4.23346364e-02 8.58577752e-04 9.99103119e-01 -3.85616161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.73, Z:-0.39 [[ 9.96406754e-01 7.32967276e-02 4.24402050e-02 7.88337904e+00] [-7.31976945e-02 9.97309884e-01 -3.88484934e-03 -7.30833942e-01] [-4.26107827e-02 7.64364961e-04 9.99091456e-01 -3.88833112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.281052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.73, Z:-0.39 [[ 9.96201128e-01 7.53529104e-02 4.36491853e-02 7.91573018e+00] [-7.52496641e-02 9.97156678e-01 -4.00597492e-03 -7.32701586e-01] [-4.38269385e-02 7.06170207e-04 9.99038889e-01 -3.91824132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.311052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.74, Z:-0.39 [[ 9.96338165e-01 7.23515378e-02 4.55578380e-02 7.94759091e+00] [-7.22354054e-02 9.97378799e-01 -4.19244422e-03 -7.40901162e-01] [-4.57417515e-02 8.86203287e-04 9.98952905e-01 -3.89985275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.341052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.75, Z:-0.39 [[ 9.96439058e-01 6.99045405e-02 4.71440144e-02 7.97847268e+00] [-6.97768826e-02 9.97553138e-01 -4.35012849e-03 -7.49112449e-01] [-4.73327533e-02 1.04507558e-03 9.98878630e-01 -3.88750766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.371052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.75, Z:-0.39 [[ 9.96590971e-01 6.73105807e-02 4.77045288e-02 8.00990562e+00] [-6.71763748e-02 9.97731358e-01 -4.41275761e-03 -7.51686522e-01] [-4.78933296e-02 1.19309709e-03 9.98851744e-01 -3.90592005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.401052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.76, Z:-0.39 [[ 9.96935621e-01 6.21947109e-02 4.74466551e-02 8.03967079e+00] [-6.20557338e-02 9.98062996e-01 -4.39794843e-03 -7.58822930e-01] [-4.76282799e-02 1.44013445e-03 9.98864091e-01 -3.93555157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.431052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.76, Z:-0.40 [[ 9.97043651e-01 6.09483432e-02 4.67894925e-02 8.07124130e+00] [-6.08116964e-02 9.98139822e-01 -4.33970562e-03 -7.62884326e-01] [-4.69669536e-02 1.48152752e-03 9.98895345e-01 -3.96799111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.461052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.77, Z:-0.40 [[ 9.97159702e-01 5.96599710e-02 4.59697375e-02 8.10169795e+00] [-5.95262026e-02 9.98217591e-01 -4.27459643e-03 -7.69131524e-01] [-4.61428229e-02 1.52605140e-03 9.98933687e-01 -3.99014121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.491052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.77, Z:-0.40 [[ 9.97143315e-01 5.99339891e-02 4.59687446e-02 8.13391543e+00] [-5.98000209e-02 9.98201179e-01 -4.28524948e-03 -7.72192432e-01] [-4.61428871e-02 1.52407599e-03 9.98933687e-01 -4.00274245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.78, Z:-0.40 [[ 9.97069073e-01 6.15081492e-02 4.54973789e-02 8.16489152e+00] [-6.13780253e-02 9.98105531e-01 -4.25284013e-03 -7.76954815e-01] [-4.56727699e-02 1.44783608e-03 9.98955405e-01 -4.00990146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.551052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.78, Z:-0.40 [[ 9.97009276e-01 6.28877308e-02 4.49181194e-02 8.19697312e+00] [-6.27619943e-02 9.98019662e-01 -4.20546146e-03 -7.79170307e-01] [-4.50936383e-02 1.37373333e-03 9.98981820e-01 -4.02166413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.581052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.78, Z:-0.41 [[ 9.96874688e-01 6.51676084e-02 4.46546631e-02 8.22787883e+00] [-6.50451780e-02 9.97873520e-01 -4.19081102e-03 -7.80794629e-01] [-4.48328110e-02 1.27314293e-03 9.98993693e-01 -4.05000298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.78, Z:-0.41 [[ 9.96910615e-01 6.55502602e-02 4.32711048e-02 8.25958412e+00] [-6.54353942e-02 9.97848519e-01 -4.06717156e-03 -7.84326378e-01] [-4.34446120e-02 1.22314470e-03 9.99055088e-01 -4.08837265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.641052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.79, Z:-0.41 [[ 9.96948440e-01 6.54406205e-02 4.25597639e-02 8.29170944e+00] [-6.53289739e-02 9.97855722e-01 -4.01033639e-03 -7.87956561e-01] [-4.27309428e-02 1.21771290e-03 9.99085874e-01 -4.11326303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.671052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.79, Z:-0.41 [[ 9.96962758e-01 6.53262679e-02 4.23997367e-02 8.32387738e+00] [-6.52148886e-02 9.97863201e-01 -4.00624150e-03 -7.91446989e-01] [-4.25708498e-02 1.22897948e-03 9.99092695e-01 -4.13496613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.701052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.80, Z:-0.41 [[ 9.96970647e-01 6.38162715e-02 4.44636180e-02 8.35498565e+00] [-6.36919172e-02 9.97960731e-01 -4.20930789e-03 -7.95829318e-01] [-4.46415670e-02 1.36458333e-03 9.99002136e-01 -4.14029953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.731052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.80, Z:-0.41 [[ 9.97000076e-01 6.23526490e-02 4.58584271e-02 8.38726963e+00] [-6.22183416e-02 9.98053075e-01 -4.35169181e-03 -7.97835648e-01] [-4.60404837e-02 1.48540179e-03 9.98938470e-01 -4.14101888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.761052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.81, Z:-0.41 [[ 9.97194407e-01 5.80148568e-02 4.73031904e-02 8.41707558e+00] [-5.78666068e-02 9.98314188e-01 -4.49859668e-03 -8.05726754e-01] [-4.74844316e-02 1.74870032e-03 9.98870447e-01 -4.11688538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.791052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.81, Z:-0.41 [[ 9.97413361e-01 5.32234274e-02 4.83099724e-02 8.44684614e+00] [-5.30631433e-02 9.98580586e-01 -4.59518488e-03 -8.12700113e-01] [-4.84859720e-02 2.01981981e-03 9.98821821e-01 -4.12051448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.821052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.82, Z:-0.41 [[ 9.97505639e-01 5.09387964e-02 4.88644906e-02 8.47890632e+00] [-5.07720065e-02 9.98699448e-01 -4.64928860e-03 -8.15752878e-01] [-4.90377690e-02 2.15674336e-03 9.98794596e-01 -4.14577744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.82, Z:-0.42 [[ 9.97716680e-01 4.57925705e-02 4.96433956e-02 8.50803825e+00] [-4.56139335e-02 9.98947964e-01 -4.72596145e-03 -8.21088840e-01] [-4.98075829e-02 2.45074002e-03 9.98755825e-01 -4.17245994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.881052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.82, Z:-0.42 [[ 9.97779165e-01 4.39860964e-02 5.00196139e-02 8.54028324e+00] [-4.38024519e-02 9.99028862e-01 -4.76225171e-03 -8.21717886e-01] [-5.01805107e-02 2.56069381e-03 9.98736882e-01 -4.19759992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.911052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.82, Z:-0.42 [[ 9.97886275e-01 4.11128839e-02 5.03260608e-02 8.57115493e+00] [-4.09231953e-02 9.99150793e-01 -4.79424823e-03 -8.22433513e-01] [-5.04804289e-02 2.72461130e-03 9.98721334e-01 -4.20239404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.941052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.83, Z:-0.42 [[ 9.97908193e-01 4.09430520e-02 5.00290321e-02 8.60342863e+00] [-4.07552143e-02 9.99157778e-01 -4.76936277e-03 -8.25034804e-01] [-5.01821688e-02 2.72044227e-03 9.98736376e-01 -4.21237790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.971052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.82, Z:-0.43 [[ 9.97907601e-01 4.34565464e-02 4.78742892e-02 8.63344212e+00] [-4.32870119e-02 9.99052213e-01 -4.57282141e-03 -8.24505914e-01] [-4.80276336e-02 2.49091831e-03 9.98842901e-01 -4.25163193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.82, Z:-0.43 [[ 9.97810414e-01 4.60630715e-02 4.74612649e-02 8.66374732e+00] [-4.58993843e-02 9.98935781e-01 -4.53352167e-03 -8.24816037e-01] [-4.76195836e-02 2.34515230e-03 9.98862791e-01 -4.27867038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.031052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.82, Z:-0.43 [[ 9.97448185e-01 5.41113684e-02 4.65733521e-02 8.69485664e+00] [-5.39624711e-02 9.98533052e-01 -4.44934586e-03 -8.20133961e-01] [-4.67457916e-02 1.92477878e-03 9.98904964e-01 -4.30638421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.061052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.82, Z:-0.43 [[ 9.97156192e-01 5.93996607e-02 4.63811231e-02 8.72498163e+00] [-5.92576998e-02 9.98232885e-01 -4.43094762e-03 -8.21246685e-01] [-4.65623591e-02 1.66990819e-03 9.98913989e-01 -4.31469570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.091052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.82, Z:-0.43 [[ 9.96861100e-01 6.41559362e-02 4.63892567e-02 8.75593183e+00] [-6.40190653e-02 9.97938835e-01 -4.43172465e-03 -8.17913686e-01] [-4.65779623e-02 1.44801706e-03 9.98913608e-01 -4.32642784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.121052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.82, Z:-0.43 [[ 9.96163694e-01 7.22095187e-02 4.94335963e-02 8.78661318e+00] [-7.20639737e-02 9.97388831e-01 -4.72256085e-03 -8.15328878e-01] [-4.96455307e-02 1.14206227e-03 9.98766247e-01 -4.31787260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.151052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.82, Z:-0.43 [[ 9.95818627e-01 7.56089786e-02 5.12693380e-02 8.81739029e+00] [-7.54567705e-02 9.97137031e-01 -4.90068563e-03 -8.16728651e-01] [-5.14930914e-02 1.01157536e-03 9.98672838e-01 -4.31856660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.181052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.82, Z:-0.43 [[ 9.95410312e-01 7.95742399e-02 5.31624921e-02 8.84979222e+00] [-7.94155757e-02 9.96828581e-01 -5.09369725e-03 -8.19377045e-01] [-5.33992187e-02 8.48388849e-04 9.98572884e-01 -4.30965948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.211052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.82, Z:-0.43 [[ 9.95358723e-01 8.07373633e-02 5.23687878e-02 8.88141033e+00] [-8.05843794e-02 9.96735100e-01 -5.02969316e-03 -8.23539353e-01] [-5.26038932e-02 7.86242698e-04 9.98615147e-01 -4.34315627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.241052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.83, Z:-0.44 [[ 9.95423584e-01 8.05618096e-02 5.13973093e-02 8.91395326e+00] [-8.04135810e-02 9.96749299e-01 -4.94874544e-03 -8.28333899e-01] [-5.16289119e-02 7.93056226e-04 9.98666024e-01 -4.37234491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.83, Z:-0.44 [[ 9.95463457e-01 8.03490491e-02 5.09562088e-02 8.94631438e+00] [-8.02023738e-02 9.96766458e-01 -4.92000461e-03 -8.32413427e-01] [-5.11867575e-02 8.10875898e-04 9.98688770e-01 -4.39946518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.301052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.84, Z:-0.44 [[ 9.95469198e-01 8.09827167e-02 4.98284592e-02 8.97649498e+00] [-8.08426631e-02 9.96715206e-01 -4.82302875e-03 -8.39136264e-01] [-5.00553650e-02 7.72911217e-04 9.98746145e-01 -4.41679802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.331052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.84, Z:-0.45 [[ 9.95593990e-01 8.00773325e-02 4.87875808e-02 9.00893356e+00] [-7.99416028e-02 9.96788326e-01 -4.73011620e-03 -8.44599367e-01] [-4.90096660e-02 8.09117855e-04 9.98797977e-01 -4.45208299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.85, Z:-0.45 [[ 9.95723785e-01 7.86157743e-02 4.85149912e-02 9.04066486e+00] [-7.84792138e-02 9.96904594e-01 -4.71620763e-03 -8.50715413e-01] [-4.87355860e-02 8.88621738e-04 9.98811320e-01 -4.46509678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.391052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.86, Z:-0.45 [[ 9.96150762e-01 7.32141158e-02 4.82011613e-02 9.07101993e+00] [-7.30725507e-02 9.97315577e-01 -4.69492856e-03 -8.60530573e-01] [-4.84155041e-02 1.15467486e-03 9.98826614e-01 -4.47439666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.421052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.87, Z:-0.45 [[ 9.96366031e-01 7.04125908e-02 4.79249365e-02 9.10116793e+00] [-7.02692478e-02 9.97517123e-01 -4.67133746e-03 -8.68571424e-01] [-4.81348658e-02 1.28671272e-03 9.98840017e-01 -4.48741571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.451052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.88, Z:-0.45 [[ 9.96584050e-01 6.73594607e-02 4.77800717e-02 9.13220082e+00] [-6.72129833e-02 9.97727733e-01 -4.66752937e-03 -8.75177054e-01] [-4.79859048e-02 1.44014416e-03 9.98846975e-01 -4.50121059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.481052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.88, Z:-0.45 [[ 9.96902241e-01 6.19819849e-02 4.84164855e-02 9.16278817e+00] [-6.18248165e-02 9.98075768e-01 -4.73845011e-03 -8.84322047e-01] [-4.86170195e-02 1.73043120e-03 9.98815995e-01 -4.49694548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.511052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.89, Z:-0.45 [[ 9.96969286e-01 6.05587242e-02 4.88352775e-02 9.19445272e+00] [-6.03969357e-02 9.98162978e-01 -4.78315491e-03 -8.89993777e-01] [-4.90352278e-02 1.81915742e-03 9.98795393e-01 -4.49904714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.541052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.89, Z:-0.45 [[ 9.96757117e-01 6.33433070e-02 4.96273712e-02 9.22616878e+00] [-6.31791896e-02 9.97990316e-01 -4.87029916e-03 -8.90208102e-01] [-4.98361367e-02 1.71908826e-03 9.98755928e-01 -4.51128839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.571052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.89, Z:-0.45 [[ 9.96682003e-01 6.47239761e-02 4.93537449e-02 9.25688331e+00] [-6.45631746e-02 9.97901850e-01 -4.84707561e-03 -8.92564751e-01] [-4.95639153e-02 1.64455858e-03 9.98769600e-01 -4.52642264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.89, Z:-0.45 [[ 9.96416300e-01 6.91850795e-02 4.86619212e-02 9.28856377e+00] [-6.90336492e-02 9.97602843e-01 -4.78770157e-03 -8.91399329e-01] [-4.88765084e-02 1.41123389e-03 9.98803832e-01 -4.54065520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.631052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.89, Z:-0.46 [[ 9.96110896e-01 7.48203650e-02 4.65295210e-02 9.31949816e+00] [-7.46880007e-02 9.97196437e-01 -4.57924481e-03 -8.89806532e-01] [-4.67416933e-02 1.08623876e-03 9.98906419e-01 -4.56563256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.661052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.89, Z:-0.46 [[ 9.95977758e-01 7.79663582e-02 4.41537475e-02 9.35152441e+00] [-7.78501786e-02 9.96955591e-01 -4.34731868e-03 -8.89928758e-01] [-4.43582701e-02 8.92455582e-04 9.99015289e-01 -4.60555983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.691052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.89, Z:-0.47 [[ 9.95846204e-01 8.13547061e-02 4.08870385e-02 9.38422890e+00] [-8.12575929e-02 9.96684970e-01 -4.03422062e-03 -8.88880780e-01] [-4.10796996e-02 6.95080964e-04 9.99155631e-01 -4.65713046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.721052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.89, Z:-0.47 [[ 9.95563153e-01 8.68814663e-02 3.61333487e-02 9.41528978e+00] [-8.68091282e-02 9.96218569e-01 -3.56901817e-03 -8.85170099e-01] [-3.63067945e-02 4.16478486e-04 9.99340604e-01 -4.74289540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.89, Z:-0.47 [[ 9.95432786e-01 8.79535189e-02 3.71180122e-02 9.44770274e+00] [-8.78776214e-02 9.96124501e-01 -3.67448566e-03 -8.87235583e-01] [-3.72973453e-02 3.95860875e-04 9.99304134e-01 -4.74773529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.781052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.89, Z:-0.47 [[ 9.95478808e-01 8.70481982e-02 3.80072798e-02 9.47924080e+00] [-8.69676141e-02 9.96204000e-01 -3.77155107e-03 -8.92288343e-01] [-3.81913109e-02 4.49096722e-04 9.99270345e-01 -4.73827826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.811052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.90, Z:-0.47 [[ 9.95795973e-01 8.20592010e-02 4.07021925e-02 9.51111721e+00] [-8.19622107e-02 9.96627214e-01 -4.04876486e-03 -9.00902306e-01] [-4.08971511e-02 6.95702061e-04 9.99163119e-01 -4.70940975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.841052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.91, Z:-0.47 [[ 9.96266098e-01 7.57703618e-02 4.13849600e-02 9.54179966e+00] [-7.56645519e-02 9.97124820e-01 -4.11938317e-03 -9.10280646e-01] [-4.15780979e-02 9.72627341e-04 9.99134784e-01 -4.68893273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.871052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.91, Z:-0.47 [[ 9.96461148e-01 7.35060399e-02 4.07681452e-02 9.57364237e+00] [-7.34013961e-02 9.97294216e-01 -4.05976173e-03 -9.13929647e-01] [-4.09562524e-02 1.05295606e-03 9.99160386e-01 -4.70247476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.901052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.92, Z:-0.47 [[ 9.96621625e-01 7.11196108e-02 4.10772090e-02 9.60439849e+00] [-7.10109466e-02 9.97467109e-01 -4.10026844e-03 -9.18028003e-01] [-4.12647744e-02 1.16948470e-03 9.99147562e-01 -4.71740621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.931052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.92, Z:-0.47 [[ 9.96760904e-01 6.70896524e-02 4.43472634e-02 9.63524329e+00] [-6.69585928e-02 9.97745895e-01 -4.43584849e-03 -9.19915369e-01] [-4.45448995e-02 1.45205000e-03 9.99006328e-01 -4.72974919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.961052753999999 meters Centerline goodness [0,1] 0.999951928854705 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.93, Z:-0.47 [[ 9.96834876e-01 6.53710113e-02 4.52422544e-02 9.66611931e+00] [-6.52327407e-02 9.97859805e-01 -4.52748544e-03 -9.25881351e-01] [-4.54413935e-02 1.56187913e-03 9.98965785e-01 -4.71846340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.991052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.93, Z:-0.47 [[ 9.97010181e-01 6.31901443e-02 4.44713864e-02 9.69792736e+00] [-6.30539967e-02 9.98000156e-01 -4.45898257e-03 -9.29613707e-01] [-4.46642143e-02 1.64155237e-03 9.99000707e-01 -4.71458998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.021052754 meters Centerline goodness [0,1] 0.9999520015359509 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.93, Z:-0.47 [[ 9.97067892e-01 6.34968061e-02 4.27056820e-02 9.72949210e+00] [-6.33713977e-02 9.97980812e-01 -4.28533710e-03 -9.32455266e-01] [-4.28915564e-02 1.56645327e-03 9.99078506e-01 -4.73176654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.051052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.93, Z:-0.48 [[ 9.97160425e-01 6.45884287e-02 3.87223651e-02 9.76084920e+00] [-6.44858446e-02 9.97911026e-01 -3.89369238e-03 -9.34353916e-01] [-3.88929625e-02 1.38559153e-03 9.99242422e-01 -4.76543260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.081052753999998 meters Centerline goodness [0,1] 0.9999761649386247 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.94, Z:-0.48 [[ 9.97130580e-01 6.58906230e-02 3.72697354e-02 9.79303914e+00] [-6.57961973e-02 9.97826014e-01 -3.75579107e-03 -9.36388484e-01] [-3.74361830e-02 1.29280726e-03 9.99298184e-01 -4.79054726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.111052754 meters Centerline goodness [0,1] 0.9999523173755483 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.93, Z:-0.48 [[ 9.96993096e-01 6.94474832e-02 3.43775146e-02 9.82542952e+00] [-6.93689921e-02 9.97585028e-01 -3.47213035e-03 -9.31248900e-01] [-3.45356246e-02 1.07695644e-03 9.99402887e-01 -4.84105328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.141052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.93, Z:-0.49 [[ 9.96820112e-01 7.25639233e-02 3.29262972e-02 9.85559340e+00] [-7.24935604e-02 9.97363330e-01 -3.32734630e-03 -9.32514021e-01] [-3.30809267e-02 9.29821194e-04 9.99452244e-01 -4.86999443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.171052754 meters Centerline goodness [0,1] 0.9998573296873142 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.93, Z:-0.49 [[ 9.96310546e-01 7.99499520e-02 3.11977751e-02 9.88676176e+00] [-7.98903860e-02 9.96798668e-01 -3.15316176e-03 -9.31734285e-01] [-3.13499957e-02 6.49126020e-04 9.99508257e-01 -4.87410472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.201052754 meters Centerline goodness [0,1] 0.9998574144486692 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.93, Z:-0.49 [[ 9.96016812e-01 8.34677078e-02 3.13632368e-02 9.91826320e+00] [-8.34092828e-02 9.96510336e-01 -3.16885798e-03 -9.34175515e-01] [-3.15182870e-02 5.40250731e-04 9.99503029e-01 -4.87677171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.231052753999998 meters Centerline goodness [0,1] 0.999928503336511 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.94, Z:-0.49 [[ 9.95744574e-01 8.75060484e-02 2.89038816e-02 9.95042362e+00] [-8.74579556e-02 9.96163913e-01 -2.92635082e-03 -9.35483794e-01] [-2.90490772e-02 3.86023562e-04 9.99577912e-01 -4.87514379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.261052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.94, Z:-0.49 [[ 9.95685242e-01 8.87041964e-02 2.72481997e-02 9.98256837e+00] [-8.86617534e-02 9.96057956e-01 -2.76426522e-03 -9.39561239e-01] [-2.73859880e-02 3.36464927e-04 9.99624877e-01 -4.89539851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.291052753999999 meters Centerline goodness [0,1] 0.9999283119862359 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.95, Z:-0.49 [[ 9.95924424e-01 8.59351225e-02 2.73805681e-02 1.00131491e+01] [-8.58909988e-02 9.96300645e-01 -2.78571542e-03 -9.47171712e-01] [-2.75186684e-02 4.22617685e-04 9.99621200e-01 -4.89572235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.321052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.95, Z:-0.49 [[ 9.96088256e-01 8.34591480e-02 2.90302635e-02 1.00445304e+01] [-8.34082994e-02 9.96511060e-01 -2.96023784e-03 -9.53002376e-01] [-2.91760375e-02 5.27293246e-04 9.99574150e-01 -4.88503651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.351052754 meters Centerline goodness [0,1] 0.9999041204247465 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.96, Z:-0.49 [[ 9.96377754e-01 7.89380163e-02 3.16253170e-02 1.00762789e+01] [-7.88750912e-02 9.96879260e-01 -3.23427698e-03 -9.61310280e-01] [-3.17819300e-02 7.28111870e-04 9.99494562e-01 -4.86970296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.381052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.97, Z:-0.49 [[ 9.96513702e-01 7.72506817e-02 3.15083233e-02 1.01075399e+01] [-7.71873488e-02 9.97011396e-01 -3.22325255e-03 -9.67522292e-01] [-3.16631559e-02 7.79971385e-04 9.99498292e-01 -4.87276656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.411052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.97, Z:-0.49 [[ 9.96493376e-01 7.75127202e-02 3.15076045e-02 1.01397242e+01] [-7.74492967e-02 9.96991059e-01 -3.23026245e-03 -9.70899101e-01] [-3.16631864e-02 7.78693328e-04 9.99498292e-01 -4.88536851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.441052754 meters Centerline goodness [0,1] 0.999277960961756 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.98, Z:-0.49 [[ 9.96710839e-01 7.60784086e-02 2.79209371e-02 1.01700402e+01] [-7.60278239e-02 9.97101565e-01 -2.87039521e-03 -9.75157463e-01] [-2.80583852e-02 7.38185931e-04 9.99606013e-01 -4.91303894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.471052753999999 meters Centerline goodness [0,1] 0.9992055849783341 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.98, Z:-0.49 [[ 9.96640113e-01 7.75863266e-02 2.62459074e-02 1.02022225e+01] [-7.75421172e-02 9.96985422e-01 -2.69954949e-03 -9.76138033e-01] [-2.63762352e-02 6.55316082e-04 9.99651872e-01 -4.94368308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.501052754 meters Centerline goodness [0,1] 0.998702578025516 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.98, Z:-0.50 [[ 9.96500788e-01 8.00776138e-02 2.39532048e-02 1.02329732e+01] [-8.00413910e-02 9.96788484e-01 -2.46873140e-03 -9.77055599e-01] [-2.40739688e-02 5.42844950e-04 9.99710033e-01 -4.98712811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.531052754 meters Centerline goodness [0,1] 0.9984605392923291 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.98, Z:-0.50 [[ 9.96658909e-01 7.85480366e-02 2.23880748e-02 1.02645063e+01] [-7.85159183e-02 9.96910181e-01 -2.31140361e-03 -9.82656543e-01] [-2.25004559e-02 5.45860750e-04 9.99746684e-01 -5.00909239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.561052753999999 meters Centerline goodness [0,1] 0.9985309700414219 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.99, Z:-0.50 [[ 9.96766214e-01 7.74412981e-02 2.14466665e-02 1.02957952e+01] [-7.74114671e-02 9.96996761e-01 -2.21891857e-03 -9.87081157e-01] [-2.15540929e-02 5.51525154e-04 9.99767531e-01 -5.02757544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.591052754 meters Centerline goodness [0,1] 0.9985330543731813 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.99, Z:-0.50 [[ 9.96859709e-01 7.62368848e-02 2.14162979e-02 1.03274320e+01] [-7.62067697e-02 9.97089565e-01 -2.21998900e-03 -9.90362920e-01] [-2.15232122e-02 5.80950700e-04 9.99768180e-01 -5.04092906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.621052753999999 meters Centerline goodness [0,1] 0.9985570332603834 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.99, Z:-0.51 [[ 9.97087643e-01 7.35919813e-02 2.00112989e-02 1.03580417e+01] [-7.35650699e-02 9.97288253e-01 -2.07864099e-03 -9.93851907e-01] [-2.01100047e-02 6.00454637e-04 9.99797593e-01 -5.06606144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.651052753999998 meters Centerline goodness [0,1] 0.99850825273086 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.99, Z:-0.51 [[ 9.97158315e-01 7.29323108e-02 1.88725191e-02 1.03905858e+01] [-7.29082017e-02 9.97336723e-01 -1.96329342e-03 -9.94299453e-01] [-1.89654439e-02 5.81752929e-04 9.99819971e-01 -5.06094841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.681052754 meters Centerline goodness [0,1] 0.9986006224817237 Centerline is valid? [True, True] Translation: X:10.42, Y:-1.00, Z:-0.51 [[ 9.97454734e-01 6.93596802e-02 1.65314614e-02 1.04204990e+01] [-6.93405672e-02 9.97591551e-01 -1.72724956e-03 -1.00062946e+00] [-1.66114477e-02 5.76552344e-04 9.99861854e-01 -5.06704701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.711052753999999 meters Centerline goodness [0,1] 0.9983401890741141 Centerline is valid? [True, True] Translation: X:10.45, Y:-1.00, Z:-0.51 [[ 9.97602578e-01 6.73582531e-02 1.58733172e-02 1.04519659e+01] [-6.73404461e-02 9.97728684e-01 -1.65425760e-03 -1.00416979e+00] [-1.59486918e-02 5.81375388e-04 9.99872643e-01 -5.08069391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.741052753999998 meters Centerline goodness [0,1] 0.9986083117381707 Centerline is valid? [True, True] Translation: X:10.48, Y:-1.01, Z:-0.51 [[ 9.97848655e-01 6.34966602e-02 1.63167617e-02 1.04819055e+01] [-6.34772054e-02 9.97981827e-01 -1.70799497e-03 -1.00744296e+00] [-1.63922837e-02 6.68578052e-04 9.99865414e-01 -5.09775473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.771052754 meters Centerline goodness [0,1] 0.9987979035437804 Centerline is valid? [True, True] Translation: X:10.51, Y:-1.01, Z:-0.51 [[ 9.97982417e-01 6.14346156e-02 1.60275774e-02 1.05137409e+01] [-6.14155769e-02 9.98110871e-01 -1.67784944e-03 -1.01246980e+00] [-1.61003773e-02 6.90121323e-04 9.99870142e-01 -5.09982689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.801052753999999 meters Centerline goodness [0,1] 0.9984842287611577 Centerline is valid? [True, True] Translation: X:10.54, Y:-1.02, Z:-0.51 [[ 9.98235048e-01 5.71200472e-02 1.62508392e-02 1.05436504e+01] [-5.70998681e-02 9.98367018e-01 -1.70340029e-03 -1.01811065e+00] [-1.63216002e-02 7.72473091e-04 9.99866495e-01 -5.10298083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.831052753999998 meters Centerline goodness [0,1] 0.9982468780019212 Centerline is valid? [True, True] Translation: X:10.58, Y:-1.02, Z:-0.51 [[ 9.98260572e-01 5.65213559e-02 1.67680146e-02 1.05755719e+01] [-5.64998586e-02 9.98401068e-01 -1.75339229e-03 -1.02176801e+00] [-1.68403078e-02 8.02951936e-04 9.99857870e-01 -5.11001323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.861052754 meters Centerline goodness [0,1] 0.9988224550610401 Centerline is valid? [True, True] Translation: X:10.61, Y:-1.02, Z:-0.51 [[ 9.98157722e-01 5.79222059e-02 1.80604673e-02 1.06070462e+01] [-5.78973396e-02 9.98320740e-01 -1.89711805e-03 -1.02065363e+00] [-1.81400243e-02 8.47970019e-04 9.99835097e-01 -5.09502032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.891052753999999 meters Centerline goodness [0,1] 0.9987501201807518 Centerline is valid? [True, True] Translation: X:10.64, Y:-1.02, Z:-0.51 [[ 9.98079985e-01 5.89801813e-02 1.89124745e-02 1.06399210e+01] [-5.89531257e-02 9.98258778e-01 -1.98540423e-03 -1.02000460e+00] [-1.89966431e-02 8.66642740e-04 9.99819172e-01 -5.08373918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.921052754 meters Centerline goodness [0,1] 0.998872820586613 Centerline is valid? [True, True] Translation: X:10.67, Y:-1.02, Z:-0.51 [[ 9.97791024e-01 6.28776004e-02 2.14354882e-02 1.06698340e+01] [-6.28436182e-02 9.98020837e-01 -2.25594282e-03 -1.02228115e+00] [-2.15349121e-02 9.03875862e-04 9.99767688e-01 -5.09786796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.951052754 meters Centerline goodness [0,1] 0.9987817695394611 Centerline is valid? [True, True] Translation: X:10.70, Y:-1.03, Z:-0.52 [[ 9.97465174e-01 6.76882573e-02 2.19437144e-02 1.06988835e+01] [-6.76538301e-02 9.97706185e-01 -2.30833993e-03 -1.02583490e+00] [-2.20496271e-02 8.17912366e-04 9.99756543e-01 -5.15602858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.981052753999998 meters Centerline goodness [0,1] 0.9989717346597159 Centerline is valid? [True, True] Translation: X:10.73, Y:-1.03, Z:-0.52 [[ 9.97231975e-01 7.10721125e-02 2.18436088e-02 1.07303273e+01] [-7.10387652e-02 9.97470904e-01 -2.29981606e-03 -1.02618157e+00] [-2.19518171e-02 7.41707110e-04 9.99758755e-01 -5.18368932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.011052754 meters Centerline goodness [0,1] 0.9989725945571405 Centerline is valid? [True, True] Translation: X:10.76, Y:-1.02, Z:-0.52 [[ 9.96682948e-01 7.93175248e-02 1.82162344e-02 1.07601187e+01] [-7.92956913e-02 9.96849292e-01 -1.91889431e-03 -1.02436057e+00] [-1.83110423e-02 4.68060332e-04 9.99832229e-01 -5.22395355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.041052753999999 meters Centerline goodness [0,1] 0.9989242170690892 Centerline is valid? [True, True] Translation: X:10.79, Y:-1.02, Z:-0.52 [[ 9.96368323e-01 8.36235426e-02 1.60395774e-02 1.07925344e+01] [-8.36072570e-02 9.96497360e-01 -1.68439693e-03 -1.02163953e+00] [-1.61242518e-02 3.37254676e-04 9.99869939e-01 -5.21247395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.071052753999998 meters Centerline goodness [0,1] 0.9989050486777272 Centerline is valid? [True, True] Translation: X:10.82, Y:-1.03, Z:-0.53 [[ 9.96105609e-01 8.69747146e-02 1.44573444e-02 1.08228156e+01] [-8.69617945e-02 9.96210486e-01 -1.52112724e-03 -1.02717616e+00] [-1.45348577e-02 2.57966768e-04 9.99894330e-01 -5.28115126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.101052754 meters Centerline goodness [0,1] 0.9989220524122071 Centerline is valid? [True, True] Translation: X:10.86, Y:-1.03, Z:-0.53 [[ 9.95939424e-01 8.87873584e-02 1.48818358e-02 1.08555599e+01] [-8.87737726e-02 9.96050574e-01 -1.57234082e-03 -1.02917868e+00] [-1.49626651e-02 2.44839502e-04 9.99888023e-01 -5.25013077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.131052753999999 meters Centerline goodness [0,1] 0.9990619362597715 Centerline is valid? [True, True] Translation: X:10.89, Y:-1.04, Z:-0.53 [[ 9.96106093e-01 8.65323957e-02 1.68758962e-02 1.08869368e+01] [-8.65146304e-02 9.96248988e-01 -1.78131231e-03 -1.03728100e+00] [-1.69667357e-02 3.14364131e-04 9.99856005e-01 -5.26325927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.161052753999998 meters Centerline goodness [0,1] 0.9989891210166555 Centerline is valid? [True, True] Translation: X:10.92, Y:-1.04, Z:-0.52 [[ 9.96260324e-01 8.42940380e-02 1.89705742e-02 1.09192316e+01] [-8.42710792e-02 9.96440843e-01 -2.00782726e-03 -1.04326106e+00] [-1.90723028e-02 4.01647873e-04 9.99818026e-01 -5.24914279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.191052754 meters Centerline goodness [0,1] 0.9990856812877458 Centerline is valid? [True, True] Translation: X:10.95, Y:-1.05, Z:-0.52 [[ 9.96106990e-01 8.53440876e-02 2.20737526e-02 1.09503585e+01] [-8.53130444e-02 9.96351434e-01 -2.34596180e-03 -1.04705520e+00] [-2.21934290e-02 4.53649916e-04 9.99753593e-01 -5.22923269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.221052753999999 meters Centerline goodness [0,1] 0.9991073797978336 Centerline is valid? [True, True] Translation: X:10.98, Y:-1.05, Z:-0.52 [[ 9.96063288e-01 8.45661156e-02 2.65800438e-02 1.09824289e+01] [-8.45207365e-02 9.96417707e-01 -2.82814474e-03 -1.05121138e+00] [-2.67239915e-02 5.70446272e-04 9.99642688e-01 -5.17899317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.251052753999998 meters Centerline goodness [0,1] 0.9991307077487745 Centerline is valid? [True, True] Translation: X:11.01, Y:-1.06, Z:-0.52 [[ 9.96153642e-01 8.30518682e-02 2.79340223e-02 1.10125397e+01] [-8.30009227e-02 9.96545014e-01 -2.98036996e-03 -1.05929171e+00] [-2.80850359e-02 6.50356763e-04 9.99605326e-01 -5.19483076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.281052754 meters Centerline goodness [0,1] 0.9991782874543829 Centerline is valid? [True, True] Translation: X:11.04, Y:-1.06, Z:-0.52 [[ 9.96397848e-01 7.96253952e-02 2.91740600e-02 1.10444064e+01] [-7.95682257e-02 9.96824549e-01 -3.11714762e-03 -1.06121414e+00] [-2.93296233e-02 7.84590990e-04 9.99569486e-01 -5.20092118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.311052753999999 meters Centerline goodness [0,1] 0.9989631558641975 Centerline is valid? [True, True] Translation: X:11.08, Y:-1.06, Z:-0.52 [[ 9.96450726e-01 7.89267050e-02 2.92664595e-02 1.10762239e+01] [-7.88688586e-02 9.96880094e-01 -3.12746049e-03 -1.06376338e+00] [-2.94219910e-02 8.08148024e-04 9.99566753e-01 -5.23754994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.341052754 meters Centerline goodness [0,1] 0.9992079493087558 Centerline is valid? [True, True] Translation: X:11.11, Y:-1.07, Z:-0.53 [[ 9.96378693e-01 7.96509533e-02 2.97527584e-02 1.11075807e+01] [-7.95912742e-02 9.96822489e-01 -3.18665607e-03 -1.06696079e+00] [-2.99120389e-02 8.07056254e-04 9.99552209e-01 -5.25745400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.371052753999999 meters Centerline goodness [0,1] 0.9991126672742098 Centerline is valid? [True, True] Translation: X:11.14, Y:-1.07, Z:-0.53 [[ 9.96262406e-01 8.10203834e-02 2.99485452e-02 1.11394296e+01] [-8.09603198e-02 9.96712141e-01 -3.21474291e-03 -1.06817306e+00] [-3.01105383e-02 7.78083711e-04 9.99546272e-01 -5.27137146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.401052753999998 meters Centerline goodness [0,1] 0.9991612949605808 Centerline is valid? [True, True] Translation: X:11.17, Y:-1.07, Z:-0.53 [[ 9.96206818e-01 8.16693105e-02 3.00349690e-02 1.11715387e+01] [-8.16089821e-02 9.96659187e-01 -3.23103936e-03 -1.06951262e+00] [-3.01985045e-02 7.67660189e-04 9.99543626e-01 -5.28151746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.431052754 meters Centerline goodness [0,1] 0.9991137299990419 Centerline is valid? [True, True] Translation: X:11.20, Y:-1.07, Z:-0.53 [[ 9.96433843e-01 7.89845748e-02 2.96822034e-02 1.12030855e+01] [-7.89242129e-02 9.96875478e-01 -3.20154447e-03 -1.07423074e+00] [-2.98423333e-02 8.47482720e-04 9.99554259e-01 -5.28938983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.461052753999999 meters Centerline goodness [0,1] 0.999328005375957 Centerline is valid? [True, True] Translation: X:11.23, Y:-1.08, Z:-0.53 [[ 9.96602625e-01 7.68204234e-02 2.96956187e-02 1.12336342e+01] [-7.67590001e-02 9.97044526e-01 -3.20456528e-03 -1.08108880e+00] [-2.98540301e-02 9.14272171e-04 9.99553851e-01 -5.31495151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.491052753999998 meters Centerline goodness [0,1] 0.9994000911861397 Centerline is valid? [True, True] Translation: X:11.27, Y:-1.09, Z:-0.53 [[ 9.96830473e-01 7.40828396e-02 2.89955467e-02 1.12656024e+01] [-7.40230095e-02 9.97251613e-01 -3.13288579e-03 -1.08507620e+00] [-2.91479488e-02 9.76618395e-04 9.99574631e-01 -5.33791412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.521052754 meters Centerline goodness [0,1] 0.9992569511025887 Centerline is valid? [True, True] Translation: X:11.30, Y:-1.09, Z:-0.54 [[ 9.97128520e-01 7.03808813e-02 2.79507811e-02 1.12962277e+01] [-7.03237736e-02 9.97519641e-01 -3.02213643e-03 -1.09070936e+00] [-2.80941537e-02 1.04785402e-03 9.99604732e-01 -5.37288829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.551052753999999 meters Centerline goodness [0,1] 0.9992786727578745 Centerline is valid? [True, True] Translation: X:11.33, Y:-1.10, Z:-0.54 [[ 9.97096394e-01 7.06395968e-02 2.84399075e-02 1.13286884e+01] [-7.05806168e-02 9.97501343e-01 -3.07364554e-03 -1.09574360e+00] [-2.85859670e-02 1.05741467e-03 9.99590778e-01 -5.38698258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.581052753999998 meters Centerline goodness [0,1] 0.9992799884798157 Centerline is valid? [True, True] Translation: X:11.36, Y:-1.10, Z:-0.54 [[ 9.96771573e-01 7.44038049e-02 3.01745616e-02 1.13579385e+01] [-7.43387948e-02 9.97227675e-01 -3.27215788e-03 -1.09893997e+00] [-3.03343689e-02 1.01845341e-03 9.99539288e-01 -5.38455624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.611052754 meters Centerline goodness [0,1] 0.9993518963034086 Centerline is valid? [True, True] Translation: X:11.39, Y:-1.10, Z:-0.54 [[ 9.96531209e-01 7.74247394e-02 3.05116334e-02 1.13899821e+01] [-7.73597189e-02 9.96997760e-01 -3.30751277e-03 -1.09838886e+00] [-3.06761135e-02 9.35668311e-04 9.99528939e-01 -5.39116405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.641052753999999 meters Centerline goodness [0,1] 0.9991161224051026 Centerline is valid? [True, True] Translation: X:11.42, Y:-1.10, Z:-0.54 [[ 9.96120225e-01 8.22606718e-02 3.12678609e-02 1.14207527e+01] [-8.21946883e-02 9.96610520e-01 -3.39196450e-03 -1.10097290e+00] [-3.14409044e-02 8.08752361e-04 9.99505285e-01 -5.42720759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.671052754 meters Centerline goodness [0,1] 0.9993780797014783 Centerline is valid? [True, True] Translation: X:11.45, Y:-1.10, Z:-0.54 [[ 9.95849986e-01 8.41515376e-02 3.46601103e-02 1.14534616e+01] [-8.40715588e-02 9.96452622e-01 -3.76108294e-03 -1.10028689e+00] [-3.48536586e-02 8.31544890e-04 9.99392081e-01 -5.44914887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.701052754 meters Centerline goodness [0,1] 0.9994742502091051 Centerline is valid? [True, True] Translation: X:11.48, Y:-1.11, Z:-0.54 [[ 9.95736253e-01 8.46455287e-02 3.66667333e-02 1.14845707e+01] [-8.45562283e-02 9.96410752e-01 -3.98216555e-03 -1.10561693e+00] [-3.68721998e-02 8.64785934e-04 9.99319615e-01 -5.44872282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.731052753999998 meters Centerline goodness [0,1] 0.999400939327135 Centerline is valid? [True, True] Translation: X:11.52, Y:-1.11, Z:-0.54 [[ 9.95331001e-01 8.72006958e-02 4.13791799e-02 1.15157644e+01] [-8.70888773e-02 9.96190379e-01 -4.50068612e-03 -1.11129219e+00] [-4.16140039e-02 8.76006100e-04 9.99133378e-01 -5.42362239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.761052754 meters Centerline goodness [0,1] 0.9994732053062593 Centerline is valid? [True, True] Translation: X:11.55, Y:-1.12, Z:-0.54 [[ 9.95157251e-01 8.88104003e-02 4.21278911e-02 1.15469538e+01] [-8.86955059e-02 9.96048201e-01 -4.59229281e-03 -1.11526845e+00] [-4.23692535e-02 8.33498870e-04 9.99101672e-01 -5.41813615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.791052753999999 meters Centerline goodness [0,1] 0.9993766183945526 Centerline is valid? [True, True] Translation: X:11.58, Y:-1.12, Z:-0.54 [[ 9.94787825e-01 9.20976114e-02 4.37631603e-02 1.15792522e+01] [-9.19763570e-02 9.95749716e-01 -4.78051173e-03 -1.11786842e+00] [-4.40174281e-02 7.30418813e-04 9.99030496e-01 -5.40818515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.821052753999998 meters Centerline goodness [0,1] 0.9993522383762775 Centerline is valid? [True, True] Translation: X:11.61, Y:-1.12, Z:-0.54 [[ 9.94536371e-01 9.43930966e-02 4.45797011e-02 1.16110893e+01] [-9.42690970e-02 9.95534791e-01 -4.88038401e-03 -1.12152024e+00] [-4.48413179e-02 6.51231240e-04 9.98993910e-01 -5.41656550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.851052754 meters Centerline goodness [0,1] 0.9995909626813599 Centerline is valid? [True, True] Translation: X:11.64, Y:-1.12, Z:-0.55 [[ 9.94210749e-01 9.76907967e-02 4.47380608e-02 1.16435476e+01] [-9.75688143e-02 9.95216682e-01 -4.90737751e-03 -1.12350620e+00] [-4.50034701e-02 5.13927926e-04 9.98986698e-01 -5.46740306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.881052753999999 meters Centerline goodness [0,1] 0.9994705811575021 Centerline is valid? [True, True] Translation: X:11.68, Y:-1.13, Z:-0.55 [[ 9.93994089e-01 9.99262026e-02 4.46150847e-02 1.16757848e+01] [-9.98069290e-02 9.94994764e-01 -4.89858968e-03 -1.12552844e+00] [-4.48812731e-02 4.16274602e-04 9.98992241e-01 -5.51267045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.911052753999998 meters Centerline goodness [0,1] 0.9995184204189742 Centerline is valid? [True, True] Translation: X:11.71, Y:-1.13, Z:-0.56 [[ 9.93635266e-01 1.03477898e-01 4.45116083e-02 1.17068588e+01] [-1.03362269e-01 9.94631718e-01 -4.89766698e-03 -1.12833904e+00] [-4.47794577e-02 2.65673787e-04 9.98996862e-01 -5.55695056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.941052754 meters Centerline goodness [0,1] 0.9995650492944133 Centerline is valid? [True, True] Translation: X:11.74, Y:-1.13, Z:-0.56 [[ 9.93475484e-01 1.04774499e-01 4.50418397e-02 1.17395239e+01] [-1.04656960e-01 9.94495981e-01 -4.96637445e-03 -1.13288260e+00] [-4.53142779e-02 2.20029262e-04 9.98972756e-01 -5.56991736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.971052753999999 meters Centerline goodness [0,1] 0.9996848332040341 Centerline is valid? [True, True] Translation: X:11.77, Y:-1.14, Z:-0.56 [[ 9.93273037e-01 1.06273831e-01 4.59841991e-02 1.17723155e+01] [-1.06152321e-01 9.94336887e-01 -5.08331769e-03 -1.13969195e+00] [-4.62640090e-02 1.67792932e-04 9.98929233e-01 -5.55664260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.001052753999998 meters Centerline goodness [0,1] 0.999684167051335 Centerline is valid? [True, True] Translation: X:11.80, Y:-1.14, Z:-0.56 [[ 9.93211915e-01 1.06811738e-01 4.60580632e-02 1.18035696e+01] [-1.06689820e-01 9.94279251e-01 -5.10430927e-03 -1.14463168e+00] [-4.63397767e-02 1.55734302e-04 9.98925723e-01 -5.55729138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.031052754 meters Centerline goodness [0,1] 0.9997083059870197 Centerline is valid? [True, True] Translation: X:11.84, Y:-1.15, Z:-0.56 [[ 9.93001838e-01 1.08710154e-01 4.61459939e-02 1.18362018e+01] [-1.08589253e-01 9.94073486e-01 -5.12621449e-03 -1.14834868e+00] [-4.64297806e-02 7.93814015e-05 9.98921553e-01 -5.57485190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.061052753999999 meters Centerline goodness [0,1] 0.9996604661314966 Centerline is valid? [True, True] Translation: X:11.87, Y:-1.15, Z:-0.56 [[ 9.92845058e-01 1.10131159e-01 4.61499493e-02 1.18691814e+01] [-1.10011183e-01 9.93917062e-01 -5.13930671e-03 -1.15044628e+00] [-4.64352198e-02 2.55247491e-05 9.98921303e-01 -5.60045158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.091052754 meters Centerline goodness [0,1] 0.9996602189160984 Centerline is valid? [True, True] Translation: X:11.90, Y:-1.15, Z:-0.56 [[ 9.92834929e-01 1.10350007e-01 4.58440818e-02 1.19022553e+01] [-1.10231266e-01 9.93892789e-01 -5.11788606e-03 -1.15200872e+00] [-4.61288610e-02 2.77648855e-05 9.98935497e-01 -5.64355163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.121052753999999 meters Centerline goodness [0,1] 0.9997574758082118 Centerline is valid? [True, True] Translation: X:11.93, Y:-1.16, Z:-0.57 [[ 9.93061017e-01 1.08120585e-01 4.62574847e-02 1.19336330e+01] [-1.07996678e-01 9.94137776e-01 -5.17684140e-03 -1.15594825e+00] [-4.65460361e-02 1.45264718e-04 9.98916135e-01 -5.66291565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.151052753999998 meters Centerline goodness [0,1] 0.9996363460046548 Centerline is valid? [True, True] Translation: X:11.96, Y:-1.16, Z:-0.57 [[ 9.93620984e-01 1.02109436e-01 4.78644336e-02 1.19638522e+01] [-1.01969239e-01 9.94773068e-01 -5.36812472e-03 -1.16289905e+00] [-4.81623857e-02 4.53181509e-04 9.98839416e-01 -5.66756690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.181052754 meters Centerline goodness [0,1] 0.9996844430419691 Centerline is valid? [True, True] Translation: X:12.00, Y:-1.17, Z:-0.57 [[ 9.93939547e-01 9.87682114e-02 4.82598945e-02 1.19958510e+01] [-9.86214030e-02 9.95110269e-01 -5.41958738e-03 -1.16842196e+00] [-4.85591995e-02 6.27283716e-04 9.98820109e-01 -5.67522703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.211052753999999 meters Centerline goodness [0,1] 0.9996118200786064 Centerline is valid? [True, True] Translation: X:12.03, Y:-1.18, Z:-0.57 [[ 9.94717726e-01 9.05437138e-02 4.83578402e-02 1.20259734e+01] [-9.03861325e-02 9.95891939e-01 -5.43999646e-03 -1.17513411e+00] [-4.86517407e-02 1.04038276e-03 9.98815261e-01 -5.68905577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.241052753999998 meters Centerline goodness [0,1] 0.9997090485888857 Centerline is valid? [True, True] Translation: X:12.06, Y:-1.18, Z:-0.57 [[ 9.95054258e-01 8.67006117e-02 4.84770927e-02 1.20581143e+01] [-8.65376290e-02 9.96233650e-01 -5.45475577e-03 -1.17895497e+00] [-4.87674416e-02 1.23268530e-03 9.98809400e-01 -5.71317152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.271052754 meters Centerline goodness [0,1] 0.9997575110938675 Centerline is valid? [True, True] Translation: X:12.09, Y:-1.19, Z:-0.57 [[ 9.95586417e-01 7.99690417e-02 4.91186168e-02 1.20873877e+01] [-7.97933642e-02 9.96796085e-01 -5.53024629e-03 -1.18740500e+00] [-4.94034934e-02 1.58649841e-03 9.98777642e-01 -5.69255354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.301052753999999 meters Centerline goodness [0,1] 0.9997575110938675 Centerline is valid? [True, True] Translation: X:12.12, Y:-1.19, Z:-0.57 [[ 9.95565313e-01 8.02316966e-02 4.91180453e-02 1.21195433e+01] [-8.00560884e-02 9.96774991e-01 -5.53531670e-03 -1.19110127e+00] [-4.94037470e-02 1.57857073e-03 9.98777642e-01 -5.70512181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.331052753999998 meters Centerline goodness [0,1] 0.9997082208767962 Centerline is valid? [True, True] Translation: X:12.15, Y:-1.20, Z:-0.57 [[ 9.95790955e-01 7.69607909e-02 4.97735899e-02 1.21496436e+01] [-7.67758479e-02 9.97032541e-01 -5.61980663e-03 -1.19816405e+00] [-5.00583935e-02 1.77474305e-03 9.98744716e-01 -5.68660576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.361052754 meters Centerline goodness [0,1] 0.9998055184149751 Centerline is valid? [True, True] Translation: X:12.18, Y:-1.20, Z:-0.57 [[ 9.95977183e-01 7.39983696e-02 5.05340679e-02 1.21804606e+01] [-7.38038671e-02 9.97256448e-01 -5.70671577e-03 -1.20311099e+00] [-5.08177127e-02 1.95414907e-03 9.98706034e-01 -5.68348153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.391052753999999 meters Centerline goodness [0,1] 0.9998546722860049 Centerline is valid? [True, True] Translation: X:12.21, Y:-1.20, Z:-0.57 [[ 9.96219836e-01 7.00803633e-02 5.13301247e-02 1.22114500e+01] [-6.98744101e-02 9.97538946e-01 -5.79812379e-03 -1.20252787e+00] [-5.16101331e-02 2.18954374e-03 9.98664909e-01 -5.73734657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.421052753999998 meters Centerline goodness [0,1] 0.9998067399444377 Centerline is valid? [True, True] Translation: X:12.24, Y:-1.21, Z:-0.58 [[ 9.96356838e-01 6.90510279e-02 5.00500470e-02 1.22421093e+01] [-6.88537757e-02 9.97610726e-01 -5.65665500e-03 -1.20503345e+00] [-5.03210616e-02 2.18991218e-03 9.98730692e-01 -5.78149355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.451052754 meters Centerline goodness [0,1] 0.9999758937396042 Centerline is valid? [True, True] Translation: X:12.27, Y:-1.20, Z:-0.58 [[ 9.96385778e-01 7.00930948e-02 4.79826936e-02 1.22745497e+01] [-6.99125260e-02 9.97538329e-01 -5.43325186e-03 -1.20487070e+00] [-4.82454094e-02 2.05902357e-03 9.98833390e-01 -5.80474142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.481052753999998 meters Centerline goodness [0,1] 0.9998796630565584 Centerline is valid? [True, True] Translation: X:12.31, Y:-1.20, Z:-0.58 [[ 9.96171649e-01 7.46068224e-02 4.55617006e-02 1.23053802e+01] [-7.44483383e-02 9.97211481e-01 -5.16784952e-03 -1.20282998e+00] [-4.58202078e-02 1.75607227e-03 9.98948159e-01 -5.82387021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.511052754 meters Centerline goodness [0,1] 0.9998562392179413 Centerline is valid? [True, True] Translation: X:12.34, Y:-1.20, Z:-0.58 [[ 9.95954115e-01 7.72681449e-02 4.58806630e-02 1.23369300e+01] [-7.71102384e-02 9.97008990e-01 -5.20428129e-03 -1.20231590e+00] [-4.61455587e-02 1.64535651e-03 9.98933371e-01 -5.83343856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.541052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.37, Y:-1.20, Z:-0.58 [[ 9.95748116e-01 7.98078214e-02 4.60043658e-02 1.23690601e+01] [-7.96516228e-02 9.96809087e-01 -5.22142326e-03 -1.20329678e+00] [-4.62742802e-02 1.53489999e-03 9.98927593e-01 -5.83299579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.571052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.40, Y:-1.20, Z:-0.58 [[ 9.95548154e-01 8.18822323e-02 4.66816168e-02 1.24013011e+01] [-8.17231428e-02 9.96640926e-01 -5.30958194e-03 -1.20073331e+00] [-4.69595702e-02 1.47097606e-03 9.98895708e-01 -5.83110505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.43, Y:-1.20, Z:-0.58 [[ 9.95552509e-01 8.19408457e-02 4.64854697e-02 1.24345273e+01] [-8.17826123e-02 9.96636105e-01 -5.29886931e-03 -1.20271400e+00] [-4.67632913e-02 1.47359950e-03 9.98904912e-01 -5.84229544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.631052753999999 meters Centerline goodness [0,1] 0.9999764028505357 Centerline is valid? [True, True] Translation: X:12.47, Y:-1.21, Z:-0.59 [[ 9.95644161e-01 8.06081175e-02 4.68512178e-02 1.24655496e+01] [-8.04453069e-02 9.96744649e-01 -5.35332286e-03 -1.20594134e+00] [-4.71302219e-02 1.56104405e-03 9.98887534e-01 -5.85287264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.661052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.50, Y:-1.20, Z:-0.59 [[ 9.95797059e-01 7.88577023e-02 4.65798253e-02 1.24980405e+01] [-7.86943614e-02 9.96884525e-01 -5.33298566e-03 -1.20395682e+00] [-4.68552540e-02 1.64500183e-03 9.98900335e-01 -5.87438362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.691052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.53, Y:-1.21, Z:-0.59 [[ 9.95847690e-01 7.85340566e-02 4.60410781e-02 1.25292558e+01] [-7.83736044e-02 9.96910062e-01 -5.28263811e-03 -1.20876762e+00] [-4.63136810e-02 1.65229771e-03 9.98925579e-01 -5.87887069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.721052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.56, Y:-1.21, Z:-0.59 [[ 9.95825112e-01 7.91836465e-02 4.54125170e-02 1.25598046e+01] [-7.90277462e-02 9.96858745e-01 -5.22094366e-03 -1.21165653e+00] [-4.56832781e-02 1.61029793e-03 9.98954676e-01 -5.87276806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.751052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.59, Y:-1.22, Z:-0.59 [[ 9.95676763e-01 8.10641363e-02 4.53474383e-02 1.25910302e+01] [-8.09101469e-02 9.96707709e-01 -5.22403102e-03 -1.21667994e+00] [-4.56216229e-02 1.53237840e-03 9.98957616e-01 -5.88139583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.781052754 meters Centerline goodness [0,1] 0.999976483314912 Centerline is valid? [True, True] Translation: X:12.62, Y:-1.21, Z:-0.59 [[ 9.95483131e-01 8.31775538e-02 4.57693194e-02 1.26237482e+01] [-8.30223912e-02 9.96533673e-01 -5.28396077e-03 -1.21461967e+00] [-4.60501749e-02 1.46021547e-03 9.98938061e-01 -5.90479940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.811052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.65, Y:-1.21, Z:-0.59 [[ 9.95198481e-01 8.62254763e-02 4.63157658e-02 1.26549366e+01] [-8.60694200e-02 9.96274741e-01 -5.35687866e-03 -1.21479339e+00] [-4.66051269e-02 1.34478641e-03 9.98912486e-01 -5.92391879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.841052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.69, Y:-1.22, Z:-0.60 [[ 9.95094610e-01 8.85050325e-02 4.41992714e-02 1.26857404e+01] [-8.83650535e-02 9.96075026e-01 -5.11465736e-03 -1.21672724e+00] [-4.44784634e-02 1.18389699e-03 9.99009642e-01 -5.96279603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.871052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.72, Y:-1.22, Z:-0.60 [[ 9.95127253e-01 8.90813391e-02 4.22642218e-02 1.27166305e+01] [-8.89534999e-02 9.96023729e-01 -4.89954588e-03 -1.22121785e+00] [-4.25326259e-02 1.11612118e-03 9.99094455e-01 -5.98187047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.901052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.75, Y:-1.23, Z:-0.60 [[ 9.95326862e-01 8.79561194e-02 3.98516987e-02 1.27479257e+01] [-8.78413512e-02 9.96123740e-01 -4.62519993e-03 -1.22567118e+00] [-4.01040378e-02 1.10295867e-03 9.99194901e-01 -6.01251436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.931052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.78, Y:-1.23, Z:-0.60 [[ 9.95457201e-01 8.67086166e-02 3.93265456e-02 1.27799829e+01] [-8.65955121e-02 9.96233055e-01 -4.57360086e-03 -1.23062512e+00] [-3.95749753e-02 1.14732155e-03 9.99215945e-01 -6.03152332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.961052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.81, Y:-1.24, Z:-0.60 [[ 9.95724436e-01 8.34227012e-02 3.96673729e-02 1.28097782e+01] [-8.33046474e-02 9.96513405e-01 -4.62261540e-03 -1.23863114e+00] [-3.99146999e-02 1.29837461e-03 9.99202247e-01 -6.02934986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.991052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.84, Y:-1.24, Z:-0.60 [[ 9.95792308e-01 8.23594456e-02 4.01820876e-02 1.28399590e+01] [-8.22373730e-02 9.96601762e-01 -4.68430282e-03 -1.24466887e+00] [-4.04313359e-02 1.36012340e-03 9.99181394e-01 -6.03465897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.87, Y:-1.25, Z:-0.61 [[ 9.96053938e-01 7.99636897e-02 3.85014322e-02 1.28714323e+01] [-7.98495207e-02 9.96796788e-01 -4.49644206e-03 -1.25309857e+00] [-3.87376560e-02 1.40437791e-03 9.99248428e-01 -6.05441626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.051052753999999 meters Centerline goodness [0,1] 0.9999764572935305 Centerline is valid? [True, True] Translation: X:12.90, Y:-1.26, Z:-0.61 [[ 9.96405782e-01 7.69439600e-02 3.54280099e-02 1.29005809e+01] [-7.68453138e-02 9.97034433e-01 -4.13973344e-03 -1.26405567e+00] [-3.56414733e-02 1.40237780e-03 9.99363657e-01 -6.09635078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.081052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.93, Y:-1.27, Z:-0.61 [[ 9.96562984e-01 7.56070482e-02 3.38495749e-02 1.29316266e+01] [-7.55162047e-02 9.97136727e-01 -3.95604133e-03 -1.26971049e+00] [-3.40517590e-02 1.38625292e-03 9.99419109e-01 -6.11506470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.96, Y:-1.28, Z:-0.61 [[ 9.96666032e-01 7.46277725e-02 3.29775243e-02 1.29631207e+01] [-7.45407888e-02 9.97210491e-01 -3.86097879e-03 -1.27590499e+00] [-3.31736694e-02 1.38993573e-03 9.99448636e-01 -6.13221917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.141052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.99, Y:-1.28, Z:-0.61 [[ 9.96707820e-01 7.40045039e-02 3.31188010e-02 1.29932536e+01] [-7.39161666e-02 9.97256890e-01 -3.88540984e-03 -1.28310173e+00] [-3.33154903e-02 1.42460356e-03 9.99443870e-01 -6.14533706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.171052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.03, Y:-1.29, Z:-0.62 [[ 9.96672162e-01 7.46091300e-02 3.28341267e-02 1.30253640e+01] [-7.45224043e-02 9.97211873e-01 -3.85892595e-03 -1.28814458e+00] [-3.30304921e-02 1.39920600e-03 9.99453365e-01 -6.15526949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.201052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.06, Y:-1.30, Z:-0.62 [[ 9.96592141e-01 7.53861402e-02 3.34818366e-02 1.30559748e+01] [-7.52961279e-02 9.97153422e-01 -3.94298171e-03 -1.29555492e+00] [-3.36837741e-02 1.40849194e-03 9.99431548e-01 -6.15291968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.231052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.09, Y:-1.30, Z:-0.61 [[ 9.96523466e-01 7.61332022e-02 3.38336836e-02 1.30879926e+01] [-7.60414736e-02 9.97096666e-01 -3.99156400e-03 -1.30140321e+00] [-3.40393437e-02 1.40492403e-03 9.99419506e-01 -6.14371105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.261052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.12, Y:-1.30, Z:-0.61 [[ 9.96187491e-01 7.98434311e-02 3.51498120e-02 1.31192395e+01] [-7.97464095e-02 9.96806520e-01 -4.15584383e-03 -1.30317116e+00] [-3.53693786e-02 1.33692834e-03 9.99373414e-01 -6.11001031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.291052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.15, Y:-1.30, Z:-0.62 [[ 9.95468544e-01 8.87341323e-02 3.41852532e-02 1.31506905e+01] [-8.86475756e-02 9.96054851e-01 -4.04238487e-03 -1.29717302e+00] [-3.44090848e-02 9.93627164e-04 9.99407338e-01 -6.15002676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.321052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.18, Y:-1.30, Z:-0.62 [[ 9.95028137e-01 9.41493866e-02 3.24792235e-02 1.31814302e+01] [-9.40741336e-02 9.95557786e-01 -3.84076368e-03 -1.29621027e+00] [-3.26965494e-02 7.66213120e-04 9.99465031e-01 -6.19429116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.351052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.21, Y:-1.29, Z:-0.63 [[ 9.94161639e-01 1.03783117e-01 2.95245606e-02 1.32128699e+01] [-1.03725147e-01 9.94599868e-01 -3.49241540e-03 -1.29298314e+00] [-2.97275779e-02 4.09586020e-04 9.99557954e-01 -6.25365357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.381052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.24, Y:-1.30, Z:-0.63 [[ 9.93802207e-01 1.07098824e-01 2.97827866e-02 1.32433986e+01] [-1.07041361e-01 9.94248331e-01 -3.52171801e-03 -1.29573132e+00] [-2.99886578e-02 3.11901130e-04 9.99550190e-01 -6.25894163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.411052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.28, Y:-1.30, Z:-0.63 [[ 9.93552509e-01 1.09064485e-01 3.09572252e-02 1.32756706e+01] [-1.09003137e-01 9.94034640e-01 -3.66752278e-03 -1.29983411e+00] [-3.11725507e-02 2.69441804e-04 9.99513982e-01 -6.25267609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.441052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.31, Y:-1.31, Z:-0.62 [[ 9.93642284e-01 1.07697779e-01 3.28054977e-02 1.33069363e+01] [-1.07627868e-01 9.94183622e-01 -3.89468451e-03 -1.30680422e+00] [-3.30341374e-02 3.39137426e-04 9.99454166e-01 -6.24978735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.471052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.34, Y:-1.32, Z:-0.62 [[ 9.94178017e-01 1.01989883e-01 3.47582152e-02 1.33377108e+01] [-1.01907579e-01 9.94785273e-01 -4.13595021e-03 -1.31660945e+00] [-3.49987857e-02 5.69745213e-04 9.99387192e-01 -6.24752710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.501052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.37, Y:-1.33, Z:-0.62 [[ 9.94558481e-01 9.81202373e-02 3.50121045e-02 1.33690862e+01] [-9.80340340e-02 9.95174307e-01 -4.17453340e-03 -1.32597656e+00] [-3.52527531e-02 7.19439746e-04 9.99378170e-01 -6.24585633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.531052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.40, Y:-1.33, Z:-0.62 [[ 9.94775554e-01 9.58256557e-02 3.52000004e-02 1.34004403e+01] [-9.57370226e-02 9.95397806e-01 -4.19879975e-03 -1.33330301e+00] [-3.54403559e-02 8.06920123e-04 9.99371468e-01 -6.24239053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.561052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.43, Y:-1.34, Z:-0.62 [[ 9.95008831e-01 9.34359537e-02 3.50306970e-02 1.34306871e+01] [-9.33463755e-02 9.95624888e-01 -4.18755867e-03 -1.33906273e+00] [-3.52687023e-02 8.96669254e-04 9.99377464e-01 -6.24708070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.591052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.46, Y:-1.34, Z:-0.63 [[ 9.95409399e-01 8.94891409e-02 3.39385144e-02 1.34599718e+01] [-8.94027281e-02 9.95987290e-01 -4.05825686e-03 -1.34491612e+00] [-3.41654989e-02 1.00543125e-03 9.99415683e-01 -6.27800923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.621052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.49, Y:-1.35, Z:-0.63 [[ 9.95500515e-01 8.86980289e-02 3.33374322e-02 1.34915005e+01] [-8.86142460e-02 9.96058047e-01 -3.98524717e-03 -1.34659037e+00] [-3.35595012e-02 1.01314419e-03 9.99436208e-01 -6.30568516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.651052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.52, Y:-1.35, Z:-0.63 [[ 9.95551525e-01 8.85141371e-02 3.22863529e-02 1.35236140e+01] [-8.84352408e-02 9.96074425e-01 -3.86631850e-03 -1.34900439e+00] [-3.25018343e-02 9.93867882e-04 9.99471182e-01 -6.32271705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.681052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.56, Y:-1.35, Z:-0.63 [[ 9.95711604e-01 8.68710579e-02 3.18091345e-02 1.35553534e+01] [-8.67933994e-02 9.96219021e-01 -3.81668356e-03 -1.35432022e+00] [-3.20204242e-02 1.03949319e-03 9.99486674e-01 -6.32682281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.711052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.59, Y:-1.36, Z:-0.63 [[ 9.95774345e-01 8.61697265e-02 3.17526796e-02 1.35873132e+01] [-8.60917449e-02 9.96279900e-01 -3.81749342e-03 -1.35734485e+00] [-3.19635088e-02 1.06771842e-03 9.99488466e-01 -6.33056202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.741052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.62, Y:-1.36, Z:-0.64 [[ 9.95727705e-01 8.68563182e-02 3.13419322e-02 1.36187670e+01] [-8.67804500e-02 9.96220307e-01 -3.77543912e-03 -1.36013093e+00] [-3.15513900e-02 1.03944236e-03 9.99501590e-01 -6.35254503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.65, Y:-1.36, Z:-0.64 [[ 9.95346668e-01 9.13765499e-02 3.05832611e-02 1.36491569e+01] [-9.13061731e-02 9.95816020e-01 -3.69277517e-03 -1.36084976e+00] [-3.07927345e-02 8.83150932e-04 9.99525401e-01 -6.38300032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.801052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.68, Y:-1.36, Z:-0.64 [[ 9.94961355e-01 9.53088151e-02 3.11148305e-02 1.36813321e+01] [-9.52378862e-02 9.95447452e-01 -3.75707773e-03 -1.35964718e+00] [-3.13312614e-02 7.74836454e-04 9.99508755e-01 -6.38902082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.831052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.71, Y:-1.36, Z:-0.64 [[ 9.94068806e-01 1.03776542e-01 3.25213532e-02 1.37113928e+01] [-1.03703480e-01 9.94600495e-01 -3.92989353e-03 -1.35999687e+00] [-3.27535848e-02 5.34007053e-04 9.99463315e-01 -6.39008710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.74, Y:-1.36, Z:-0.64 [[ 9.93609491e-01 1.07801733e-01 3.34509478e-02 1.37440443e+01] [-1.07726726e-01 9.94172327e-01 -4.04179987e-03 -1.36130943e+00] [-3.36917196e-02 4.12409627e-04 9.99432188e-01 -6.38164327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.891052753999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.78, Y:-1.36, Z:-0.64 [[ 9.92783313e-01 1.15015353e-01 3.39523481e-02 1.37765739e+01] [-1.14942217e-01 9.93363699e-01 -4.10460990e-03 -1.36166221e+00] [-3.41991232e-02 1.72430064e-04 9.99415024e-01 -6.37386168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.921052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.81, Y:-1.36, Z:-0.64 [[ 9.92546661e-01 1.17008676e-01 3.40601725e-02 1.38092020e+01] [-1.16935973e-01 9.93130886e-01 -4.12566799e-03 -1.36425694e+00] [-3.43089482e-02 1.12058590e-04 9.99411268e-01 -6.39124920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.951052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.84, Y:-1.37, Z:-0.64 [[ 9.92564716e-01 1.17237676e-01 3.27201964e-02 1.38417438e+01] [-1.17170426e-01 9.93103880e-01 -3.97185754e-03 -1.37057955e+00] [-3.29602053e-02 1.08486284e-04 9.99456659e-01 -6.42002486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.981052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.87, Y:-1.38, Z:-0.64 [[ 9.92828088e-01 1.15214652e-01 3.19056652e-02 1.38731002e+01] [-1.15149389e-01 9.93340602e-01 -3.88157896e-03 -1.37785342e+00] [-3.21404075e-02 1.79822758e-04 9.99483347e-01 -6.43822253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.011052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.90, Y:-1.39, Z:-0.65 [[ 9.93656430e-01 1.07952648e-01 3.15138770e-02 1.39031783e+01] [-1.07885086e-01 9.94155949e-01 -3.84140931e-03 -1.38953690e+00] [-3.17443986e-02 4.17163715e-04 9.99495933e-01 -6.45290347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.041052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.93, Y:-1.40, Z:-0.65 [[ 9.94090115e-01 1.03707074e-01 3.20887065e-02 1.39346433e+01] [-1.03634584e-01 9.94607721e-01 -3.91854246e-03 -1.39714423e+00] [-3.23220558e-02 5.69884573e-04 9.99477343e-01 -6.46558698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.97, Y:-1.41, Z:-0.64 [[ 9.94645894e-01 9.79032015e-02 3.30833544e-02 1.39652291e+01] [-9.78226336e-02 9.95195628e-01 -4.04908029e-03 -1.40658240e+00] [-3.33208275e-02 7.91100237e-04 9.99444394e-01 -6.44131699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.101052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.00, Y:-1.41, Z:-0.64 [[ 9.94807197e-01 9.60419769e-02 3.36835178e-02 1.39967226e+01] [-9.59573863e-02 9.95376905e-01 -4.12270541e-03 -1.41120677e+00] [-3.39237485e-02 8.69114683e-04 9.99424046e-01 -6.43495892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.03, Y:-1.42, Z:-0.64 [[ 9.95179017e-01 9.13600288e-02 3.56660770e-02 1.40258513e+01] [-9.12618405e-02 9.95817322e-01 -4.37475596e-03 -1.41711101e+00] [-3.59165751e-02 1.09871350e-03 9.99354188e-01 -6.43069976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.06, Y:-1.42, Z:-0.64 [[ 9.95311457e-01 8.96799431e-02 3.62299875e-02 1.40575281e+01] [-8.95774137e-02 9.95969937e-01 -4.44662385e-03 -1.42198271e+00] [-3.64827514e-02 1.18038708e-03 9.99333586e-01 -6.44721143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.191052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.09, Y:-1.43, Z:-0.65 [[ 9.95407254e-01 8.87872966e-02 3.57940715e-02 1.40878099e+01] [-8.86863461e-02 9.96049878e-01 -4.40139138e-03 -1.42654639e+00] [-3.60434682e-02 1.20673148e-03 9.99349495e-01 -6.47081476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.12, Y:-1.43, Z:-0.65 [[ 9.95384128e-01 8.90465431e-02 3.57931558e-02 1.41199262e+01] [-8.89454930e-02 9.96026737e-01 -4.40882502e-03 -1.43058342e+00] [-3.60435309e-02 1.20483456e-03 9.99349495e-01 -6.48341633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.15, Y:-1.43, Z:-0.65 [[ 9.95413131e-01 8.98642128e-02 3.28195228e-02 1.41508546e+01] [-8.97794369e-02 9.95953435e-01 -4.05066771e-03 -1.43274279e+00] [-3.30507265e-02 1.08556955e-03 9.99453086e-01 -6.54615906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.281052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.18, Y:-1.43, Z:-0.66 [[ 9.95038455e-01 9.39243742e-02 3.28128880e-02 1.41831643e+01] [-9.38415749e-02 9.95578874e-01 -4.05776644e-03 -1.43088791e+00] [-3.30489412e-02 9.58420564e-04 9.99453275e-01 -6.57315523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.311052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.21, Y:-1.43, Z:-0.66 [[ 9.94831382e-01 9.57446817e-02 3.38153321e-02 1.42145768e+01] [-9.56577641e-02 9.95405494e-01 -4.18261377e-03 -1.43358943e+00] [-3.40604303e-02 9.26296377e-04 9.99419346e-01 -6.56975477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.341052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.25, Y:-1.43, Z:-0.66 [[ 9.94503362e-01 9.86582038e-02 3.50659756e-02 1.42471334e+01] [-9.85662562e-02 9.95121003e-01 -4.34545139e-03 -1.43176485e+00] [-3.53236033e-02 8.65244075e-04 9.99375552e-01 -6.55376285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.371052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.28, Y:-1.43, Z:-0.66 [[ 9.94380283e-01 9.97534296e-02 3.54556871e-02 1.42780322e+01] [-9.96598234e-02 9.95011830e-01 -4.40208996e-03 -1.43426167e+00] [-3.57179517e-02 8.43843943e-04 9.99361554e-01 -6.56464325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.401052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.31, Y:-1.44, Z:-0.66 [[ 9.94054113e-01 1.02883255e-01 3.56574967e-02 1.43099774e+01] [-1.02790319e-01 9.94693161e-01 -4.43471525e-03 -1.43505935e+00] [-3.59245260e-02 7.43101469e-04 9.99354230e-01 -6.56510887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.431052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.34, Y:-1.44, Z:-0.66 [[ 9.93934703e-01 1.04061127e-01 3.55680732e-02 1.43402227e+01] [-1.03969093e-01 9.94570652e-01 -4.43244356e-03 -1.44154030e+00] [-3.58362068e-02 7.07579179e-04 9.99357426e-01 -6.57173400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.461052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.37, Y:-1.44, Z:-0.66 [[ 9.93619914e-01 1.06353419e-01 3.75288690e-02 1.43731131e+01] [-1.06252381e-01 9.94328169e-01 -4.68222903e-03 -1.44055978e+00] [-3.78139827e-02 6.64824329e-04 9.99284574e-01 -6.58365968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.40, Y:-1.45, Z:-0.66 [[ 9.93482415e-01 1.07302801e-01 3.84551582e-02 1.44038721e+01] [-1.07197223e-01 9.94226175e-01 -4.80293426e-03 -1.44634807e+00] [-3.87484932e-02 6.49344552e-04 9.99248784e-01 -6.60091034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.44, Y:-1.45, Z:-0.66 [[ 9.93376723e-01 1.08277163e-01 3.84544252e-02 1.44362487e+01] [-1.08171988e-01 9.94120552e-01 -4.81136424e-03 -1.45024573e+00] [-3.87492953e-02 6.19805611e-04 9.99248772e-01 -6.61670316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.551052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.47, Y:-1.45, Z:-0.66 [[ 9.93318477e-01 1.08966142e-01 3.80103078e-02 1.44688641e+01] [-1.08863778e-01 9.94045287e-01 -4.75866116e-03 -1.45371646e+00] [-3.83025003e-02 5.88920364e-04 9.99266016e-01 -6.62042202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.581052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.50, Y:-1.46, Z:-0.66 [[ 9.93256211e-01 1.09949751e-01 3.67851966e-02 1.45008320e+01] [-1.09854203e-01 9.93936999e-01 -4.61481044e-03 -1.45855996e+00] [-3.70695651e-02 5.42680698e-04 9.99312540e-01 -6.63043986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.53, Y:-1.46, Z:-0.67 [[ 9.93216109e-01 1.10709237e-01 3.55699963e-02 1.45325194e+01] [-1.10620088e-01 9.93852710e-01 -4.47067096e-03 -1.46406304e+00] [-3.58462818e-02 5.05586280e-04 9.99357188e-01 -6.65909045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.641052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.56, Y:-1.47, Z:-0.67 [[ 9.93077203e-01 1.12444611e-01 3.39687858e-02 1.45644934e+01] [-1.12364036e-01 9.93657901e-01 -4.27784467e-03 -1.46657117e+00] [-3.42343729e-02 4.31360132e-04 9.99413739e-01 -6.68927194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.671052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.60, Y:-1.47, Z:-0.67 [[ 9.93010991e-01 1.13020668e-01 3.39926434e-02 1.45959574e+01] [-1.12940020e-01 9.93592548e-01 -4.28951731e-03 -1.47471295e+00] [-3.42596413e-02 4.20408001e-04 9.99412878e-01 -6.71140932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.701052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.63, Y:-1.48, Z:-0.67 [[ 9.92925011e-01 1.14407226e-01 3.17948001e-02 1.46288341e+01] [-1.14337241e-01 9.93433874e-01 -4.01661310e-03 -1.47590234e+00] [-3.20455610e-02 3.52865885e-04 9.99486347e-01 -6.73393778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.731052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.66, Y:-1.48, Z:-0.68 [[ 9.92896890e-01 1.15157644e-01 2.99079163e-02 1.46604727e+01] [-1.15095825e-01 9.93347178e-01 -3.78609695e-03 -1.48057367e+00] [-3.01449423e-02 3.16927589e-04 9.99545488e-01 -6.76921497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.761052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.69, Y:-1.49, Z:-0.68 [[ 9.92996471e-01 1.14710051e-01 2.82774200e-02 1.46916993e+01] [-1.14654411e-01 9.93398964e-01 -3.58663255e-03 -1.48755143e+00] [-2.85021825e-02 3.19382539e-04 9.99593679e-01 -6.79661871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.791052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.72, Y:-1.49, Z:-0.68 [[ 9.93146543e-01 1.13358067e-01 2.84586101e-02 1.47225416e+01] [-1.13300954e-01 9.93554132e-01 -3.61668537e-03 -1.49434630e+00] [-2.86851502e-02 3.67510903e-04 9.99588429e-01 -6.79867492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.75, Y:-1.50, Z:-0.68 [[ 9.93754023e-01 1.07956655e-01 2.82542391e-02 1.47539501e+01] [-1.07897954e-01 9.94155462e-01 -3.59848200e-03 -1.50405305e+00] [-2.84775862e-02 5.27431394e-04 9.99594292e-01 -6.79086924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.851052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.79, Y:-1.51, Z:-0.68 [[ 9.93842326e-01 1.06970753e-01 2.88909979e-02 1.47858846e+01] [-1.06908947e-01 9.94262005e-01 -3.67998314e-03 -1.50777655e+00] [-2.91188721e-02 5.68616836e-04 9.99575794e-01 -6.79586278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.82, Y:-1.51, Z:-0.68 [[ 9.94103526e-01 1.04456346e-01 2.91041593e-02 1.48174716e+01] [-1.04392346e-01 9.94529258e-01 -3.71398593e-03 -1.51092012e+00] [-2.93328874e-02 6.53835025e-04 9.99569484e-01 -6.81178049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.85, Y:-1.52, Z:-0.68 [[ 9.94280117e-01 1.02828068e-01 2.88693334e-02 1.48486443e+01] [-1.02764212e-01 9.94698896e-01 -3.69086775e-03 -1.51575480e+00] [-2.90958189e-02 7.03022127e-04 9.99576380e-01 -6.83259484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.941052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.88, Y:-1.52, Z:-0.69 [[ 9.94701601e-01 9.89014821e-02 2.80574623e-02 1.48793928e+01] [-9.88393873e-02 9.95096906e-01 -3.59483750e-03 -1.52005842e+00] [-2.82754287e-02 8.02608230e-04 9.99599848e-01 -6.85672207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.91, Y:-1.53, Z:-0.69 [[ 9.94932853e-01 9.64000625e-02 2.85595020e-02 1.49102935e+01] [-9.63347195e-02 9.95342272e-01 -3.65832573e-03 -1.52596041e+00] [-2.87791424e-02 8.88516851e-04 9.99585400e-01 -6.86067632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.94, Y:-1.53, Z:-0.68 [[ 9.95150844e-01 9.36963473e-02 2.99297860e-02 1.49426942e+01] [-9.36231122e-02 9.95600297e-01 -3.84205983e-03 -1.52740627e+00] [-3.01580908e-02 1.02130937e-03 9.99544620e-01 -6.84407009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.031052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.97, Y:-1.54, Z:-0.68 [[ 9.95621032e-01 8.82409046e-02 3.08594027e-02 1.49717873e+01] [-8.81603586e-02 9.96098409e-01 -3.96369908e-03 -1.53551796e+00] [-3.10887623e-02 1.22576617e-03 9.99515876e-01 -6.82996844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.061052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.00, Y:-1.53, Z:-0.68 [[ 9.95981860e-01 8.36607067e-02 3.19534212e-02 1.50034019e+01] [-8.35719137e-02 9.96493287e-01 -4.10668500e-03 -1.53152789e+00] [-3.21849379e-02 1.41977521e-03 9.99480922e-01 -6.82872906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.091052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.03, Y:-1.54, Z:-0.68 [[ 9.96047911e-01 8.26189103e-02 3.25986960e-02 1.50344008e+01] [-8.25259572e-02 9.96580112e-01 -4.18898751e-03 -1.53549903e+00] [-3.28333017e-02 1.48219367e-03 9.99459743e-01 -6.83590296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.121052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.07, Y:-1.54, Z:-0.68 [[ 9.95973007e-01 8.33653253e-02 3.29847327e-02 1.50666594e+01] [-8.32703192e-02 9.96517950e-01 -4.24599099e-03 -1.53527819e+00] [-3.32238467e-02 1.48224319e-03 9.99446836e-01 -6.84337377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.151052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.10, Y:-1.53, Z:-0.69 [[ 9.95596819e-01 8.77196274e-02 3.30490667e-02 1.50966575e+01] [-8.76263298e-02 9.96144290e-01 -4.26368490e-03 -1.53450152e+00] [-3.32956480e-02 1.34894270e-03 9.99444636e-01 -6.85360009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.181052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.13, Y:-1.53, Z:-0.69 [[ 9.94982405e-01 9.46038107e-02 3.25596766e-02 1.51281902e+01] [-9.45169367e-02 9.95514392e-01 -4.20047378e-03 -1.52904320e+00] [-3.28110074e-02 1.10195662e-03 9.99460966e-01 -6.85942339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.211052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.16, Y:-1.53, Z:-0.69 [[ 9.94628266e-01 9.85694521e-02 3.16018425e-02 1.51583981e+01] [-9.84896030e-02 9.95129727e-01 -4.07725923e-03 -1.53021717e+00] [-3.18498261e-02 9.42904360e-04 9.99492221e-01 -6.88016041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.19, Y:-1.53, Z:-0.69 [[ 9.93901413e-01 1.06021149e-01 3.03232072e-02 1.51900012e+01] [-1.05951079e-01 9.94363645e-01 -3.91279212e-03 -1.52684078e+00] [-3.05671335e-02 6.76153081e-04 9.99532487e-01 -6.91407886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.22, Y:-1.53, Z:-0.69 [[ 9.93480983e-01 1.09988864e-01 2.99664316e-02 1.52224182e+01] [-1.09922281e-01 9.93932669e-01 -3.86532519e-03 -1.52682389e+00] [-3.02097580e-02 5.46148571e-04 9.99543432e-01 -6.93398228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.301052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.25, Y:-1.53, Z:-0.70 [[ 9.92758818e-01 1.16945528e-01 2.74531091e-02 1.52548419e+01] [-1.16892141e-01 9.93138281e-01 -3.54700486e-03 -1.52773270e+00] [-2.76795399e-02 3.12267641e-04 9.99616799e-01 -6.96605327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.331052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.29, Y:-1.53, Z:-0.70 [[ 9.92392744e-01 1.20439698e-01 2.55131522e-02 1.52857464e+01] [-1.20394593e-01 9.92720624e-01 -3.30228987e-03 -1.53267545e+00] [-2.57251591e-02 2.05522936e-04 9.99669032e-01 -7.00493571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.32, Y:-1.54, Z:-0.71 [[ 9.91917540e-01 1.24624119e-01 2.38416187e-02 1.53167793e+01] [-1.24585827e-01 9.92204021e-01 -3.09059687e-03 -1.53643670e+00] [-2.40409129e-02 9.52894539e-05 9.99710971e-01 -7.06139517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.391052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.35, Y:-1.54, Z:-0.70 [[ 9.91807492e-01 1.25484245e-01 2.39082054e-02 1.53497121e+01] [-1.25445857e-01 9.92095609e-01 -3.10470182e-03 -1.53951753e+00] [-2.41088167e-02 8.00812171e-05 9.99709337e-01 -7.03316676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.421052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.38, Y:-1.55, Z:-0.70 [[ 9.91905533e-01 1.24455753e-01 2.51829005e-02 1.53811858e+01] [-1.24412627e-01 9.92225152e-01 -3.27823929e-03 -1.54743398e+00] [-2.53951030e-02 1.18632901e-04 9.99677485e-01 -7.03128935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.451052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.41, Y:-1.56, Z:-0.70 [[ 9.92065300e-01 1.23137715e-01 2.53681522e-02 1.54122786e+01] [-1.23093336e-01 9.92389579e-01 -3.30959127e-03 -1.55609300e+00] [-2.55826254e-02 1.60680170e-04 9.99672698e-01 -7.04036886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.481052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.44, Y:-1.57, Z:-0.70 [[ 9.92692717e-01 1.17998186e-01 2.52507085e-02 1.54430641e+01] [-1.17952463e-01 9.93013767e-01 -3.29780989e-03 -1.57022872e+00] [-2.54634368e-02 2.95328591e-04 9.99675711e-01 -7.03432029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.511052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.47, Y:-1.58, Z:-0.70 [[ 9.93086675e-01 1.14587547e-01 2.54666501e-02 1.54738778e+01] [-1.14539758e-01 9.93413076e-01 -3.33218787e-03 -1.57952066e+00] [-2.56807305e-02 3.92207422e-04 9.99670119e-01 -7.04198508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.541052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.51, Y:-1.59, Z:-0.71 [[ 9.93469224e-01 1.11045365e-01 2.62264643e-02 1.55051500e+01] [-1.10993277e-01 9.93815210e-01 -3.43808396e-03 -1.58854428e+00] [-2.64460425e-02 5.04669400e-04 9.99650115e-01 -7.05064056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.54, Y:-1.60, Z:-0.70 [[ 9.94007913e-01 1.05725510e-01 2.77558048e-02 1.55360029e+01] [-1.05664895e-01 9.94395112e-01 -3.64567745e-03 -1.59765763e+00] [-2.79856777e-02 6.91018039e-04 9.99608085e-01 -7.04357095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.601052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.57, Y:-1.61, Z:-0.71 [[ 9.94209034e-01 1.04166823e-01 2.64134561e-02 1.55657493e+01] [-1.04111167e-01 9.94559587e-01 -3.47737023e-03 -1.60641153e+00] [-2.66319826e-02 7.07297140e-04 9.99645056e-01 -7.05036714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.60, Y:-1.61, Z:-0.71 [[ 9.93996111e-01 1.06202028e-01 2.63222427e-02 1.55960860e+01] [-1.06147506e-01 9.94344361e-01 -3.46398090e-03 -1.61074673e+00] [-2.65412554e-02 6.49143122e-04 9.99647508e-01 -7.06735722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.63, Y:-1.61, Z:-0.71 [[ 9.93642842e-01 1.09760536e-01 2.50305403e-02 1.56286149e+01] [-1.09712236e-01 9.93957918e-01 -3.29898405e-03 -1.61057500e+00] [-2.52414020e-02 5.31855337e-04 9.99681244e-01 -7.09039394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.691052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.66, Y:-1.61, Z:-0.71 [[ 9.93499405e-01 1.11297331e-01 2.39131030e-02 1.56606674e+01] [-1.11253562e-01 9.93787038e-01 -3.15715295e-03 -1.61337167e+00] [-2.41159145e-02 4.76211684e-04 9.99709056e-01 -7.11526692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.69, Y:-1.62, Z:-0.72 [[ 9.93356993e-01 1.12721696e-01 2.31452661e-02 1.56912282e+01] [-1.12680949e-01 9.93626505e-01 -3.06136336e-03 -1.61524566e+00] [-2.33428319e-02 4.32996144e-04 9.99727425e-01 -7.15044547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.72, Y:-1.62, Z:-0.72 [[ 9.93346515e-01 1.12937612e-01 2.25343698e-02 1.57228176e+01] [-1.12898946e-01 9.93601992e-01 -2.98483954e-03 -1.61976270e+00] [-2.27272954e-02 4.20873341e-04 9.99741613e-01 -7.17907682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.781052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.75, Y:-1.62, Z:-0.72 [[ 9.93405374e-01 1.12500974e-01 2.21199741e-02 1.57545017e+01] [-1.12463478e-01 9.93651522e-01 -2.93581955e-03 -1.62351066e+00] [-2.23098285e-02 4.28769687e-04 9.99751013e-01 -7.18576023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.811052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.79, Y:-1.63, Z:-0.72 [[ 9.93386998e-01 1.12595011e-01 2.24640944e-02 1.57875859e+01] [-1.12556253e-01 9.93640866e-01 -2.98634815e-03 -1.62714197e+00] [-2.26574902e-02 4.38125122e-04 9.99743190e-01 -7.19146381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.841052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.82, Y:-1.63, Z:-0.72 [[ 9.93169814e-01 1.14566487e-01 2.20961466e-02 1.58191343e+01] [-1.14529333e-01 9.93415505e-01 -2.94387569e-03 -1.62810805e+00] [-2.22879241e-02 3.93111545e-04 9.99751516e-01 -7.22615759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.871052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.85, Y:-1.63, Z:-0.72 [[ 9.92939638e-01 1.16572095e-01 2.19504622e-02 1.58508517e+01] [-1.16535805e-01 9.93182170e-01 -2.92959725e-03 -1.62981279e+00] [-2.21423170e-02 3.50898451e-04 9.99754767e-01 -7.24970535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.901052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.88, Y:-1.63, Z:-0.73 [[ 9.92530068e-01 1.19822266e-01 2.29497160e-02 1.58815648e+01] [-1.19783293e-01 9.92795314e-01 -3.07038867e-03 -1.63243564e+00] [-2.31522715e-02 2.98460511e-04 9.99731906e-01 -7.25297330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.931052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.91, Y:-1.64, Z:-0.72 [[ 9.92295036e-01 1.21493130e-01 2.42895364e-02 1.59132452e+01] [-1.21449921e-01 9.92592234e-01 -3.25175119e-03 -1.63656302e+00] [-2.45046707e-02 2.76734282e-04 9.99699677e-01 -7.24550019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.961052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.94, Y:-1.64, Z:-0.73 [[ 9.92159102e-01 1.22415049e-01 2.51966534e-02 1.59439966e+01] [-1.22368681e-01 9.92478958e-01 -3.37979999e-03 -1.64084604e+00] [-2.54208867e-02 2.70018077e-04 9.99676801e-01 -7.26259890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.97, Y:-1.65, Z:-0.73 [[ 9.91990581e-01 1.23135796e-01 2.81471606e-02 1.59744904e+01] [-1.23078016e-01 9.92389789e-01 -3.78276604e-03 -1.64570576e+00] [-2.83987486e-02 2.88171608e-04 9.99596633e-01 -7.25840547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.01, Y:-1.65, Z:-0.73 [[ 9.91968171e-01 1.22964629e-01 2.96453779e-02 1.60059325e+01] [-1.22900254e-01 9.92411004e-01 -3.99088223e-03 -1.65068448e+00] [-2.99111366e-02 3.15403683e-04 9.99552512e-01 -7.25553439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.051052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.04, Y:-1.66, Z:-0.73 [[ 9.91988536e-01 1.22566677e-01 3.05966434e-02 1.60367104e+01] [-1.22497685e-01 9.92460221e-01 -4.12635477e-03 -1.65756050e+00] [-3.08717050e-02 3.45278649e-04 9.99523296e-01 -7.26384361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.081052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.07, Y:-1.66, Z:-0.73 [[ 9.92253675e-01 1.20279809e-01 3.10710694e-02 1.60684714e+01] [-1.20207285e-01 9.92739937e-01 -4.19841755e-03 -1.66408210e+00] [-3.13504763e-02 4.30926336e-04 9.99508360e-01 -7.26640042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.10, Y:-1.67, Z:-0.73 [[ 9.92222031e-01 1.20540812e-01 3.10701312e-02 1.61005270e+01] [-1.20468199e-01 9.92708279e-01 -4.20534817e-03 -1.66849952e+00] [-3.13504925e-02 4.29676357e-04 9.99508360e-01 -7.27900019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.141052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.13, Y:-1.67, Z:-0.73 [[ 9.92358684e-01 1.19536810e-01 3.05809201e-02 1.61322525e+01] [-1.19465734e-01 9.92829662e-01 -4.14743711e-03 -1.67365019e+00] [-3.08574160e-02 4.62373177e-04 9.99523690e-01 -7.30832994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.171052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.16, Y:-1.68, Z:-0.73 [[ 9.92656977e-01 1.17164889e-01 3.00751477e-02 1.61640600e+01] [-1.17094849e-01 9.93112332e-01 -4.08570277e-03 -1.67894951e+00] [-3.03467010e-02 5.34056497e-04 9.99539290e-01 -7.34491929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.201052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.20, Y:-1.68, Z:-0.74 [[ 9.92853764e-01 1.15542064e-01 2.98569188e-02 1.61954385e+01] [-1.15472097e-01 9.93302415e-01 -4.06289139e-03 -1.68406273e+00] [-3.01263844e-02 5.86215973e-04 9.99545926e-01 -7.36462364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.231052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.23, Y:-1.69, Z:-0.74 [[ 9.93348148e-01 1.11443340e-01 2.89799592e-02 1.62260532e+01] [-1.11375486e-01 9.93770546e-01 -3.95016398e-03 -1.69067930e+00] [-2.92396494e-02 6.96231020e-04 9.99572188e-01 -7.39666945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.261052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.26, Y:-1.70, Z:-0.74 [[ 9.93549953e-01 1.09706981e-01 2.86856967e-02 1.62571215e+01] [-1.09639601e-01 9.93963693e-01 -3.91607927e-03 -1.69569758e+00] [-2.89421622e-02 7.45732043e-04 9.99580810e-01 -7.41798219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.291052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.29, Y:-1.70, Z:-0.74 [[ 9.93899276e-01 1.06317379e-01 2.93401577e-02 1.62891317e+01] [-1.06245186e-01 9.94331864e-01 -4.01308594e-03 -1.70076097e+00] [-2.96005145e-02 8.71352709e-04 9.99561429e-01 -7.43601742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.32, Y:-1.71, Z:-0.75 [[ 9.94040512e-01 1.04949601e-01 2.94795257e-02 1.63208463e+01] [-1.04876104e-01 9.94477119e-01 -4.03263510e-03 -1.70554991e+00] [-2.97399372e-02 9.16904852e-04 9.99557250e-01 -7.45383930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.351052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.35, Y:-1.71, Z:-0.75 [[ 9.94152789e-01 1.03816947e-01 2.97030896e-02 1.63514583e+01] [-1.03741620e-01 9.94595953e-01 -4.07010275e-03 -1.70751373e+00] [-2.99651183e-02 9.64857364e-04 9.99550479e-01 -7.50051435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.38, Y:-1.71, Z:-0.75 [[ 9.94106732e-01 1.04269755e-01 2.96584556e-02 1.63845949e+01] [-1.04194688e-01 9.94548594e-01 -4.06957659e-03 -1.70542421e+00] [-2.99211090e-02 9.55339955e-04 9.99551807e-01 -7.52078256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.42, Y:-1.71, Z:-0.75 [[ 9.94019002e-01 1.04954067e-01 3.01805746e-02 1.64150874e+01] [-1.04876380e-01 9.94476607e-01 -4.14998961e-03 -1.70947732e+00] [-3.04494338e-02 9.59939099e-04 9.99535848e-01 -7.52767227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.441052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.45, Y:-1.71, Z:-0.75 [[ 9.93821291e-01 1.06073078e-01 3.26763517e-02 1.64478109e+01] [-1.05982359e-01 9.94357824e-01 -4.50081325e-03 -1.70888363e+00] [-3.29694011e-02 1.00988720e-03 9.99455851e-01 -7.51618438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.48, Y:-1.71, Z:-0.75 [[ 9.93738157e-01 1.06206967e-01 3.47067031e-02 1.64803057e+01] [-1.06104362e-01 9.94343461e-01 -4.79016518e-03 -1.71265346e+00] [-3.50191322e-02 1.07763734e-03 9.99386061e-01 -7.50519099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.501052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.51, Y:-1.72, Z:-0.75 [[ 9.93687240e-01 1.05765695e-01 3.74070482e-02 1.65107683e+01] [-1.05646052e-01 9.94390377e-01 -5.16628261e-03 -1.71694035e+00] [-3.77436242e-02 1.18176214e-03 9.99286757e-01 -7.50004208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.531052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.54, Y:-1.72, Z:-0.75 [[ 9.93646064e-01 1.04973701e-01 4.05958389e-02 1.65414211e+01] [-1.04831720e-01 9.94474116e-01 -5.61639593e-03 -1.71872690e+00] [-4.09610849e-02 1.32497809e-03 9.99159864e-01 -7.51713349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.561052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.57, Y:-1.72, Z:-0.75 [[ 9.93509151e-01 1.06132407e-01 4.09326115e-02 1.65738533e+01] [-1.05988822e-01 9.94351165e-01 -5.66828489e-03 -1.71885836e+00] [-4.13029787e-02 1.29309363e-03 9.99145831e-01 -7.54493806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.591052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.60, Y:-1.72, Z:-0.76 [[ 9.93469503e-01 1.06887319e-01 3.99180084e-02 1.66045287e+01] [-1.06750998e-01 9.94270368e-01 -5.53717333e-03 -1.72399237e+00] [-4.02811465e-02 1.23972562e-03 9.99187616e-01 -7.56284511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.621052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.64, Y:-1.72, Z:-0.76 [[ 9.93275600e-01 1.09237917e-01 3.83491827e-02 1.66365726e+01] [-1.09113657e-01 9.94015019e-01 -5.32467862e-03 -1.72424556e+00] [-3.87013204e-02 1.10445379e-03 9.99250213e-01 -7.58524636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.651052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.67, Y:-1.73, Z:-0.76 [[ 9.93094980e-01 1.10939264e-01 3.81423608e-02 1.66686481e+01] [-1.10817234e-01 9.93826642e-01 -5.30532265e-03 -1.72800621e+00] [-3.84954629e-02 1.04185840e-03 9.99258232e-01 -7.59560972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.681052754 meters Centerline goodness [0,1] 0.9999768126695574 Centerline is valid? [True, True] Translation: X:16.70, Y:-1.73, Z:-0.76 [[ 9.92706402e-01 1.14449938e-01 3.78841860e-02 1.66988251e+01] [-1.14331751e-01 9.93428601e-01 -5.27873276e-03 -1.72925970e+00] [-3.82393845e-02 9.08866484e-04 9.99268194e-01 -7.61971247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.711052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.73, Y:-1.73, Z:-0.76 [[ 9.92436211e-01 1.16846237e-01 3.76473734e-02 1.67302902e+01] [-1.16731228e-01 9.93149685e-01 -5.24621990e-03 -1.73116234e+00] [-3.80024781e-02 8.11914479e-04 9.99277315e-01 -7.64816365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.741052754 meters Centerline goodness [0,1] 0.9999536919122924 Centerline is valid? [True, True] Translation: X:16.76, Y:-1.73, Z:-0.77 [[ 9.91819163e-01 1.22104603e-01 3.72184497e-02 1.67622409e+01] [-1.21995558e-01 9.92517048e-01 -5.19548935e-03 -1.73014506e+00] [-3.75743390e-02 6.12500370e-04 9.99293647e-01 -7.69691048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.771052754 meters Centerline goodness [0,1] 0.999976875939415 Centerline is valid? [True, True] Translation: X:16.79, Y:-1.73, Z:-0.77 [[ 9.91546815e-01 1.24342094e-01 3.70669244e-02 1.67944603e+01] [-1.24235435e-01 9.92239268e-01 -5.17599576e-03 -1.73343397e+00] [-3.74228521e-02 5.27216621e-04 9.99299381e-01 -7.70970878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.801052753999997 meters Centerline goodness [0,1] 0.9999072700296736 Centerline is valid? [True, True] Translation: X:16.83, Y:-1.74, Z:-0.77 [[ 9.90950850e-01 1.28611503e-01 3.84121553e-02 1.68259621e+01] [-1.28499784e-01 9.91694978e-01 -5.37358298e-03 -1.73828929e+00] [-3.87842461e-02 3.89002961e-04 9.99247532e-01 -7.69171211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.831052753999998 meters Centerline goodness [0,1] 0.9999073537927041 Centerline is valid? [True, True] Translation: X:16.86, Y:-1.74, Z:-0.77 [[ 9.90721798e-01 1.30286884e-01 3.86735875e-02 1.68579084e+01] [-1.30174537e-01 9.91476281e-01 -5.41980281e-03 -1.74311385e+00] [-3.90500739e-02 3.35200425e-04 9.99237199e-01 -7.69639848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.861052754 meters Centerline goodness [0,1] 0.9999535229596579 Centerline is valid? [True, True] Translation: X:16.89, Y:-1.75, Z:-0.77 [[ 9.90401698e-01 1.32577446e-01 3.90857718e-02 1.68892780e+01] [-1.32464089e-01 9.91172616e-01 -5.48729911e-03 -1.74703260e+00] [-3.94682388e-02 2.57169187e-04 9.99220792e-01 -7.72869571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.891052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.92, Y:-1.75, Z:-0.78 [[ 9.90227938e-01 1.33895906e-01 3.89938006e-02 1.69200898e+01] [-1.33783728e-01 9.90995379e-01 -5.48393662e-03 -1.75253745e+00] [-3.93769528e-02 2.13611256e-04 9.99224404e-01 -7.75271099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.921052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.95, Y:-1.76, Z:-0.78 [[ 9.89969306e-01 1.35428533e-01 4.02478107e-02 1.69520323e+01] [-1.35310042e-01 9.90787104e-01 -5.66629698e-03 -1.76026102e+00] [-4.06443901e-02 1.63527148e-04 9.99173662e-01 -7.76332176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.951052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.98, Y:-1.77, Z:-0.78 [[ 9.89855744e-01 1.35654112e-01 4.22323190e-02 1.69841578e+01] [-1.35523321e-01 9.90756242e-01 -5.95800355e-03 -1.76688205e+00] [-4.26501614e-02 1.74099900e-04 9.99090053e-01 -7.76560098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.981052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.02, Y:-1.78, Z:-0.78 [[ 9.89952789e-01 1.33929085e-01 4.53483839e-02 1.70153382e+01] [-1.33775856e-01 9.90990879e-01 -6.41081306e-03 -1.77635900e+00] [-4.57984291e-02 2.79883406e-04 9.98950662e-01 -7.75599089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.011052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.05, Y:-1.79, Z:-0.77 [[ 9.90313139e-01 1.30841883e-01 4.64789088e-02 1.70451067e+01] [-1.30676973e-01 9.91403149e-01 -6.58217520e-03 -1.78764746e+00] [-4.69405608e-02 4.44691479e-04 9.98897585e-01 -7.74897763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.041052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.08, Y:-1.80, Z:-0.78 [[ 9.90499532e-01 1.29400444e-01 4.65424736e-02 1.70768257e+01] [-1.29232986e-01 9.91592280e-01 -6.60189371e-03 -1.79517967e+00] [-4.70054455e-02 5.24349782e-04 9.98894496e-01 -7.76491346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.11, Y:-1.80, Z:-0.78 [[ 9.90790222e-01 1.27185502e-01 4.64605714e-02 1.71078565e+01] [-1.27015669e-01 9.91878742e-01 -6.60158315e-03 -1.80380732e+00] [-4.69228788e-02 6.39563473e-04 9.98898310e-01 -7.80160595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.101052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.14, Y:-1.81, Z:-0.78 [[ 9.90970228e-01 1.25855539e-01 4.62427265e-02 1.71383869e+01] [-1.25685359e-01 9.92048325e-01 -6.58110256e-03 -1.81168122e+00] [-4.67032876e-02 7.09643048e-04 9.98908554e-01 -7.81283525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.17, Y:-1.82, Z:-0.78 [[ 9.91165779e-01 1.24370393e-01 4.60695546e-02 1.71697108e+01] [-1.24199556e-01 9.92235552e-01 -6.56347450e-03 -1.81840435e+00] [-4.65281518e-02 7.83673095e-04 9.98916672e-01 -7.82730751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.20, Y:-1.82, Z:-0.78 [[ 9.90894896e-01 1.26147016e-01 4.70556711e-02 1.72018182e+01] [-1.25970229e-01 9.92011291e-01 -6.71560989e-03 -1.82050186e+00] [-4.75269112e-02 7.26849913e-04 9.98869693e-01 -7.84470558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.191052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.83, Z:-0.79 [[ 9.90746258e-01 1.27323972e-01 4.70155019e-02 1.72323737e+01] [-1.27148274e-01 9.91860949e-01 -6.72116432e-03 -1.82500447e+00] [-4.74886057e-02 6.81028472e-04 9.98871548e-01 -7.85044264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.83, Z:-0.79 [[ 9.90619957e-01 1.28394025e-01 4.67661766e-02 1.72639078e+01] [-1.28220878e-01 9.91723030e-01 -6.69608808e-03 -1.82821751e+00] [-4.72388321e-02 6.36878249e-04 9.98883420e-01 -7.87305125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.30, Y:-1.83, Z:-0.79 [[ 9.90538806e-01 1.29293980e-01 4.59993518e-02 1.72954798e+01] [-1.29126931e-01 9.91606128e-01 -6.59720562e-03 -1.83067570e+00] [-4.64662181e-02 5.95033058e-04 9.98919685e-01 -7.90021084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.281052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.33, Y:-1.83, Z:-0.79 [[ 9.90462470e-01 1.30903282e-01 4.29933207e-02 1.73260166e+01] [-1.30758445e-01 9.91395020e-01 -6.17607444e-03 -1.83461500e+00] [-4.34318324e-02 4.95430204e-04 9.99056270e-01 -7.93895178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.311052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.36, Y:-1.84, Z:-0.80 [[ 9.90438572e-01 1.31702100e-01 4.10608308e-02 1.73577632e+01] [-1.31570305e-01 9.91289239e-01 -5.90756407e-03 -1.83942816e+00] [-4.14811983e-02 4.48693302e-04 9.99139184e-01 -7.96640175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.341052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.39, Y:-1.84, Z:-0.80 [[ 9.90384401e-01 1.32747843e-01 3.89454655e-02 1.73883630e+01] [-1.32629734e-01 9.91149764e-01 -5.61230422e-03 -1.84472895e+00] [-3.93458103e-02 3.93011802e-04 9.99225577e-01 -8.00835037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.371052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.42, Y:-1.85, Z:-0.80 [[ 9.90247105e-01 1.33556002e-01 3.96669231e-02 1.74214564e+01] [-1.33433752e-01 9.91041196e-01 -5.72548910e-03 -1.84739520e+00] [-4.00762283e-02 3.76742617e-04 9.99196554e-01 -8.02847094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.401052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.45, Y:-1.85, Z:-0.80 [[ 9.89857081e-01 1.35924855e-01 4.13206119e-02 1.74530160e+01] [-1.35793779e-01 9.90719103e-01 -5.97562842e-03 -1.84997610e+00] [-4.17493560e-02 3.03936067e-04 9.99128069e-01 -8.03363552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.431052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.49, Y:-1.85, Z:-0.80 [[ 9.89669869e-01 1.37035394e-01 4.21289898e-02 1.74857582e+01] [-1.36899953e-01 9.90566116e-01 -6.09699174e-03 -1.85351432e+00] [-4.25670535e-02 2.66552305e-04 9.99093577e-01 -8.03518347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.461052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.52, Y:-1.86, Z:-0.80 [[ 9.89609066e-01 1.36845863e-01 4.41260227e-02 1.75166188e+01] [-1.36696508e-01 9.90592307e-01 -6.39884972e-03 -1.85940211e+00] [-4.45865548e-02 3.00486473e-04 9.99005480e-01 -8.00698135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.86, Z:-0.80 [[ 9.89680167e-01 1.35997756e-01 4.51417496e-02 1.75481200e+01] [-1.35840074e-01 9.90709081e-01 -6.55677226e-03 -1.86398998e+00] [-4.56140476e-02 3.57048840e-04 9.98959074e-01 -8.01091310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.87, Z:-0.80 [[ 9.90097512e-01 1.33167598e-01 4.44219277e-02 1.75792972e+01] [-1.33011593e-01 9.91093412e-01 -6.46260543e-03 -1.87146156e+00] [-4.48868896e-02 4.89978180e-04 9.98991955e-01 -8.02836711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.551052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.61, Y:-1.88, Z:-0.80 [[ 9.90195700e-01 1.32555983e-01 4.40611763e-02 1.76117425e+01] [-1.32401429e-01 9.91175382e-01 -6.42065478e-03 -1.87541289e+00] [-4.45234494e-02 5.23942068e-04 9.99008202e-01 -8.04739044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.581052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.64, Y:-1.88, Z:-0.81 [[ 9.90428551e-01 1.30879751e-01 4.38380622e-02 1.76422692e+01] [-1.30724616e-01 9.91398064e-01 -6.39943594e-03 -1.87930849e+00] [-4.42985266e-02 6.07470198e-04 9.99018154e-01 -8.06315801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.89, Z:-0.81 [[ 9.90576530e-01 1.29727122e-01 4.39205272e-02 1.76729940e+01] [-1.29570015e-01 9.91549510e-01 -6.41723468e-03 -1.88507649e+00] [-4.43818666e-02 6.65978700e-04 9.99014418e-01 -8.06965654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.641052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.70, Y:-1.89, Z:-0.81 [[ 9.91003719e-01 1.26463159e-01 4.38029481e-02 1.77049102e+01] [-1.26303428e-01 9.91970969e-01 -6.40631807e-03 -1.88767030e+00] [-4.42614161e-02 8.16222520e-04 9.99019650e-01 -8.09942300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.671052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.74, Y:-1.89, Z:-0.81 [[ 9.91255776e-01 1.24898815e-01 4.25707931e-02 1.77353368e+01] [-1.24746079e-01 9.92169102e-01 -6.23604870e-03 -1.89205598e+00] [-4.30163007e-02 8.70979772e-04 9.99073991e-01 -8.12995702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.701052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.77, Y:-1.90, Z:-0.81 [[ 9.91589095e-01 1.22843528e-01 4.07496468e-02 1.77657849e+01] [-1.22701494e-01 9.92425618e-01 -5.97797402e-03 -1.89924911e+00] [-4.11753488e-02 9.27651300e-04 9.99151505e-01 -8.14736682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.731052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.80, Y:-1.90, Z:-0.82 [[ 9.91669253e-01 1.22617434e-01 3.94595809e-02 1.77989576e+01] [-1.22483738e-01 9.92453589e-01 -5.79719428e-03 -1.90082353e+00] [-3.98726398e-02 9.15742336e-04 9.99204350e-01 -8.16040140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.761052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.90, Z:-0.82 [[ 9.91577940e-01 1.23925754e-01 3.76244047e-02 1.78302528e+01] [-1.23804757e-01 9.92291143e-01 -5.53795360e-03 -1.90435890e+00] [-3.80206587e-02 8.33232356e-04 9.99276606e-01 -8.18771595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.791052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.86, Y:-1.91, Z:-0.82 [[ 9.91402033e-01 1.25600718e-01 3.66942494e-02 1.78627542e+01] [-1.25486448e-01 9.92080583e-01 -5.40996271e-03 -1.90618563e+00] [-3.70831476e-02 7.58817012e-04 9.99311895e-01 -8.19884047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.89, Y:-1.91, Z:-0.82 [[ 9.90891632e-01 1.29842875e-01 3.57015617e-02 1.78933193e+01] [-1.29737144e-01 9.91534405e-01 -5.27226774e-03 -1.91043168e+00] [-3.60838931e-02 5.92427346e-04 9.99348589e-01 -8.20109825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.851052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.92, Y:-1.91, Z:-0.82 [[ 9.90531718e-01 1.32872326e-01 3.45233324e-02 1.79247637e+01] [-1.32775034e-01 9.91133049e-01 -5.10586789e-03 -1.91357982e+00] [-3.48956442e-02 4.73687480e-04 9.99390849e-01 -8.22179305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.91, Z:-0.83 [[ 9.89817752e-01 1.38649383e-01 3.22050737e-02 1.79573852e+01] [-1.38567549e-01 9.90341498e-01 -4.76996720e-03 -1.91340368e+00] [-3.25553739e-02 2.58820083e-04 9.99469900e-01 -8.27062410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.92, Z:-0.83 [[ 9.89627856e-01 1.40061777e-01 3.19281223e-02 1.79897307e+01] [-1.39981842e-01 9.90142743e-01 -4.73632078e-03 -1.91787995e+00] [-3.22767761e-02 2.17837606e-04 9.99478945e-01 -8.28540870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.941052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.93, Z:-0.83 [[ 9.89892941e-01 1.37784401e-01 3.35771291e-02 1.80194830e+01] [-1.37694322e-01 9.90462194e-01 -4.99159285e-03 -1.92822053e+00] [-3.39446406e-02 3.17762516e-04 9.99423664e-01 -8.26079757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.94, Z:-0.83 [[ 9.90312093e-01 1.34599990e-01 3.41291974e-02 1.80502973e+01] [-1.34504883e-01 9.90899920e-01 -5.07795261e-03 -1.93630352e+00] [-3.45021114e-02 4.38214160e-04 9.99404529e-01 -8.25022476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.95, Z:-0.82 [[ 9.91323297e-01 1.26539632e-01 3.55786888e-02 1.80799937e+01] [-1.26430760e-01 9.91961263e-01 -5.30247929e-03 -1.94810130e+00] [-3.59636548e-02 7.58230592e-04 9.99352811e-01 -8.23148799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.031052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.95, Z:-0.82 [[ 9.91288746e-01 1.26810055e-01 3.55785357e-02 1.81119876e+01] [-1.26701321e-01 9.91926735e-01 -5.30350660e-03 -1.95294034e+00] [-3.59638387e-02 7.49458952e-04 9.99352811e-01 -8.24404941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.061052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.96, Z:-0.82 [[ 9.91619224e-01 1.23815278e-01 3.68929632e-02 1.81420843e+01] [-1.23695884e-01 9.92304875e-01 -5.51020994e-03 -1.96228849e+00] [-3.72913154e-02 9.00522420e-04 9.99304031e-01 -8.23556187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.091052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.17, Y:-1.97, Z:-0.82 [[ 9.92032952e-01 1.20184416e-01 3.77667708e-02 1.81741796e+01] [-1.20056331e-01 9.92751006e-01 -5.64950000e-03 -1.96690427e+00] [-3.81719816e-02 1.07035021e-03 9.99270611e-01 -8.20313806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.121052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.21, Y:-1.97, Z:-0.82 [[ 9.92268625e-01 1.18572597e-01 3.66540020e-02 1.82054015e+01] [-1.18450765e-01 9.92944775e-01 -5.48542452e-03 -1.97180736e+00] [-3.70458208e-02 1.10132006e-03 9.99312961e-01 -8.21747113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.151052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.98, Z:-0.83 [[ 9.92770515e-01 1.15031195e-01 3.42713884e-02 1.82366588e+01] [-1.14922432e-01 9.93361205e-01 -5.13327625e-03 -1.97540628e+00] [-3.46343546e-02 1.15761399e-03 9.99399380e-01 -8.26329768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.181052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.27, Y:-1.98, Z:-0.83 [[ 9.92949563e-01 1.13516130e-01 3.41358162e-02 1.82685425e+01] [-1.13407322e-01 9.93535422e-01 -5.11326156e-03 -1.97808084e+00] [-3.44955802e-02 1.20595933e-03 9.99404123e-01 -8.28820145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.211052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.30, Y:-1.98, Z:-0.83 [[ 9.93089111e-01 1.12358969e-01 3.39039797e-02 1.82998284e+01] [-1.12250675e-01 9.93666901e-01 -5.08686631e-03 -1.98069484e+00] [-3.42608175e-02 1.24596692e-03 9.99412149e-01 -8.31749056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.33, Y:-1.98, Z:-0.83 [[ 9.93057135e-01 1.12796519e-01 3.33836986e-02 1.83331709e+01] [-1.12691532e-01 9.93617361e-01 -5.01592377e-03 -1.98163446e+00] [-3.37364012e-02 1.21903876e-03 9.99430022e-01 -8.33247244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.36, Y:-1.98, Z:-0.84 [[ 9.93001936e-01 1.13938698e-01 3.10665258e-02 1.83642096e+01] [-1.13848075e-01 9.93487166e-01 -4.67627661e-03 -1.98381519e+00] [-3.13970035e-02 1.10668758e-03 9.99506380e-01 -8.35906107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.301052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.40, Y:-1.99, Z:-0.84 [[ 9.92868963e-01 1.15361019e-01 3.00509103e-02 1.83967921e+01] [-1.15276640e-01 9.93323092e-01 -4.53120322e-03 -1.98627751e+00] [-3.03729873e-02 1.03472310e-03 9.99538099e-01 -8.37359706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.331052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.43, Y:-1.99, Z:-0.84 [[ 9.92317159e-01 1.20029561e-01 2.99926691e-02 1.84276855e+01] [-1.19947544e-01 9.92769916e-01 -4.52548158e-03 -1.98752886e+00] [-3.03190111e-02 8.93166022e-04 9.99539874e-01 -8.36641721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.46, Y:-1.99, Z:-0.84 [[ 9.92011954e-01 1.22667569e-01 2.94100328e-02 1.84599742e+01] [-1.22589891e-01 9.92447497e-01 -4.43672734e-03 -1.99032412e+00] [-2.97321560e-02 7.95913853e-04 9.99557585e-01 -8.36991438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.391052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.49, Y:-1.99, Z:-0.84 [[ 9.91336727e-01 1.28033802e-01 2.93059623e-02 1.84916250e+01] [-1.27958750e-01 9.91769597e-01 -4.42994267e-03 -1.99063644e+00] [-2.96319448e-02 6.41610571e-04 9.99560672e-01 -8.36870493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.421052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.52, Y:-1.99, Z:-0.84 [[ 9.91007946e-01 1.30399053e-01 2.99889622e-02 1.85233539e+01] [-1.30321563e-01 9.91461420e-01 -4.53250163e-03 -1.99389434e+00] [-3.03239330e-02 5.83536686e-04 9.99539953e-01 -8.37056464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.451052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.56, Y:-2.00, Z:-0.84 [[ 9.90927515e-01 1.30971310e-01 3.01525542e-02 1.85553425e+01] [-1.30893019e-01 9.91385991e-01 -4.56441756e-03 -2.00030310e+00] [-3.04906276e-02 5.76248100e-04 9.99534887e-01 -8.37132238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.481052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.59, Y:-2.01, Z:-0.84 [[ 9.90988097e-01 1.30671004e-01 2.94564245e-02 1.85866672e+01] [-1.30595905e-01 9.91425616e-01 -4.46741372e-03 -2.00652310e+00] [-2.97876152e-02 5.80265412e-04 9.99556082e-01 -8.38322240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.511052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.62, Y:-2.02, Z:-0.84 [[ 9.91284011e-01 1.28324761e-01 2.98121543e-02 1.86167172e+01] [-1.28246522e-01 9.91731975e-01 -4.52974959e-03 -2.01522175e+00] [-3.01469457e-02 6.66963241e-04 9.99545255e-01 -8.37503833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.541052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.65, Y:-2.02, Z:-0.84 [[ 9.91446128e-01 1.26920653e-01 3.04257048e-02 1.86483328e+01] [-1.26838404e-01 9.91912606e-01 -4.62606869e-03 -2.02264302e+00] [-3.07667839e-02 7.27350045e-04 9.99526326e-01 -8.36966759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.68, Y:-2.03, Z:-0.84 [[ 9.91718010e-01 1.24779678e-01 3.04207119e-02 1.86794803e+01] [-1.24696225e-01 9.92184152e-01 -4.63259152e-03 -2.02989846e+00] [-3.07610015e-02 8.00876505e-04 9.99526448e-01 -8.36737892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.601052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.71, Y:-2.04, Z:-0.84 [[ 9.92035638e-01 1.22175441e-01 3.06341889e-02 1.87101875e+01] [-1.22089340e-01 9.92508116e-01 -4.67257900e-03 -2.03753198e+00] [-3.09755555e-02 8.95256980e-04 9.99519741e-01 -8.35853457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.74, Y:-2.04, Z:-0.84 [[ 9.92158381e-01 1.21301926e-01 3.01262361e-02 1.87406284e+01] [-1.21218054e-01 9.92615237e-01 -4.60167812e-03 -2.04398906e+00] [-3.04619534e-02 9.13749777e-04 9.99535509e-01 -8.36870482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.77, Y:-2.05, Z:-0.84 [[ 9.92134139e-01 1.21702392e-01 2.92981047e-02 1.87722094e+01] [-1.21623067e-01 9.92566244e-01 -4.48114752e-03 -2.04930722e+00] [-2.96256761e-02 8.82574073e-04 9.99560674e-01 -8.40339195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.691052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.80, Y:-2.05, Z:-0.85 [[ 9.91970121e-01 1.23912960e-01 2.53151435e-02 1.88039959e+01] [-1.23854327e-01 9.92292836e-01 -3.87716741e-03 -2.05031859e+00] [-2.56004668e-02 7.10644166e-04 9.99672002e-01 -8.46561738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.84, Y:-2.05, Z:-0.85 [[ 9.91733870e-01 1.26113013e-01 2.36524597e-02 1.88355377e+01] [-1.26062335e-01 9.92015690e-01 -3.62754601e-03 -2.05486360e+00] [-2.39210919e-02 6.15875953e-04 9.99713660e-01 -8.49638494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.87, Y:-2.06, Z:-0.85 [[ 9.91279786e-01 1.30073970e-01 2.10985587e-02 1.88672778e+01] [-1.30034457e-01 9.91504182e-01 -3.23987442e-03 -2.05876840e+00] [-2.13407326e-02 4.68082399e-04 9.99772151e-01 -8.50589385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.781052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.90, Y:-2.06, Z:-0.85 [[ 9.91036108e-01 1.32047915e-01 2.02677176e-02 1.88994959e+01] [-1.32011778e-01 9.91243248e-01 -3.11654293e-03 -2.06208041e+00] [-2.05017712e-02 4.13029147e-04 9.99789731e-01 -8.49514870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.811052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.93, Y:-2.07, Z:-0.85 [[ 9.90751707e-01 1.34288702e-01 1.94319411e-02 1.89304380e+01] [-1.34255823e-01 9.90942187e-01 -2.99272991e-03 -2.06707022e+00] [-1.96578200e-02 3.56201026e-04 9.99806703e-01 -8.49296999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.841052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.96, Y:-2.07, Z:-0.85 [[ 9.90387739e-01 1.37022263e-01 1.88951133e-02 1.89616051e+01] [-1.36991600e-01 9.90567924e-01 -2.91381189e-03 -2.07202256e+00] [-1.91161503e-02 2.97331761e-04 9.99817225e-01 -8.48961105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.871052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.99, Y:-2.08, Z:-0.85 [[ 9.90146525e-01 1.38553023e-01 2.03203993e-02 1.89926827e+01] [-1.38517766e-01 9.90354974e-01 -3.13921029e-03 -2.07677933e+00] [-2.05593556e-02 2.93541841e-04 9.99788591e-01 -8.51422568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.901052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.02, Y:-2.08, Z:-0.85 [[ 9.90071837e-01 1.39032198e-01 2.06834797e-02 1.90240776e+01] [-1.38995667e-01 9.90287818e-01 -3.20044586e-03 -2.08211577e+00] [-2.09275629e-02 2.93757255e-04 9.99780951e-01 -8.53037028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.931052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.06, Y:-2.09, Z:-0.85 [[ 9.89864279e-01 1.40496959e-01 2.07198877e-02 1.90550847e+01] [-1.40460520e-01 9.90081074e-01 -3.21089346e-03 -2.09026745e+00] [-2.09654894e-02 2.68022543e-04 9.99780164e-01 -8.51595875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.961052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.08, Y:-2.10, Z:-0.85 [[ 9.89655146e-01 1.42015303e-01 2.03554671e-02 1.90849869e+01] [-1.41980353e-01 9.89864434e-01 -3.15941818e-03 -2.09811793e+00] [-2.05978387e-02 2.36658060e-04 9.99787814e-01 -8.51491393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.12, Y:-2.10, Z:-0.85 [[ 9.89451391e-01 1.43462358e-01 2.01120962e-02 1.91162667e+01] [-1.43428457e-01 9.89655753e-01 -3.12552854e-03 -2.10414859e+00] [-2.03524474e-02 2.07911624e-04 9.99792846e-01 -8.49190505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.15, Y:-2.11, Z:-0.85 [[ 9.88740286e-01 1.48308677e-01 1.99294739e-02 1.91468078e+01] [-1.48276271e-01 9.88941112e-01 -3.10222294e-03 -2.10993199e+00] [-2.01691627e-02 1.12224725e-04 9.99796575e-01 -8.49663849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.051052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.18, Y:-2.11, Z:-0.85 [[ 9.87839006e-01 1.54328023e-01 1.88933728e-02 1.91783188e+01] [-1.54299939e-01 9.88019666e-01 -2.94407093e-03 -2.11254159e+00] [-1.91213765e-02 -6.97817515e-06 9.99817170e-01 -8.54114270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.081052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.21, Y:-2.12, Z:-0.86 [[ 9.87382696e-01 1.57426989e-01 1.70925338e-02 1.92096766e+01] [-1.57404402e-01 9.87530627e-01 -2.66724950e-03 -2.11738855e+00] [-1.72992977e-02 -5.68440590e-05 9.99850354e-01 -8.55644479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.24, Y:-2.12, Z:-0.86 [[ 9.86930214e-01 1.60620591e-01 1.30298879e-02 1.92400625e+01] [-1.60607667e-01 9.87016220e-01 -2.03911855e-03 -2.12473252e+00] [-1.31882352e-02 -8.02321977e-05 9.99913028e-01 -8.57937260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.141052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.27, Y:-2.13, Z:-0.86 [[ 9.86905833e-01 1.60866074e-01 1.17890879e-02 1.92701162e+01] [-1.60855531e-01 9.86976241e-01 -1.84334415e-03 -2.13056687e+00] [-1.19320812e-02 -7.71328984e-05 9.99928807e-01 -8.60264584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.171052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.30, Y:-2.14, Z:-0.86 [[ 9.87160441e-01 1.59354505e-01 1.09729064e-02 1.93011915e+01] [-1.59345301e-01 9.87221423e-01 -1.71360435e-03 -2.13839211e+00] [-1.11057589e-02 -5.68786478e-05 9.99938328e-01 -8.61234606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.201052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.33, Y:-2.14, Z:-0.86 [[ 9.87377913e-01 1.57944871e-01 1.17590149e-02 1.93318183e+01] [-1.57934155e-01 9.87447931e-01 -1.84023103e-03 -2.14443059e+00] [-1.19020700e-02 -4.01466178e-05 9.99929167e-01 -8.62949127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.231052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.36, Y:-2.15, Z:-0.86 [[ 9.87961680e-01 1.54214479e-01 1.22316712e-02 1.93630936e+01] [-1.54202569e-01 9.88037395e-01 -1.91654456e-03 -2.15207184e+00] [-1.23809075e-02 7.31745831e-06 9.99923354e-01 -8.60075307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.261052753999998 meters Centerline goodness [0,1] 0.9997867904861177 Centerline is valid? [True, True] Translation: X:19.39, Y:-2.16, Z:-0.86 [[ 9.88373392e-01 1.51573599e-01 1.19783596e-02 1.93947118e+01] [-1.51561953e-01 9.88445973e-01 -1.87942630e-03 -2.15897637e+00] [-1.21248328e-02 4.21113644e-05 9.99926491e-01 -8.57502191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.291052754 meters Centerline goodness [0,1] 0.999262571958704 Centerline is valid? [True, True] Translation: X:19.43, Y:-2.17, Z:-0.86 [[ 9.89418433e-01 1.44618031e-01 1.16957401e-02 1.94251564e+01] [-1.44606404e-01 9.89487549e-01 -1.83824074e-03 -2.16876527e+00] [-1.18386320e-02 1.27510360e-04 9.99929913e-01 -8.55152648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.321052754 meters Centerline goodness [0,1] 0.999286258089075 Centerline is valid? [True, True] Translation: X:19.46, Y:-2.18, Z:-0.86 [[ 9.89980033e-01 1.40721165e-01 1.17084748e-02 1.94566287e+01] [-1.40709214e-01 9.90049253e-01 -1.84241132e-03 -2.17548531e+00] [-1.18512330e-02 1.76460141e-04 9.99929756e-01 -8.56235954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.351052753999998 meters Centerline goodness [0,1] 0.9996200607902735 Centerline is valid? [True, True] Translation: X:19.49, Y:-2.18, Z:-0.86 [[ 9.90918092e-01 1.33981527e-01 1.14142538e-02 1.94863014e+01] [-1.33969623e-01 9.90983796e-01 -1.80468477e-03 -2.18245374e+00] [-1.15531349e-02 2.59131515e-04 9.99933227e-01 -8.61575684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.381052754 meters Centerline goodness [0,1] 0.9993105251896056 Centerline is valid? [True, True] Translation: X:19.52, Y:-2.19, Z:-0.86 [[ 9.91251577e-01 1.31555736e-01 1.06489391e-02 1.95176115e+01] [-1.31545249e-01 9.91308740e-01 -1.68241441e-03 -2.18889997e+00] [-1.07777177e-02 2.66878587e-04 9.99941883e-01 -8.63442834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.411052754 meters Centerline goodness [0,1] 0.9991662100674179 Centerline is valid? [True, True] Translation: X:19.55, Y:-2.20, Z:-0.86 [[ 9.91523115e-01 1.29567668e-01 9.70211203e-03 1.95483713e+01] [-1.29558906e-01 9.91570548e-01 -1.52891403e-03 -2.19562189e+00] [-9.81842637e-03 2.58958577e-04 9.99951765e-01 -8.64050611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.441052753999998 meters Centerline goodness [0,1] 0.9992392906385205 Centerline is valid? [True, True] Translation: X:19.58, Y:-2.20, Z:-0.86 [[ 9.91426523e-01 1.30264652e-01 1.02259642e-02 1.95807412e+01] [-1.30254935e-01 9.91479223e-01 -1.61340850e-03 -2.19747936e+00] [-1.03490011e-02 2.67593669e-04 9.99946412e-01 -8.62860246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.471052754 meters Centerline goodness [0,1] 0.9994074565665664 Centerline is valid? [True, True] Translation: X:19.61, Y:-2.20, Z:-0.87 [[ 9.90633751e-01 1.36097077e-01 1.10615317e-02 1.96108447e+01] [-1.36085980e-01 9.90695479e-01 -1.75332926e-03 -2.19735874e+00] [-1.11972325e-02 2.31587760e-04 9.99937282e-01 -8.65307578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.501052754 meters Centerline goodness [0,1] 0.999457227138643 Centerline is valid? [True, True] Translation: X:19.64, Y:-2.19, Z:-0.87 [[ 9.89319849e-01 1.45320922e-01 1.13166584e-02 1.96432898e+01] [-1.45309882e-01 9.89384562e-01 -1.79620194e-03 -2.19294475e+00] [-1.14575529e-02 1.32595936e-04 9.99934351e-01 -8.65283350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.531052753999997 meters Centerline goodness [0,1] 0.999553035827707 Centerline is valid? [True, True] Translation: X:19.68, Y:-2.19, Z:-0.87 [[ 9.88497298e-01 1.50833763e-01 1.10574626e-02 1.96755496e+01] [-1.50823631e-01 9.88559139e-01 -1.74931683e-03 -2.19336420e+00] [-1.11948118e-02 6.14682952e-05 9.99937334e-01 -8.66018891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.561052754 meters Centerline goodness [0,1] 0.9994134071658181 Centerline is valid? [True, True] Translation: X:19.71, Y:-2.19, Z:-0.87 [[ 9.86979185e-01 1.60575586e-01 9.35785169e-03 1.97069436e+01] [-1.60568754e-01 9.87023546e-01 -1.48183339e-03 -2.19112814e+00] [-9.47436622e-03 -4.00398748e-05 9.99955116e-01 -8.70615711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.591052754 meters Centerline goodness [0,1] 0.9996488764044944 Centerline is valid? [True, True] Translation: X:19.74, Y:-2.19, Z:-0.87 [[ 9.86377487e-01 1.64221161e-01 9.53225849e-03 1.97389546e+01] [-1.64214225e-01 9.86423542e-01 -1.51114617e-03 -2.19350851e+00] [-9.65100636e-03 -7.47718821e-05 9.99953425e-01 -8.72176664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.621052753999997 meters Centerline goodness [0,1] 0.9995792524718917 Centerline is valid? [True, True] Translation: X:19.77, Y:-2.20, Z:-0.87 [[ 9.85847640e-01 1.67279295e-01 1.10484168e-02 1.97701694e+01] [-1.67270116e-01 9.85909541e-01 -1.75627121e-03 -2.19628489e+00] [-1.11865273e-02 -1.16654121e-04 9.99937422e-01 -8.73590392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.651052754 meters Centerline goodness [0,1] 0.9997187390132427 Centerline is valid? [True, True] Translation: X:19.80, Y:-2.20, Z:-0.87 [[ 9.85420126e-01 1.69414508e-01 1.56812089e-02 1.98008334e+01] [-1.69396104e-01 9.85544869e-01 -2.50421210e-03 -2.20170055e+00] [-1.58787849e-02 -1.88634696e-04 9.99873906e-01 -8.70560315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.681052754 meters Centerline goodness [0,1] 0.9995783457096676 Centerline is valid? [True, True] Translation: X:19.83, Y:-2.21, Z:-0.87 [[ 9.85377460e-01 1.69523088e-01 1.71226362e-02 1.98323097e+01] [-1.69501225e-01 9.85526193e-01 -2.73075206e-03 -2.20974796e+00] [-1.73377320e-02 -2.11486283e-04 9.99849668e-01 -8.69573295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.711052753999997 meters Centerline goodness [0,1] 0.9996235825530513 Centerline is valid? [True, True] Translation: X:19.86, Y:-2.22, Z:-0.87 [[ 9.85468111e-01 1.69016437e-01 1.69129040e-02 1.98649088e+01] [-1.68994976e-01 9.85613213e-01 -2.70050633e-03 -2.21684581e+00] [-1.71260116e-02 -1.96932934e-04 9.99853320e-01 -8.71404392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.741052754 meters Centerline goodness [0,1] 0.9997875955819882 Centerline is valid? [True, True] Translation: X:19.90, Y:-2.23, Z:-0.88 [[ 9.86204522e-01 1.64687250e-01 1.66958083e-02 1.98951317e+01] [-1.64665627e-01 9.86345830e-01 -2.67112830e-03 -2.22641735e+00] [-1.69077417e-02 -1.14946931e-04 9.99857047e-01 -8.75301474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.771052754 meters Centerline goodness [0,1] 0.9997158754587427 Centerline is valid? [True, True] Translation: X:19.93, Y:-2.23, Z:-0.88 [[ 9.86689288e-01 1.61714927e-01 1.71035448e-02 1.99260106e+01] [-1.61691713e-01 9.86837514e-01 -2.74071081e-03 -2.23438220e+00] [-1.73216335e-02 -6.12714484e-05 9.99849967e-01 -8.77413869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.801052753999997 meters Centerline goodness [0,1] 0.9997149914497435 Centerline is valid? [True, True] Translation: X:19.96, Y:-2.25, Z:-0.88 [[ 9.87783799e-01 1.54778828e-01 1.80742916e-02 1.99555852e+01] [-1.54751613e-01 9.87949143e-01 -2.90322030e-03 -2.24642297e+00] [-1.83058379e-02 7.07282029e-05 9.99832432e-01 -8.78982065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.831052753999998 meters Centerline goodness [0,1] 0.9996430865871939 Centerline is valid? [True, True] Translation: X:19.99, Y:-2.26, Z:-0.88 [[ 9.88387625e-01 1.50770851e-01 1.89222901e-02 1.99862238e+01] [-1.50740234e-01 9.88568726e-01 -3.04223678e-03 -2.25529487e+00] [-1.91646648e-02 1.54558759e-04 9.99816329e-01 -8.77845917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.861052754 meters Centerline goodness [0,1] 0.9999042306126846 Centerline is valid? [True, True] Translation: X:20.02, Y:-2.27, Z:-0.88 [[ 9.88991837e-01 1.46745332e-01 1.89987669e-02 2.00160281e+01] [-1.46713707e-01 9.89174278e-01 -3.05539588e-03 -2.26535583e+00] [-1.92414566e-02 2.34382061e-04 9.99814839e-01 -8.78110848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.891052753999997 meters Centerline goodness [0,1] 0.9995694603903559 Centerline is valid? [True, True] Translation: X:20.05, Y:-2.27, Z:-0.88 [[ 9.89677809e-01 1.42000185e-01 1.93334519e-02 2.00471342e+01] [-1.41966448e-01 9.89866574e-01 -3.11345735e-03 -2.27443107e+00] [-1.95796493e-02 3.36618158e-04 9.99808244e-01 -8.76509858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.921052753999998 meters Centerline goodness [0,1] 0.9995694603903559 Centerline is valid? [True, True] Translation: X:20.08, Y:-2.28, Z:-0.88 [[ 9.89639425e-01 1.42267532e-01 1.93328358e-02 2.00790675e+01] [-1.42233771e-01 9.89828186e-01 -3.11727652e-03 -2.27965615e+00] [-1.95796730e-02 3.35197603e-04 9.99808244e-01 -8.77769988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.951052754 meters Centerline goodness [0,1] 0.9996424740793708 Centerline is valid? [True, True] Translation: X:20.11, Y:-2.28, Z:-0.88 [[ 9.89653296e-01 1.42002869e-01 2.05314053e-02 2.01112889e+01] [-1.41964590e-01 9.89866178e-01 -3.31747185e-03 -2.28031787e+00] [-2.07944342e-02 3.68414401e-04 9.99783704e-01 -8.82002248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.981052754 meters Centerline goodness [0,1] 0.9996904024767802 Centerline is valid? [True, True] Translation: X:20.14, Y:-2.29, Z:-0.89 [[ 9.89509111e-01 1.43054896e-01 2.01746383e-02 2.01419923e+01] [-1.43018051e-01 9.89714695e-01 -3.26492791e-03 -2.28547827e+00] [-2.04341999e-02 3.45338466e-04 9.99791140e-01 -8.87339833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.011052753999998 meters Centerline goodness [0,1] 0.9996907265546938 Centerline is valid? [True, True] Translation: X:20.18, Y:-2.29, Z:-0.89 [[ 9.89182558e-01 1.45542585e-01 1.83091060e-02 2.01752540e+01] [-1.45512618e-01 9.89351951e-01 -2.96556993e-03 -2.28581690e+00] [-1.85457665e-02 2.69284096e-04 9.99827976e-01 -8.91572301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.041052754 meters Centerline goodness [0,1] 0.9996187389791736 Centerline is valid? [True, True] Translation: X:20.21, Y:-2.29, Z:-0.89 [[ 9.88913580e-01 1.47421452e-01 1.78001679e-02 2.02077081e+01] [-1.47393341e-01 9.89073739e-01 -2.88816905e-03 -2.28861423e+00] [-1.80314567e-02 2.32523367e-04 9.99837393e-01 -8.93053194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.071052754 meters Centerline goodness [0,1] 0.9996914459318332 Centerline is valid? [True, True] Translation: X:20.24, Y:-2.29, Z:-0.89 [[ 9.88529474e-01 1.49991508e-01 1.76642691e-02 2.02403691e+01] [-1.49964162e-01 9.88687267e-01 -2.87019874e-03 -2.28995411e+00] [-1.78949434e-02 1.88268743e-04 9.99839855e-01 -8.94742947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.101052753999998 meters Centerline goodness [0,1] 0.9995969558311008 Centerline is valid? [True, True] Translation: X:20.27, Y:-2.29, Z:-0.90 [[ 9.88411577e-01 1.50608698e-01 1.89624650e-02 2.02720382e+01] [-1.50577201e-01 9.88593436e-01 -3.08620425e-03 -2.29325602e+00] [-1.92109776e-02 1.95125115e-04 9.99815433e-01 -8.95085469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.131052754 meters Centerline goodness [0,1] 0.9996458170999504 Centerline is valid? [True, True] Translation: X:20.30, Y:-2.30, Z:-0.89 [[ 9.88339655e-01 1.50521782e-01 2.29765057e-02 2.03039595e+01] [-1.50475341e-01 9.88606662e-01 -3.74688360e-03 -2.29637327e+00] [-2.32787142e-02 2.45796114e-04 9.99728984e-01 -8.93869813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.161052754 meters Centerline goodness [0,1] 0.9999057159693577 Centerline is valid? [True, True] Translation: X:20.33, Y:-2.30, Z:-0.89 [[ 9.88349329e-01 1.50202432e-01 2.45933673e-02 2.03345278e+01] [-1.50148953e-01 9.88655224e-01 -4.01740742e-03 -2.30199143e+00] [-2.49177854e-02 2.77933569e-04 9.99689465e-01 -8.94375820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.191052753999998 meters Centerline goodness [0,1] 0.999669749009247 Centerline is valid? [True, True] Translation: X:20.37, Y:-2.31, Z:-0.89 [[ 9.88483442e-01 1.48818181e-01 2.74524107e-02 2.03657875e+01] [-1.48750818e-01 9.88864512e-01 -4.49129471e-03 -2.30949413e+00] [-2.78151010e-02 3.56001895e-04 9.99613022e-01 -8.89391265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.221052754 meters Centerline goodness [0,1] 0.9997401431574968 Centerline is valid? [True, True] Translation: X:20.40, Y:-2.32, Z:-0.89 [[ 9.88555027e-01 1.47995282e-01 2.92635590e-02 2.03968304e+01] [-1.47918147e-01 9.88987981e-01 -4.79530031e-03 -2.31799701e+00] [-2.96509900e-02 4.11806814e-04 9.99560228e-01 -8.88304884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.251052754 meters Centerline goodness [0,1] 0.9996929472341631 Centerline is valid? [True, True] Translation: X:20.43, Y:-2.33, Z:-0.89 [[ 9.88800552e-01 1.45879497e-01 3.15061967e-02 2.04271374e+01] [-1.45788711e-01 9.89302229e-01 -5.17211714e-03 -2.32660748e+00] [-3.19236565e-02 5.20944472e-04 9.99490174e-01 -8.86460214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.281052753999997 meters Centerline goodness [0,1] 0.9997163992153711 Centerline is valid? [True, True] Translation: X:20.46, Y:-2.33, Z:-0.89 [[ 9.88984959e-01 1.44374446e-01 3.26308102e-02 2.04591961e+01] [-1.44276000e-01 9.89522947e-01 -5.36404269e-03 -2.33162667e+00] [-3.30633661e-02 5.97114757e-04 9.99453079e-01 -8.87216130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.311052754 meters Centerline goodness [0,1] 0.9998349990571375 Centerline is valid? [True, True] Translation: X:20.49, Y:-2.34, Z:-0.89 [[ 9.89004134e-01 1.44141495e-01 3.30764657e-02 2.04917602e+01] [-1.44039946e-01 9.89556893e-01 -5.44518905e-03 -2.33677121e+00] [-3.35159224e-02 6.20982141e-04 9.99437991e-01 -8.88547205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.341052754 meters Centerline goodness [0,1] 0.9997171012306096 Centerline is valid? [True, True] Translation: X:20.52, Y:-2.34, Z:-0.89 [[ 9.89138392e-01 1.43365477e-01 3.24280938e-02 2.05233280e+01] [-1.43267162e-01 9.89669604e-01 -5.34738114e-03 -2.34257794e+00] [-3.28597286e-02 6.43419032e-04 9.99459766e-01 -8.90041138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.371052753999997 meters Centerline goodness [0,1] 0.9997877458610442 Centerline is valid? [True, True] Translation: X:20.55, Y:-2.35, Z:-0.89 [[ 9.89906450e-01 1.38249304e-01 3.11825233e-02 2.05535982e+01] [-1.38155591e-01 9.90397145e-01 -5.15049652e-03 -2.35058300e+00] [-3.15951346e-02 7.90469800e-04 9.99500437e-01 -8.92401859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.401052754 meters Centerline goodness [0,1] 0.9997878509299201 Centerline is valid? [True, True] Translation: X:20.58, Y:-2.36, Z:-0.90 [[ 9.90185306e-01 1.36413166e-01 3.04057291e-02 2.05842767e+01] [-1.36323190e-01 9.90651686e-01 -5.02250567e-03 -2.35719272e+00] [-3.08066227e-02 8.28205324e-04 9.99525020e-01 -8.95315477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.431052754 meters Centerline goodness [0,1] 0.9997879508988525 Centerline is valid? [True, True] Translation: X:20.62, Y:-2.36, Z:-0.90 [[ 9.90417783e-01 1.34864109e-01 2.97369842e-02 2.06157428e+01] [-1.34777271e-01 9.90863731e-01 -4.91469787e-03 -2.36044246e+00] [-3.01281154e-02 8.59734598e-04 9.99545676e-01 -8.97358434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.461052753999997 meters Centerline goodness [0,1] 0.9998586539141087 Centerline is valid? [True, True] Translation: X:20.65, Y:-2.37, Z:-0.90 [[ 9.90590200e-01 1.33924047e-01 2.82029166e-02 2.06459048e+01] [-1.33845387e-01 9.90991236e-01 -4.66717728e-03 -2.36726031e+00] [-2.85738904e-02 8.48429794e-04 9.99591323e-01 -9.00105635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.491052754 meters Centerline goodness [0,1] 0.9997649934198157 Centerline is valid? [True, True] Translation: X:20.68, Y:-2.37, Z:-0.90 [[ 9.90358735e-01 1.36099376e-01 2.58173471e-02 2.06779634e+01] [-1.36034076e-01 9.90694926e-01 -4.27720355e-03 -2.36759996e+00] [-2.61592395e-02 7.23926937e-04 9.99657526e-01 -9.01044853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.521052754 meters Centerline goodness [0,1] 0.9997649437040171 Centerline is valid? [True, True] Translation: X:20.71, Y:-2.37, Z:-0.91 [[ 9.90126138e-01 1.38043256e-01 2.43780747e-02 2.07086944e+01] [-1.37985478e-01 9.90425994e-01 -4.04462027e-03 -2.37397527e+00] [-2.47030114e-02 6.40863951e-04 9.99694629e-01 -9.05004821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.551052753999997 meters Centerline goodness [0,1] 0.9997890245903561 Centerline is valid? [True, True] Translation: X:20.74, Y:-2.38, Z:-0.91 [[ 9.89493611e-01 1.42724090e-01 2.30700786e-02 2.07401734e+01] [-1.42673433e-01 9.89762386e-01 -3.83550288e-03 -2.37635527e+00] [-2.33813147e-02 5.03718277e-04 9.99726493e-01 -9.07839746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.581052753999998 meters Centerline goodness [0,1] 0.9998123035052321 Centerline is valid? [True, True] Translation: X:20.77, Y:-2.38, Z:-0.91 [[ 9.89042150e-01 1.45809872e-01 2.31323702e-02 2.07725157e+01] [-1.45759841e-01 9.89312537e-01 -3.84344164e-03 -2.37961558e+00] [-2.34455556e-02 4.29555174e-04 9.99725023e-01 -9.06634641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.611052754 meters Centerline goodness [0,1] 0.9998592177197964 Centerline is valid? [True, True] Translation: X:20.80, Y:-2.38, Z:-0.90 [[ 9.88168372e-01 1.51529020e-01 2.37112670e-02 2.08037522e+01] [-1.51477877e-01 9.88452761e-01 -3.94879667e-03 -2.38317316e+00] [-2.40358246e-02 3.10343585e-04 9.99711050e-01 -9.04448347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.641052753999997 meters Centerline goodness [0,1] 0.9997416930844194 Centerline is valid? [True, True] Translation: X:20.84, Y:-2.39, Z:-0.90 [[ 9.87242553e-01 1.57412384e-01 2.39475122e-02 2.08355022e+01] [-1.57361997e-01 9.87532943e-01 -3.98601236e-03 -2.38779623e+00] [-2.42764049e-02 1.66732679e-04 9.99705271e-01 -9.02741480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.671052753999998 meters Centerline goodness [0,1] 0.9998827941865917 Centerline is valid? [True, True] Translation: X:20.87, Y:-2.39, Z:-0.90 [[ 9.86758179e-01 1.60366465e-01 2.43082758e-02 2.08668745e+01] [-1.60315294e-01 9.87057540e-01 -4.05215190e-03 -2.39264287e+00] [-2.46434961e-02 1.01505652e-04 9.99696298e-01 -9.01898134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.701052754 meters Centerline goodness [0,1] 0.9999531286618233 Centerline is valid? [True, True] Translation: X:20.90, Y:-2.40, Z:-0.90 [[ 9.86407842e-01 1.62489410e-01 2.44286745e-02 2.08975227e+01] [-1.62438225e-01 9.86710286e-01 -4.07852822e-03 -2.39678306e+00] [-2.47667420e-02 5.49416971e-05 9.99693256e-01 -9.03025594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.731052754 meters Centerline goodness [0,1] 0.9998360118071499 Centerline is valid? [True, True] Translation: X:20.93, Y:-2.40, Z:-0.91 [[ 9.86507342e-01 1.62034088e-01 2.34140569e-02 2.09291184e+01] [-1.61986827e-01 9.86785159e-01 -3.91382896e-03 -2.40249186e+00] [-2.37388175e-02 6.82522175e-05 9.99718192e-01 -9.05677436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.761052753999998 meters Centerline goodness [0,1] 0.9998592507447981 Centerline is valid? [True, True] Translation: X:20.96, Y:-2.41, Z:-0.91 [[ 9.86746333e-01 1.60744780e-01 2.21988620e-02 2.09604043e+01] [-1.60701862e-01 9.86996001e-01 -3.71561262e-03 -2.40971604e+00] [-2.25074534e-02 9.89686782e-05 9.99746670e-01 -9.08412373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.791052754 meters Centerline goodness [0,1] 0.9999764478673544 Centerline is valid? [True, True] Translation: X:20.99, Y:-2.42, Z:-0.91 [[ 9.87319423e-01 1.57297151e-01 2.14000965e-02 2.09912316e+01] [-1.57256351e-01 9.87551303e-01 -3.58674798e-03 -2.42119565e+00] [-2.16978784e-02 1.75964865e-04 9.99764558e-01 -9.06400921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.821052754 meters Centerline goodness [0,1] 0.9999057448513125 Centerline is valid? [True, True] Translation: X:21.02, Y:-2.43, Z:-0.90 [[ 9.87483651e-01 1.56060010e-01 2.28322416e-02 2.10214556e+01] [-1.56013088e-01 9.87747550e-01 -3.83313300e-03 -2.42858470e+00] [-2.31506895e-02 2.23027648e-04 9.99731962e-01 -9.04321216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.851052753999998 meters Centerline goodness [0,1] 0.9999292602985216 Centerline is valid? [True, True] Translation: X:21.05, Y:-2.44, Z:-0.90 [[ 9.88070098e-01 1.52103090e-01 2.41273875e-02 2.10526710e+01] [-1.52049377e-01 9.88364576e-01 -4.05611421e-03 -2.43551976e+00] [-2.44636026e-02 3.39170929e-04 9.99700664e-01 -9.02168380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.881052754 meters Centerline goodness [0,1] 0.999952887967587 Centerline is valid? [True, True] Translation: X:21.08, Y:-2.44, Z:-0.91 [[ 9.88609554e-01 1.48866144e-01 2.21364127e-02 2.10828632e+01] [-1.48819974e-01 9.88857279e-01 -3.72787836e-03 -2.43986121e+00] [-2.24447077e-02 3.91075809e-04 9.99748009e-01 -9.07707654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.911052754 meters Centerline goodness [0,1] 0.9999058446908176 Centerline is valid? [True, True] Translation: X:21.11, Y:-2.44, Z:-0.91 [[ 9.88667698e-01 1.48652424e-01 2.09437272e-02 2.11145698e+01] [-1.48611045e-01 9.88889436e-01 -3.52720012e-03 -2.44402275e+00] [-2.12353574e-02 3.74759656e-04 9.99774434e-01 -9.10804615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.941052753999998 meters Centerline goodness [0,1] 0.9998819947605674 Centerline is valid? [True, True] Translation: X:21.15, Y:-2.45, Z:-0.92 [[ 9.88518877e-01 1.50172406e-01 1.66936398e-02 2.11455967e+01] [-1.50146292e-01 9.88659786e-01 -2.81394174e-03 -2.44646697e+00] [-1.69269067e-02 2.75146415e-04 9.99856692e-01 -9.17602871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.971052754 meters Centerline goodness [0,1] 0.9999058114344919 Centerline is valid? [True, True] Translation: X:21.18, Y:-2.45, Z:-0.92 [[ 9.88336875e-01 1.51585730e-01 1.45598248e-02 2.11774763e+01] [-1.51565993e-01 9.88444089e-01 -2.45602804e-03 -2.45013148e+00] [-1.47638716e-02 2.20608768e-04 9.99890984e-01 -9.21234613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.001052754 meters Centerline goodness [0,1] 0.9999058757088736 Centerline is valid? [True, True] Translation: X:21.21, Y:-2.45, Z:-0.92 [[ 9.87845538e-01 1.54924395e-01 1.26343033e-02 2.12107562e+01] [-1.54909795e-01 9.87926318e-01 -2.13211725e-03 -2.45147114e+00] [-1.28120778e-02 1.49025169e-04 9.99917911e-01 -9.24026801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.031052753999997 meters Centerline goodness [0,1] 0.9999061451465309 Centerline is valid? [True, True] Translation: X:21.24, Y:-2.45, Z:-0.92 [[ 9.87553123e-01 1.56694957e-01 1.36205477e-02 2.12416843e+01] [-1.56678048e-01 9.87647037e-01 -2.30636670e-03 -2.45476235e+00] [-1.38136896e-02 1.43618808e-04 9.99904576e-01 -9.24699235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.061052754 meters Centerline goodness [0,1] 0.9998829588014981 Centerline is valid? [True, True] Translation: X:21.27, Y:-2.46, Z:-0.92 [[ 9.86925470e-01 1.60368628e-01 1.61251160e-02 2.12728360e+01] [-1.60345332e-01 9.87057187e-01 -2.73579388e-03 -2.45654125e+00] [-1.63551471e-02 1.14437595e-04 9.99866239e-01 -9.22503941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.091052754 meters Centerline goodness [0,1] 0.9999532174685972 Centerline is valid? [True, True] Translation: X:21.30, Y:-2.46, Z:-0.92 [[ 9.86605810e-01 1.62285872e-01 1.65006494e-02 2.13049728e+01] [-1.62261812e-01 9.86743781e-01 -2.79552135e-03 -2.46013982e+00] [-1.67355868e-02 8.06523423e-05 9.99859947e-01 -9.21109450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.121052753999997 meters Centerline goodness [0,1] 0.9999765709198257 Centerline is valid? [True, True] Translation: X:21.34, Y:-2.46, Z:-0.93 [[ 9.85967879e-01 1.66057283e-01 1.70973875e-02 2.13354231e+01] [-1.66031902e-01 9.86116108e-01 -2.90331263e-03 -2.46432458e+00] [-1.73421254e-02 2.38612275e-05 9.99849614e-01 -9.25833250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.151052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.37, Y:-2.47, Z:-0.93 [[ 9.85622276e-01 1.68009334e-01 1.79330019e-02 2.13673031e+01] [-1.67981717e-01 9.85785404e-01 -3.04616676e-03 -2.46911366e+00] [-1.81898760e-02 -1.00466345e-05 9.99834550e-01 -9.26895697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.181052754 meters Centerline goodness [0,1] 0.9999765109341602 Centerline is valid? [True, True] Translation: X:21.40, Y:-2.48, Z:-0.93 [[ 9.85100337e-01 1.70781064e-01 2.02769594e-02 2.13982767e+01] [-1.70746222e-01 9.85308999e-01 -3.45011226e-03 -2.47518557e+00] [-2.05682844e-02 -6.35074760e-05 9.99788448e-01 -9.27735933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.211052753999997 meters Centerline goodness [0,1] 0.99992948476871 Centerline is valid? [True, True] Translation: X:21.43, Y:-2.48, Z:-0.93 [[ 9.85026311e-01 1.71000130e-01 2.19572662e-02 2.14302085e+01] [-1.70959168e-01 9.85271004e-01 -3.74324662e-03 -2.48244529e+00] [-2.22739534e-02 -6.65995471e-05 9.99751903e-01 -9.25572297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.46, Y:-2.49, Z:-0.92 [[ 9.85162454e-01 1.69970714e-01 2.37675420e-02 2.14613694e+01] [-1.69922374e-01 9.85449113e-01 -4.05369439e-03 -2.49245974e+00] [-2.41107125e-02 -4.50896463e-05 9.99709293e-01 -9.24053946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.49, Y:-2.50, Z:-0.92 [[ 9.85153019e-01 1.69949074e-01 2.43072277e-02 2.14910475e+01] [-1.69898358e-01 9.85452845e-01 -4.15178054e-03 -2.50164522e+00] [-2.46592179e-02 -3.96189429e-05 9.99695914e-01 -9.23769533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.301052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.52, Y:-2.51, Z:-0.92 [[ 9.85057345e-01 1.70365960e-01 2.52481144e-02 2.15225831e+01] [-1.70311216e-01 9.85380859e-01 -4.31881205e-03 -2.50731169e+00] [-2.56147872e-02 -4.57595266e-05 9.99671886e-01 -9.23912537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.331052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.55, Y:-2.51, Z:-0.93 [[ 9.84999146e-01 1.70788674e-01 2.46558376e-02 2.15539022e+01] [-1.70736464e-01 9.85307681e-01 -4.22297668e-03 -2.51226082e+00] [-2.50148227e-02 -5.00221120e-05 9.99687079e-01 -9.25871921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.59, Y:-2.51, Z:-0.93 [[ 9.84991899e-01 1.71089875e-01 2.27862660e-02 2.15856363e+01] [-1.71045243e-01 9.85255425e-01 -3.90800230e-03 -2.51338227e+00] [-2.31189118e-02 -4.81318036e-05 9.99732721e-01 -9.31727607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.391052753999997 meters Centerline goodness [0,1] 0.9999762948915492 Centerline is valid? [True, True] Translation: X:21.62, Y:-2.52, Z:-0.94 [[ 9.85135765e-01 1.70327444e-01 2.22729942e-02 2.16182187e+01] [-1.70284499e-01 9.85387518e-01 -3.82470732e-03 -2.51801509e+00] [-2.25989831e-02 -2.48896769e-05 9.99744610e-01 -9.35689731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.421052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.65, Y:-2.53, Z:-0.94 [[ 9.85973198e-01 1.65588966e-01 2.09080483e-02 2.16482987e+01] [-1.65549928e-01 9.86194853e-01 -3.59643274e-03 -2.52780073e+00] [-2.12149391e-02 8.46604236e-05 9.99774934e-01 -9.37918200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.451052754 meters Centerline goodness [0,1] 0.9999761547082529 Centerline is valid? [True, True] Translation: X:21.68, Y:-2.54, Z:-0.94 [[ 9.86499674e-01 1.62489866e-01 2.03822390e-02 2.16789419e+01] [-1.62452015e-01 9.86710201e-01 -3.51033792e-03 -2.53629133e+00] [-2.06817575e-02 1.51811411e-04 9.99786098e-01 -9.37993471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.481052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.71, Y:-2.54, Z:-0.94 [[ 9.87443170e-01 1.56582729e-01 2.09245121e-02 2.17101297e+01] [-1.56541411e-01 9.87664805e-01 -3.60837179e-03 -2.54381280e+00] [-2.12314129e-02 2.87509424e-04 9.99774547e-01 -9.40510406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.511052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.74, Y:-2.55, Z:-0.94 [[ 9.87774773e-01 1.54327668e-01 2.19992703e-02 2.17420484e+01] [-1.54281309e-01 9.88019657e-01 -3.79944432e-03 -2.54971206e+00] [-2.23220709e-02 3.58919042e-04 9.99750767e-01 -9.41968070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.541052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.77, Y:-2.56, Z:-0.94 [[ 9.87862413e-01 1.53508820e-01 2.37254108e-02 2.17723261e+01] [-1.53454499e-01 9.88147191e-01 -4.10437569e-03 -2.55534301e+00] [-2.40742559e-02 4.13787443e-04 9.99710087e-01 -9.42591482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.80, Y:-2.56, Z:-0.94 [[ 9.87612531e-01 1.55039868e-01 2.41687309e-02 2.18031365e+01] [-1.54983817e-01 9.87908137e-01 -4.18670859e-03 -2.55984495e+00] [-2.45255926e-02 3.89083703e-04 9.99699127e-01 -9.43839053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.601052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.83, Y:-2.56, Z:-0.95 [[ 9.86746316e-01 1.60526395e-01 2.37273045e-02 2.18337630e+01] [-1.60473834e-01 9.87031515e-01 -4.11537894e-03 -2.56244889e+00] [-2.40802243e-02 2.53223483e-04 9.99709997e-01 -9.47370610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.87, Y:-2.57, Z:-0.95 [[ 9.86148173e-01 1.64282650e-01 2.28690095e-02 2.18659233e+01] [-1.64234727e-01 9.86413293e-01 -3.97103692e-03 -2.56533901e+00] [-2.32106674e-02 1.60145269e-04 9.99730583e-01 -9.49475125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.90, Y:-2.57, Z:-0.95 [[ 9.85055833e-01 1.70888973e-01 2.14933503e-02 2.18990443e+01] [-1.70848130e-01 9.85290292e-01 -3.73599715e-03 -2.56625839e+00] [-2.18156301e-02 8.06706935e-06 9.99762011e-01 -9.53994259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.691052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.93, Y:-2.57, Z:-0.96 [[ 9.84280293e-01 1.75084514e-01 2.31887337e-02 2.19300891e+01] [-1.75037917e-01 9.84553404e-01 -4.03997279e-03 -2.56953538e+00] [-2.35378833e-02 -8.24420302e-05 9.99722942e-01 -9.57943880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.96, Y:-2.58, Z:-0.96 [[ 9.84075152e-01 1.75959843e-01 2.51838970e-02 2.19601867e+01] [-1.75905097e-01 9.84397339e-01 -4.39037435e-03 -2.57607316e+00] [-2.55634908e-02 -1.09517535e-04 9.99673195e-01 -9.58686036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.99, Y:-2.58, Z:-0.96 [[ 9.84144589e-01 1.75443873e-01 2.60552318e-02 2.19909163e+01] [-1.75384937e-01 9.84489430e-01 -4.54812028e-03 -2.58438445e+00] [-2.64490402e-02 -9.36872183e-05 9.99650159e-01 -9.56826279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.781052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.02, Y:-2.59, Z:-0.96 [[ 9.84578240e-01 1.72347278e-01 3.00350573e-02 2.20218190e+01] [-1.72267263e-01 9.85036251e-01 -5.25112755e-03 -2.59466799e+00] [-3.04906378e-02 -3.91120318e-06 9.99535052e-01 -9.55595002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.811052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.05, Y:-2.60, Z:-0.96 [[ 9.84476750e-01 1.72455562e-01 3.26283249e-02 2.20530060e+01] [-1.72360890e-01 9.85017299e-01 -5.71352951e-03 -2.59867089e+00] [-3.31247944e-02 9.89837002e-07 9.99451223e-01 -9.56711546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.841052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.08, Y:-2.60, Z:-0.96 [[ 9.84432170e-01 1.72709976e-01 3.26277082e-02 2.20848630e+01] [-1.72615327e-01 9.84972723e-01 -5.71704971e-03 -2.60434318e+00] [-3.31247940e-02 -3.99487205e-06 9.99451223e-01 -9.57969403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.871052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.12, Y:-2.61, Z:-0.96 [[ 9.84512517e-01 1.72256159e-01 3.26024603e-02 2.21167115e+01] [-1.72161122e-01 9.85052189e-01 -5.72125741e-03 -2.61091654e+00] [-3.31006467e-02 1.97733856e-05 9.99452023e-01 -9.58939309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.901052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.15, Y:-2.62, Z:-0.96 [[ 9.84704211e-01 1.71191544e-01 3.24202410e-02 2.21474065e+01] [-1.71096694e-01 9.85237764e-01 -5.69824537e-03 -2.61796352e+00] [-3.29171372e-02 6.40901423e-05 9.99458082e-01 -9.60731868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.931052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.18, Y:-2.62, Z:-0.96 [[ 9.85222027e-01 1.68048627e-01 3.31242704e-02 2.21790211e+01] [-1.67947545e-01 9.85778690e-01 -5.83063757e-03 -2.62493271e+00] [-3.36330306e-02 1.81332676e-04 9.99434233e-01 -9.62971360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.961052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.21, Y:-2.63, Z:-0.96 [[ 9.85419508e-01 1.66766961e-01 3.37220162e-02 2.22110403e+01] [-1.66661137e-01 9.85996310e-01 -5.94485902e-03 -2.62991048e+00] [-3.42411897e-02 2.38030479e-04 9.99413570e-01 -9.64182773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.24, Y:-2.64, Z:-0.97 [[ 9.86118892e-01 1.62378121e-01 3.46825136e-02 2.22411033e+01] [-1.62263107e-01 9.86728522e-01 -6.12437041e-03 -2.63790193e+00] [-3.52166891e-02 4.11664958e-04 9.99379615e-01 -9.66891680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.27, Y:-2.64, Z:-0.97 [[ 9.86467971e-01 1.60036812e-01 3.56252972e-02 2.22721192e+01] [-1.59913630e-01 9.87110911e-01 -6.29915360e-03 -2.64371495e+00] [-3.61742160e-02 5.16942672e-04 9.99345365e-01 -9.68414376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.051052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.30, Y:-2.65, Z:-0.97 [[ 9.87131356e-01 1.55816524e-01 3.59568720e-02 2.23029068e+01] [-1.55687956e-01 9.87785777e-01 -6.36550388e-03 -2.64997327e+00] [-3.65095374e-02 6.85536590e-04 9.99333069e-01 -9.70656906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.081052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.33, Y:-2.66, Z:-0.97 [[ 9.87592931e-01 1.53063220e-01 3.50977813e-02 2.23333768e+01] [-1.52938704e-01 9.88216094e-01 -6.22131932e-03 -2.65889255e+00] [-3.56364475e-02 7.76321793e-04 9.99364519e-01 -9.72156454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.36, Y:-2.67, Z:-0.97 [[ 9.87712726e-01 1.52267165e-01 3.51892188e-02 2.23638710e+01] [-1.52141350e-01 9.88339037e-01 -6.24156933e-03 -2.66548419e+00] [-3.57292647e-02 8.11142203e-04 9.99361177e-01 -9.73727054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.141052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.40, Y:-2.67, Z:-0.98 [[ 9.87735572e-01 1.52048617e-01 3.54916491e-02 2.23956622e+01] [-1.51920206e-01 9.88372664e-01 -6.30303764e-03 -2.67099390e+00] [-3.60373439e-02 8.33835839e-04 9.99350096e-01 -9.76242212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.171052753999998 meters Centerline goodness [0,1] 0.9999762272673244 Centerline is valid? [True, True] Translation: X:22.43, Y:-2.67, Z:-0.98 [[ 9.87411383e-01 1.53741849e-01 3.71780059e-02 2.24278882e+01] [-1.53601768e-01 9.88110709e-01 -6.61233212e-03 -2.67271982e+00] [-3.77525780e-02 8.18484580e-04 9.99286782e-01 -9.78556497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.201052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.46, Y:-2.68, Z:-0.98 [[ 9.87113205e-01 1.55442956e-01 3.80132576e-02 2.24600714e+01] [-1.55297407e-01 9.87844562e-01 -6.77021706e-03 -2.67575242e+00] [-3.86035724e-02 7.79610317e-04 9.99254300e-01 -9.79261602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.231052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.49, Y:-2.68, Z:-0.98 [[ 9.86408328e-01 1.60043133e-01 3.72129796e-02 2.24913127e+01] [-1.59906576e-01 9.87109842e-01 -6.63675168e-03 -2.68087846e+00] [-3.77954650e-02 5.95946975e-04 9.99285318e-01 -9.79895331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.261052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.52, Y:-2.68, Z:-0.98 [[ 9.85832777e-01 1.63450785e-01 3.76507173e-02 2.25229834e+01] [-1.63313118e-01 9.86551372e-01 -6.72423668e-03 -2.68452599e+00] [-3.82434486e-02 4.80116897e-04 9.99268336e-01 -9.79048985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.291052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.55, Y:-2.69, Z:-0.98 [[ 9.85622145e-01 1.64370218e-01 3.91333572e-02 2.25539190e+01] [-1.64221807e-01 9.86398605e-01 -6.99924820e-03 -2.69047044e+00] [-3.97515570e-02 4.72063388e-04 9.99209483e-01 -9.79220348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.59, Y:-2.69, Z:-0.98 [[ 9.85569417e-01 1.64014994e-01 4.18569818e-02 2.25862339e+01] [-1.63844433e-01 9.86457703e-01 -7.49677017e-03 -2.69428589e+00] [-4.25197248e-02 5.30553949e-04 9.99095487e-01 -9.80395739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.351052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.62, Y:-2.70, Z:-0.98 [[ 9.85588397e-01 1.63678529e-01 4.27182811e-02 2.26176177e+01] [-1.63500085e-01 9.86513567e-01 -7.66189857e-03 -2.70064174e+00] [-4.33962522e-02 5.67035738e-04 9.99057778e-01 -9.81493083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.65, Y:-2.71, Z:-0.98 [[ 9.85641582e-01 1.63159166e-01 4.34713587e-02 2.26481556e+01] [-1.62973361e-01 9.86599570e-01 -7.80841018e-03 -2.70725810e+00] [-4.41628375e-02 6.11620333e-04 9.99024159e-01 -9.81650662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.68, Y:-2.71, Z:-0.98 [[ 9.85438242e-01 1.64196055e-01 4.41715668e-02 2.26805425e+01] [-1.64004835e-01 9.86427552e-01 -7.94349304e-03 -2.71147567e+00] [-4.48763407e-02 5.83471280e-04 9.98992379e-01 -9.82332337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.441052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.71, Y:-2.72, Z:-0.98 [[ 9.85191669e-01 1.65779270e-01 4.37562534e-02 2.27121139e+01] [-1.65592985e-01 9.86162752e-01 -7.87342287e-03 -2.71551566e+00] [-4.44560376e-02 5.11102004e-04 9.99011211e-01 -9.84418592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.74, Y:-2.72, Z:-0.99 [[ 9.84777234e-01 1.68440163e-01 4.29151557e-02 2.27435868e+01] [-1.68263076e-01 9.85711802e-01 -7.73175963e-03 -2.71731917e+00] [-4.36043143e-02 3.93024761e-04 9.99048802e-01 -9.87810386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.501052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.78, Y:-2.72, Z:-0.99 [[ 9.84143315e-01 1.72207927e-01 4.25013671e-02 2.27759862e+01] [-1.72037480e-01 9.85060596e-01 -7.66345193e-03 -2.71928051e+00] [-4.31861292e-02 2.30106871e-04 9.99067017e-01 -9.89428366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.531052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.81, Y:-2.72, Z:-0.99 [[ 9.83811459e-01 1.74249673e-01 4.18576619e-02 2.28078837e+01] [-1.74085770e-01 9.84701493e-01 -7.55744227e-03 -2.72377338e+00] [-4.25341840e-02 1.48274978e-04 9.99095001e-01 -9.91499311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.561052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.84, Y:-2.73, Z:-1.00 [[ 9.83426325e-01 1.76891845e-01 3.97735940e-02 2.28386019e+01] [-1.76745648e-01 9.84230295e-01 -7.19042405e-03 -2.72798936e+00] [-4.04183035e-02 4.14426466e-05 9.99182846e-01 -9.95920535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.591052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.87, Y:-2.73, Z:-1.00 [[ 9.83230859e-01 1.77963729e-01 3.98244833e-02 2.28700599e+01] [-1.77817670e-01 9.84037048e-01 -7.20869575e-03 -2.73330234e+00] [-4.04716534e-02 6.31529291e-06 9.99180687e-01 -9.98168854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.621052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.90, Y:-2.74, Z:-1.00 [[ 9.82888791e-01 1.79658187e-01 4.06517006e-02 2.29023688e+01] [-1.79507001e-01 9.83729095e-01 -7.36911427e-03 -2.73926051e+00] [-4.13141824e-02 -5.42450482e-05 9.99146203e-01 -1.00005881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.651052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.93, Y:-2.75, Z:-1.00 [[ 9.82743496e-01 1.80449922e-01 4.06576667e-02 2.29346380e+01] [-1.80298910e-01 9.83584170e-01 -7.38128295e-03 -2.74645775e+00] [-4.13221893e-02 -7.66251810e-05 9.99145871e-01 -1.00126344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.681052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.97, Y:-2.76, Z:-1.00 [[ 9.82709666e-01 1.80438991e-01 4.15148498e-02 2.29653072e+01] [-1.80281032e-01 9.83586176e-01 -7.54873123e-03 -2.75770416e+00] [-4.21955178e-02 -6.61288023e-05 9.99109370e-01 -9.98072732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.711052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.00, Y:-2.77, Z:-1.00 [[ 9.82824527e-01 1.79798654e-01 4.15739433e-02 2.29969564e+01] [-1.79639212e-01 9.83703433e-01 -7.57036740e-03 -2.76698867e+00] [-4.22575726e-02 -2.79676366e-05 9.99106749e-01 -9.97070011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.03, Y:-2.78, Z:-1.00 [[ 9.83188323e-01 1.77801985e-01 4.15592917e-02 2.30287483e+01] [-1.77640388e-01 9.84066283e-01 -7.57913951e-03 -2.77717715e+00] [-4.22446838e-02 6.91127745e-05 9.99107292e-01 -9.98103324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.06, Y:-2.78, Z:-1.00 [[ 9.83372707e-01 1.76810293e-01 4.14275214e-02 2.30607297e+01] [-1.76648354e-01 9.84244942e-01 -7.56661841e-03 -2.78451608e+00] [-4.21126844e-02 1.22702546e-04 9.99112860e-01 -1.00130054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.801052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.09, Y:-2.79, Z:-1.00 [[ 9.83559059e-01 1.75838030e-01 4.11408009e-02 2.30918862e+01] [-1.75677001e-01 9.84419096e-01 -7.52558183e-03 -2.79201123e+00] [-4.18230735e-02 1.74361648e-04 9.99125017e-01 -1.00398491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.831052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.12, Y:-2.80, Z:-1.01 [[ 9.84019502e-01 1.73470661e-01 4.01690068e-02 2.31228224e+01] [-1.73314768e-01 9.84838998e-01 -7.35791322e-03 -2.80164532e+00] [-4.08363865e-02 2.78448023e-04 9.99165808e-01 -1.00632298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.15, Y:-2.81, Z:-1.00 [[ 9.84151207e-01 1.72452189e-01 4.13115453e-02 2.31545322e+01] [-1.72285972e-01 9.85017831e-01 -7.57739234e-03 -2.80920339e+00] [-4.19993467e-02 3.39900091e-04 9.99117580e-01 -1.00414264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.891052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.19, Y:-2.82, Z:-1.00 [[ 9.84079497e-01 1.72744165e-01 4.17970901e-02 2.31863593e+01] [-1.72573839e-01 9.84966668e-01 -7.67678456e-03 -2.81505594e+00] [-4.24948603e-02 3.41481985e-04 9.99096627e-01 -1.00355140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.921052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.22, Y:-2.82, Z:-1.01 [[ 9.83896071e-01 1.73743061e-01 4.19746424e-02 2.32189060e+01] [-1.73571729e-01 9.84790969e-01 -7.72025934e-03 -2.81673464e+00] [-4.26775903e-02 3.10321574e-04 9.99088848e-01 -1.00540552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.951052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.25, Y:-2.82, Z:-1.01 [[ 9.83746566e-01 1.74749505e-01 4.12953351e-02 2.32515829e+01] [-1.74584123e-01 9.84612886e-01 -7.60576877e-03 -2.81876105e+00] [-4.19890234e-02 2.72639040e-04 9.99118035e-01 -1.00863815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.981052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.28, Y:-2.82, Z:-1.01 [[ 9.83587429e-01 1.76271243e-01 3.85255666e-02 2.32825276e+01] [-1.76128086e-01 9.84341611e-01 -7.10562504e-03 -2.82121952e+00] [-3.91748356e-02 2.03569156e-04 9.99232351e-01 -1.01331162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.011052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.31, Y:-2.83, Z:-1.02 [[ 9.83610747e-01 1.76607554e-01 3.63272793e-02 2.33148945e+01] [-1.76480338e-01 9.84281331e-01 -6.70462475e-03 -2.82682809e+00] [-3.69403502e-02 1.83690418e-04 9.99317455e-01 -1.01585470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.041052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.35, Y:-2.83, Z:-1.02 [[ 9.84020454e-01 1.75112496e-01 3.22390914e-02 2.33456835e+01] [-1.75011233e-01 9.84548407e-01 -5.95848087e-03 -2.83347532e+00] [-3.27843505e-02 2.21063913e-04 9.99462424e-01 -1.01924947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.38, Y:-2.84, Z:-1.02 [[ 9.84435512e-01 1.72995078e-01 3.09745866e-02 2.33774889e+01] [-1.72900462e-01 9.84922648e-01 -5.72776890e-03 -2.83991426e+00] [-3.14984477e-02 2.83098775e-04 9.99503761e-01 -1.02157532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.101052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.41, Y:-2.85, Z:-1.03 [[ 9.85531978e-01 1.66837881e-01 2.98637332e-02 2.34072530e+01] [-1.66746887e-01 9.85984230e-01 -5.52944378e-03 -2.84848491e+00] [-3.03676907e-02 4.69759117e-04 9.99538685e-01 -1.02605991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.44, Y:-2.86, Z:-1.03 [[ 9.85992266e-01 1.64161362e-01 2.95008222e-02 2.34382159e+01] [-1.64071177e-01 9.86433344e-01 -5.46865560e-03 -2.85651406e+00] [-2.99983366e-02 5.51817496e-04 9.99549796e-01 -1.02736721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.47, Y:-2.87, Z:-1.02 [[ 9.86851600e-01 1.58378794e-01 3.22502226e-02 2.34690391e+01] [-1.58267609e-01 9.87378099e-01 -5.98786182e-03 -2.86765446e+00] [-3.27915138e-02 8.04965410e-04 9.99461890e-01 -1.02356806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.191052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.50, Y:-2.87, Z:-1.02 [[ 9.87181009e-01 1.55966658e-01 3.38829949e-02 2.35007235e+01] [-1.55842446e-01 9.87761881e-01 -6.29270906e-03 -2.87426475e+00] [-3.44497836e-02 9.31634056e-04 9.99405996e-01 -1.02171936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.53, Y:-2.88, Z:-1.02 [[ 9.87668408e-01 1.52471790e-01 3.55453181e-02 2.35312459e+01] [-1.52332489e-01 9.88307195e-01 -6.61072174e-03 -2.88274981e+00] [-3.61376422e-02 1.11449424e-03 9.99346201e-01 -1.01999044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.56, Y:-2.89, Z:-1.02 [[ 9.87896037e-01 1.50545138e-01 3.73842539e-02 2.35625399e+01] [-1.50389325e-01 9.88602340e-01 -6.96167020e-03 -2.88690542e+00] [-3.80062064e-02 1.25521368e-03 9.99276715e-01 -1.02186695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.281052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.59, Y:-2.89, Z:-1.02 [[ 9.87745610e-01 1.51307597e-01 3.82703709e-02 2.35939113e+01] [-1.51144528e-01 9.88485920e-01 -7.13566656e-03 -2.89088345e+00] [-3.89094033e-02 1.26386617e-03 9.99241943e-01 -1.02395452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.311052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.62, Y:-2.90, Z:-1.02 [[ 9.87444151e-01 1.52993030e-01 3.93342273e-02 2.36245679e+01] [-1.52821706e-01 9.88226489e-01 -7.34387157e-03 -2.89832860e+00] [-3.99946865e-02 1.24053932e-03 9.99199122e-01 -1.02429566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.341052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.66, Y:-2.90, Z:-1.02 [[ 9.86741727e-01 1.57654521e-01 3.85462879e-02 2.36567471e+01] [-1.57493338e-01 9.87493787e-01 -7.20203033e-03 -2.89894291e+00] [-3.91996525e-02 1.03576029e-03 9.99230861e-01 -1.02369945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.371052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.69, Y:-2.90, Z:-1.03 [[ 9.86444838e-01 1.59709932e-01 3.76738612e-02 2.36878127e+01] [-1.59557389e-01 9.87163545e-01 -7.04097154e-03 -2.90318020e+00] [-3.83147754e-02 9.34387111e-04 9.99265283e-01 -1.02549597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.401052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.72, Y:-2.90, Z:-1.03 [[ 9.85743566e-01 1.64195844e-01 3.67334620e-02 2.37187248e+01] [-1.64053737e-01 9.86427477e-01 -6.87047912e-03 -2.90377328e+00] [-3.73630003e-02 7.46268899e-04 9.99301481e-01 -1.03065692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.431052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.75, Y:-2.90, Z:-1.03 [[ 9.84667095e-01 1.70699505e-01 3.59498442e-02 2.37512252e+01] [-1.70567681e-01 9.85323012e-01 -6.72511911e-03 -2.90264427e+00] [-3.65701833e-02 4.90121920e-04 9.99330967e-01 -1.03366589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.461052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.78, Y:-2.91, Z:-1.04 [[ 9.84063954e-01 1.74328432e-01 3.50390060e-02 2.37821691e+01] [-1.74205449e-01 9.84687502e-01 -6.55627659e-03 -2.90645769e+00] [-3.56454168e-02 3.47809703e-04 9.99364440e-01 -1.03529940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.81, Y:-2.91, Z:-1.04 [[ 9.83530671e-01 1.77493903e-01 3.41076807e-02 2.38145147e+01] [-1.77379105e-01 9.84121873e-01 -6.38690969e-03 -2.91069844e+00] [-3.46997521e-02 2.31731720e-04 9.99397755e-01 -1.03636712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.85, Y:-2.91, Z:-1.04 [[ 9.82807428e-01 1.81766717e-01 3.24101814e-02 2.38456433e+01] [-1.81665321e-01 9.83341677e-01 -6.07095856e-03 -2.91473305e+00] [-3.29737804e-02 7.87771448e-05 9.99456214e-01 -1.03754921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.551052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.88, Y:-2.92, Z:-1.04 [[ 9.82464094e-01 1.83719633e-01 3.18025202e-02 2.38781614e+01] [-1.83622807e-01 9.82978686e-01 -5.96394762e-03 -2.92028554e+00] [-3.23568937e-02 1.96963826e-05 9.99476378e-01 -1.03937194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.581052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.91, Y:-2.93, Z:-1.04 [[ 9.82237184e-01 1.84943489e-01 3.17178267e-02 2.39101040e+01] [-1.84847525e-01 9.82749157e-01 -5.95708258e-03 -2.92609974e+00] [-3.22723911e-02 -1.16937462e-05 9.99479111e-01 -1.04296834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.94, Y:-2.93, Z:-1.04 [[ 9.82228170e-01 1.84984750e-01 3.17563184e-02 2.39422371e+01] [-1.84888278e-01 9.82741391e-01 -5.97345169e-03 -2.93372946e+00] [-3.23132460e-02 -4.07851900e-06 9.99477791e-01 -1.04429882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.641052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.97, Y:-2.95, Z:-1.04 [[ 9.82847512e-01 1.81598121e-01 3.21386221e-02 2.39726497e+01] [-1.81497174e-01 9.83372823e-01 -6.05536373e-03 -2.94692864e+00] [-3.27038902e-02 1.18430084e-04 9.99465078e-01 -1.04269671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.671052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.00, Y:-2.96, Z:-1.04 [[ 9.83977139e-01 1.75325207e-01 3.24046680e-02 2.40028998e+01] [-1.75218997e-01 9.84510518e-01 -6.11096657e-03 -2.96094790e+00] [-3.29741429e-02 3.35137997e-04 9.99456149e-01 -1.04205192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.701052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.03, Y:-2.97, Z:-1.04 [[ 9.84473526e-01 1.72359974e-01 3.32252398e-02 2.40339057e+01] [-1.72246345e-01 9.85033925e-01 -6.27400772e-03 -2.96940984e+00] [-3.38093761e-02 4.53668398e-04 9.99428197e-01 -1.04291772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.731052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.07, Y:-2.98, Z:-1.04 [[ 9.84426839e-01 1.72626707e-01 3.32237813e-02 2.40656827e+01] [-1.72512969e-01 9.84987216e-01 -6.28172103e-03 -2.97548616e+00] [-3.38093926e-02 4.52361629e-04 9.99428197e-01 -1.04417763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.761052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.10, Y:-2.98, Z:-1.05 [[ 9.84795692e-01 1.70286641e-01 3.43497412e-02 2.40968751e+01] [-1.70163283e-01 9.85394411e-01 -6.50474170e-03 -2.98367315e+00] [-3.49557137e-02 5.60776853e-04 9.99388705e-01 -1.04506599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.791052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.13, Y:-2.99, Z:-1.04 [[ 9.85193709e-01 1.67556065e-01 3.63086990e-02 2.41276064e+01] [-1.67416027e-01 9.85862297e-01 -6.88513364e-03 -2.99328408e+00] [-3.69490233e-02 7.04532211e-04 9.99316903e-01 -1.04342469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.16, Y:-3.00, Z:-1.04 [[ 9.85109380e-01 1.67879427e-01 3.70945733e-02 2.41602838e+01] [-1.67733139e-01 9.85807276e-01 -7.04340184e-03 -3.00015144e+00] [-3.77505425e-02 7.16532005e-04 9.99286937e-01 -1.04338917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.851052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.19, Y:-3.01, Z:-1.04 [[ 9.85023609e-01 1.68386880e-01 3.70722130e-02 2.41912996e+01] [-1.68240736e-01 9.85720731e-01 -7.04952204e-03 -3.00660301e+00] [-3.77298959e-02 7.06889232e-04 9.99287724e-01 -1.04343090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.22, Y:-3.01, Z:-1.05 [[ 9.84758096e-01 1.69940561e-01 3.70364392e-02 2.42235164e+01] [-1.69795433e-01 9.85454096e-01 -7.05234672e-03 -3.00864906e+00] [-3.76961905e-02 6.56237274e-04 9.99289031e-01 -1.04591862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.25, Y:-3.01, Z:-1.05 [[ 9.84680316e-01 1.70520452e-01 3.64341977e-02 2.42547255e+01] [-1.70380076e-01 9.85353934e-01 -6.94653061e-03 -3.01351560e+00] [-3.70851056e-02 6.32450578e-04 9.99311911e-01 -1.04882131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.941052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.29, Y:-3.02, Z:-1.05 [[ 9.84497994e-01 1.71600842e-01 3.62884457e-02 2.42869517e+01] [-1.71461966e-01 9.85166378e-01 -6.92831583e-03 -3.01742865e+00] [-3.69390615e-02 5.98824768e-04 9.99317341e-01 -1.05172122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.32, Y:-3.02, Z:-1.05 [[ 9.83994335e-01 1.74536348e-01 3.59473630e-02 2.43187800e+01] [-1.74401707e-01 9.84650608e-01 -6.87197198e-03 -3.01976892e+00] [-3.65950018e-02 4.92700029e-04 9.99330057e-01 -1.05437718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.35, Y:-3.02, Z:-1.06 [[ 9.83617389e-01 1.76855409e-01 3.49141246e-02 2.43508719e+01] [-1.76729565e-01 9.84236761e-01 -6.68273186e-03 -3.02428454e+00] [-3.55456422e-02 4.02893204e-04 9.99367973e-01 -1.05559478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.031052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.38, Y:-3.03, Z:-1.06 [[ 9.82522814e-01 1.83063923e-01 3.37123163e-02 2.43829534e+01] [-1.82949974e-01 9.83100996e-01 -6.46061635e-03 -3.02554177e+00] [-3.43253175e-02 1.80035573e-04 9.99410696e-01 -1.05596446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.061052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.41, Y:-3.03, Z:-1.06 [[ 9.81570150e-01 1.88144108e-01 3.34938019e-02 2.44141327e+01] [-1.88034303e-01 9.82141433e-01 -6.42700183e-03 -3.02652508e+00] [-3.41048531e-02 1.05694639e-05 9.99418260e-01 -1.05824576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.091052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.45, Y:-3.03, Z:-1.06 [[ 9.81388061e-01 1.89172551e-01 3.30336147e-02 2.44455434e+01] [-1.89066083e-01 9.81943861e-01 -6.34591607e-03 -3.03200644e+00] [-3.36376282e-02 -1.77298736e-05 9.99434095e-01 -1.06054312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.121052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.48, Y:-3.04, Z:-1.06 [[ 9.81760914e-01 1.87211457e-01 3.31267011e-02 2.44760773e+01] [-1.87102984e-01 9.82319636e-01 -6.37230954e-03 -3.04119387e+00] [-3.37339783e-02 5.79798271e-05 9.99430846e-01 -1.06218302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.151052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.51, Y:-3.05, Z:-1.06 [[ 9.82180487e-01 1.84932363e-01 3.34889899e-02 2.45077692e+01] [-1.84819887e-01 9.82751240e-01 -6.45052503e-03 -3.05014371e+00] [-3.41042571e-02 1.46148485e-04 9.99418270e-01 -1.06239809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.181052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.54, Y:-3.06, Z:-1.06 [[ 9.83206477e-01 1.79003055e-01 3.55377351e-02 2.45369002e+01] [-1.78872124e-01 9.83848443e-01 -6.85597401e-03 -3.06185342e+00] [-3.61909857e-02 3.84127876e-04 9.99344818e-01 -1.06134865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.211052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.57, Y:-3.07, Z:-1.06 [[ 9.83630310e-01 1.76461336e-01 3.65076721e-02 2.45683686e+01] [-1.76321237e-01 9.84307448e-01 -7.04767139e-03 -3.07012890e+00] [-3.71784151e-02 4.95225290e-04 9.99308521e-01 -1.06022498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.60, Y:-3.08, Z:-1.06 [[ 9.84264587e-01 1.72383807e-01 3.88206929e-02 2.45979325e+01] [-1.72221822e-01 9.85029610e-01 -7.50409934e-03 -3.07978672e+00] [-3.95331172e-02 7.00248773e-04 9.99218015e-01 -1.05844432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.63, Y:-3.09, Z:-1.06 [[ 9.84353051e-01 1.71864129e-01 3.88817686e-02 2.46292326e+01] [-1.71701168e-01 9.85120397e-01 -7.51742784e-03 -3.08547347e+00] [-3.95951995e-02 7.23757963e-04 9.99215540e-01 -1.06075723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.301052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.66, Y:-3.09, Z:-1.06 [[ 9.84135776e-01 1.73122105e-01 3.88009272e-02 2.46606051e+01] [-1.72960430e-01 9.84900133e-01 -7.51110939e-03 -3.09073205e+00] [-3.95153775e-02 6.80926415e-04 9.99218730e-01 -1.06323599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.331052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.69, Y:-3.10, Z:-1.06 [[ 9.83902783e-01 1.74540212e-01 3.83539924e-02 2.46920549e+01] [-1.74382963e-01 9.84649848e-01 -7.43366501e-03 -3.09667843e+00] [-3.90627262e-02 6.25720856e-04 9.99236565e-01 -1.06413189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.72, Y:-3.10, Z:-1.07 [[ 9.83522169e-01 1.76857784e-01 3.74895502e-02 2.47225190e+01] [-1.76708892e-01 9.84236274e-01 -7.27491535e-03 -3.10181564e+00] [-3.81852006e-02 5.30303635e-04 9.99270539e-01 -1.06525975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.391052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.75, Y:-3.10, Z:-1.07 [[ 9.82761486e-01 1.81314244e-01 3.61248793e-02 2.47547578e+01] [-1.81178724e-01 9.83425148e-01 -7.01774393e-03 -3.10249911e+00] [-3.67985317e-02 3.51708937e-04 9.99322643e-01 -1.06921042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.421052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.79, Y:-3.11, Z:-1.07 [[ 9.82219472e-01 1.84365763e-01 3.54143347e-02 2.47865916e+01] [-1.84237209e-01 9.82857674e-01 -6.88791286e-03 -3.10571786e+00] [-3.60771459e-02 2.40803943e-04 9.99348979e-01 -1.07155107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.451052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.82, Y:-3.11, Z:-1.07 [[ 9.81616130e-01 1.88154216e-01 3.20587579e-02 2.48187772e+01] [-1.88050674e-01 9.82139492e-01 -6.24201445e-03 -3.11067618e+00] [-3.26606335e-02 9.85910493e-05 9.99466494e-01 -1.07366450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.481052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.85, Y:-3.12, Z:-1.08 [[ 9.81304975e-01 1.90075342e-01 3.01978680e-02 2.48506939e+01] [-1.89984144e-01 9.81769506e-01 -5.88747771e-03 -3.11633058e+00] [-3.07664103e-02 4.02950643e-05 9.99526601e-01 -1.07553989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.511052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.88, Y:-3.12, Z:-1.08 [[ 9.81382591e-01 1.89613081e-01 3.05792381e-02 2.48831290e+01] [-1.89519070e-01 9.81858888e-01 -5.97048633e-03 -3.12259922e+00] [-3.11565790e-02 6.39825815e-05 9.99514514e-01 -1.07730620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.541052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.91, Y:-3.13, Z:-1.08 [[ 9.82123576e-01 1.85602600e-01 3.13840173e-02 2.49130240e+01] [-1.85501228e-01 9.82624869e-01 -6.13693850e-03 -3.13261986e+00] [-3.19777477e-02 2.05458240e-04 9.99488560e-01 -1.07803581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.94, Y:-3.14, Z:-1.08 [[ 9.82739654e-01 1.82415722e-01 3.07778574e-02 2.49432821e+01] [-1.82316454e-01 9.83221444e-01 -6.02511185e-03 -3.14240494e+00] [-3.13605246e-02 3.09806497e-04 9.99508090e-01 -1.07842677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.601052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.97, Y:-3.15, Z:-1.08 [[ 9.83871326e-01 1.76451471e-01 2.93614098e-02 2.49740201e+01] [-1.76358252e-01 9.84309222e-01 -5.75526369e-03 -3.15421736e+00] [-2.99162312e-02 4.84312012e-04 9.99552292e-01 -1.07962820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.631052754 meters Centerline goodness [0,1] 0.9999762594368738 Centerline is valid? [True, True] Translation: X:25.00, Y:-3.16, Z:-1.08 [[ 9.84200602e-01 1.74639763e-01 2.91569549e-02 2.50048682e+01] [-1.74547029e-01 9.84632249e-01 -5.71566674e-03 -3.16218687e+00] [-2.97070607e-02 5.36102804e-04 9.99558504e-01 -1.08037211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.04, Y:-3.17, Z:-1.08 [[ 9.84166341e-01 1.74787922e-01 2.94244123e-02 2.50368240e+01] [-1.74693342e-01 9.84605955e-01 -5.77483508e-03 -3.16881377e+00] [-2.99808230e-02 5.43149375e-04 9.99550327e-01 -1.07974420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.691052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.07, Y:-3.17, Z:-1.08 [[ 9.83995475e-01 1.75735590e-01 2.94942028e-02 2.50685593e+01] [-1.75640740e-01 9.84437265e-01 -5.79674116e-03 -3.17309422e+00] [-3.00538860e-02 5.23583461e-04 9.99548143e-01 -1.08094369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.10, Y:-3.17, Z:-1.09 [[ 9.83474288e-01 1.78839417e-01 2.81919632e-02 2.51013435e+01] [-1.78753855e-01 9.83878189e-01 -5.54701325e-03 -3.17191564e+00] [-2.87294823e-02 4.15922785e-04 9.99587137e-01 -1.08521046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.13, Y:-3.18, Z:-1.09 [[ 9.83184612e-01 1.80528419e-01 2.75228888e-02 2.51322496e+01] [-1.80447343e-01 9.83569701e-01 -5.42209880e-03 -3.17703428e+00] [-2.80495224e-02 3.64491957e-04 9.99606468e-01 -1.08915983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.781052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.16, Y:-3.18, Z:-1.09 [[ 9.82675149e-01 1.83341237e-01 2.71208868e-02 2.51638871e+01] [-1.83263422e-01 9.83049291e-01 -5.34875651e-03 -3.18051335e+00] [-2.76418162e-02 2.85823581e-04 9.99617851e-01 -1.08812280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.811052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.20, Y:-3.19, Z:-1.09 [[ 9.82484477e-01 1.84423470e-01 2.66877560e-02 2.51965090e+01] [-1.84348359e-01 9.82846843e-01 -5.26923025e-03 -3.18680075e+00] [-2.72017465e-02 2.57092884e-04 9.99629931e-01 -1.08840377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.841052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.23, Y:-3.19, Z:-1.09 [[ 9.82172451e-01 1.85990321e-01 2.72924206e-02 2.52289656e+01] [-1.85912147e-01 9.82551550e-01 -5.39669626e-03 -3.18944131e+00] [-2.78199434e-02 2.26493885e-04 9.99612925e-01 -1.08984545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.871052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.26, Y:-3.19, Z:-1.09 [[ 9.82047262e-01 1.86490219e-01 2.83650171e-02 2.52608442e+01] [-1.86405778e-01 9.82456791e-01 -5.61602782e-03 -3.19341622e+00] [-2.89147380e-02 2.27801666e-04 9.99581856e-01 -1.09105052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.901052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.29, Y:-3.20, Z:-1.09 [[ 9.81954822e-01 1.86771011e-01 2.96869699e-02 2.52909393e+01] [-1.86678401e-01 9.82403447e-01 -5.88573113e-03 -3.19992978e+00] [-3.02638655e-02 2.37606004e-04 9.99541916e-01 -1.09053637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.931052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.32, Y:-3.21, Z:-1.09 [[ 9.81881337e-01 1.87210430e-01 2.93478274e-02 2.53230395e+01] [-1.87119936e-01 9.82319807e-01 -5.82462149e-03 -3.20594032e+00] [-2.99193821e-02 2.27523533e-04 9.99552289e-01 -1.09060528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.961052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.35, Y:-3.21, Z:-1.09 [[ 9.82150825e-01 1.85952564e-01 2.83090409e-02 2.53527784e+01] [-1.85867579e-01 9.82558687e-01 -5.62758137e-03 -3.21271557e+00] [-2.88617572e-02 2.65400793e-04 9.99583377e-01 -1.09377278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.38, Y:-3.22, Z:-1.10 [[ 9.82424259e-01 1.84584534e-01 2.77691525e-02 2.53836016e+01] [-1.84502155e-01 9.82816595e-01 -5.52232889e-03 -3.22032420e+00] [-2.83113204e-02 3.01801394e-04 9.99599109e-01 -1.09529376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.41, Y:-3.23, Z:-1.10 [[ 9.83269067e-01 1.80097757e-01 2.73265549e-02 2.54143501e+01] [-1.80016070e-01 9.83648623e-01 -5.44076464e-03 -3.23011741e+00] [-2.78595976e-02 4.30516544e-04 9.99611753e-01 -1.09716823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.051052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.44, Y:-3.24, Z:-1.10 [[ 9.83703798e-01 1.77635142e-01 2.77955643e-02 2.54443754e+01] [-1.77549442e-01 9.84096281e-01 -5.54124513e-03 -3.23920608e+00] [-2.83378313e-02 5.15856940e-04 9.99598270e-01 -1.09920128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.081052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.47, Y:-3.25, Z:-1.10 [[ 9.84510404e-01 1.73055284e-01 2.81270824e-02 2.54747392e+01] [-1.72965428e-01 9.84911889e-01 -5.61534793e-03 -3.25023220e+00] [-2.86744634e-02 6.63355629e-04 9.99588583e-01 -1.09830206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.51, Y:-3.26, Z:-1.10 [[ 9.84709546e-01 1.71903164e-01 2.82207604e-02 2.55056082e+01] [-1.71812228e-01 9.85113604e-01 -5.63429499e-03 -3.25785928e+00] [-2.87692081e-02 6.99472336e-04 9.99585836e-01 -1.09758134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.141052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.54, Y:-3.26, Z:-1.10 [[ 9.84566803e-01 1.72554460e-01 2.92090368e-02 2.55366143e+01] [-1.72457107e-01 9.84999722e-01 -5.83903856e-03 -3.26430475e+00] [-2.97784452e-02 7.11617553e-04 9.99556270e-01 -1.09658451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.171052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.57, Y:-3.27, Z:-1.10 [[ 9.84190666e-01 1.74661002e-01 2.93643844e-02 2.55685458e+01] [-1.74563333e-01 9.84628407e-01 -5.87725254e-03 -3.26769072e+00] [-2.99395339e-02 6.58392291e-04 9.99551495e-01 -1.09864756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.201052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.60, Y:-3.27, Z:-1.10 [[ 9.83917359e-01 1.76175356e-01 2.94766875e-02 2.56003865e+01] [-1.76077404e-01 9.84358602e-01 -5.90681274e-03 -3.27153572e+00] [-3.00562657e-02 6.21636978e-04 9.99548015e-01 -1.10026388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.231052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.63, Y:-3.28, Z:-1.10 [[ 9.83659468e-01 1.77653631e-01 2.92102538e-02 2.56319994e+01] [-1.77557883e-01 9.84092909e-01 -5.86048485e-03 -3.27696722e+00] [-2.97867401e-02 5.78210586e-04 9.99556109e-01 -1.10226992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.261052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.66, Y:-3.28, Z:-1.10 [[ 9.83224301e-01 1.80128760e-01 2.86985009e-02 2.56636057e+01] [-1.80037192e-01 9.83642912e-01 -5.76462688e-03 -3.28176747e+00] [-2.92674521e-02 5.01123729e-04 9.99571491e-01 -1.10452250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.291052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.69, Y:-3.29, Z:-1.11 [[ 9.82925735e-01 1.81685082e-01 2.91123693e-02 2.56943599e+01] [-1.81591316e-01 9.83356655e-01 -5.85513801e-03 -3.28776943e+00] [-2.96916333e-02 4.68612371e-04 9.99558996e-01 -1.10501244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.73, Y:-3.29, Z:-1.10 [[ 9.82267533e-01 1.85083674e-01 2.99086583e-02 2.57272812e+01] [-1.84986035e-01 9.82722691e-01 -6.02331401e-03 -3.29000707e+00] [-3.05067342e-02 3.83821674e-04 9.99534488e-01 -1.10487006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.351052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.76, Y:-3.29, Z:-1.11 [[ 9.81810235e-01 1.87657832e-01 2.88652010e-02 2.57597532e+01] [-1.87567976e-01 9.82234418e-01 -5.81401044e-03 -3.29073254e+00] [-2.94434385e-02 2.94067638e-04 9.99566405e-01 -1.10822820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.79, Y:-3.30, Z:-1.11 [[ 9.81778110e-01 1.87867379e-01 2.85935427e-02 2.57923770e+01] [-1.87779099e-01 9.82194361e-01 -5.76604232e-03 -3.29728981e+00] [-2.91676677e-02 2.91704437e-04 9.99574491e-01 -1.11024139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.82, Y:-3.31, Z:-1.11 [[ 9.82375562e-01 1.84855229e-01 2.76911272e-02 2.58219987e+01] [-1.84771004e-01 9.82765690e-01 -5.59231709e-03 -3.30771188e+00] [-2.82476588e-02 3.77238257e-04 9.99600884e-01 -1.11353468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.441052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.85, Y:-3.31, Z:-1.11 [[ 9.82826516e-01 1.82416371e-01 2.78622798e-02 2.58534770e+01] [-1.82329939e-01 9.83221267e-01 -5.63328438e-03 -3.31312080e+00] [-2.84223893e-02 4.56413479e-04 9.99595898e-01 -1.11408884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.88, Y:-3.32, Z:-1.12 [[ 9.83781032e-01 1.77076604e-01 2.86139376e-02 2.58836444e+01] [-1.76982966e-01 9.84196867e-01 -5.79277082e-03 -3.32175532e+00] [-2.91875119e-02 6.34638522e-04 9.99573752e-01 -1.11549465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.501052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.91, Y:-3.33, Z:-1.12 [[ 9.84131987e-01 1.75028123e-01 2.91442530e-02 2.59143455e+01] [-1.74929884e-01 9.84563175e-01 -5.90681895e-03 -3.33004564e+00] [-2.97282177e-02 7.14888659e-04 9.99557763e-01 -1.11510005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.531052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.95, Y:-3.34, Z:-1.11 [[ 9.84418269e-01 1.73279726e-01 2.99133422e-02 2.59451261e+01] [-1.73175196e-01 9.84872329e-01 -6.07019017e-03 -3.33802329e+00] [-3.05126638e-02 7.95357194e-04 9.99534064e-01 -1.11447141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.561052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.98, Y:-3.35, Z:-1.11 [[ 9.84719071e-01 1.71295290e-01 3.14050020e-02 2.59754856e+01] [-1.71178800e-01 9.85219315e-01 -6.38113505e-03 -3.34614914e+00] [-3.20338730e-02 9.07754821e-04 9.99486372e-01 -1.11336524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.591052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.01, Y:-3.35, Z:-1.12 [[ 9.84809602e-01 1.70601992e-01 3.23265807e-02 2.60072415e+01] [-1.70477945e-01 9.85339550e-01 -6.57580720e-03 -3.34842646e+00] [-3.29745043e-02 9.64949040e-04 9.99455727e-01 -1.11589638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.621052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.04, Y:-3.35, Z:-1.12 [[ 9.84642294e-01 1.71549990e-01 3.24060858e-02 2.60386282e+01] [-1.71425579e-01 9.85174965e-01 -6.60001473e-03 -3.35272879e+00] [-3.30578969e-02 9.43421634e-04 9.99452993e-01 -1.11777681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.651052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.07, Y:-3.36, Z:-1.12 [[ 9.84595231e-01 1.71820188e-01 3.24045413e-02 2.60703289e+01] [-1.71695674e-01 9.85127878e-01 -6.60758848e-03 -3.35925376e+00] [-3.30579341e-02 9.42080553e-04 9.99452993e-01 -1.11903712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.681052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.10, Y:-3.37, Z:-1.12 [[ 9.83993064e-01 1.75235981e-01 3.24037127e-02 2.60997824e+01] [-1.75112966e-01 9.84526104e-01 -6.61817319e-03 -3.36618495e+00] [-3.30620431e-02 8.37926277e-04 9.99452950e-01 -1.12015376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.711052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.13, Y:-3.37, Z:-1.12 [[ 9.83467104e-01 1.78209159e-01 3.21551230e-02 2.61305279e+01] [-1.78089633e-01 9.83992358e-01 -6.56676658e-03 -3.37184201e+00] [-3.28106533e-02 7.31704854e-04 9.99461318e-01 -1.12107684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.16, Y:-3.37, Z:-1.12 [[ 9.82295012e-01 1.84574727e-01 3.20730437e-02 2.61628569e+01] [-1.84458930e-01 9.82818342e-01 -6.55816245e-03 -3.37325656e+00] [-3.27324467e-02 5.25890949e-04 9.99464012e-01 -1.12255007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.20, Y:-3.38, Z:-1.12 [[ 9.81664822e-01 1.87878592e-01 3.21840473e-02 2.61951461e+01] [-1.87763748e-01 9.82192171e-01 -6.58140423e-03 -3.37687977e+00] [-3.28474243e-02 4.17735668e-04 9.99460290e-01 -1.12405408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.801052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.23, Y:-3.38, Z:-1.12 [[ 9.80337773e-01 1.94438336e-01 3.36390219e-02 2.62259359e+01] [-1.94316419e-01 9.80914720e-01 -6.88784274e-03 -3.38022428e+00] [-3.43362724e-02 2.15798161e-04 9.99410313e-01 -1.12388422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.831052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.26, Y:-3.39, Z:-1.12 [[ 9.79596531e-01 1.98005195e-01 3.44177042e-02 2.62581110e+01] [-1.97879481e-01 9.80200965e-01 -7.05538704e-03 -3.38542840e+00] [-3.51332702e-02 1.00875244e-04 9.99382631e-01 -1.12320675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.29, Y:-3.39, Z:-1.12 [[ 9.78657951e-01 2.02677044e-01 3.39209390e-02 2.62901832e+01] [-2.02557460e-01 9.79245634e-01 -6.96154155e-03 -3.39167829e+00] [-3.46278761e-02 -5.79712530e-05 9.99400274e-01 -1.12415494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.891052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.32, Y:-3.40, Z:-1.13 [[ 9.78566429e-01 2.03252284e-01 3.31096983e-02 2.63223455e+01] [-2.03138372e-01 9.79126399e-01 -6.80422148e-03 -3.39875093e+00] [-3.38015532e-02 -6.74675029e-05 9.99428562e-01 -1.12674348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.921052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.35, Y:-3.41, Z:-1.13 [[ 9.79102443e-01 2.00874473e-01 3.17466789e-02 2.63529266e+01] [-2.00768210e-01 9.79616989e-01 -6.53303230e-03 -3.40722092e+00] [-3.24119054e-02 2.27840067e-05 9.99474596e-01 -1.13280353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.951052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.38, Y:-3.42, Z:-1.13 [[ 9.79455498e-01 1.99076463e-01 3.21790224e-02 2.63846297e+01] [-1.98966025e-01 9.79983956e-01 -6.63078370e-03 -3.41641293e+00] [-3.28549586e-02 9.20253823e-05 9.99460126e-01 -1.13451753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.981052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.41, Y:-3.43, Z:-1.13 [[ 9.80394249e-01 1.94175517e-01 3.35109741e-02 2.64133505e+01] [-1.94052515e-01 9.80966764e-01 -6.91588803e-03 -3.43011001e+00] [-3.42160480e-02 2.77408029e-04 9.99414421e-01 -1.13191533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.011052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.44, Y:-3.44, Z:-1.13 [[ 9.80920329e-01 1.91338899e-01 3.44199771e-02 2.64441412e+01] [-1.91207231e-01 9.81523954e-01 -7.10786082e-03 -3.43939955e+00] [-3.51440423e-02 3.90896661e-04 9.99382181e-01 -1.13081836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.041052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.47, Y:-3.45, Z:-1.13 [[ 9.82000260e-01 1.85373127e-01 3.62255921e-02 2.64747208e+01] [-1.85222851e-01 9.82667994e-01 -7.49058126e-03 -3.45050663e+00] [-3.69862824e-02 6.45945287e-04 9.99315565e-01 -1.13127829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.51, Y:-3.46, Z:-1.13 [[ 9.82796086e-01 1.80794113e-01 3.77536969e-02 2.65054210e+01] [-1.80627399e-01 9.83520593e-01 -7.80938097e-03 -3.45935869e+00] [-3.85434285e-02 8.55676984e-04 9.99256560e-01 -1.13306796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.101052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.54, Y:-3.47, Z:-1.13 [[ 9.83087387e-01 1.79206008e-01 3.77411597e-02 2.65355745e+01] [-1.79038131e-01 9.83811140e-01 -7.80948943e-03 -3.46745195e+00] [-3.85296808e-02 9.20303873e-04 9.99257032e-01 -1.13479540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.57, Y:-3.48, Z:-1.14 [[ 9.83250409e-01 1.78392415e-01 3.73467494e-02 2.65668073e+01] [-1.78227114e-01 9.83958964e-01 -7.73650077e-03 -3.47574225e+00] [-3.81278019e-02 9.50714178e-04 9.99272419e-01 -1.13629472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.60, Y:-3.48, Z:-1.14 [[ 9.83594123e-01 1.76557070e-01 3.70162304e-02 2.65975442e+01] [-1.76393042e-01 9.84289875e-01 -7.67707429e-03 -3.48405261e+00] [-3.77901425e-02 1.02171966e-03 9.99285175e-01 -1.13607364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.191052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.63, Y:-3.49, Z:-1.14 [[ 9.83714540e-01 1.75849654e-01 3.71833648e-02 2.66270803e+01] [-1.75683276e-01 9.84416461e-01 -7.72120973e-03 -3.49317817e+00] [-3.79616884e-02 1.06297094e-03 9.99278630e-01 -1.13666726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.66, Y:-3.50, Z:-1.14 [[ 9.83824445e-01 1.75072038e-01 3.79373532e-02 2.66587950e+01] [-1.74897914e-01 9.84554985e-01 -7.88680626e-03 -3.49914470e+00] [-3.87321695e-02 1.12406887e-03 9.99248996e-01 -1.13820632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.69, Y:-3.50, Z:-1.14 [[ 9.83955534e-01 1.74447734e-01 3.74098327e-02 2.66908415e+01] [-1.74277851e-01 9.84665780e-01 -7.78025379e-03 -3.50436613e+00] [-3.81934297e-02 1.13571851e-03 9.99269719e-01 -1.13897359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.281052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.72, Y:-3.51, Z:-1.14 [[ 9.83910206e-01 1.74805432e-01 3.69292335e-02 2.67237344e+01] [-1.74639803e-01 9.84602364e-01 -7.68921581e-03 -3.50878986e+00] [-3.77047273e-02 1.11618383e-03 9.99288301e-01 -1.14063934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.311052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.75, Y:-3.51, Z:-1.14 [[ 9.83834461e-01 1.75211588e-01 3.70223372e-02 2.67544463e+01] [-1.75045008e-01 9.84530172e-01 -7.71921885e-03 -3.51120929e+00] [-3.78021046e-02 1.11385819e-03 9.99284624e-01 -1.14443248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.341052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.79, Y:-3.51, Z:-1.15 [[ 9.83797822e-01 1.75484502e-01 3.67019861e-02 2.67874392e+01] [-1.75320802e-01 9.84481581e-01 -7.65725722e-03 -3.51311696e+00] [-3.74761593e-02 1.09857132e-03 9.99296918e-01 -1.14692101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.371052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.82, Y:-3.52, Z:-1.15 [[ 9.83772657e-01 1.76047835e-01 3.46196346e-02 2.68185729e+01] [-1.75902206e-01 9.84381079e-01 -7.23224277e-03 -3.51809472e+00] [-3.53521340e-02 1.02521260e-03 9.99374392e-01 -1.14903808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.401052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.85, Y:-3.52, Z:-1.15 [[ 9.83608486e-01 1.76964823e-01 3.46092252e-02 2.68504839e+01] [-1.76819518e-01 9.84216668e-01 -7.23940169e-03 -3.52269692e+00] [-3.53440957e-02 1.00115042e-03 9.99374701e-01 -1.14995295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.431052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.88, Y:-3.53, Z:-1.15 [[ 9.82845247e-01 1.80955210e-01 3.56431377e-02 2.68816652e+01] [-1.80803356e-01 9.83490933e-01 -7.46535410e-03 -3.52513793e+00] [-3.64055975e-02 8.92888863e-04 9.99336698e-01 -1.14963728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.461052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.91, Y:-3.53, Z:-1.15 [[ 9.82266429e-01 1.84010073e-01 3.59576928e-02 2.69119971e+01] [-1.83857537e-01 9.82924042e-01 -7.53214896e-03 -3.53154969e+00] [-3.67296720e-02 7.87484246e-04 9.99324928e-01 -1.15030933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.94, Y:-3.53, Z:-1.15 [[ 9.80999848e-01 1.90568773e-01 3.63708911e-02 2.69449799e+01] [-1.90416886e-01 9.81673690e-01 -7.62737683e-03 -3.52773145e+00] [-3.71578867e-02 5.56823686e-04 9.99309252e-01 -1.15244665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.98, Y:-3.53, Z:-1.16 [[ 9.80305327e-01 1.94154283e-01 3.61328216e-02 2.69760488e+01] [-1.94006744e-01 9.80970916e-01 -7.57925978e-03 -3.53228387e+00] [-3.69167928e-02 4.19977655e-04 9.99318255e-01 -1.15511584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.551052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.01, Y:-3.53, Z:-1.16 [[ 9.79136917e-01 1.99809987e-01 3.69711719e-02 2.70084729e+01] [-1.99659341e-01 9.79834640e-01 -7.76052484e-03 -3.53273120e+00] [-3.77762653e-02 2.16976550e-04 9.99286199e-01 -1.15825098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.581052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.04, Y:-3.54, Z:-1.16 [[ 9.78700393e-01 2.01912410e-01 3.71068511e-02 2.70397165e+01] [-2.01761807e-01 9.79403572e-01 -7.79844504e-03 -3.53767394e+00] [-3.79171853e-02 1.45595903e-04 9.99280874e-01 -1.15973375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.07, Y:-3.54, Z:-1.16 [[ 9.78459398e-01 2.03099849e-01 3.69818519e-02 2.70711278e+01] [-2.02950753e-01 9.79158026e-01 -7.78153484e-03 -3.54318941e+00] [-3.77915057e-02 1.08421189e-04 9.99285640e-01 -1.16153347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.641052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.10, Y:-3.55, Z:-1.16 [[ 9.78911570e-01 2.01053455e-01 3.61890485e-02 2.71006645e+01] [-2.00908922e-01 9.79580252e-01 -7.62455913e-03 -3.55147288e+00] [-3.69830212e-02 1.93066407e-04 9.99315875e-01 -1.16254534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.671052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.13, Y:-3.56, Z:-1.16 [[ 9.79332008e-01 1.99075089e-01 3.57481112e-02 2.71299337e+01] [-1.98932585e-01 9.79984202e-01 -7.53591420e-03 -3.56094761e+00] [-3.65327971e-02 2.68697792e-04 9.99332418e-01 -1.16322041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.701052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.16, Y:-3.57, Z:-1.16 [[ 9.80340448e-01 1.93919911e-01 3.64372698e-02 2.71608036e+01] [-1.93768028e-01 9.81017248e-01 -7.68832707e-03 -3.57100568e+00] [-3.72365099e-02 4.76800085e-04 9.99306367e-01 -1.16309050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.731052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.19, Y:-3.58, Z:-1.17 [[ 9.80771452e-01 1.91788271e-01 3.61195112e-02 2.71914818e+01] [-1.91637255e-01 9.81436164e-01 -7.63010109e-03 -3.57888761e+00] [-3.69123584e-02 5.61541326e-04 9.99318349e-01 -1.16508472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.761052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.22, Y:-3.59, Z:-1.17 [[ 9.81469805e-01 1.88420859e-01 3.48511323e-02 2.72214242e+01] [-1.88277847e-01 9.82088147e-01 -7.37050056e-03 -3.58752133e+00] [-3.56156400e-02 6.72227585e-04 9.99365336e-01 -1.16967643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.791052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.25, Y:-3.59, Z:-1.17 [[ 9.81735205e-01 1.87113683e-01 3.44159281e-02 2.72533783e+01] [-1.86973150e-01 9.82338004e-01 -7.28609420e-03 -3.59287613e+00] [-3.51714020e-02 7.18160709e-04 9.99381037e-01 -1.17146471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.821052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.28, Y:-3.60, Z:-1.17 [[ 9.82086034e-01 1.85086679e-01 3.53545251e-02 2.72823281e+01] [-1.84936714e-01 9.82721856e-01 -7.49439251e-03 -3.60458591e+00] [-3.61307767e-02 8.21788531e-04 9.99346732e-01 -1.17070107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.851052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.31, Y:-3.61, Z:-1.17 [[ 9.81988639e-01 1.85460822e-01 3.60914886e-02 2.73146587e+01] [-1.85304628e-01 9.82651309e-01 -7.65497840e-03 -3.61297137e+00] [-3.68850471e-02 8.29181950e-04 9.99319171e-01 -1.16914244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.35, Y:-3.62, Z:-1.17 [[ 9.81656138e-01 1.86897162e-01 3.76918704e-02 2.73460468e+01] [-1.86727438e-01 9.82379141e-01 -8.00539720e-03 -3.61820601e+00] [-3.85238933e-02 8.20440915e-04 9.99257342e-01 -1.16719635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.38, Y:-3.62, Z:-1.17 [[ 9.81299407e-01 1.88622740e-01 3.83788412e-02 2.73774051e+01] [-1.88447707e-01 9.82049316e-01 -8.16101029e-03 -3.62290415e+00] [-3.92292669e-02 7.75989941e-04 9.99229935e-01 -1.16867773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.941052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.41, Y:-3.62, Z:-1.17 [[ 9.80060953e-01 1.95164524e-01 3.73006230e-02 2.74092274e+01] [-1.95003573e-01 9.80770386e-01 -7.94082727e-03 -3.62453853e+00] [-3.81331142e-02 5.08739985e-04 9.99272539e-01 -1.17175789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.44, Y:-3.63, Z:-1.17 [[ 9.79395186e-01 1.98751902e-01 3.58155239e-02 2.74400044e+01] [-1.98605883e-01 9.80049772e-01 -7.62548414e-03 -3.62961241e+00] [-3.66165755e-02 3.55188723e-04 9.99329325e-01 -1.17346657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.47, Y:-3.63, Z:-1.18 [[ 9.78278810e-01 2.04520350e-01 3.37934288e-02 2.74721212e+01] [-2.04393549e-01 9.78862303e-01 -7.20206740e-03 -3.63337835e+00] [-3.45520829e-02 1.38471071e-04 9.99402889e-01 -1.17532969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.031052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.50, Y:-3.64, Z:-1.18 [[ 9.77879880e-01 2.06598692e-01 3.26790491e-02 2.75039410e+01] [-2.06481015e-01 9.78425764e-01 -6.97244744e-03 -3.63889509e+00] [-3.34145221e-02 7.06128529e-05 9.99441576e-01 -1.17846435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.061052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.53, Y:-3.64, Z:-1.18 [[ 9.77722842e-01 2.07823698e-01 2.94508977e-02 2.75348426e+01] [-2.07728467e-01 9.78166299e-01 -6.29084017e-03 -3.64498453e+00] [-3.01152612e-02 3.29083090e-05 9.99546432e-01 -1.18250256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.091052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.57, Y:-3.65, Z:-1.18 [[ 9.78094787e-01 2.06309105e-01 2.76973202e-02 2.75652431e+01] [-2.06224093e-01 9.78486866e-01 -5.92255018e-03 -3.65400338e+00] [-2.83233400e-02 8.09607160e-05 9.99598810e-01 -1.18431235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.121052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.60, Y:-3.66, Z:-1.18 [[ 9.78472884e-01 2.04640829e-01 2.67010719e-02 2.75960170e+01] [-2.04561034e-01 9.78837123e-01 -5.71570449e-03 -3.66236048e+00] [-2.73056669e-02 1.30662962e-04 9.99627122e-01 -1.18493344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.151052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.63, Y:-3.67, Z:-1.19 [[ 9.78952709e-01 2.02448708e-01 2.58091717e-02 2.76267197e+01] [-2.02373229e-01 9.79292849e-01 -5.53102708e-03 -3.67223363e+00] [-2.63944865e-02 1.91528534e-04 9.99651587e-01 -1.18547602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.181052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.66, Y:-3.69, Z:-1.19 [[ 9.80434831e-01 1.95310421e-01 2.45230726e-02 2.76551114e+01] [-1.95239857e-01 9.80741404e-01 -5.26282268e-03 -3.68653977e+00] [-2.50786767e-02 3.71973491e-04 9.99685411e-01 -1.18555560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.211052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.68, Y:-3.70, Z:-1.19 [[ 9.82025949e-01 1.87020356e-01 2.54641183e-02 2.76832376e+01] [-1.86941398e-01 9.82355849e-01 -5.46798656e-03 -3.70045044e+00] [-2.60374504e-02 6.09406821e-04 9.99660782e-01 -1.18610829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.71, Y:-3.71, Z:-1.19 [[ 9.82655911e-01 1.83545254e-01 2.64291628e-02 2.77142149e+01] [-1.83458813e-01 9.83010988e-01 -5.67988686e-03 -3.70980453e+00] [-2.70226737e-02 7.32711569e-04 9.99634552e-01 -1.18557909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.74, Y:-3.72, Z:-1.18 [[ 9.83474439e-01 1.79056013e-01 2.67763307e-02 2.77441450e+01] [-1.78965559e-01 9.83838497e-01 -5.75678447e-03 -3.72049233e+00] [-2.73743718e-02 8.69609391e-04 9.99624873e-01 -1.18319344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.301052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.77, Y:-3.73, Z:-1.18 [[ 9.83652166e-01 1.78192770e-01 2.59952679e-02 2.77749421e+01] [-1.78107261e-01 9.83995217e-01 -5.58717410e-03 -3.72954136e+00] [-2.65748133e-02 8.65889926e-04 9.99646452e-01 -1.18394422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.331052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.81, Y:-3.74, Z:-1.18 [[ 9.83532968e-01 1.78785395e-01 2.64326244e-02 2.78058994e+01] [-1.78697012e-01 9.83887709e-01 -5.68805862e-03 -3.73700872e+00] [-2.70236761e-02 8.70962172e-04 9.99634414e-01 -1.18452502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.84, Y:-3.74, Z:-1.19 [[ 9.83338936e-01 1.79767376e-01 2.69857083e-02 2.78368683e+01] [-1.79675428e-01 9.83708766e-01 -5.81415418e-03 -3.74325510e+00] [-2.75912730e-02 8.68615481e-04 9.99618911e-01 -1.18629476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.391052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.87, Y:-3.75, Z:-1.19 [[ 9.83061944e-01 1.81324745e-01 2.66561540e-02 2.78680013e+01] [-1.81235421e-01 9.83422931e-01 -5.74978432e-03 -3.74884762e+00] [-2.72568512e-02 8.21354869e-04 9.99628126e-01 -1.18820359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.421052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.90, Y:-3.75, Z:-1.19 [[ 9.82449264e-01 1.84772874e-01 2.55426930e-02 2.78997260e+01] [-1.84691863e-01 9.82781000e-01 -5.51567661e-03 -3.75405741e+00] [-2.61220208e-02 7.01344857e-04 9.99658516e-01 -1.19010948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.451052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.93, Y:-3.76, Z:-1.19 [[ 9.81811257e-01 1.88339302e-01 2.39783952e-02 2.79315082e+01] [-1.88268841e-01 9.82103852e-01 -5.18329644e-03 -3.75744110e+00] [-2.45254928e-02 5.74634118e-04 9.99699040e-01 -1.19160611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.481052753999997 meters Centerline goodness [0,1] 0.9999765626831041 Centerline is valid? [True, True] Translation: X:27.96, Y:-3.76, Z:-1.19 [[ 9.81507135e-01 1.90033220e-01 2.30460240e-02 2.79620752e+01] [-1.89968461e-01 9.81777524e-01 -4.98759729e-03 -3.76287011e+00] [-2.35738776e-02 5.17344602e-04 9.99721964e-01 -1.19434635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.511052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.99, Y:-3.77, Z:-1.20 [[ 9.81019924e-01 1.92669665e-01 2.18702532e-02 2.79932903e+01] [-1.92611894e-01 9.81263579e-01 -4.73789409e-03 -3.76637801e+00] [-2.23733314e-02 4.35497604e-04 9.99749591e-01 -1.19957123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.541052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.02, Y:-3.77, Z:-1.20 [[ 9.80968954e-01 1.92929112e-01 2.18693622e-02 2.80249049e+01] [-1.92871314e-01 9.81212602e-01 -4.74200186e-03 -3.77331563e+00] [-2.23733640e-02 4.33783976e-04 9.99749591e-01 -1.20083121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.571052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.06, Y:-3.78, Z:-1.20 [[ 9.80811124e-01 1.93777309e-01 2.14451342e-02 2.80576085e+01] [-1.93721812e-01 9.81045455e-01 -4.65559168e-03 -3.77731349e+00] [-2.19407995e-02 4.11865838e-04 9.99759187e-01 -1.20213308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.601052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.09, Y:-3.78, Z:-1.20 [[ 9.80723138e-01 1.94279333e-01 2.09204905e-02 2.80894935e+01] [-1.94226511e-01 9.80946167e-01 -4.54742082e-03 -3.78343145e+00] [-2.14053448e-02 3.96446951e-04 9.99770801e-01 -1.20406561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.12, Y:-3.79, Z:-1.21 [[ 9.80788418e-01 1.94046166e-01 2.00041246e-02 2.81198476e+01] [-1.93997693e-01 9.80992321e-01 -4.35449768e-03 -3.79102832e+00] [-2.04688662e-02 3.90086856e-04 9.99790415e-01 -1.20502025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.15, Y:-3.80, Z:-1.21 [[ 9.80763321e-01 1.94140683e-01 2.03151041e-02 2.81506014e+01] [-1.94090591e-01 9.80973616e-01 -4.42801295e-03 -3.79930134e+00] [-2.07882386e-02 3.99862124e-04 9.99783821e-01 -1.20577388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.691052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.18, Y:-3.81, Z:-1.21 [[ 9.80587892e-01 1.95049823e-01 2.00736969e-02 2.81806180e+01] [-1.95001052e-01 9.80793262e-01 -4.37797032e-03 -3.80678893e+00] [-2.05420690e-02 3.78592689e-04 9.99788918e-01 -1.20601864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.21, Y:-3.81, Z:-1.21 [[ 9.80212044e-01 1.96856388e-01 2.07824754e-02 2.82136054e+01] [-1.96804362e-01 9.80432269e-01 -4.53981391e-03 -3.80806475e+00] [-2.12695009e-02 3.59898455e-04 9.99773714e-01 -1.20867553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.24, Y:-3.81, Z:-1.21 [[ 9.79961370e-01 1.97952604e-01 2.21467621e-02 2.82442369e+01] [-1.97893803e-01 9.80211527e-01 -4.83781501e-03 -3.81216272e+00] [-2.26661696e-02 3.58164850e-04 9.99743025e-01 -1.21230542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.781052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.28, Y:-3.82, Z:-1.21 [[ 9.79708423e-01 1.99134190e-01 2.27372022e-02 2.82762478e+01] [-1.99072411e-01 9.79972171e-01 -4.97189060e-03 -3.81685687e+00] [-2.32718988e-02 3.44653433e-04 9.99729113e-01 -1.21376315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.811052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.31, Y:-3.83, Z:-1.21 [[ 9.79295556e-01 2.01286860e-01 2.15363501e-02 2.83081684e+01] [-2.01231863e-01 9.79532297e-01 -4.71348505e-03 -3.82598594e+00] [-2.20443131e-02 2.82095107e-04 9.99756955e-01 -1.21214750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.841052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.34, Y:-3.83, Z:-1.21 [[ 9.79136134e-01 2.02108747e-01 2.10828027e-02 2.83388290e+01] [-2.02056103e-01 9.79363050e-01 -4.62023046e-03 -3.83432202e+00] [-2.15815070e-02 2.63925630e-04 9.99767057e-01 -1.21155804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.871052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.37, Y:-3.84, Z:-1.21 [[ 9.79318805e-01 2.01158208e-01 2.16807151e-02 2.83715865e+01] [-2.01102175e-01 9.79558720e-01 -4.75696617e-03 -3.84054761e+00] [-2.21944363e-02 2.98547461e-04 9.99753629e-01 -1.21170539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.901052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.40, Y:-3.85, Z:-1.21 [[ 9.79617608e-01 1.99596817e-01 2.25931868e-02 2.84034758e+01] [-1.99535386e-01 9.79878046e-01 -4.96435891e-03 -3.84585428e+00] [-2.31294379e-02 3.55033152e-04 9.99732416e-01 -1.21379315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.931052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.43, Y:-3.86, Z:-1.22 [[ 9.79732737e-01 1.99137945e-01 2.16296622e-02 2.84333965e+01] [-1.99081413e-01 9.79971404e-01 -4.75800570e-03 -3.85554228e+00] [-2.21439500e-02 3.55510228e-04 9.99754729e-01 -1.21993297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.961052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.47, Y:-3.86, Z:-1.22 [[ 9.79784163e-01 1.99046310e-01 2.00887907e-02 2.84654327e+01] [-1.98997452e-01 9.79990027e-01 -4.42274239e-03 -3.85917853e+00] [-2.05671451e-02 3.35714791e-04 9.99788418e-01 -1.22095336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.50, Y:-3.86, Z:-1.23 [[ 9.79721499e-01 1.99668921e-01 1.66765450e-02 2.84968502e+01] [-1.99635298e-01 9.79863383e-01 -3.67409868e-03 -3.86499448e+00] [-1.70743391e-02 2.70366438e-04 9.99854186e-01 -1.22707416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.53, Y:-3.87, Z:-1.23 [[ 9.79380690e-01 2.01471891e-01 1.49177983e-02 2.85266751e+01] [-2.01445135e-01 9.79494273e-01 -3.29054668e-03 -3.87161935e+00] [-1.52748506e-02 2.17579989e-04 9.99883309e-01 -1.22900480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.051052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.56, Y:-3.88, Z:-1.23 [[ 9.79106462e-01 2.02830964e-01 1.44960596e-02 2.85586427e+01] [-2.02805839e-01 9.79213748e-01 -3.19813767e-03 -3.87863017e+00] [-1.48434222e-02 1.91431724e-04 9.99889812e-01 -1.22865973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.081052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.59, Y:-3.89, Z:-1.23 [[ 9.78865584e-01 2.03763897e-01 1.73909042e-02 2.85893656e+01] [-2.03727744e-01 9.79020033e-01 -3.84454567e-03 -3.88669283e+00] [-1.78094232e-02 2.20283761e-04 9.99841375e-01 -1.22654998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.62, Y:-3.89, Z:-1.23 [[ 9.78827899e-01 2.03791142e-01 1.91079553e-02 2.86201518e+01] [-2.03747393e-01 9.79014356e-01 -4.22971476e-03 -3.89420767e+00] [-1.95689409e-02 2.46966742e-04 9.99808479e-01 -1.22639751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.141052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.65, Y:-3.90, Z:-1.23 [[ 9.78766229e-01 2.04001153e-01 2.00049812e-02 2.86515567e+01] [-2.03953136e-01 9.78970614e-01 -4.43348484e-03 -3.90149248e+00] [-2.04887247e-02 2.59266586e-04 9.99790050e-01 -1.22741249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.171052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.68, Y:-3.91, Z:-1.23 [[ 9.78658452e-01 2.04418987e-01 2.09883550e-02 2.86826563e+01] [-2.04366109e-01 9.78883448e-01 -4.65701801e-03 -3.91032032e+00] [-2.14971362e-02 2.68321601e-04 9.99768874e-01 -1.23002420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.201052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.71, Y:-3.92, Z:-1.23 [[ 9.78613056e-01 2.04571417e-01 2.16106649e-02 2.87138248e+01] [-2.04515271e-01 9.78851601e-01 -4.80064313e-03 -3.91759271e+00] [-2.21357084e-02 2.78261047e-04 9.99754936e-01 -1.23107414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.231052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.74, Y:-3.93, Z:-1.23 [[ 9.78113388e-01 2.06786666e-01 2.30970572e-02 2.87439795e+01] [-2.06722959e-01 9.78386024e-01 -5.13875199e-03 -3.92545594e+00] [-2.36604634e-02 2.51590110e-04 9.99720020e-01 -1.23148930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.261052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.78, Y:-3.93, Z:-1.23 [[ 9.77208061e-01 2.10934880e-01 2.38931493e-02 2.87752854e+01] [-2.10867893e-01 9.77500103e-01 -5.31793590e-03 -3.93264134e+00] [-2.44772941e-02 1.58431771e-04 9.99700374e-01 -1.23046158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.291052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.81, Y:-3.94, Z:-1.23 [[ 9.76551549e-01 2.13997310e-01 2.34994577e-02 2.88054693e+01] [-2.13933256e-01 9.76834246e-01 -5.23622412e-03 -3.93955342e+00] [-2.40756130e-02 8.61272738e-05 9.99710137e-01 -1.23133464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.321052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.84, Y:-3.94, Z:-1.23 [[ 9.75103395e-01 2.20548296e-01 2.30611721e-02 2.88368738e+01] [-2.20488329e-01 9.75376053e-01 -5.14318529e-03 -3.94426677e+00] [-2.36276358e-02 -6.95818709e-05 9.99720826e-01 -1.23411900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.351052753999998 meters Centerline goodness [0,1] 0.9998351855339989 Centerline is valid? [True, True] Translation: X:28.87, Y:-3.95, Z:-1.24 [[ 9.74356105e-01 2.23806995e-01 2.32510222e-02 2.88691725e+01] [-2.23746827e-01 9.74633474e-01 -5.19125302e-03 -3.94967413e+00] [-2.38230632e-02 -1.44213358e-04 9.99716180e-01 -1.23607469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.381052754 meters Centerline goodness [0,1] 0.9996715311341561 Centerline is valid? [True, True] Translation: X:28.90, Y:-3.95, Z:-1.24 [[ 9.73814361e-01 2.26192756e-01 2.28566770e-02 2.89006919e+01] [-2.26135111e-01 9.74082543e-01 -5.10994342e-03 -3.95407107e+00] [-2.34201222e-02 -1.92560902e-04 9.99725693e-01 -1.23940488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.411052754 meters Centerline goodness [0,1] 0.9995305164319249 Centerline is valid? [True, True] Translation: X:28.93, Y:-3.96, Z:-1.24 [[ 9.72607808e-01 2.31225750e-01 2.38475190e-02 2.89329955e+01] [-2.31164355e-01 9.72900072e-01 -5.33775589e-03 -3.95767368e+00] [-2.44354796e-02 -3.21153298e-04 9.99701358e-01 -1.24308084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.441052753999998 meters Centerline goodness [0,1] 0.9995280347366434 Centerline is valid? [True, True] Translation: X:28.96, Y:-3.97, Z:-1.24 [[ 9.72523382e-01 2.31380283e-01 2.57184109e-02 2.89625520e+01] [-2.31308732e-01 9.72863324e-01 -5.76400686e-03 -3.96616142e+00] [-2.63541762e-02 -3.43261562e-04 9.99652609e-01 -1.24344078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.471052754 meters Centerline goodness [0,1] 0.9994794008376914 Centerline is valid? [True, True] Translation: X:28.99, Y:-3.98, Z:-1.24 [[ 9.73064495e-01 2.29082281e-01 2.58224247e-02 2.89925837e+01] [-2.29009179e-01 9.73407023e-01 -5.79342195e-03 -3.97573981e+00] [-2.64628999e-02 -2.76199075e-04 9.99649758e-01 -1.24402736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.501052754 meters Centerline goodness [0,1] 0.9995038510608136 Centerline is valid? [True, True] Translation: X:29.02, Y:-3.99, Z:-1.24 [[ 9.74491414e-01 2.22958046e-01 2.56162833e-02 2.90218066e+01] [-2.22883841e-01 9.74828036e-01 -5.75278710e-03 -3.99074093e+00] [-2.62541013e-02 -1.03413978e-04 9.99655296e-01 -1.24381032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.531052753999997 meters Centerline goodness [0,1] 0.9993865175432387 Centerline is valid? [True, True] Translation: X:29.05, Y:-4.00, Z:-1.25 [[ 9.75371660e-01 2.19176416e-01 2.47350845e-02 2.90519790e+01] [-2.19105869e-01 9.75685246e-01 -5.56049984e-03 -4.00146538e+00] [-2.53523874e-02 3.95175490e-06 9.99678577e-01 -1.24611718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.561052754 meters Centerline goodness [0,1] 0.999429874572406 Centerline is valid? [True, True] Translation: X:29.08, Y:-4.01, Z:-1.25 [[ 9.76690093e-01 2.13373116e-01 2.34174119e-02 2.90816644e+01] [-2.13308076e-01 9.76970772e-01 -5.27015590e-03 -4.01378902e+00] [-2.40026366e-02 1.52185970e-04 9.99711884e-01 -1.24959322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.591052754 meters Centerline goodness [0,1] 0.9992399591478042 Centerline is valid? [True, True] Translation: X:29.11, Y:-4.02, Z:-1.25 [[ 9.77279507e-01 2.10743121e-01 2.26296928e-02 2.91115384e+01] [-2.10681517e-01 9.77541452e-01 -5.09978986e-03 -4.02264307e+00] [-2.31962084e-02 2.16262085e-04 9.99730908e-01 -1.25163005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.621052753999997 meters Centerline goodness [0,1] 0.9993589439194643 Centerline is valid? [True, True] Translation: X:29.14, Y:-4.03, Z:-1.25 [[ 9.77345994e-01 2.10396168e-01 2.29839378e-02 2.91439496e+01] [-2.10332504e-01 9.77616182e-01 -5.18050500e-03 -4.02924455e+00] [-2.35594279e-02 2.28876615e-04 9.99722412e-01 -1.25256989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.651052754 meters Centerline goodness [0,1] 0.9994304428306992 Centerline is valid? [True, True] Translation: X:29.17, Y:-4.04, Z:-1.25 [[ 9.77936079e-01 2.07570290e-01 2.35711871e-02 2.91740289e+01] [-2.07502326e-01 9.78220056e-01 -5.32046257e-03 -4.03610314e+00] [-2.41621779e-02 3.11996163e-04 9.99708003e-01 -1.25448176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.681052754 meters Centerline goodness [0,1] 0.9993836087337901 Centerline is valid? [True, True] Translation: X:29.21, Y:-4.04, Z:-1.25 [[ 9.78714824e-01 2.03680495e-01 2.51306406e-02 2.92052387e+01] [-2.03601803e-01 9.79037314e-01 -5.67839717e-03 -4.04328094e+00] [-2.57604136e-02 4.40887743e-04 9.99668048e-01 -1.25370523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.711052753999997 meters Centerline goodness [0,1] 0.9994073301408184 Centerline is valid? [True, True] Translation: X:29.24, Y:-4.05, Z:-1.25 [[ 9.79138523e-01 2.01553623e-01 2.57660448e-02 2.92351076e+01] [-2.01469984e-01 9.79477346e-01 -5.82879717e-03 -4.05214770e+00] [-2.64120724e-02 5.16115227e-04 9.99651007e-01 -1.25392359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.741052754 meters Centerline goodness [0,1] 0.9994791173406573 Centerline is valid? [True, True] Translation: X:29.27, Y:-4.06, Z:-1.25 [[ 9.79898646e-01 1.97726144e-01 2.65144550e-02 2.92665598e+01] [-1.97635956e-01 9.80257087e-01 -6.00610991e-03 -4.06016891e+00] [-2.71785474e-02 6.45169301e-04 9.99630387e-01 -1.25123805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.771052754 meters Centerline goodness [0,1] 0.9995494854649785 Centerline is valid? [True, True] Translation: X:29.30, Y:-4.07, Z:-1.25 [[ 9.80189795e-01 1.96217908e-01 2.69536324e-02 2.92959789e+01] [-1.96124129e-01 9.80560067e-01 -6.10584608e-03 -4.06902252e+00] [-2.76277320e-02 6.98630323e-04 9.99618037e-01 -1.25349826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.801052753999997 meters Centerline goodness [0,1] 0.9995985927132771 Centerline is valid? [True, True] Translation: X:29.33, Y:-4.07, Z:-1.25 [[ 9.80237325e-01 1.95995780e-01 2.68410429e-02 2.93288070e+01] [-1.95902541e-01 9.80604484e-01 -6.08613183e-03 -4.06919100e+00] [-2.75133032e-02 7.07625069e-04 9.99621187e-01 -1.25442397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.831052753999998 meters Centerline goodness [0,1] 0.999599557157327 Centerline is valid? [True, True] Translation: X:29.36, Y:-4.08, Z:-1.26 [[ 9.79397559e-01 2.00255680e-01 2.60400360e-02 2.93586234e+01] [-2.00169187e-01 9.79743501e-01 -5.91352279e-03 -4.07694865e+00] [-2.66967726e-02 5.79276963e-04 9.99643410e-01 -1.25834234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.861052754 meters Centerline goodness [0,1] 0.999741078994445 Centerline is valid? [True, True] Translation: X:29.39, Y:-4.08, Z:-1.26 [[ 9.78618558e-01 2.04106438e-01 2.54220386e-02 2.93909622e+01] [-2.04025346e-01 9.78948594e-01 -5.77138385e-03 -4.07852266e+00] [-2.60648455e-02 4.61243111e-04 9.99660148e-01 -1.25792206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.891052753999997 meters Centerline goodness [0,1] 0.9998116406102844 Centerline is valid? [True, True] Translation: X:29.42, Y:-4.08, Z:-1.26 [[ 9.77685517e-01 2.08509369e-01 2.55904967e-02 2.94227749e+01] [-2.08428533e-01 9.78020306e-01 -5.81619691e-03 -4.08240894e+00] [-2.62407570e-02 3.52621799e-04 9.99655590e-01 -1.25989008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.921052753999998 meters Centerline goodness [0,1] 0.9998825408757752 Centerline is valid? [True, True] Translation: X:29.45, Y:-4.08, Z:-1.26 [[ 9.75939365e-01 2.16291508e-01 2.75742512e-02 2.94540199e+01] [-2.16200466e-01 9.76328816e-01 -6.27707607e-03 -4.08291712e+00] [-2.82792143e-02 1.64479671e-04 9.99600050e-01 -1.26131682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.951052754 meters Centerline goodness [0,1] 0.9998828298924378 Centerline is valid? [True, True] Translation: X:29.49, Y:-4.09, Z:-1.26 [[ 9.75193512e-01 2.19484671e-01 2.87070371e-02 2.94853445e+01] [-2.19387372e-01 9.75615946e-01 -6.53509549e-03 -4.08699075e+00] [-2.94413964e-02 7.50212928e-05 9.99566505e-01 -1.26248831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.981052753999997 meters Centerline goodness [0,1] 0.9999297226386806 Centerline is valid? [True, True] Translation: X:29.52, Y:-4.09, Z:-1.26 [[ 9.74291281e-01 2.23290064e-01 2.99674378e-02 2.95175716e+01] [-2.23185718e-01 9.74752043e-01 -6.82564201e-03 -4.09132951e+00] [-3.07349193e-02 -3.81406189e-05 9.99527570e-01 -1.26260267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.011052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.55, Y:-4.10, Z:-1.26 [[ 9.74160445e-01 2.23803984e-01 3.03842809e-02 2.95494951e+01] [-2.23696734e-01 9.74634175e-01 -6.92797102e-03 -4.09892053e+00] [-3.11640661e-02 -4.79090621e-05 9.99514281e-01 -1.26317611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.041052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.58, Y:-4.11, Z:-1.26 [[ 9.74680948e-01 2.21374508e-01 3.14702408e-02 2.95806089e+01] [-2.21257880e-01 9.75188867e-01 -7.18503811e-03 -4.10794593e+00] [-3.22800127e-02 4.00810001e-05 9.99478864e-01 -1.26492828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.071052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.61, Y:-4.12, Z:-1.27 [[ 9.76127549e-01 2.14570277e-01 3.36838760e-02 2.96108494e+01] [-2.14432237e-01 9.76708508e-01 -7.70104800e-03 -4.11723728e+00] [-3.45517443e-02 2.94296223e-04 9.99402867e-01 -1.26633970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.101052753999998 meters Centerline goodness [0,1] 0.9999765582878174 Centerline is valid? [True, True] Translation: X:29.64, Y:-4.13, Z:-1.27 [[ 9.77007433e-01 2.10372450e-01 3.46396893e-02 2.96416700e+01] [-2.10223527e-01 9.77621203e-01 -7.92788377e-03 -4.12624149e+00] [-3.55323031e-02 4.63523718e-04 9.99368421e-01 -1.26763904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.67, Y:-4.14, Z:-1.27 [[ 9.77845863e-01 2.06318340e-01 3.53583284e-02 2.96725853e+01] [-2.06160188e-01 9.78484718e-01 -8.10148873e-03 -4.13543862e+00] [-3.62690697e-02 6.32527588e-04 9.99341861e-01 -1.26925318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.70, Y:-4.15, Z:-1.27 [[ 9.79327001e-01 1.98946896e-01 3.65890373e-02 2.97021336e+01] [-1.98772018e-01 9.80009814e-01 -8.39340182e-03 -4.14697023e+00] [-3.75274569e-02 9.47008270e-04 9.99295148e-01 -1.26922640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.191052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.73, Y:-4.16, Z:-1.27 [[ 9.80154946e-01 1.94748969e-01 3.70016238e-02 2.97326341e+01] [-1.94567081e-01 9.80852477e-01 -8.48939756e-03 -4.15637452e+00] [-3.79464357e-02 1.12162707e-03 9.99279145e-01 -1.26888650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.76, Y:-4.16, Z:-1.27 [[ 9.80307333e-01 1.94036188e-01 3.67081960e-02 2.97627611e+01] [-1.93856601e-01 9.80993707e-01 -8.42406276e-03 -4.16480224e+00] [-3.76450823e-02 1.14204440e-03 9.99290520e-01 -1.27063589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.79, Y:-4.17, Z:-1.27 [[ 9.80173536e-01 1.94855805e-01 3.59312432e-02 2.97944790e+01] [-1.94683986e-01 9.80831288e-01 -8.25407273e-03 -4.16772408e+00] [-3.68508415e-02 1.09518600e-03 9.99320177e-01 -1.27446999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.281052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.83, Y:-4.18, Z:-1.28 [[ 9.79823288e-01 1.96779468e-01 3.49880672e-02 2.98250375e+01] [-1.96617467e-01 9.80447261e-01 -8.04612309e-03 -4.17515866e+00] [-3.58872665e-02 1.00451364e-03 9.99355340e-01 -1.27752120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.311052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.86, Y:-4.18, Z:-1.28 [[ 9.79338991e-01 1.99338558e-01 3.40481919e-02 2.98577344e+01] [-1.99186375e-01 9.79930272e-01 -7.83899313e-03 -4.17819210e+00] [-3.49274675e-02 8.95095709e-04 9.99389449e-01 -1.28055768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.341052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.89, Y:-4.19, Z:-1.28 [[ 9.78291189e-01 2.04464116e-01 3.37753680e-02 2.98872082e+01] [-2.04317295e-01 9.78873803e-01 -7.77954634e-03 -4.18507411e+00] [-3.46524610e-02 7.09769807e-04 9.99399171e-01 -1.28250342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.371052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.92, Y:-4.19, Z:-1.28 [[ 9.77713300e-01 2.07152580e-01 3.41249475e-02 2.99193665e+01] [-2.07004332e-01 9.78308450e-01 -7.86027440e-03 -4.19065003e+00] [-3.50130006e-02 6.21082858e-04 9.99386664e-01 -1.28124712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.401052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.95, Y:-4.20, Z:-1.28 [[ 9.76550277e-01 2.12532772e-01 3.43420511e-02 2.99503111e+01] [-2.12385800e-01 9.77153842e-01 -7.91458728e-03 -4.19732862e+00] [-3.52395763e-02 4.35228414e-04 9.99378798e-01 -1.27956432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.431052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.98, Y:-4.20, Z:-1.28 [[ 9.75758022e-01 2.16125850e-01 3.44369015e-02 2.99818423e+01] [-2.15979997e-01 9.76365463e-01 -7.94500849e-03 -4.20150085e+00] [-3.53401230e-02 3.14723894e-04 9.99375293e-01 -1.28127436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.461052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.01, Y:-4.21, Z:-1.28 [[ 9.75701193e-01 2.16382543e-01 3.44351008e-02 3.00133570e+01] [-2.16236575e-01 9.76308607e-01 -7.95280473e-03 -4.20885893e+00] [-3.53401335e-02 3.13432822e-04 9.99375293e-01 -1.28253424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.05, Y:-4.22, Z:-1.29 [[ 9.75505778e-01 2.17273158e-01 3.43635399e-02 3.00460252e+01] [-2.17128013e-01 9.76110798e-01 -7.94575656e-03 -4.21518230e+00] [-3.52690220e-02 2.89844296e-04 9.99377812e-01 -1.28560187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.08, Y:-4.22, Z:-1.29 [[ 9.75481515e-01 2.17507543e-01 3.35601272e-02 3.00782822e+01] [-2.17368928e-01 9.76058599e-01 -7.76922857e-03 -4.22311696e+00] [-3.44465165e-02 2.83809981e-04 9.99406502e-01 -1.28882242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.551052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.11, Y:-4.23, Z:-1.29 [[ 9.75933097e-01 2.15793646e-01 3.14275661e-02 3.01074680e+01] [-2.15670930e-01 9.76438935e-01 -7.28404380e-03 -4.23399401e+00] [-3.22589496e-02 3.30727027e-04 9.99479490e-01 -1.29316549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.581052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.14, Y:-4.24, Z:-1.29 [[ 9.76461877e-01 2.13402584e-01 3.13295410e-02 3.01386416e+01] [-2.13279179e-01 9.76964260e-01 -7.26824347e-03 -4.24346846e+00] [-3.21589038e-02 4.15223881e-04 9.99482682e-01 -1.29348925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.17, Y:-4.26, Z:-1.29 [[ 9.77705371e-01 2.07249691e-01 3.37605113e-02 3.01680092e+01] [-2.07102392e-01 9.78287846e-01 -7.84147917e-03 -4.25692892e+00] [-3.46526420e-02 6.74773641e-04 9.99399189e-01 -1.29083921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.641052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.20, Y:-4.27, Z:-1.29 [[ 9.78821655e-01 2.01559900e-01 3.58018636e-02 3.01973273e+01] [-2.01390088e-01 9.79475740e-01 -8.32507646e-03 -4.27060504e+00] [-3.67450585e-02 9.38624648e-04 9.99324231e-01 -1.28856559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.671052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.23, Y:-4.28, Z:-1.29 [[ 9.79082343e-01 2.00310989e-01 3.56829562e-02 3.02284112e+01] [-2.00141444e-01 9.79731872e-01 -8.29827324e-03 -4.27968457e+00] [-3.66219648e-02 9.83054425e-04 9.99328707e-01 -1.28896271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.701052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.26, Y:-4.29, Z:-1.29 [[ 9.78759425e-01 2.02142596e-01 3.41812539e-02 3.02586753e+01] [-2.01987850e-01 9.79355701e-01 -7.95732885e-03 -4.28511790e+00] [-3.50841210e-02 8.84112616e-04 9.99383972e-01 -1.29213207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.731052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.29, Y:-4.29, Z:-1.30 [[ 9.78347879e-01 2.04363783e-01 3.27241909e-02 3.02893212e+01] [-2.04222951e-01 9.78894703e-01 -7.62537671e-03 -4.29150537e+00] [-3.35918879e-02 7.77240312e-04 9.99435331e-01 -1.29534702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.761052753999998 meters Centerline goodness [0,1] 0.9999295956443172 Centerline is valid? [True, True] Translation: X:30.32, Y:-4.29, Z:-1.30 [[ 9.77309926e-01 2.09425940e-01 3.17188249e-02 3.03214412e+01] [-2.09296027e-01 9.77824332e-01 -7.39923873e-03 -4.29249452e+00] [-3.25650313e-02 5.92725403e-04 9.99469443e-01 -1.29802036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.791052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.35, Y:-4.30, Z:-1.30 [[ 9.76662732e-01 2.12396001e-01 3.19037021e-02 3.03526215e+01] [-2.12266129e-01 9.77183550e-01 -7.44305169e-03 -4.29722840e+00] [-3.27566473e-02 4.97275845e-04 9.99463233e-01 -1.29877921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.821052753999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.38, Y:-4.30, Z:-1.30 [[ 9.76074505e-01 2.15114251e-01 3.16925723e-02 3.03849641e+01] [-2.14987267e-01 9.76588803e-01 -7.40167943e-03 -4.30194915e+00] [-3.25428180e-02 4.11091081e-04 9.99470258e-01 -1.29914177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.851052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.42, Y:-4.31, Z:-1.30 [[ 9.74928689e-01 2.20315925e-01 3.12240877e-02 3.04174745e+01] [-2.20195247e-01 9.75428540e-01 -7.29493664e-03 -4.30628743e+00] [-3.20640570e-02 2.36647327e-04 9.99485788e-01 -1.29885983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.881052754 meters Centerline goodness [0,1] 0.9999532218453981 Centerline is valid? [True, True] Translation: X:30.45, Y:-4.31, Z:-1.30 [[ 9.74141151e-01 2.23949765e-01 2.99252328e-02 3.04490921e+01] [-2.23840595e-01 9.74600682e-01 -6.99272451e-03 -4.30949993e+00] [-3.07311713e-02 1.13418774e-04 9.99527680e-01 -1.30143424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.911052754 meters Centerline goodness [0,1] 0.9999766943227371 Centerline is valid? [True, True] Translation: X:30.48, Y:-4.32, Z:-1.30 [[ 9.73968534e-01 2.24760339e-01 2.94632890e-02 3.04814238e+01] [-2.24654680e-01 9.74414071e-01 -6.89153196e-03 -4.31599366e+00] [-3.02583864e-02 9.30695195e-05 9.99542106e-01 -1.30384080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.941052753999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.51, Y:-4.33, Z:-1.31 [[ 9.74419454e-01 2.22898475e-01 2.86879407e-02 3.05118011e+01] [-2.22797260e-01 9.74841652e-01 -6.71825167e-03 -4.32506765e+00] [-2.94636875e-02 1.54800548e-04 9.99565839e-01 -1.30547012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.54, Y:-4.33, Z:-1.31 [[ 9.74723173e-01 2.21419056e-01 2.98049818e-02 3.05437434e+01] [-2.21308888e-01 9.75178730e-01 -6.98717599e-03 -4.33458618e+00] [-3.06122782e-02 2.14454974e-04 9.99531311e-01 -1.30522369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.57, Y:-4.35, Z:-1.30 [[ 9.75562281e-01 2.17399465e-01 3.18701866e-02 3.05724828e+01] [-2.17270995e-01 9.76082646e-01 -7.48216672e-03 -4.34656222e+00] [-3.27345551e-02 3.74852495e-04 9.99464011e-01 -1.30399588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.031052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.60, Y:-4.36, Z:-1.30 [[ 9.76437094e-01 2.13271273e-01 3.29539979e-02 3.06025711e+01] [-2.13131436e-01 9.76992875e-01 -7.74028866e-03 -4.35908832e+00] [-3.38466024e-02 5.34372047e-04 9.99426897e-01 -1.30355061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.061052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.63, Y:-4.37, Z:-1.30 [[ 9.76695631e-01 2.12073132e-01 3.30246928e-02 3.06334026e+01] [-2.11931738e-01 9.77253623e-01 -7.76493601e-03 -4.36772095e+00] [-3.39202350e-02 5.84998552e-04 9.99424372e-01 -1.30404764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.091052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.66, Y:-4.38, Z:-1.31 [[ 9.76877879e-01 2.11321686e-01 3.24461724e-02 3.06630061e+01] [-2.11184521e-01 9.77416378e-01 -7.63694605e-03 -4.37897304e+00] [-3.33272726e-02 6.08234278e-04 9.99444307e-01 -1.30608330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.121052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.69, Y:-4.38, Z:-1.31 [[ 9.77007841e-01 2.11003014e-01 3.05517038e-02 3.06947500e+01] [-2.10881048e-01 9.77485233e-01 -7.19739630e-03 -4.38415967e+00] [-3.13825116e-02 5.89137297e-04 9.99507274e-01 -1.30683971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.151052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.73, Y:-4.39, Z:-1.31 [[ 9.76860489e-01 2.11914633e-01 2.89097316e-02 3.07265430e+01] [-2.11805634e-01 9.77288034e-01 -6.81707714e-03 -4.39055185e+00] [-2.96977732e-02 5.36089275e-04 9.99558780e-01 -1.30979261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.181052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.76, Y:-4.40, Z:-1.31 [[ 9.76702866e-01 2.12696245e-01 2.84924357e-02 3.07588727e+01] [-2.12590467e-01 9.77118235e-01 -6.72674489e-03 -4.39720378e+00] [-2.92712319e-02 5.12810793e-04 9.99571374e-01 -1.31163704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.211052754 meters Centerline goodness [0,1] 0.9999294764804062 Centerline is valid? [True, True] Translation: X:30.79, Y:-4.40, Z:-1.31 [[ 9.76524742e-01 2.13573482e-01 2.80320423e-02 3.07902686e+01] [-2.13471224e-01 9.76926881e-01 -6.62610400e-03 -4.40462868e+00] [-2.88004158e-02 4.86520107e-04 9.99585064e-01 -1.31251575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.82, Y:-4.41, Z:-1.31 [[ 9.76233888e-01 2.15022915e-01 2.70655031e-02 3.08209819e+01] [-2.14927917e-01 9.76608906e-01 -6.40587817e-03 -4.41054984e+00] [-2.78098219e-02 4.36503161e-04 9.99613137e-01 -1.31306360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.85, Y:-4.41, Z:-1.32 [[ 9.75636690e-01 2.17823238e-01 2.61932531e-02 3.08533985e+01] [-2.17735164e-01 9.75988174e-01 -6.20349638e-03 -4.41487105e+00] [-2.69155709e-02 3.49166415e-04 9.99637649e-01 -1.31604999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.301052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.89, Y:-4.42, Z:-1.32 [[ 9.75194423e-01 2.19857611e-01 2.56606212e-02 3.08854616e+01] [-2.19773779e-01 9.75531931e-01 -6.07764783e-03 -4.41996818e+00] [-2.63689724e-02 2.87356596e-04 9.99652237e-01 -1.31883872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.331052754000005 meters Centerline goodness [0,1] 0.9999767078936949 Centerline is valid? [True, True] Translation: X:30.92, Y:-4.42, Z:-1.32 [[ 9.73796171e-01 2.26151989e-01 2.40061483e-02 3.09181610e+01] [-2.26080404e-01 9.74092021e-01 -5.69086039e-03 -4.42057203e+00] [-2.46711969e-02 1.14418344e-04 9.99695613e-01 -1.32222438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.95, Y:-4.43, Z:-1.33 [[ 9.72889962e-01 2.30193647e-01 2.22711890e-02 3.09489277e+01] [-2.30132975e-01 9.73144842e-01 -5.28480416e-03 -4.42565540e+00] [-2.28896210e-02 1.61979454e-05 9.99737998e-01 -1.32506600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.391052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.98, Y:-4.43, Z:-1.33 [[ 9.71292834e-01 2.37170358e-01 1.84513268e-02 3.09810218e+01] [-2.37129860e-01 9.71468068e-01 -4.38427225e-03 -4.43070699e+00] [-1.89646943e-02 -1.16948335e-04 9.99820147e-01 -1.32650614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.421052754 meters Centerline goodness [0,1] 0.9998835448934436 Centerline is valid? [True, True] Translation: X:31.01, Y:-4.44, Z:-1.33 [[ 9.70592884e-01 2.40081069e-01 1.76220023e-02 3.10126397e+01] [-2.40044654e-01 9.70752828e-01 -4.18474525e-03 -4.43791675e+00] [-1.81112867e-02 -1.68383493e-04 9.99835963e-01 -1.32734269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.451052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.04, Y:-4.45, Z:-1.33 [[ 9.69880376e-01 2.42728728e-01 2.03671331e-02 3.10424045e+01] [-2.42680489e-01 9.70094173e-01 -4.84510947e-03 -4.44607887e+00] [-2.09340844e-02 -2.43529210e-04 9.99780828e-01 -1.32578221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.481052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.07, Y:-4.46, Z:-1.33 [[ 9.69881004e-01 2.42639304e-01 2.13777232e-02 3.10734345e+01] [-2.42586101e-01 9.70116542e-01 -5.08712611e-03 -4.45554949e+00] [-2.19732196e-02 -2.52031534e-04 9.99758528e-01 -1.32528312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.511052754000005 meters Centerline goodness [0,1] 0.9999766043562689 Centerline is valid? [True, True] Translation: X:31.10, Y:-4.47, Z:-1.33 [[ 9.70485803e-01 2.40203031e-01 2.14431860e-02 3.11039490e+01] [-2.40148731e-01 9.70722652e-01 -5.11066311e-03 -4.46789033e+00] [-2.20429832e-02 -1.89727923e-04 9.99757006e-01 -1.32661578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.541052754 meters Centerline goodness [0,1] 0.9999765351854893 Centerline is valid? [True, True] Translation: X:31.13, Y:-4.48, Z:-1.33 [[ 9.71794061e-01 2.34702250e-01 2.30468563e-02 3.11320484e+01] [-2.34637970e-01 9.72067307e-01 -5.49310246e-03 -4.48295753e+00] [-2.36923390e-02 -6.95032201e-05 9.99719295e-01 -1.32578287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.16, Y:-4.49, Z:-1.33 [[ 9.72490877e-01 2.31712271e-01 2.38938924e-02 3.11621468e+01] [-2.31642136e-01 9.72784366e-01 -5.70061854e-03 -4.49412819e+00] [-2.45645083e-02 8.96723143e-06 9.99698247e-01 -1.32525437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.19, Y:-4.51, Z:-1.32 [[ 9.73680039e-01 2.26358998e-01 2.66230343e-02 3.11923747e+01] [-2.26269713e-01 9.74043929e-01 -6.35931857e-03 -4.50628887e+00] [-2.73714939e-02 1.67955223e-04 9.99625316e-01 -1.32314865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.22, Y:-4.51, Z:-1.32 [[ 9.73950112e-01 2.24905890e-01 2.89571967e-02 3.12235649e+01] [-2.24799377e-01 9.74380462e-01 -6.92490506e-03 -4.51415207e+00] [-2.97727786e-02 2.34952286e-04 9.99556665e-01 -1.32249719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.661052754 meters Centerline goodness [0,1] 0.999976451749635 Centerline is valid? [True, True] Translation: X:31.25, Y:-4.52, Z:-1.32 [[ 9.74709708e-01 2.21518653e-01 2.95037629e-02 3.12532520e+01] [-2.21406295e-01 9.75156071e-01 -7.06332639e-03 -4.52466126e+00] [-3.03354321e-02 3.52373965e-04 9.99539713e-01 -1.32018038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.691052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.28, Y:-4.53, Z:-1.32 [[ 9.75109524e-01 2.19819008e-01 2.90003499e-02 3.12839838e+01] [-2.19709509e-01 9.75540589e-01 -6.94920463e-03 -4.53278670e+00] [-2.98185857e-02 4.04582966e-04 9.99555245e-01 -1.32219438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.32, Y:-4.54, Z:-1.33 [[ 9.75640278e-01 2.17558254e-01 2.81860521e-02 3.13154155e+01] [-2.17453683e-01 9.76047226e-01 -6.76073681e-03 -4.53848967e+00] [-2.89817721e-02 4.66886291e-04 9.99579831e-01 -1.32703632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.35, Y:-4.54, Z:-1.33 [[ 9.75684748e-01 2.17459955e-01 2.73941536e-02 3.13472140e+01] [-2.17360958e-01 9.76069134e-01 -6.57725064e-03 -4.54497447e+00] [-2.81688764e-02 4.62903673e-04 9.99603071e-01 -1.32977840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.781052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.38, Y:-4.55, Z:-1.33 [[ 9.75526678e-01 2.18367336e-01 2.57566908e-02 3.13798696e+01] [-2.18280002e-01 9.75866555e-01 -6.18926703e-03 -4.54771901e+00] [-2.64866269e-02 4.15624582e-04 9.99649081e-01 -1.33461212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.811052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.41, Y:-4.55, Z:-1.34 [[ 9.75424671e-01 2.19093783e-01 2.33372154e-02 3.14112888e+01] [-2.19022148e-01 9.75703736e-01 -5.61405786e-03 -4.55267614e+00] [-2.40002134e-02 3.64723499e-04 9.99711887e-01 -1.33779352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.841052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.44, Y:-4.56, Z:-1.34 [[ 9.75032822e-01 2.21076094e-01 2.08891308e-02 3.14419757e+01] [-2.21019022e-01 9.75256519e-01 -5.03137870e-03 -4.55967577e+00] [-2.14845785e-02 2.88864117e-04 9.99769138e-01 -1.34029604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.871052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.47, Y:-4.57, Z:-1.34 [[ 9.74771750e-01 2.22154455e-01 2.16202208e-02 3.14721003e+01] [-2.22093543e-01 9.75011447e-01 -5.20923705e-03 -4.56739299e+00] [-2.22372180e-02 2.76105664e-04 9.99752684e-01 -1.33974527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.901052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.50, Y:-4.57, Z:-1.34 [[ 9.73898316e-01 2.25758632e-01 2.35607682e-02 3.15039879e+01] [-2.25687204e-01 9.74183244e-01 -5.68271051e-03 -4.57259032e+00] [-2.42354266e-02 2.17018305e-04 9.99706255e-01 -1.33855375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.931052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.54, Y:-4.58, Z:-1.34 [[ 9.72946275e-01 2.29722137e-01 2.45618882e-02 3.15354504e+01] [-2.29645607e-01 9.73256247e-01 -5.93059675e-03 -4.57722720e+00] [-2.52674005e-02 1.29622289e-04 9.99680720e-01 -1.34001158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.961052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.57, Y:-4.59, Z:-1.34 [[ 9.72589750e-01 2.31175555e-01 2.50407938e-02 3.15666232e+01] [-2.31096326e-01 9.72912048e-01 -6.05269269e-03 -4.58543620e+00] [-2.57617246e-02 9.99514158e-05 9.99668107e-01 -1.34039188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.60, Y:-4.59, Z:-1.34 [[ 9.72232692e-01 2.32433962e-01 2.71670035e-02 3.15974498e+01] [-2.32340985e-01 9.72612177e-01 -6.57416430e-03 -4.59460621e+00] [-2.79510175e-02 7.96090983e-05 9.99609291e-01 -1.33902387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.63, Y:-4.60, Z:-1.34 [[ 9.72156263e-01 2.32598165e-01 2.84656757e-02 3.16283519e+01] [-2.32495935e-01 9.72572921e-01 -6.89592812e-03 -4.60279096e+00] [-2.92889255e-02 8.57658249e-05 9.99570984e-01 -1.33898226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.051052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.66, Y:-4.61, Z:-1.34 [[ 9.72227962e-01 2.32004126e-01 3.07713483e-02 3.16583317e+01] [-2.31884090e-01 9.72714794e-01 -7.46308532e-03 -4.61126359e+00] [-3.16632123e-02 1.20434135e-04 9.99498588e-01 -1.33850814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.081052754000005 meters Centerline goodness [0,1] 0.9999768652400232 Centerline is valid? [True, True] Translation: X:31.69, Y:-4.62, Z:-1.34 [[ 9.72199993e-01 2.32047138e-01 3.13257113e-02 3.16903429e+01] [-2.31922532e-01 9.72704533e-01 -7.60457400e-03 -4.61928025e+00] [-3.22352810e-02 1.28028501e-04 9.99480300e-01 -1.33884565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.72, Y:-4.63, Z:-1.34 [[ 9.72164755e-01 2.32109185e-01 3.19533217e-02 3.17223173e+01] [-2.31979263e-01 9.72689728e-01 -7.76624426e-03 -4.62728527e+00] [-3.28832844e-02 1.37560942e-04 9.99459189e-01 -1.33947729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.141052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.75, Y:-4.64, Z:-1.34 [[ 9.72351460e-01 2.31343661e-01 3.18237093e-02 3.17529508e+01] [-2.31214076e-01 9.72872078e-01 -7.74404549e-03 -4.63823969e+00] [-3.27519340e-02 1.71844408e-04 9.99463497e-01 -1.33980843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.171052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.78, Y:-4.65, Z:-1.34 [[ 9.72821106e-01 2.29547044e-01 3.04507842e-02 3.17820657e+01] [-2.29427267e-01 9.73297540e-01 -7.41805851e-03 -4.64861473e+00] [-3.13404668e-02 2.30203692e-04 9.99508740e-01 -1.34163999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.201052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.81, Y:-4.66, Z:-1.34 [[ 9.72978051e-01 2.28934640e-01 3.00440328e-02 3.18141235e+01] [-2.28817557e-01 9.73441763e-01 -7.32521568e-03 -4.65653033e+00] [-3.09231119e-02 2.52671880e-04 9.99521734e-01 -1.34445735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.231052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.85, Y:-4.66, Z:-1.35 [[ 9.73351032e-01 2.27559407e-01 2.83634579e-02 3.18457529e+01] [-2.27454257e-01 9.73764157e-01 -6.92291882e-03 -4.66288704e+00] [-2.91946940e-02 2.87040908e-04 9.99573703e-01 -1.34865687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.261052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.88, Y:-4.67, Z:-1.35 [[ 9.73560276e-01 2.26829089e-01 2.69991323e-02 3.18768705e+01] [-2.26733357e-01 9.73934533e-01 -6.59628570e-03 -4.67143313e+00] [-2.77916168e-02 3.00277827e-04 9.99613693e-01 -1.35164619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.291052754 meters Centerline goodness [0,1] 0.9999765796992833 Centerline is valid? [True, True] Translation: X:31.91, Y:-4.68, Z:-1.36 [[ 9.74233805e-01 2.24280467e-01 2.38068347e-02 3.19062873e+01] [-2.24205150e-01 9.74524582e-01 -5.82150297e-03 -4.68098009e+00] [-2.45059951e-02 3.33890029e-04 9.99699627e-01 -1.35660184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.94, Y:-4.69, Z:-1.36 [[ 9.74490681e-01 2.23239010e-01 2.30706780e-02 3.19376298e+01] [-2.23167874e-01 9.74763674e-01 -5.64629506e-03 -4.68914458e+00] [-2.37489322e-02 3.53627754e-04 9.99717892e-01 -1.35904473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.351052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.97, Y:-4.70, Z:-1.36 [[ 9.75027853e-01 2.20735891e-01 2.44203433e-02 3.19670548e+01] [-2.20655228e-01 9.75333516e-01 -5.98349774e-03 -4.69970141e+00] [-2.51387520e-02 4.45600532e-04 9.99683872e-01 -1.35834213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.00, Y:-4.71, Z:-1.36 [[ 9.74969318e-01 2.20994415e-01 2.44192036e-02 3.19984669e+01] [-2.20913717e-01 9.75274972e-01 -5.98814431e-03 -4.70748380e+00] [-2.51387846e-02 4.43719928e-04 9.99683872e-01 -1.35960191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.03, Y:-4.72, Z:-1.36 [[ 9.75184909e-01 2.19961834e-01 2.51234051e-02 3.20281367e+01] [-2.19875863e-01 9.75508355e-01 -6.16888284e-03 -4.71819280e+00] [-2.58650103e-02 4.91771075e-04 9.99665324e-01 -1.35871288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.441052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.06, Y:-4.73, Z:-1.36 [[ 9.75961465e-01 2.16460798e-01 2.53760025e-02 3.20584000e+01] [-2.16371703e-01 9.76291127e-01 -6.23866521e-03 -4.73146604e+00] [-2.61247926e-02 5.98047963e-04 9.99658510e-01 -1.35639312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.09, Y:-4.74, Z:-1.36 [[ 9.76144357e-01 2.15493694e-01 2.65454589e-02 3.20896679e+01] [-2.15395839e-01 9.76505014e-01 -6.52615267e-03 -4.73886472e+00] [-2.73281185e-02 6.52685703e-04 9.99626304e-01 -1.35702843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.501052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.12, Y:-4.74, Z:-1.36 [[ 9.76113515e-01 2.15337423e-01 2.88478622e-02 3.21201607e+01] [-2.15221542e-01 9.76539437e-01 -7.10035297e-03 -4.74478574e+00] [-2.97000468e-02 7.22069114e-04 9.99558595e-01 -1.36216266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.531052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.15, Y:-4.75, Z:-1.36 [[ 9.75750477e-01 2.16808586e-01 3.00839598e-02 3.21518916e+01] [-2.16683035e-01 9.76213874e-01 -7.41174726e-03 -4.75119559e+00] [-3.09753094e-02 7.13332213e-04 9.99519895e-01 -1.36461818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.561052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.18, Y:-4.76, Z:-1.36 [[ 9.74920049e-01 2.20115638e-01 3.28634064e-02 3.21820471e+01] [-2.19967352e-01 9.75473552e-01 -8.10634514e-03 -4.75905091e+00] [-3.38417171e-02 6.74161939e-04 9.99426978e-01 -1.36192335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.591052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.21, Y:-4.76, Z:-1.36 [[ 9.74033283e-01 2.23647923e-01 3.52245774e-02 3.22141338e+01] [-2.23479817e-01 9.74669819e-01 -8.68996845e-03 -4.76493595e+00] [-3.62758258e-02 5.92336379e-04 9.99341640e-01 -1.36027515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.621052754000004 meters Centerline goodness [0,1] 0.9999526470309689 Centerline is valid? [True, True] Translation: X:32.25, Y:-4.77, Z:-1.36 [[ 9.73444184e-01 2.26177654e-01 3.53566138e-02 3.22450513e+01] [-2.26009851e-01 9.74085939e-01 -8.72531138e-03 -4.76969426e+00] [-3.64138509e-02 5.02660579e-04 9.99336669e-01 -1.36229031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.651052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.28, Y:-4.77, Z:-1.37 [[ 9.72287003e-01 2.31155210e-01 3.50036239e-02 3.22772908e+01] [-2.30993683e-01 9.72916834e-01 -8.64592607e-03 -4.77114146e+00] [-3.60541658e-02 3.20705537e-04 9.99349786e-01 -1.36523398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.681052754 meters Centerline goodness [0,1] 0.9999527800731909 Centerline is valid? [True, True] Translation: X:32.31, Y:-4.78, Z:-1.37 [[ 9.71615098e-01 2.34020954e-01 3.46164004e-02 3.23094157e+01] [-2.33864508e-01 9.72231528e-01 -8.55844105e-03 -4.77563765e+00] [-3.56580104e-02 2.19963072e-04 9.99364027e-01 -1.36748277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.711052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.34, Y:-4.78, Z:-1.37 [[ 9.70678921e-01 2.38365853e-01 3.10507920e-02 3.23407931e+01] [-2.38241993e-01 9.71175430e-01 -7.68352055e-03 -4.77987160e+00] [-3.19872552e-02 6.06288761e-05 9.99488275e-01 -1.37126285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.37, Y:-4.79, Z:-1.37 [[ 9.70410689e-01 2.39656713e-01 2.94576723e-02 3.23727319e+01] [-2.39545619e-01 9.70857693e-01 -7.29637132e-03 -4.78726172e+00] [-3.03478321e-02 2.40203859e-05 9.99539398e-01 -1.37301813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.40, Y:-4.79, Z:-1.38 [[ 9.70534016e-01 2.39307403e-01 2.82080069e-02 3.24046302e+01] [-2.39205157e-01 9.70943853e-01 -6.99484053e-03 -4.79288678e+00] [-2.90623080e-02 4.12299593e-05 9.99577601e-01 -1.37754048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.801052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.44, Y:-4.80, Z:-1.38 [[ 9.70780857e-01 2.38348183e-01 2.78329154e-02 3.24364950e+01] [-2.38248058e-01 9.71179766e-01 -6.90833413e-03 -4.79975202e+00] [-2.86773531e-02 7.53404914e-05 9.99588717e-01 -1.38143739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.831052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.47, Y:-4.81, Z:-1.38 [[ 9.71686875e-01 2.34558896e-01 2.84031954e-02 3.24673609e+01] [-2.34452749e-01 9.72101890e-01 -7.05858153e-03 -4.81024253e+00] [-2.92664530e-02 1.99523780e-04 9.99571626e-01 -1.38283925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.50, Y:-4.82, Z:-1.38 [[ 9.72165071e-01 2.32410210e-01 2.96743864e-02 3.24983569e+01] [-2.32293115e-01 9.72617815e-01 -7.38205874e-03 -4.82161881e+00] [-3.05775027e-02 2.83423998e-04 9.99532359e-01 -1.38125759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.891052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.53, Y:-4.83, Z:-1.38 [[ 9.73135620e-01 2.28106610e-01 3.12160105e-02 3.25267290e+01] [-2.27974459e-01 9.73636057e-01 -7.77656466e-03 -4.83497107e+00] [-3.21669191e-02 4.51198975e-04 9.99482409e-01 -1.37730454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.921052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.56, Y:-4.84, Z:-1.38 [[ 9.73402395e-01 2.26798177e-01 3.24093295e-02 3.25576796e+01] [-2.26654988e-01 9.73941643e-01 -8.07423753e-03 -4.84193402e+00] [-3.33960179e-02 5.13745963e-04 9.99442065e-01 -1.37800614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.951052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.59, Y:-4.85, Z:-1.38 [[ 9.73488456e-01 2.26110697e-01 3.45569049e-02 3.25904404e+01] [-2.25947142e-01 9.74101439e-01 -8.61828416e-03 -4.84704626e+00] [-3.56106170e-02 5.81766257e-04 9.99365572e-01 -1.37975706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.981052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.62, Y:-4.85, Z:-1.38 [[ 9.73187378e-01 2.27206163e-01 3.58285731e-02 3.26214636e+01] [-2.27030691e-01 9.73846514e-01 -8.94612753e-03 -4.85426645e+00] [-3.69241463e-02 5.72072672e-04 9.99317907e-01 -1.37849236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.011052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.65, Y:-4.86, Z:-1.38 [[ 9.73009990e-01 2.27950911e-01 3.59157678e-02 3.26535097e+01] [-2.27774760e-01 9.73672468e-01 -8.97681652e-03 -4.86255797e+00] [-3.70164678e-02 5.53826740e-04 9.99314502e-01 -1.37868903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.041052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.69, Y:-4.87, Z:-1.38 [[ 9.73031624e-01 2.27863226e-01 3.58860628e-02 3.26861370e+01] [-2.27686928e-01 9.73692985e-01 -8.97961319e-03 -4.86922956e+00] [-3.69881313e-02 5.66660192e-04 9.99315544e-01 -1.38147407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.72, Y:-4.88, Z:-1.38 [[ 9.73306979e-01 2.26765578e-01 3.53680262e-02 3.27175127e+01] [-2.26593238e-01 9.73949178e-01 -8.86021761e-03 -4.87710802e+00] [-3.64558525e-02 6.09556048e-04 9.99335079e-01 -1.38457377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.75, Y:-4.89, Z:-1.39 [[ 9.73744592e-01 2.24987043e-01 3.46742033e-02 3.27481589e+01] [-2.24819966e-01 9.74361524e-01 -8.69501580e-03 -4.88576444e+00] [-3.57414754e-02 6.71271422e-04 9.99360844e-01 -1.38817498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.78, Y:-4.90, Z:-1.39 [[ 9.73880944e-01 2.24420653e-01 3.45148840e-02 3.27780631e+01] [-2.24254425e-01 9.74492116e-01 -8.66424304e-03 -4.89579302e+00] [-3.55789174e-02 6.97825723e-04 9.99366626e-01 -1.38973960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.81, Y:-4.90, Z:-1.39 [[ 9.74055283e-01 2.23954980e-01 3.25649077e-02 3.28078202e+01] [-2.23806606e-01 9.74599254e-01 -8.17903481e-03 -4.90427667e+00] [-3.35694704e-02 6.78590574e-04 9.99436156e-01 -1.39163835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.191052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.84, Y:-4.91, Z:-1.39 [[ 9.73893830e-01 2.24775084e-01 3.17327857e-02 3.28395802e+01] [-2.24634526e-01 9.74410466e-01 -7.97332553e-03 -4.91209303e+00] [-3.27129634e-02 6.36893256e-04 9.99464585e-01 -1.39408965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.87, Y:-4.92, Z:-1.40 [[ 9.73103559e-01 2.28160912e-01 3.18129187e-02 3.28719496e+01] [-2.28021128e-01 9.73623291e-01 -8.00325232e-03 -4.91667187e+00] [-3.27998280e-02 5.33975714e-04 9.99461798e-01 -1.39683606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.90, Y:-4.92, Z:-1.40 [[ 9.72485929e-01 2.30890313e-01 3.09964836e-02 3.29030023e+01] [-2.30758895e-01 9.72979689e-01 -7.80111221e-03 -4.92298071e+00] [-3.19601503e-02 4.33757540e-04 9.99489050e-01 -1.39874213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.281052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.93, Y:-4.93, Z:-1.40 [[ 9.72267255e-01 2.31827832e-01 3.08583942e-02 3.29328107e+01] [-2.31697807e-01 9.72756747e-01 -7.77411184e-03 -4.93043636e+00] [-3.18199666e-02 4.08692127e-04 9.99493533e-01 -1.40027867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.311052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.96, Y:-4.94, Z:-1.40 [[ 9.72222287e-01 2.31950059e-01 3.13527564e-02 3.29648004e+01] [-2.31815670e-01 9.72727606e-01 -7.90565714e-03 -4.93823946e+00] [-3.23314094e-02 4.17995812e-04 9.99477116e-01 -1.40143486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.341052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.99, Y:-4.95, Z:-1.40 [[ 9.72751635e-01 2.29740026e-01 3.12054010e-02 3.29948293e+01] [-2.29605450e-01 9.73251906e-01 -7.87816759e-03 -4.94670648e+00] [-3.21806464e-02 4.98570287e-04 9.99481945e-01 -1.40448226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.371052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.03, Y:-4.96, Z:-1.41 [[ 9.73145865e-01 2.28157657e-01 3.05157069e-02 3.30256830e+01] [-2.28028090e-01 9.73624050e-01 -7.70714484e-03 -4.95644585e+00] [-3.14692703e-02 5.41737756e-04 9.99504573e-01 -1.40584001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.401052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.06, Y:-4.97, Z:-1.40 [[ 9.73950840e-01 2.24619321e-01 3.10792924e-02 3.30557083e+01] [-2.24482874e-01 9.74446358e-01 -7.85717956e-03 -4.96746083e+00] [-3.20499776e-02 6.75737755e-04 9.99486039e-01 -1.40399721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.431052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.09, Y:-4.98, Z:-1.40 [[ 9.74144360e-01 2.23588264e-01 3.24199647e-02 3.30852130e+01] [-2.23438949e-01 9.74683399e-01 -8.20410899e-03 -4.97671376e+00] [-3.34335439e-02 7.48103665e-04 9.99440663e-01 -1.40357100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.12, Y:-4.98, Z:-1.40 [[ 9.74047806e-01 2.23603762e-01 3.51031251e-02 3.31172861e+01] [-2.23428393e-01 9.74679788e-01 -8.89185331e-03 -4.98477822e+00] [-3.62025584e-02 8.18055370e-04 9.99344138e-01 -1.40273087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.15, Y:-4.99, Z:-1.40 [[ 9.73664633e-01 2.25278156e-01 3.50276343e-02 3.31487354e+01] [-2.25104259e-01 9.74294190e-01 -8.88278188e-03 -4.99065752e+00] [-3.61283173e-02 7.63980909e-04 9.99346867e-01 -1.40479528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.18, Y:-5.00, Z:-1.41 [[ 9.73402256e-01 2.26327706e-01 3.55501957e-02 3.31805260e+01] [-2.26148948e-01 9.74050930e-01 -9.02434464e-03 -4.99716407e+00] [-3.66701604e-02 7.44678091e-04 9.99327146e-01 -1.40733997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.551052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.21, Y:-5.00, Z:-1.41 [[ 9.73173250e-01 2.27179342e-01 3.63781897e-02 3.32115975e+01] [-2.26992401e-01 9.73852659e-01 -9.24384160e-03 -5.00439990e+00] [-3.75270066e-02 7.38286764e-04 9.99295341e-01 -1.40947085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.581052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.24, Y:-5.01, Z:-1.41 [[ 9.72947471e-01 2.28143311e-01 3.63847158e-02 3.32430368e+01] [-2.27956636e-01 9.73627303e-01 -9.25455144e-03 -5.01245271e+00] [-3.75365167e-02 7.10055031e-04 9.99295004e-01 -1.41096164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.27, Y:-5.02, Z:-1.41 [[ 9.72677838e-01 2.29406601e-01 3.56431631e-02 3.32733732e+01] [-2.29227989e-01 9.73330458e-01 -9.07460884e-03 -5.02076619e+00] [-3.67743514e-02 6.56260336e-04 9.99323379e-01 -1.41142151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.641052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.30, Y:-5.03, Z:-1.41 [[ 9.72345038e-01 2.30840009e-01 3.54685303e-02 3.33045138e+01] [-2.30663802e-01 9.72991532e-01 -9.03817618e-03 -5.02723150e+00] [-3.65969523e-02 6.06919721e-04 9.99329923e-01 -1.41268727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.671052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.34, Y:-5.03, Z:-1.42 [[ 9.71489756e-01 2.34535233e-01 3.46537069e-02 3.33365085e+01] [-2.34369087e-01 9.72107509e-01 -8.83870274e-03 -5.03056007e+00] [-3.57601159e-02 4.64951517e-04 9.99360294e-01 -1.41561131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.701052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.37, Y:-5.04, Z:-1.42 [[ 9.71262980e-01 2.35500323e-01 3.44647833e-02 3.33676034e+01] [-2.35336293e-01 9.71874173e-01 -8.79889750e-03 -5.03672958e+00] [-3.55675759e-02 4.35229068e-04 9.99367179e-01 -1.41762930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.731052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.40, Y:-5.05, Z:-1.42 [[ 9.71658552e-01 2.33873962e-01 3.43893658e-02 3.33976575e+01] [-2.33709328e-01 9.72266794e-01 -8.78816810e-03 -5.04590937e+00] [-3.54909621e-02 5.01983116e-04 9.99369871e-01 -1.42036256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.761052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.43, Y:-5.06, Z:-1.42 [[ 9.72255081e-01 2.31502372e-01 3.35664796e-02 3.34275834e+01] [-2.31343854e-01 9.72834165e-01 -8.58532844e-03 -5.05654282e+00] [-3.46421421e-02 5.81730442e-04 9.99399612e-01 -1.42211485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.791052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.45, Y:-5.07, Z:-1.42 [[ 9.73978107e-01 2.24302325e-01 3.24825111e-02 3.34543404e+01] [-2.24149620e-01 9.74519265e-01 -8.31570056e-03 -5.07256773e+00] [-3.35200638e-02 8.18367776e-04 9.99437710e-01 -1.42287464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.48, Y:-5.09, Z:-1.42 [[ 9.75239899e-01 2.18599613e-01 3.34865358e-02 3.34815605e+01] [-2.18433847e-01 9.75814075e-01 -8.57588443e-03 -5.08625684e+00] [-3.45513180e-02 1.04895183e-03 9.99402374e-01 -1.42129141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.51, Y:-5.10, Z:-1.42 [[ 9.75419179e-01 2.17548704e-01 3.50711646e-02 3.35125888e+01] [-2.17366209e-01 9.76048804e-01 -8.98126985e-03 -5.09503760e+00] [-3.61850319e-02 1.13721678e-03 9.99344460e-01 -1.42013096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.54, Y:-5.11, Z:-1.42 [[ 9.75462296e-01 2.17094572e-01 3.66504417e-02 3.35425117e+01] [-2.16894603e-01 9.76149820e-01 -9.39469846e-03 -5.10550038e+00] [-3.78158601e-02 1.21489112e-03 9.99283986e-01 -1.41906536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.57, Y:-5.11, Z:-1.42 [[ 9.75301913e-01 2.17568902e-01 3.80782152e-02 3.35742209e+01] [-2.17353067e-01 9.76044162e-01 -9.76923756e-03 -5.11038502e+00] [-3.92915020e-02 1.25153923e-03 9.99227007e-01 -1.41761535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.941052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:-5.12, Z:-1.42 [[ 9.75186503e-01 2.18163412e-01 3.76299188e-02 3.36063759e+01] [-2.17952720e-01 9.75911488e-01 -9.66330658e-03 -5.11521203e+00] [-3.88316500e-02 1.22198300e-03 9.99245020e-01 -1.42044163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.63, Y:-5.13, Z:-1.43 [[ 9.74971501e-01 2.19582895e-01 3.48414052e-02 3.36347768e+01] [-2.19402893e-01 9.75593240e-01 -8.95544550e-03 -5.12747596e+00] [-3.59575020e-02 1.08699904e-03 9.99352729e-01 -1.42956494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.67, Y:-5.13, Z:-1.43 [[ 9.74590002e-01 2.21381496e-01 3.41256602e-02 3.36678136e+01] [-2.21209644e-01 9.75186761e-01 -8.77922303e-03 -5.12613437e+00] [-3.52224495e-02 1.00721787e-03 9.99378989e-01 -1.43185486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.031052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.70, Y:-5.13, Z:-1.43 [[ 9.73308781e-01 2.26952009e-01 3.40998937e-02 3.36973597e+01] [-2.26783489e-01 9.73905602e-01 -8.78221214e-03 -5.13330394e+00] [-3.52032182e-02 8.14511330e-04 9.99379843e-01 -1.43100663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.061052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.73, Y:-5.14, Z:-1.43 [[ 9.71541793e-01 2.34754690e-01 3.15718379e-02 3.37278499e+01] [-2.34614333e-01 9.72054521e-01 -8.13155406e-03 -5.13813576e+00] [-3.25984682e-02 4.92938932e-04 9.99468407e-01 -1.43182757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.091052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.76, Y:-5.14, Z:-1.43 [[ 9.70568887e-01 2.38899633e-01 3.03809178e-02 3.37597525e+01] [-2.38771712e-01 9.71044206e-01 -7.82432144e-03 -5.14275303e+00] [-3.13704417e-02 3.39939208e-04 9.99507769e-01 -1.43395490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.121052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.79, Y:-5.15, Z:-1.44 [[ 9.68850143e-01 2.45934036e-01 2.90835112e-02 3.37905185e+01] [-2.45819759e-01 9.69286561e-01 -7.49728775e-03 -5.14658914e+00] [-3.00340948e-02 1.14446586e-04 9.99548868e-01 -1.43797463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.151052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.82, Y:-5.15, Z:-1.44 [[ 9.68325400e-01 2.48106778e-01 2.80881797e-02 3.38215477e+01] [-2.48000932e-01 9.68732690e-01 -7.24661712e-03 -5.15316939e+00] [-2.90078727e-02 5.11886784e-05 9.99579182e-01 -1.44222847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.181052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.85, Y:-5.16, Z:-1.45 [[ 9.68676633e-01 2.46713973e-01 2.82452920e-02 3.38530230e+01] [-2.46606129e-01 9.69088337e-01 -7.29462405e-03 -5.16239525e+00] [-2.91718687e-02 1.00669738e-04 9.99574405e-01 -1.44775088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.88, Y:-5.17, Z:-1.45 [[ 9.69321905e-01 2.44008568e-01 2.95780948e-02 3.38838799e+01] [-2.43888775e-01 9.69773056e-01 -7.64763400e-03 -5.17363333e+00] [-3.05501276e-02 1.99253863e-04 9.99533216e-01 -1.44769386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.91, Y:-5.19, Z:-1.44 [[ 9.71257985e-01 2.35794051e-01 3.25436977e-02 3.39110905e+01] [-2.35644021e-01 9.71802912e-01 -8.42584299e-03 -5.19175872e+00] [-3.36128238e-02 5.14939491e-04 9.99434797e-01 -1.44409083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.94, Y:-5.20, Z:-1.44 [[ 9.72209158e-01 2.31659635e-01 3.38107420e-02 3.39412353e+01] [-2.31495050e-01 9.72796660e-01 -8.75790981e-03 -5.20228937e+00] [-3.49198311e-02 6.87500722e-04 9.99389880e-01 -1.44306996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.301052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.97, Y:-5.21, Z:-1.44 [[ 9.72145519e-01 2.31926839e-01 3.38087383e-02 3.39725397e+01] [-2.31762147e-01 9.72732990e-01 -8.76563752e-03 -5.21046701e+00] [-3.49198618e-02 6.85889446e-04 9.99389880e-01 -1.44432983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.331052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.00, Y:-5.23, Z:-1.44 [[ 9.73808697e-01 2.24648710e-01 3.50653339e-02 3.40000317e+01] [-2.24466409e-01 9.74439311e-01 -9.10280994e-03 -5.22565582e+00] [-3.62139743e-02 9.93405914e-04 9.99343565e-01 -1.44156209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.03, Y:-5.24, Z:-1.44 [[ 9.74415078e-01 2.21888456e-01 3.57878178e-02 3.40283402e+01] [-2.21696688e-01 9.75071413e-01 -9.29074334e-03 -5.23921131e+00] [-3.69571868e-02 1.11899972e-03 9.99316223e-01 -1.44143767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.391052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.06, Y:-5.24, Z:-1.44 [[ 9.74956149e-01 2.19105298e-01 3.81231692e-02 3.40595434e+01] [-2.18885343e-01 9.75700340e-01 -9.90220347e-03 -5.24471221e+00] [-3.93664144e-02 1.30961120e-03 9.99223984e-01 -1.44302373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.421052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.09, Y:-5.25, Z:-1.45 [[ 9.74841820e-01 2.19484039e-01 3.88610699e-02 3.40921113e+01] [-2.19255409e-01 9.75615186e-01 -1.01031498e-02 -5.25090238e+00] [-4.01309301e-02 1.32847314e-03 9.99193547e-01 -1.44613983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.451052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.12, Y:-5.26, Z:-1.45 [[ 9.74495830e-01 2.21052399e-01 3.86485985e-02 3.41242634e+01] [-2.20827062e-01 9.75261109e-01 -1.00587429e-02 -5.25624226e+00] [-3.99159843e-02 1.26754657e-03 9.99202236e-01 -1.44914170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.481052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.16, Y:-5.26, Z:-1.45 [[ 9.73546232e-01 2.25258319e-01 3.82939226e-02 3.41560153e+01] [-2.25040146e-01 9.74298466e-01 -9.97151345e-03 -5.25946674e+00] [-3.95558764e-02 1.09005939e-03 9.99216765e-01 -1.44947072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.511052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.19, Y:-5.26, Z:-1.45 [[ 9.72725269e-01 2.28779607e-01 3.82810928e-02 3.41877233e+01] [-2.28564184e-01 9.73477781e-01 -9.97115534e-03 -5.26438810e+00] [-3.95469903e-02 9.49508017e-04 9.99217261e-01 -1.45042516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.541052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.22, Y:-5.27, Z:-1.45 [[ 9.71006286e-01 2.36046430e-01 3.78004675e-02 3.42190522e+01] [-2.35841797e-01 9.71741562e-01 -9.84798295e-03 -5.26656707e+00] [-3.90568666e-02 6.47523136e-04 9.99236780e-01 -1.45208859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.25, Y:-5.27, Z:-1.45 [[ 9.70249492e-01 2.39175703e-01 3.75620457e-02 3.42497328e+01] [-2.38975936e-01 9.70976165e-01 -9.78718710e-03 -5.27019586e+00] [-3.88127084e-02 5.19588297e-04 9.99246368e-01 -1.45499058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.601052754 meters Centerline goodness [0,1] 0.9999767333643556 Centerline is valid? [True, True] Translation: X:34.28, Y:-5.27, Z:-1.46 [[ 9.69638904e-01 2.41585616e-01 3.79049691e-02 3.42826636e+01] [-2.41383690e-01 9.70379411e-01 -9.88501274e-03 -5.27248087e+00] [-3.91702785e-02 4.35251617e-04 9.99232455e-01 -1.45831327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.631052754 meters Centerline goodness [0,1] 0.9999303378613723 Centerline is valid? [True, True] Translation: X:34.31, Y:-5.28, Z:-1.46 [[ 9.68820311e-01 2.44501979e-01 4.00747771e-02 3.43135346e+01] [-2.44278501e-01 9.69648733e-01 -1.04569741e-02 -5.27529402e+00] [-4.14152077e-02 3.41522443e-04 9.99141964e-01 -1.46065977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.661052754 meters Centerline goodness [0,1] 0.9998840122483066 Centerline is valid? [True, True] Translation: X:34.34, Y:-5.28, Z:-1.46 [[ 9.68469820e-01 2.45772793e-01 4.07669326e-02 3.43445882e+01] [-2.45542231e-01 9.69327418e-01 -1.06475045e-02 -5.28334644e+00] [-4.21333725e-02 3.01783163e-04 9.99111950e-01 -1.45986411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.691052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.38, Y:-5.29, Z:-1.46 [[ 9.68611277e-01 2.45199092e-01 4.08607404e-02 3.43761762e+01] [-2.44966487e-01 9.69472687e-01 -1.06831301e-02 -5.29270239e+00] [-4.22328656e-02 3.38288267e-04 9.99107737e-01 -1.46043120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.721052754 meters Centerline goodness [0,1] 0.9999767252414756 Centerline is valid? [True, True] Translation: X:34.40, Y:-5.30, Z:-1.46 [[ 9.69655363e-01 2.41112044e-01 4.04160751e-02 3.44049492e+01] [-2.40880464e-01 9.70497146e-01 -1.05778775e-02 -5.30339946e+00] [-4.17741392e-02 5.21452754e-04 9.99126944e-01 -1.46278023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.751052754 meters Centerline goodness [0,1] 0.9999766883465044 Centerline is valid? [True, True] Translation: X:34.44, Y:-5.31, Z:-1.46 [[ 9.70394284e-01 2.37998126e-01 4.11318075e-02 3.44350656e+01] [-2.37755248e-01 9.71265381e-01 -1.07704317e-02 -5.31275861e+00] [-4.25132432e-02 6.72262317e-04 9.99095677e-01 -1.46474709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.781052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.46, Y:-5.33, Z:-1.47 [[ 9.71787585e-01 2.31897092e-01 4.30421703e-02 3.44633967e+01] [-2.31624851e-01 9.72739822e-01 -1.12768644e-02 -5.32555744e+00] [-4.44839051e-02 9.89080476e-04 9.99009612e-01 -1.46526109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.811052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.49, Y:-5.33, Z:-1.47 [[ 9.72197697e-01 2.30102855e-01 4.34086762e-02 3.44938093e+01] [-2.29823769e-01 9.73165705e-01 -1.13817857e-02 -5.33364895e+00] [-4.48628164e-02 1.08900025e-03 9.98992563e-01 -1.46680344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.841052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.52, Y:-5.35, Z:-1.47 [[ 9.72788243e-01 2.27431225e-01 4.42501185e-02 3.45228214e+01] [-2.27137952e-01 9.73793348e-01 -1.16131823e-02 -5.34617437e+00] [-4.57316713e-02 1.24628591e-03 9.98952982e-01 -1.46742456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.871052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.55, Y:-5.35, Z:-1.47 [[ 9.72902430e-01 2.26720834e-01 4.53709648e-02 3.45536439e+01] [-2.26411211e-01 9.73958887e-01 -1.19185083e-02 -5.35344133e+00] [-4.68916285e-02 1.32305066e-03 9.98899106e-01 -1.46876024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.901052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.58, Y:-5.36, Z:-1.47 [[ 9.72331292e-01 2.28641162e-01 4.79069682e-02 3.45832335e+01] [-2.28297637e-01 9.73509886e-01 -1.25972379e-02 -5.36134579e+00] [-4.95181543e-02 1.31164099e-03 9.98772362e-01 -1.46952977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.931052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.62, Y:-5.37, Z:-1.47 [[ 9.71823419e-01 2.30537335e-01 4.91098652e-02 3.46151159e+01] [-2.30178234e-01 9.73062671e-01 -1.29236042e-02 -5.36845088e+00] [-5.07663499e-02 1.25543915e-03 9.98709768e-01 -1.47046592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.961052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.65, Y:-5.38, Z:-1.47 [[ 9.70495206e-01 2.35962065e-01 4.96080494e-02 3.46458441e+01] [-2.35602509e-01 9.71761768e-01 -1.30585194e-02 -5.37501901e+00] [-5.12885209e-02 9.85449550e-04 9.98683392e-01 -1.47125911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.991052754 meters Centerline goodness [0,1] 0.9999299915989919 Centerline is valid? [True, True] Translation: X:34.68, Y:-5.38, Z:-1.47 [[ 9.69688877e-01 2.39298575e-01 4.93930489e-02 3.46763038e+01] [-2.38946232e-01 9.70945692e-01 -1.30062277e-02 -5.38298026e+00] [-5.10703398e-02 8.09711429e-04 9.98694731e-01 -1.47195931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.021052754 meters Centerline goodness [0,1] 0.9998836451642931 Centerline is valid? [True, True] Translation: X:34.71, Y:-5.39, Z:-1.48 [[ 9.68015921e-01 2.46247156e-01 4.80366005e-02 3.47074190e+01] [-2.45921976e-01 9.69206967e-01 -1.26584815e-02 -5.38643542e+00] [-4.96745230e-02 4.40355909e-04 9.98765362e-01 -1.47636607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.051052754000004 meters Centerline goodness [0,1] 0.9999301675977653 Centerline is valid? [True, True] Translation: X:34.74, Y:-5.39, Z:-1.48 [[ 9.66842689e-01 2.51018947e-01 4.69542748e-02 3.47390947e+01] [-2.50713700e-01 9.67982154e-01 -1.23770092e-02 -5.39152634e+00] [-4.85577639e-02 1.94540923e-04 9.98820357e-01 -1.48093484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.081052754 meters Centerline goodness [0,1] 0.9999535865958089 Centerline is valid? [True, True] Translation: X:34.77, Y:-5.39, Z:-1.48 [[ 9.64811138e-01 2.59168134e-01 4.43998377e-02 3.47700649e+01] [-2.58903324e-01 9.65832201e-01 -1.17144368e-02 -5.39440286e+00] [-4.59188017e-02 -1.93046486e-04 9.98945157e-01 -1.48482533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.80, Y:-5.40, Z:-1.49 [[ 9.63491281e-01 2.64211118e-01 4.33247825e-02 3.48015390e+01] [-2.63963616e-01 9.64464781e-01 -1.14409316e-02 -5.40140042e+00] [-4.48080482e-02 -4.12928429e-04 9.98995530e-01 -1.48809952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.141052754 meters Centerline goodness [0,1] 0.9999301805995159 Centerline is valid? [True, True] Translation: X:34.83, Y:-5.41, Z:-1.49 [[ 9.63358003e-01 2.64799090e-01 4.26942631e-02 3.48329303e+01] [-2.64558844e-01 9.64303512e-01 -1.12851933e-02 -5.41109813e+00] [-4.41585368e-02 -4.23463652e-04 9.99024446e-01 -1.48989430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.171052754 meters Centerline goodness [0,1] 0.9999767576990122 Centerline is valid? [True, True] Translation: X:34.86, Y:-5.42, Z:-1.49 [[ 9.63440695e-01 2.64597244e-01 4.20752432e-02 3.48641745e+01] [-2.64363205e-01 9.64358927e-01 -1.11335034e-02 -5.42218786e+00] [-4.35215307e-02 -3.96675917e-04 9.99052411e-01 -1.49133408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.201052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.89, Y:-5.44, Z:-1.49 [[ 9.65222298e-01 2.58079014e-01 4.17269569e-02 3.48928997e+01] [-2.57842221e-01 9.66123809e-01 -1.10532580e-02 -5.43622295e+00] [-4.31660205e-02 -9.01202163e-05 9.99067909e-01 -1.49437930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.231052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.92, Y:-5.45, Z:-1.49 [[ 9.66105597e-01 2.54578730e-01 4.27743499e-02 3.49221816e+01] [-2.54325999e-01 9.67052048e-01 -1.13411738e-02 -5.44846580e+00] [-4.42522443e-02 7.81422185e-05 9.99020387e-01 -1.49434282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.261052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.95, Y:-5.46, Z:-1.49 [[ 9.67233367e-01 2.50037318e-01 4.40562457e-02 3.49525187e+01] [-2.49763941e-01 9.68236152e-01 -1.16930726e-02 -5.45972309e+00] [-4.55805543e-02 3.06268464e-04 9.98960619e-01 -1.49471143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.291052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.98, Y:-5.47, Z:-1.50 [[ 9.67496300e-01 2.48804634e-01 4.52455891e-02 3.49826803e+01] [-2.48514387e-01 9.68553615e-01 -1.20205698e-02 -5.46697554e+00] [-4.68135524e-02 3.85676920e-04 9.98903570e-01 -1.49575158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.01, Y:-5.47, Z:-1.50 [[ 9.68045181e-01 2.46275130e-01 4.72978729e-02 3.50134574e+01] [-2.45954344e-01 9.69199807e-01 -1.25775377e-02 -5.47409380e+00] [-4.89386240e-02 5.42507461e-04 9.98801640e-01 -1.49543952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.351052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.04, Y:-5.48, Z:-1.49 [[ 9.68283884e-01 2.45067067e-01 4.86667540e-02 3.50430824e+01] [-2.44725292e-01 9.69505922e-01 -1.29537295e-02 -5.48293991e+00] [-5.03572387e-02 6.32901958e-04 9.98731069e-01 -1.49106004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.08, Y:-5.49, Z:-1.49 [[ 9.68292338e-01 2.45019955e-01 4.87357059e-02 3.50750511e+01] [-2.44676522e-01 9.69517819e-01 -1.29845356e-02 -5.49062898e+00] [-5.04316056e-02 6.48343331e-04 9.98727307e-01 -1.49180687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.11, Y:-5.50, Z:-1.50 [[ 9.68013033e-01 2.46532378e-01 4.66106677e-02 3.51070905e+01] [-2.46219439e-01 9.69134396e-01 -1.24302302e-02 -5.49641766e+00] [-4.82364554e-02 5.56172391e-04 9.98835790e-01 -1.49506645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.441052754000005 meters Centerline goodness [0,1] 0.9998604975587073 Centerline is valid? [True, True] Translation: X:35.14, Y:-5.50, Z:-1.50 [[ 9.67752736e-01 2.47873607e-01 4.48700079e-02 3.51369936e+01] [-2.47584771e-01 9.68792262e-01 -1.19722186e-02 -5.50447159e+00] [-4.64373135e-02 4.77016692e-04 9.98921092e-01 -1.49663865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.17, Y:-5.51, Z:-1.50 [[ 9.66995750e-01 2.51417349e-01 4.13344288e-02 3.51687568e+01] [-2.51175229e-01 9.67878729e-01 -1.10349947e-02 -5.50964622e+00] [-4.27811035e-02 2.88608345e-04 9.99084428e-01 -1.50120785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.501052754 meters Centerline goodness [0,1] 0.9999767695774386 Centerline is valid? [True, True] Translation: X:35.20, Y:-5.52, Z:-1.50 [[ 9.66568099e-01 2.53299247e-01 3.98196206e-02 3.51999400e+01] [-2.53075739e-01 9.67387951e-01 -1.06405720e-02 -5.51629692e+00] [-4.12162701e-02 2.07457532e-04 9.99150227e-01 -1.50452545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.531052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.23, Y:-5.52, Z:-1.51 [[ 9.65711916e-01 2.56669788e-01 3.90014741e-02 3.52309280e+01] [-2.56457721e-01 9.66499154e-01 -1.04318037e-02 -5.52099784e+00] [-4.03724206e-02 7.18879315e-05 9.99184699e-01 -1.50869098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.561052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.26, Y:-5.53, Z:-1.51 [[ 9.65017835e-01 2.59284957e-01 3.88830270e-02 3.52629135e+01] [-2.59075922e-01 9.65800865e-01 -1.04094297e-02 -5.52939363e+00] [-4.02522696e-02 -2.83707692e-05 9.99189549e-01 -1.50897193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.591052754 meters Centerline goodness [0,1] 0.999976688889925 Centerline is valid? [True, True] Translation: X:35.29, Y:-5.54, Z:-1.51 [[ 9.63681311e-01 2.64103785e-01 3.95919314e-02 3.52928124e+01] [-2.63890641e-01 9.64494241e-01 -1.06107518e-02 -5.53789383e+00] [-4.09885295e-02 -2.22556974e-04 9.99159592e-01 -1.50502669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.621052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.32, Y:-5.55, Z:-1.50 [[ 9.63104970e-01 2.66069398e-01 4.04461550e-02 3.53239157e+01] [-2.65848280e-01 9.63953828e-01 -1.08493734e-02 -5.54648152e+00] [-4.18749122e-02 -3.03455284e-04 9.99122815e-01 -1.50360881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.651052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.35, Y:-5.56, Z:-1.50 [[ 9.63304369e-01 2.65348112e-01 4.04360281e-02 3.53548907e+01] [-2.65126036e-01 9.64152639e-01 -1.08569819e-02 -5.55518532e+00] [-4.18673828e-02 -2.62065758e-04 9.99123142e-01 -1.50471821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.681052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.38, Y:-5.57, Z:-1.50 [[ 9.64580347e-01 2.60366405e-01 4.23566844e-02 3.53844806e+01] [-2.60117392e-01 9.65509883e-01 -1.13845690e-02 -5.56901963e+00] [-4.38599567e-02 -3.63787662e-05 9.99037688e-01 -1.50473736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.711052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.41, Y:-5.58, Z:-1.51 [[ 9.65506367e-01 2.56801278e-01 4.30181200e-02 3.54140775e+01] [-2.56540423e-01 9.66464218e-01 -1.15726732e-02 -5.58074931e+00] [-4.45473510e-02 1.37602925e-04 9.99007265e-01 -1.50516588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.44, Y:-5.59, Z:-1.51 [[ 9.66391513e-01 2.53364322e-01 4.35196975e-02 3.54443049e+01] [-2.53093551e-01 9.67370884e-01 -1.17144353e-02 -5.59319713e+00] [-4.50677082e-02 3.06176052e-04 9.98983888e-01 -1.50580262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.47, Y:-5.61, Z:-1.51 [[ 9.67782425e-01 2.48397305e-01 4.11820027e-02 3.54733018e+01] [-2.48149935e-01 9.68658098e-01 -1.10950053e-02 -5.60816802e+00] [-4.26472498e-02 5.18239860e-04 9.99090058e-01 -1.50718608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.801052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.51, Y:-5.62, Z:-1.51 [[ 9.68028312e-01 2.47786924e-01 3.90234246e-02 3.55051730e+01] [-2.47563946e-01 9.68814412e-01 -1.05227571e-02 -5.61626721e+00] [-4.04138577e-02 5.25533872e-04 9.99182888e-01 -1.51033493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.54, Y:-5.62, Z:-1.51 [[ 9.67857739e-01 2.48487401e-01 3.87995915e-02 3.55362756e+01] [-2.48267090e-01 9.68634997e-01 -1.04735290e-02 -5.62337838e+00] [-4.01851822e-02 5.04224438e-04 9.99192122e-01 -1.51167038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.57, Y:-5.63, Z:-1.51 [[ 9.67371667e-01 2.50297680e-01 3.92826755e-02 3.55673052e+01] [-2.50072905e-01 9.68168825e-01 -1.06145458e-02 -5.62788404e+00] [-4.06890580e-02 4.44678105e-04 9.99171758e-01 -1.51253598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.891052754 meters Centerline goodness [0,1] 0.9999531725591196 Centerline is valid? [True, True] Translation: X:35.60, Y:-5.63, Z:-1.51 [[ 9.67140240e-01 2.51378123e-01 3.80630402e-02 3.55983654e+01] [-2.51167598e-01 9.67888880e-01 -1.02934244e-02 -5.63448636e+00] [-3.94283350e-02 3.94982537e-04 9.99222323e-01 -1.51442805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.921052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.63, Y:-5.64, Z:-1.52 [[ 9.66940705e-01 2.52382755e-01 3.64502024e-02 3.56306802e+01] [-2.52190092e-01 9.67627420e-01 -9.86575411e-03 -5.64099686e+00] [-3.77601615e-02 3.47219359e-04 9.99286770e-01 -1.51683115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.951052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.66, Y:-5.65, Z:-1.52 [[ 9.66736775e-01 2.53257364e-01 3.57870828e-02 3.56617095e+01] [-2.53071883e-01 9.67398887e-01 -9.69612154e-03 -5.64866368e+00] [-3.70759983e-02 3.16892836e-04 9.99312399e-01 -1.51784864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.981052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.69, Y:-5.65, Z:-1.52 [[ 9.66425127e-01 2.54447063e-01 3.57654228e-02 3.56921201e+01] [-2.54262267e-01 9.67086663e-01 -9.69979641e-03 -5.65455880e+00] [-3.70563481e-02 2.80329494e-04 9.99313138e-01 -1.51778143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.011052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.72, Y:-5.66, Z:-1.52 [[ 9.66400549e-01 2.54563894e-01 3.55978009e-02 3.57243728e+01] [-2.54380738e-01 9.67055917e-01 -9.65890015e-03 -5.66088968e+00] [-3.68838712e-02 2.78971553e-04 9.99319520e-01 -1.51878671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.041052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.76, Y:-5.67, Z:-1.52 [[ 9.66167351e-01 2.55445113e-01 3.56152293e-02 3.57561822e+01] [-2.55261988e-01 9.66823525e-01 -9.67411429e-03 -5.66612815e+00] [-3.69048468e-02 2.55599147e-04 9.99318751e-01 -1.52100784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.79, Y:-5.67, Z:-1.52 [[ 9.65787597e-01 2.56972429e-01 3.49211613e-02 3.57870271e+01] [-2.56797033e-01 9.66418714e-01 -9.49493217e-03 -5.67340843e+00] [-3.61883995e-02 2.02437112e-04 9.99344965e-01 -1.52286393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.82, Y:-5.68, Z:-1.53 [[ 9.65211145e-01 2.59324174e-01 3.34427492e-02 3.58193084e+01] [-2.59164433e-01 9.65790329e-01 -9.10151036e-03 -5.67843732e+00] [-3.46589254e-02 1.17708100e-04 9.99399192e-01 -1.52504717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.85, Y:-5.69, Z:-1.53 [[ 9.64977877e-01 2.60341335e-01 3.22503749e-02 3.58509247e+01] [-2.60193059e-01 9.65516640e-01 -8.78581314e-03 -5.68645738e+00] [-3.34255839e-02 8.67916173e-05 9.99441205e-01 -1.52637410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.88, Y:-5.70, Z:-1.53 [[ 9.65798843e-01 2.57279728e-01 3.22449285e-02 3.58805741e+01] [-2.57129470e-01 9.66336950e-01 -8.79403895e-03 -5.69688322e+00] [-3.34219938e-02 2.02151274e-04 9.99441309e-01 -1.52662924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.191052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.91, Y:-5.71, Z:-1.53 [[ 9.65731557e-01 2.57532418e-01 3.22430546e-02 3.59117727e+01] [-2.57382071e-01 9.66269638e-01 -8.80090382e-03 -5.70548231e+00] [-3.34220027e-02 2.00526381e-04 9.99441309e-01 -1.52788890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.94, Y:-5.72, Z:-1.53 [[ 9.66457495e-01 2.54667356e-01 3.32332526e-02 3.59426260e+01] [-2.54505598e-01 9.67028664e-01 -9.08097766e-03 -5.71596205e+00] [-3.44501364e-02 3.18330107e-04 9.99406367e-01 -1.52768270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.97, Y:-5.73, Z:-1.53 [[ 9.68470957e-01 2.46821813e-01 3.38082633e-02 3.59728037e+01] [-2.46649295e-01 9.69060685e-01 -9.24733964e-03 -5.72884645e+00] [-3.50447040e-02 6.16995560e-04 9.99385555e-01 -1.52619534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.281052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.00, Y:-5.74, Z:-1.53 [[ 9.69442837e-01 2.42964673e-01 3.38932633e-02 3.60030262e+01] [-2.42788840e-01 9.70034839e-01 -9.27309293e-03 -5.73909578e+00] [-3.51306802e-02 7.60827429e-04 9.99382438e-01 -1.52647079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.311052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.03, Y:-5.75, Z:-1.53 [[ 9.70826930e-01 2.37334952e-01 3.41642101e-02 3.60330866e+01] [-2.37152714e-01 9.71427388e-01 -9.34986618e-03 -5.74859368e+00] [-3.54070995e-02 9.74966716e-04 9.99372496e-01 -1.52764672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.341052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.06, Y:-5.76, Z:-1.53 [[ 9.70997011e-01 2.36727682e-01 3.35381845e-02 3.60634423e+01] [-2.36551672e-01 9.71575548e-01 -9.17941816e-03 -5.75742138e+00] [-3.47579024e-02 9.79673970e-04 9.99395281e-01 -1.52852329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.371052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.09, Y:-5.77, Z:-1.53 [[ 9.70625721e-01 2.38301471e-01 3.31378594e-02 3.60935334e+01] [-2.38130266e-01 9.71190796e-01 -9.07826601e-03 -5.76569807e+00] [-3.43465481e-02 9.20471239e-04 9.99409559e-01 -1.52859623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.401052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.13, Y:-5.77, Z:-1.53 [[ 9.70013638e-01 2.40863570e-01 3.25312629e-02 3.61255412e+01] [-2.40699845e-01 9.70558638e-01 -8.91716027e-03 -5.77248686e+00] [-3.37213172e-02 8.19497146e-04 9.99430939e-01 -1.52973689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.431052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.16, Y:-5.77, Z:-1.53 [[ 9.68154828e-01 2.48521600e-01 3.02199028e-02 3.61574068e+01] [-2.48383948e-01 9.68626217e-01 -8.28652937e-03 -5.77407215e+00] [-3.13311717e-02 5.16504634e-04 9.99508925e-01 -1.53336040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.19, Y:-5.78, Z:-1.54 [[ 9.66888836e-01 2.53568017e-01 2.87965287e-02 3.61887719e+01] [-2.53445291e-01 9.67317501e-01 -7.89535036e-03 -5.77846336e+00] [-2.98573945e-02 3.35581523e-04 9.99554112e-01 -1.53723334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.22, Y:-5.78, Z:-1.54 [[ 9.64110817e-01 2.64180202e-01 2.64415157e-02 3.62220947e+01] [-2.64080545e-01 9.64473339e-01 -7.25567439e-03 -5.77862148e+00] [-2.74189425e-02 1.25842721e-05 9.99624030e-01 -1.54190187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.521052754 meters Centerline goodness [0,1] 0.999931262029145 Centerline is valid? [True, True] Translation: X:36.25, Y:-5.78, Z:-1.54 [[ 9.61201789e-01 2.74850819e-01 2.34125424e-02 3.62547007e+01] [-2.74775667e-01 9.61486851e-01 -6.43186503e-03 -5.78137980e+00] [-2.42786551e-02 -2.50876776e-04 9.99705199e-01 -1.54346912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.551052754000004 meters Centerline goodness [0,1] 0.9999312242090784 Centerline is valid? [True, True] Translation: X:36.29, Y:-5.79, Z:-1.55 [[ 9.59801575e-01 2.79734667e-01 2.30098336e-02 3.62858402e+01] [-2.79663495e-01 9.60077278e-01 -6.32052085e-03 -5.78598437e+00] [-2.38592872e-02 -3.68564628e-04 9.99715259e-01 -1.54632246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.581052754 meters Centerline goodness [0,1] 0.9999312115931395 Centerline is valid? [True, True] Translation: X:36.32, Y:-5.79, Z:-1.55 [[ 9.57989755e-01 2.85910045e-01 2.26069808e-02 3.63171555e+01] [-2.85842928e-01 9.58256327e-01 -6.21544484e-03 -5.79048018e+00] [-2.34403405e-02 -5.07713109e-04 9.99725109e-01 -1.54760159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.611052754 meters Centerline goodness [0,1] 0.9998850838887612 Centerline is valid? [True, True] Translation: X:36.35, Y:-5.80, Z:-1.55 [[ 9.57614948e-01 2.87180591e-01 2.23812093e-02 3.63481556e+01] [-2.87115054e-01 9.57876311e-01 -6.15774366e-03 -5.79961517e+00] [-2.32068147e-02 -5.29234758e-04 9.99730546e-01 -1.54866223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.641052754 meters Centerline goodness [0,1] 0.99990814733168 Centerline is valid? [True, True] Translation: X:36.38, Y:-5.81, Z:-1.55 [[ 9.57527228e-01 2.87413399e-01 2.31332260e-02 3.63782544e+01] [-2.87343295e-01 9.57806473e-01 -6.37116795e-03 -5.80819766e+00] [-2.39883126e-02 -5.46610589e-04 9.99712090e-01 -1.55082817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.671052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.41, Y:-5.82, Z:-1.55 [[ 9.58127481e-01 2.85276251e-01 2.46817729e-02 3.64070999e+01] [-2.85195578e-01 9.58445194e-01 -6.80385278e-03 -5.82394132e+00] [-2.55971042e-02 -5.20174162e-04 9.99672205e-01 -1.54957267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.701052754 meters Centerline goodness [0,1] 0.999953710132852 Centerline is valid? [True, True] Translation: X:36.44, Y:-5.84, Z:-1.55 [[ 9.58760566e-01 2.83097005e-01 2.51845664e-02 3.64370376e+01] [-2.83012088e-01 9.59091169e-01 -6.94900492e-03 -5.83655620e+00] [-2.61215377e-02 -4.65104819e-04 9.99658666e-01 -1.54951856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.731052754000004 meters Centerline goodness [0,1] 0.9999767814437298 Centerline is valid? [True, True] Translation: X:36.47, Y:-5.85, Z:-1.55 [[ 9.60257521e-01 2.77885494e-01 2.61752832e-02 3.64658188e+01] [-2.77791576e-01 9.60614150e-01 -7.23153591e-03 -5.85228242e+00] [-2.71538863e-02 -3.27136408e-04 9.99631212e-01 -1.54893410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.761052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.49, Y:-5.87, Z:-1.55 [[ 9.61779922e-01 2.72422868e-01 2.76615804e-02 3.64940786e+01] [-2.72315696e-01 9.62177607e-01 -7.64289073e-03 -5.86738840e+00] [-2.86974514e-02 -1.81903670e-04 9.99588127e-01 -1.54782926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.791052754 meters Centerline goodness [0,1] 0.9999767257831774 Centerline is valid? [True, True] Translation: X:36.52, Y:-5.88, Z:-1.55 [[ 9.62532338e-01 2.69705060e-01 2.81190163e-02 3.65242469e+01] [-2.69593061e-01 9.62942974e-01 -7.77243393e-03 -5.87907642e+00] [-2.91732740e-02 -9.94726731e-05 9.99574365e-01 -1.54897487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.55, Y:-5.89, Z:-1.55 [[ 9.64246195e-01 2.63556171e-01 2.77023585e-02 3.65543409e+01] [-2.63444744e-01 9.64644046e-01 -7.66359565e-03 -5.89480955e+00] [-2.87427031e-02 9.15522106e-05 9.99586839e-01 -1.55224301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.58, Y:-5.91, Z:-1.55 [[ 9.64989148e-01 2.60914592e-01 2.68238729e-02 3.65848893e+01] [-2.60808896e-01 9.65361873e-01 -7.42787842e-03 -5.90611279e+00] [-2.78327860e-02 1.71917389e-04 9.99612578e-01 -1.55244215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.61, Y:-5.92, Z:-1.56 [[ 9.66484792e-01 2.55555633e-01 2.44635357e-02 3.66122847e+01] [-2.55465857e-01 9.66794304e-01 -6.78005663e-03 -5.92212093e+00] [-2.53838886e-02 3.03223516e-04 9.99677731e-01 -1.55716315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.64, Y:-5.93, Z:-1.56 [[ 9.66767211e-01 2.54499983e-01 2.43088168e-02 3.66436850e+01] [-2.54410864e-01 9.67072721e-01 -6.74281026e-03 -5.92999562e+00] [-2.52244387e-02 3.34300790e-04 9.99681757e-01 -1.55688530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.941052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.67, Y:-5.94, Z:-1.56 [[ 9.67162956e-01 2.52927718e-01 2.49676974e-02 3.66743448e+01] [-2.52833005e-01 9.67485099e-01 -6.93220891e-03 -5.93883531e+00] [-2.59092229e-02 3.91917697e-04 9.99664223e-01 -1.55648245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.71, Y:-5.95, Z:-1.56 [[ 9.67345773e-01 2.52198216e-01 2.52629199e-02 3.67054798e+01] [-2.52100828e-01 9.67675504e-01 -7.02080385e-03 -5.94718274e+00] [-2.62169429e-02 4.22741913e-04 9.99656187e-01 -1.55789506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.74, Y:-5.95, Z:-1.56 [[ 9.67786259e-01 2.50693805e-01 2.32889045e-02 3.67354776e+01] [-2.50610476e-01 9.68066335e-01 -6.47768211e-03 -5.95359910e+00] [-2.41691192e-02 4.32568316e-04 9.99707791e-01 -1.56337768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.031052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.77, Y:-5.96, Z:-1.57 [[ 9.67960989e-01 2.50090864e-01 2.24962855e-02 3.67667163e+01] [-2.50012838e-01 9.68222272e-01 -6.26195146e-03 -5.96096577e+00] [-2.33474615e-02 4.36964550e-04 9.99727315e-01 -1.56628397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.061052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.80, Y:-5.97, Z:-1.57 [[ 9.68172242e-01 2.49342128e-01 2.17028268e-02 3.67970200e+01] [-2.49269199e-01 9.68415358e-01 -6.04654265e-03 -5.96665618e+00] [-2.25250086e-02 4.44248485e-04 9.99746181e-01 -1.57014632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.091052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.83, Y:-5.97, Z:-1.57 [[ 9.68127152e-01 2.49556698e-01 2.12431489e-02 3.68287004e+01] [-2.49486792e-01 9.68360091e-01 -5.92234512e-03 -5.97445376e+00] [-2.20489785e-02 4.33698061e-04 9.99756798e-01 -1.56959810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.121052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.86, Y:-5.98, Z:-1.57 [[ 9.68204083e-01 2.49299394e-01 2.07524691e-02 3.68587803e+01] [-2.49232479e-01 9.68426364e-01 -5.79220713e-03 -5.98354569e+00] [-2.15412320e-02 4.35849279e-04 9.99767866e-01 -1.56846895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.151052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.89, Y:-5.99, Z:-1.57 [[ 9.68322833e-01 2.48792715e-01 2.12855954e-02 3.68904421e+01] [-2.48722099e-01 9.68556643e-01 -5.94529911e-03 -5.99166443e+00] [-2.20954520e-02 4.62770905e-04 9.99755759e-01 -1.56846751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.181052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.92, Y:-6.00, Z:-1.57 [[ 9.68563070e-01 2.47676360e-01 2.32808991e-02 3.69224616e+01] [-2.47591376e-01 9.68842674e-01 -6.51024753e-03 -6.00032637e+00] [-2.41679629e-02 5.41435509e-04 9.99707766e-01 -1.56753214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.95, Y:-6.01, Z:-1.57 [[ 9.68314901e-01 2.48547031e-01 2.43028127e-02 3.69516730e+01] [-2.48454485e-01 9.68619673e-01 -6.80431269e-03 -6.00966510e+00] [-2.52313742e-02 5.50574570e-04 9.99681487e-01 -1.56901096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.98, Y:-6.02, Z:-1.57 [[ 9.67432651e-01 2.51826907e-01 2.56373557e-02 3.69824598e+01] [-2.51724831e-01 9.67772163e-01 -7.18677903e-03 -6.01519337e+00] [-2.66209435e-02 4.99165676e-04 9.99645475e-01 -1.57031664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.01, Y:-6.02, Z:-1.57 [[ 9.66717782e-01 2.54492922e-01 2.62694358e-02 3.70134177e+01] [-2.54386771e-01 9.67074539e-01 -7.36254985e-03 -6.02209441e+00] [-2.72782194e-02 4.34910888e-04 9.99627786e-01 -1.57068344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.301052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.05, Y:-6.03, Z:-1.57 [[ 9.65294910e-01 2.59877986e-01 2.58683092e-02 3.70453954e+01] [-2.59776762e-01 9.65641419e-01 -7.25835258e-03 -6.02913423e+00] [-2.68657969e-02 2.86465198e-04 9.99639008e-01 -1.57041057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.331052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.08, Y:-6.04, Z:-1.57 [[ 9.64538474e-01 2.62682973e-01 2.57524499e-02 3.70751015e+01] [-2.62583635e-01 9.64882176e-01 -7.22649325e-03 -6.03673639e+00] [-2.67463566e-02 2.08058879e-04 9.99642231e-01 -1.57196577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.11, Y:-6.04, Z:-1.57 [[ 9.63002227e-01 2.68185159e-01 2.65222956e-02 3.71059991e+01] [-2.68081695e-01 9.63367384e-01 -7.44904805e-03 -6.04127909e+00] [-2.75484387e-02 6.33078949e-05 9.99620468e-01 -1.57277441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.391052754 meters Centerline goodness [0,1] 0.9999532469961195 Centerline is valid? [True, True] Translation: X:37.14, Y:-6.05, Z:-1.57 [[ 9.61360511e-01 2.73993065e-01 2.67164440e-02 3.71385954e+01] [-2.73890166e-01 9.61731663e-01 -7.50908169e-03 -6.04643852e+00] [-2.77514865e-02 -9.84366788e-05 9.99614848e-01 -1.57359569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.421052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.17, Y:-6.05, Z:-1.58 [[ 9.60893095e-01 2.75712608e-01 2.58267019e-02 3.71698437e+01] [-2.75616871e-01 9.61240105e-01 -7.26645390e-03 -6.05472989e+00] [-2.68291146e-02 -1.35989375e-04 9.99640025e-01 -1.57546694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.451052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.20, Y:-6.06, Z:-1.58 [[ 9.60644819e-01 2.76600728e-01 2.55649769e-02 3.72008940e+01] [-2.76507082e-01 9.60984918e-01 -7.19863681e-03 -6.06497320e+00] [-2.65587054e-02 -1.53563996e-04 9.99647244e-01 -1.57618131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.481052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.23, Y:-6.08, Z:-1.58 [[ 9.61511903e-01 2.73640555e-01 2.48134347e-02 3.72307212e+01] [-2.73551129e-01 9.61832024e-01 -6.99546287e-03 -6.07795937e+00] [-2.57805985e-02 -6.15222719e-05 9.99667623e-01 -1.57733092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.511052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.26, Y:-6.09, Z:-1.58 [[ 9.62066318e-01 2.71601838e-01 2.57068487e-02 3.72595949e+01] [-2.71505011e-01 9.62409706e-01 -7.25171803e-03 -6.08872512e+00] [-2.67101007e-02 -2.90458293e-06 9.99643222e-01 -1.58020089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.541052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.29, Y:-6.10, Z:-1.58 [[ 9.63283162e-01 2.67349658e-01 2.46923221e-02 3.72887042e+01] [-2.67258790e-01 9.63599578e-01 -6.97081301e-03 -6.10248335e+00] [-2.56571556e-02 1.15626675e-04 9.99670794e-01 -1.58320483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.32, Y:-6.12, Z:-1.58 [[ 9.64319922e-01 2.63745817e-01 2.29179403e-02 3.73163181e+01] [-2.63666340e-01 9.64592195e-01 -6.47754613e-03 -6.11736816e+00] [-2.38148920e-02 2.03737350e-04 9.99716364e-01 -1.58388400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.35, Y:-6.13, Z:-1.58 [[ 9.64267185e-01 2.63989377e-01 2.23249803e-02 3.73476651e+01] [-2.63914063e-01 9.64525569e-01 -6.30833738e-03 -6.12594356e+00] [-2.31983483e-02 1.91046483e-04 9.99730864e-01 -1.58277576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.631052754 meters Centerline goodness [0,1] 0.999976262254611 Centerline is valid? [True, True] Translation: X:37.38, Y:-6.13, Z:-1.59 [[ 9.64455993e-01 2.63415890e-01 2.08975185e-02 3.73775746e+01] [-2.63349611e-01 9.64682346e-01 -5.91210458e-03 -6.13251657e+00] [-2.17168095e-02 1.98611325e-04 9.99764143e-01 -1.58530599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.661052754 meters Centerline goodness [0,1] 0.9999526492731663 Centerline is valid? [True, True] Translation: X:37.41, Y:-6.14, Z:-1.59 [[ 9.64649665e-01 2.62813910e-01 1.94903359e-02 3.74087681e+01] [-2.62756084e-01 9.64846521e-01 -5.51651584e-03 -6.13952644e+00] [-2.02549999e-02 2.00300817e-04 9.99794826e-01 -1.58820408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.691052754000005 meters Centerline goodness [0,1] 0.9998349873883218 Centerline is valid? [True, True] Translation: X:37.44, Y:-6.15, Z:-1.59 [[ 9.65259365e-01 2.60612123e-01 1.88594515e-02 3.74386686e+01] [-2.60557411e-01 9.65443556e-01 -5.34556258e-03 -6.14570270e+00] [-1.96008543e-02 2.45884500e-04 9.99807855e-01 -1.59256533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.721052754 meters Centerline goodness [0,1] 0.9999527186761229 Centerline is valid? [True, True] Translation: X:37.47, Y:-6.16, Z:-1.59 [[ 9.65547753e-01 2.59522794e-01 1.91169204e-02 3.74691139e+01] [-2.59466387e-01 9.65736945e-01 -5.41733363e-03 -6.15505175e+00] [-1.98678379e-02 2.70496035e-04 9.99802578e-01 -1.59287764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.50, Y:-6.17, Z:-1.59 [[ 9.66381954e-01 2.56292262e-01 2.04986718e-02 3.74994584e+01] [-2.56226554e-01 9.66599266e-01 -5.81474155e-03 -6.16687405e+00] [-2.13042744e-02 3.66957254e-04 9.99772971e-01 -1.58923555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.781052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.53, Y:-6.18, Z:-1.59 [[ 9.66673165e-01 2.55090871e-01 2.17172858e-02 3.75309251e+01] [-2.55016690e-01 9.66916992e-01 -6.16590578e-03 -6.17601820e+00] [-2.25716790e-02 4.22145299e-04 9.99745138e-01 -1.58977926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.811052754 meters Centerline goodness [0,1] 0.9998590689153004 Centerline is valid? [True, True] Translation: X:37.56, Y:-6.18, Z:-1.59 [[ 9.67015416e-01 2.53712263e-01 2.26113487e-02 3.75622268e+01] [-2.53631296e-01 9.67279617e-01 -6.42715654e-03 -6.18143610e+00] [-2.35021452e-02 4.80213760e-04 9.99723671e-01 -1.59280978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.841052754 meters Centerline goodness [0,1] 0.9998355958476208 Centerline is valid? [True, True] Translation: X:37.59, Y:-6.19, Z:-1.60 [[ 9.66691661e-01 2.54985271e-01 2.21301658e-02 3.75923718e+01] [-2.54907920e-01 9.66944835e-01 -6.29594750e-03 -6.18770560e+00] [-2.30040234e-02 4.45085411e-04 9.99735273e-01 -1.59540154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.871052754000004 meters Centerline goodness [0,1] 0.9998595867169034 Centerline is valid? [True, True] Translation: X:37.62, Y:-6.19, Z:-1.60 [[ 9.64816203e-01 2.62037739e-01 2.15851216e-02 3.76244452e+01] [-2.61965745e-01 9.65057587e-01 -6.14833849e-03 -6.19067441e+00] [-2.24419821e-02 2.77454129e-04 9.99748109e-01 -1.59629743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.901052754 meters Centerline goodness [0,1] 0.999976627868929 Centerline is valid? [True, True] Translation: X:37.66, Y:-6.20, Z:-1.60 [[ 9.63351083e-01 2.67429449e-01 2.08849388e-02 3.76564960e+01] [-2.67363365e-01 9.63577433e-01 -5.94661584e-03 -6.19559666e+00] [-2.17145559e-02 1.44811299e-04 9.99764201e-01 -1.59648660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.931052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.69, Y:-6.20, Z:-1.60 [[ 9.60669001e-01 2.76955590e-01 2.02650557e-02 3.76889555e+01] [-2.76895381e-01 9.60882718e-01 -5.77501052e-03 -6.19634438e+00] [-2.10717632e-02 -6.34267227e-05 9.99777964e-01 -1.59882139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.961052754 meters Centerline goodness [0,1] 0.9999533984202065 Centerline is valid? [True, True] Translation: X:37.72, Y:-6.20, Z:-1.60 [[ 9.58390021e-01 2.84567960e-01 2.25752829e-02 3.77220362e+01] [-2.84495200e-01 9.58655837e-01 -6.43959490e-03 -6.19942882e+00] [-2.34744291e-02 -2.50916130e-04 9.99724406e-01 -1.59954736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.991052754 meters Centerline goodness [0,1] 0.9997204230930525 Centerline is valid? [True, True] Translation: X:37.75, Y:-6.21, Z:-1.60 [[ 9.57659428e-01 2.86943513e-01 2.34912667e-02 3.77532712e+01] [-2.86865254e-01 9.57947452e-01 -6.70853691e-03 -6.20696441e+00] [-2.44283702e-02 -3.14334562e-04 9.99701533e-01 -1.59984957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.021052754 meters Centerline goodness [0,1] 0.999906846762925 Centerline is valid? [True, True] Translation: X:37.78, Y:-6.22, Z:-1.60 [[ 9.57051558e-01 2.88719563e-01 2.63311447e-02 3.77827366e+01] [-2.88621638e-01 9.57413630e-01 -7.52932921e-03 -6.21699769e+00] [-2.73836615e-02 -3.93781873e-04 9.99624920e-01 -1.59660432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.051052754000004 meters Centerline goodness [0,1] 0.9999766752968069 Centerline is valid? [True, True] Translation: X:37.81, Y:-6.23, Z:-1.60 [[ 9.57203767e-01 2.88134350e-01 2.71945567e-02 3.78127173e+01] [-2.88029577e-01 9.57589916e-01 -7.77921379e-03 -6.22805112e+00] [-2.82826920e-02 -3.86543905e-04 9.99599890e-01 -1.59640590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.081052754 meters Centerline goodness [0,1] 0.9999766752968069 Centerline is valid? [True, True] Translation: X:37.84, Y:-6.24, Z:-1.60 [[ 9.57128023e-01 2.88386020e-01 2.71928661e-02 3.78438111e+01] [-2.88281180e-01 9.57514153e-01 -7.78511794e-03 -6.23704287e+00] [-2.82826734e-02 -3.87837003e-04 9.99599890e-01 -1.59766588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.111052754 meters Centerline goodness [0,1] 0.999743128692525 Centerline is valid? [True, True] Translation: X:37.87, Y:-6.25, Z:-1.60 [[ 9.58695964e-01 2.83269942e-01 2.56941182e-02 3.78735877e+01] [-2.83174263e-01 9.59040194e-01 -7.36500655e-03 -6.25156997e+00] [-2.67279770e-02 -2.15110905e-04 9.99642721e-01 -1.59958624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.141052754 meters Centerline goodness [0,1] 0.9998832757493696 Centerline is valid? [True, True] Translation: X:37.90, Y:-6.26, Z:-1.60 [[ 9.59696841e-01 2.79898270e-01 2.52771058e-02 3.79037706e+01] [-2.79804495e-01 9.60029658e-01 -7.24571593e-03 -6.26364435e+00] [-2.62948346e-02 -1.18957126e-04 9.99654224e-01 -1.60137080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.171052754 meters Centerline goodness [0,1] 0.9997657531037714 Centerline is valid? [True, True] Translation: X:37.93, Y:-6.28, Z:-1.60 [[ 9.62142412e-01 2.71338460e-01 2.56401684e-02 3.79318437e+01] [-2.71238750e-01 9.62483987e-01 -7.35631666e-03 -6.28007987e+00] [-2.66743031e-02 1.23217027e-04 9.99644170e-01 -1.60226135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.201052754 meters Centerline goodness [0,1] 0.9996708902418957 Centerline is valid? [True, True] Translation: X:37.96, Y:-6.29, Z:-1.60 [[ 9.63516865e-01 2.66504561e-01 2.47097309e-02 3.79611970e+01] [-2.66410192e-01 9.63833624e-01 -7.09614583e-03 -6.29248076e+00] [-2.57072247e-02 2.54332042e-04 9.99669482e-01 -1.60294734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.231052754000004 meters Centerline goodness [0,1] 0.9998117248358476 Centerline is valid? [True, True] Translation: X:37.99, Y:-6.31, Z:-1.61 [[ 9.66155742e-01 2.56909798e-01 2.32473017e-02 3.79873487e+01] [-2.56823319e-01 9.66435264e-01 -6.68311983e-03 -6.30982520e+00] [-2.41839712e-02 4.86485419e-04 9.99707407e-01 -1.60509016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.261052754000005 meters Centerline goodness [0,1] 0.9997642065550578 Centerline is valid? [True, True] Translation: X:38.02, Y:-6.32, Z:-1.61 [[ 9.67156463e-01 2.53119010e-01 2.32194692e-02 3.80180520e+01] [-2.53031576e-01 9.67434973e-01 -6.67794314e-03 -6.32000676e+00] [-2.41536409e-02 5.83356980e-04 9.99708088e-01 -1.60531995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.291052754 meters Centerline goodness [0,1] 0.9996943765281173 Centerline is valid? [True, True] Translation: X:38.05, Y:-6.33, Z:-1.61 [[ 9.68427498e-01 2.48224495e-01 2.30820373e-02 3.80486641e+01] [-2.48136654e-01 9.68702279e-01 -6.64045693e-03 -6.32810566e+00] [-2.40079462e-02 7.03301592e-04 9.99711520e-01 -1.60875382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.321052754 meters Centerline goodness [0,1] 0.9996245189148597 Centerline is valid? [True, True] Translation: X:38.08, Y:-6.34, Z:-1.61 [[ 9.69058615e-01 2.45766903e-01 2.28916900e-02 3.80789895e+01] [-2.45679859e-01 9.69328663e-01 -6.58405291e-03 -6.33616905e+00] [-2.38077136e-02 7.56306018e-04 9.99716270e-01 -1.61119618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.351052754 meters Centerline goodness [0,1] 0.9997180384877464 Centerline is valid? [True, True] Translation: X:38.11, Y:-6.34, Z:-1.61 [[ 9.69984138e-01 2.42111905e-01 2.26406213e-02 3.81088664e+01] [-2.42025628e-01 9.70247966e-01 -6.51761652e-03 -6.34442729e+00] [-2.35450093e-02 8.42374049e-04 9.99722423e-01 -1.61186599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.381052754 meters Centerline goodness [0,1] 0.9996946421440819 Centerline is valid? [True, True] Translation: X:38.14, Y:-6.35, Z:-1.61 [[ 9.70111523e-01 2.41600127e-01 2.26497635e-02 3.81386532e+01] [-2.41513541e-01 9.70375515e-01 -6.52451939e-03 -6.35363269e+00] [-2.35551007e-02 8.59286847e-04 9.99722171e-01 -1.61147191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.411052754 meters Centerline goodness [0,1] 0.9996722693009973 Centerline is valid? [True, True] Translation: X:38.17, Y:-6.36, Z:-1.61 [[ 9.69790392e-01 2.42886477e-01 2.26441046e-02 3.81700459e+01] [-2.42800162e-01 9.70054362e-01 -6.52804582e-03 -6.35928229e+00] [-2.35515865e-02 8.32843832e-04 9.99722276e-01 -1.61066249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.441052754000005 meters Centerline goodness [0,1] 0.9995819786344635 Centerline is valid? [True, True] Translation: X:38.20, Y:-6.36, Z:-1.61 [[ 9.68955813e-01 2.46079908e-01 2.38602251e-02 3.82004242e+01] [-2.45984796e-01 9.69249210e-01 -6.88838962e-03 -6.36407275e+00] [-2.48215986e-02 8.05292576e-04 9.99691572e-01 -1.61252980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.471052754 meters Centerline goodness [0,1] 0.999674577531903 Centerline is valid? [True, True] Translation: X:38.23, Y:-6.37, Z:-1.61 [[ 9.68325421e-01 2.48455103e-01 2.48181381e-02 3.82329568e+01] [-2.48353022e-01 9.68643105e-01 -7.16322097e-03 -6.36728279e+00] [-2.58196572e-02 7.72669357e-04 9.99666318e-01 -1.61347129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.501052754 meters Centerline goodness [0,1] 0.9996751061706621 Centerline is valid? [True, True] Translation: X:38.26, Y:-6.37, Z:-1.62 [[ 9.67692065e-01 2.50838988e-01 2.55317293e-02 3.82644340e+01] [-2.50731599e-01 9.68028543e-01 -7.37593951e-03 -6.37254486e+00] [-2.65656159e-02 7.36026810e-04 9.99646801e-01 -1.61512952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.531052754 meters Centerline goodness [0,1] 0.9996753698464963 Centerline is valid? [True, True] Translation: X:38.30, Y:-6.38, Z:-1.61 [[ 9.66658265e-01 2.54704182e-01 2.64117165e-02 3.82959346e+01] [-2.54590454e-01 9.67018792e-01 -7.63915671e-03 -6.37817703e+00] [-2.74863513e-02 6.60283068e-04 9.99621961e-01 -1.61429335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.561052754 meters Centerline goodness [0,1] 0.999675580479214 Centerline is valid? [True, True] Translation: X:38.33, Y:-6.39, Z:-1.61 [[ 9.66199325e-01 2.56414653e-01 2.66531652e-02 3.83275201e+01] [-2.56299480e-01 9.66566679e-01 -7.70921866e-03 -6.38569296e+00] [-2.77388180e-02 6.17449492e-04 9.99615014e-01 -1.61422296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.591052754 meters Centerline goodness [0,1] 0.9997007504258552 Centerline is valid? [True, True] Translation: X:38.36, Y:-6.39, Z:-1.62 [[ 9.65317750e-01 2.59834148e-01 2.54530214e-02 3.83584761e+01] [-2.59730105e-01 9.65653128e-01 -7.36951833e-03 -6.39036974e+00] [-2.64936422e-02 5.03010944e-04 9.99648855e-01 -1.61834901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.621052754000004 meters Centerline goodness [0,1] 0.999701437692343 Centerline is valid? [True, True] Translation: X:38.39, Y:-6.39, Z:-1.62 [[ 9.64123309e-01 2.64279698e-01 2.49496559e-02 3.83897545e+01] [-2.64181151e-01 9.64446007e-01 -7.22629584e-03 -6.39270160e+00] [-2.59723593e-02 3.75811453e-04 9.99662591e-01 -1.62264256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.651052754 meters Centerline goodness [0,1] 0.9996551327738821 Centerline is valid? [True, True] Translation: X:38.42, Y:-6.40, Z:-1.62 [[ 9.63410377e-01 2.66821251e-01 2.54335372e-02 3.84210456e+01] [-2.66719575e-01 9.63745982e-01 -7.37224708e-03 -6.39958457e+00] [-2.64785415e-02 3.18877128e-04 9.99649331e-01 -1.62234797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.681052754 meters Centerline goodness [0,1] 0.9996541707013418 Centerline is valid? [True, True] Translation: X:38.45, Y:-6.41, Z:-1.62 [[ 9.62255995e-01 2.70960099e-01 2.53776549e-02 3.84523897e+01] [-2.70860141e-01 9.62590557e-01 -7.36233098e-03 -6.40747820e+00] [-2.64231889e-02 2.10651951e-04 9.99650824e-01 -1.61953959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.711052754 meters Centerline goodness [0,1] 0.9995852343425964 Centerline is valid? [True, True] Translation: X:38.48, Y:-6.42, Z:-1.62 [[ 9.61734769e-01 2.72864037e-01 2.47275534e-02 3.84834102e+01] [-2.72769611e-01 9.62052593e-01 -7.17967394e-03 -6.41586264e+00] [-2.57482817e-02 1.60016934e-04 9.99668445e-01 -1.62243698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.741052754 meters Centerline goodness [0,1] 0.9997473703550595 Centerline is valid? [True, True] Translation: X:38.52, Y:-6.42, Z:-1.63 [[ 9.60792348e-01 2.76319030e-01 2.29315934e-02 3.85155940e+01] [-2.76238673e-01 9.61065965e-01 -6.66383798e-03 -6.42041725e+00] [-2.38801191e-02 6.79716288e-05 9.99714827e-01 -1.62880193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.771052754 meters Centerline goodness [0,1] 0.9996323444932098 Centerline is valid? [True, True] Translation: X:38.55, Y:-6.43, Z:-1.63 [[ 9.60287124e-01 2.78027305e-01 2.34404868e-02 3.85469777e+01] [-2.77943685e-01 9.60573171e-01 -6.81848306e-03 -6.42642023e+00] [-2.44120272e-02 3.25662275e-05 9.99701982e-01 -1.63099539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.801052754000004 meters Centerline goodness [0,1] 0.9997697285099132 Centerline is valid? [True, True] Translation: X:38.58, Y:-6.43, Z:-1.63 [[ 9.59385796e-01 2.80970026e-01 2.51940174e-02 3.85784013e+01] [-2.80874243e-01 9.59716543e-01 -7.33600409e-03 -6.43370489e+00] [-2.62403125e-02 -3.82924317e-05 9.99655663e-01 -1.63251622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.831052754 meters Centerline goodness [0,1] 0.9997240110395584 Centerline is valid? [True, True] Translation: X:38.61, Y:-6.44, Z:-1.63 [[ 9.59034639e-01 2.82142051e-01 2.54641764e-02 3.86089941e+01] [-2.82044439e-01 9.59372638e-01 -7.42128637e-03 -6.44344437e+00] [-2.65234911e-02 -6.47586454e-05 9.99648188e-01 -1.63268136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.861052754 meters Centerline goodness [0,1] 0.9997007435372114 Centerline is valid? [True, True] Translation: X:38.64, Y:-6.45, Z:-1.63 [[ 9.58789018e-01 2.82976855e-01 2.54503328e-02 3.86404152e+01] [-2.82879457e-01 9.59126735e-01 -7.42425627e-03 -6.45449686e+00] [-2.65109873e-02 -8.10809427e-05 9.99648519e-01 -1.63049356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.891052754 meters Centerline goodness [0,1] 0.9996550534667127 Centerline is valid? [True, True] Translation: X:38.67, Y:-6.46, Z:-1.63 [[ 9.59199768e-01 2.81514250e-01 2.61826577e-02 3.86715168e+01] [-2.81410392e-01 9.59557047e-01 -7.64625572e-03 -6.46293051e+00] [-2.72762836e-02 -3.37852414e-05 9.99627932e-01 -1.63072454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.921052754 meters Centerline goodness [0,1] 0.9996552516662837 Centerline is valid? [True, True] Translation: X:38.70, Y:-6.47, Z:-1.63 [[ 9.59704274e-01 2.79736568e-01 2.67424641e-02 3.87017296e+01] [-2.79627331e-01 9.60076795e-01 -7.81687524e-03 -6.47167610e+00] [-2.78614851e-02 2.39647175e-05 9.99611793e-01 -1.63410158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.951052754 meters Centerline goodness [0,1] 0.9997695162145344 Centerline is valid? [True, True] Translation: X:38.73, Y:-6.48, Z:-1.64 [[ 9.60448793e-01 2.77219851e-01 2.62158582e-02 3.87319679e+01] [-2.77113733e-01 9.60806507e-01 -7.67040087e-03 -6.48136905e+00] [-2.73147545e-02 1.02252921e-04 9.99626877e-01 -1.63627916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.981052754000004 meters Centerline goodness [0,1] 0.9997017869841488 Centerline is valid? [True, True] Translation: X:38.76, Y:-6.50, Z:-1.64 [[ 9.62877971e-01 2.68770714e-01 2.50662328e-02 3.87592291e+01] [-2.68670630e-01 9.63204127e-01 -7.34175205e-03 -6.49652750e+00] [-2.61171468e-02 3.34650760e-04 9.99658833e-01 -1.63902500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.011052754000005 meters Centerline goodness [0,1] 0.9996535956768741 Centerline is valid? [True, True] Translation: X:38.79, Y:-6.51, Z:-1.64 [[ 9.65295887e-01 2.59982421e-01 2.47586592e-02 3.87859724e+01] [-2.59881764e-01 9.65613181e-01 -7.25625235e-03 -6.51230122e+00] [-2.57937857e-02 5.70106520e-04 9.99667122e-01 -1.63777243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.041052754 meters Centerline goodness [0,1] 0.9998151229432427 Centerline is valid? [True, True] Translation: X:38.82, Y:-6.52, Z:-1.64 [[ 9.66325134e-01 2.56048460e-01 2.55914388e-02 3.88165459e+01] [-2.55939543e-01 9.66663695e-01 -7.50007887e-03 -6.52259507e+00] [-2.66586985e-02 6.97653573e-04 9.99644350e-01 -1.63785591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.071052754 meters Centerline goodness [0,1] 0.9997457940469587 Centerline is valid? [True, True] Translation: X:38.85, Y:-6.53, Z:-1.64 [[ 9.67047048e-01 2.53150198e-01 2.71105739e-02 3.88470284e+01] [-2.53026812e-01 9.67426637e-01 -7.94573523e-03 -6.53151439e+00] [-2.82389558e-02 8.24197707e-04 9.99600861e-01 -1.63769239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.101052754 meters Centerline goodness [0,1] 0.9997463743054115 Centerline is valid? [True, True] Translation: X:38.88, Y:-6.54, Z:-1.64 [[ 9.67524357e-01 2.51074964e-01 2.92913219e-02 3.88755034e+01] [-2.50929708e-01 9.67967165e-01 -8.59353924e-03 -6.54372873e+00] [-3.05106603e-02 9.64395670e-04 9.99533976e-01 -1.63696158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.131052754 meters Centerline goodness [0,1] 0.9997693460961827 Centerline is valid? [True, True] Translation: X:38.91, Y:-6.55, Z:-1.64 [[ 9.66886184e-01 2.53459909e-01 2.98191570e-02 3.89073083e+01] [-2.53310407e-01 9.67345466e-01 -8.75144463e-03 -6.54985495e+00] [-3.10635667e-02 9.08148092e-04 9.99516998e-01 -1.63644633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.161052754 meters Centerline goodness [0,1] 0.999769876884133 Centerline is valid? [True, True] Translation: X:38.94, Y:-6.55, Z:-1.64 [[ 9.66321017e-01 2.55693908e-01 2.90571290e-02 3.89394274e+01] [-2.55552752e-01 9.66757441e-01 -8.53468912e-03 -6.55482909e+00] [-3.02734637e-02 8.21620210e-04 9.99541316e-01 -1.63719265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.191052754000005 meters Centerline goodness [0,1] 0.9997469519208649 Centerline is valid? [True, True] Translation: X:38.97, Y:-6.56, Z:-1.64 [[ 9.65524291e-01 2.58698443e-01 2.89475305e-02 3.89710300e+01] [-2.58559475e-01 9.65957856e-01 -8.50988601e-03 -6.56148355e+00] [-3.01635888e-02 7.31843362e-04 9.99544708e-01 -1.63931886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.221052754 meters Centerline goodness [0,1] 0.9998168665873088 Centerline is valid? [True, True] Translation: X:39.00, Y:-6.56, Z:-1.64 [[ 9.63837608e-01 2.64968279e-01 2.84407379e-02 3.90032799e+01] [-2.64836593e-01 9.64256981e-01 -8.36985365e-03 -6.56159466e+00] [-2.96419258e-02 5.35031602e-04 9.99560438e-01 -1.64223840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.251052754 meters Centerline goodness [0,1] 0.9998402592364392 Centerline is valid? [True, True] Translation: X:39.04, Y:-6.56, Z:-1.65 [[ 9.62241210e-01 2.70724845e-01 2.82827228e-02 3.90357749e+01] [-2.70597073e-01 9.62656705e-01 -8.32424687e-03 -6.56303333e+00] [-2.94801332e-02 3.56711380e-04 9.99565303e-01 -1.64592726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.281052754 meters Centerline goodness [0,1] 0.9998181942140308 Centerline is valid? [True, True] Translation: X:39.07, Y:-6.57, Z:-1.65 [[ 9.61472605e-01 2.73501226e-01 2.77039724e-02 3.90664883e+01] [-2.73379794e-01 9.61871618e-01 -8.15349297e-03 -6.57032925e+00] [-2.88776550e-02 2.65653861e-04 9.99582918e-01 -1.64857848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.311052754 meters Centerline goodness [0,1] 0.999863849871792 Centerline is valid? [True, True] Translation: X:39.10, Y:-6.58, Z:-1.65 [[ 9.60261711e-01 2.77950703e-01 2.53150819e-02 3.90994479e+01] [-2.77850715e-01 9.60595331e-01 -7.45583306e-03 -6.57639676e+00] [-2.63899035e-02 1.25737418e-04 9.99651718e-01 -1.65035770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.341052754 meters Centerline goodness [0,1] 0.9997508888737913 Centerline is valid? [True, True] Translation: X:39.13, Y:-6.58, Z:-1.65 [[ 9.60088900e-01 2.78633680e-01 2.43428816e-02 3.91299313e+01] [-2.78541224e-01 9.60397449e-01 -7.17820356e-03 -6.58461274e+00] [-2.53789307e-02 1.11217526e-04 9.99677897e-01 -1.65216212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.371052754000004 meters Centerline goodness [0,1] 0.9998640688717716 Centerline is valid? [True, True] Translation: X:39.16, Y:-6.59, Z:-1.66 [[ 9.60856453e-01 2.76009833e-01 2.39468037e-02 3.91594675e+01] [-2.75919461e-01 9.61154795e-01 -7.06481540e-03 -6.59423576e+00] [-2.49665437e-02 1.80884306e-04 9.99688271e-01 -1.65504958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.401052754 meters Centerline goodness [0,1] 0.9997956774427896 Centerline is valid? [True, True] Translation: X:39.19, Y:-6.60, Z:-1.66 [[ 9.61808412e-01 2.72633549e-01 2.44034321e-02 3.91894322e+01] [-2.72538558e-01 9.62117910e-01 -7.20154192e-03 -6.60469068e+00] [-2.54423610e-02 2.75627388e-04 9.99676253e-01 -1.65519911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.431052754 meters Centerline goodness [0,1] 0.9998631698973774 Centerline is valid? [True, True] Translation: X:39.22, Y:-6.62, Z:-1.66 [[ 9.64520599e-01 2.62929745e-01 2.38319893e-02 3.92172389e+01] [-2.62836017e-01 9.64814839e-01 -7.03956145e-03 -6.61996473e+00] [-2.48443670e-02 5.25896905e-04 9.99691193e-01 -1.65658044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.461052754 meters Centerline goodness [0,1] 0.9999314050531611 Centerline is valid? [True, True] Translation: X:39.24, Y:-6.63, Z:-1.66 [[ 9.65810795e-01 2.58232369e-01 2.29249185e-02 3.92443131e+01] [-2.58144144e-01 9.66082630e-01 -6.77888442e-03 -6.63436061e+00] [-2.38978929e-02 6.29186297e-04 9.99714207e-01 -1.65862684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.491052754 meters Centerline goodness [0,1] 0.9999313642499257 Centerline is valid? [True, True] Translation: X:39.27, Y:-6.65, Z:-1.66 [[ 9.67951659e-01 2.50094914e-01 2.28499464e-02 3.92730000e+01] [-2.50004979e-01 9.68220971e-01 -6.75738398e-03 -6.64674279e+00] [-2.38137846e-02 8.28220666e-04 9.99716069e-01 -1.65779233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.521052754 meters Centerline goodness [0,1] 0.9997026124353754 Centerline is valid? [True, True] Translation: X:39.30, Y:-6.66, Z:-1.66 [[ 9.68568647e-01 2.47548225e-01 2.43855096e-02 3.93034967e+01] [-2.47444978e-01 9.68875106e-01 -7.21185215e-03 -6.65677259e+00] [-2.54117944e-02 9.51101977e-04 9.99676616e-01 -1.65763771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.551052754000004 meters Centerline goodness [0,1] 0.99979454869196 Centerline is valid? [True, True] Translation: X:39.33, Y:-6.66, Z:-1.66 [[ 9.69270369e-01 2.44488786e-01 2.72063614e-02 3.93344779e+01] [-2.44359011e-01 9.69651435e-01 -8.04788699e-03 -6.66336933e+00] [-2.83483055e-02 1.15245884e-03 9.99597442e-01 -1.65601431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.581052754 meters Centerline goodness [0,1] 0.999954438799918 Centerline is valid? [True, True] Translation: X:39.36, Y:-6.67, Z:-1.66 [[ 9.69285081e-01 2.44340615e-01 2.80016961e-02 3.93647906e+01] [-2.44203010e-01 9.69688734e-01 -8.28545427e-03 -6.67418230e+00] [-2.91774022e-02 1.19286874e-03 9.99573537e-01 -1.65696566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.611052754 meters Centerline goodness [0,1] 0.9999545743617698 Centerline is valid? [True, True] Translation: X:39.40, Y:-6.68, Z:-1.66 [[ 9.68996195e-01 2.45410209e-01 2.86392043e-02 3.93961882e+01] [-2.45266480e-01 9.69418589e-01 -8.48255038e-03 -6.67978792e+00] [-2.98450815e-02 1.19532221e-03 9.99553822e-01 -1.65593406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.641052754 meters Centerline goodness [0,1] 0.9999096229015567 Centerline is valid? [True, True] Translation: X:39.43, Y:-6.69, Z:-1.66 [[ 9.68554571e-01 2.47132549e-01 2.87671006e-02 3.94263627e+01] [-2.46988055e-01 9.68980995e-01 -8.52825358e-03 -6.68768960e+00] [-2.99823828e-02 1.15494877e-03 9.99549760e-01 -1.65796480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.671052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.46, Y:-6.69, Z:-1.66 [[ 9.67200309e-01 2.52509676e-01 2.76120617e-02 3.94582148e+01] [-2.52378505e-01 9.67593897e-01 -8.19400344e-03 -6.68932154e+00] [-2.87863276e-02 9.56551806e-04 9.99585130e-01 -1.66154088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.701052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.49, Y:-6.70, Z:-1.66 [[ 9.66317694e-01 2.55910363e-01 2.72029660e-02 3.94890688e+01] [-2.55784352e-01 9.66700147e-01 -8.07413935e-03 -6.69545682e+00] [-2.83633672e-02 8.44090694e-04 9.99597322e-01 -1.66344631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.731052754000004 meters Centerline goodness [0,1] 0.999955005624297 Centerline is valid? [True, True] Translation: X:39.52, Y:-6.70, Z:-1.67 [[ 9.64041613e-01 2.64393661e-01 2.68283501e-02 3.95209278e+01] [-2.64274342e-01 9.64414665e-01 -7.96399010e-03 -6.69873837e+00] [-2.79792827e-02 5.87573302e-04 9.99608331e-01 -1.66611117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.761052754000005 meters Centerline goodness [0,1] 0.9999775588519109 Centerline is valid? [True, True] Translation: X:39.55, Y:-6.71, Z:-1.67 [[ 9.62774828e-01 2.68976927e-01 2.67589733e-02 3.95509009e+01] [-2.68860012e-01 9.63146514e-01 -7.94265642e-03 -6.70502043e+00] [-2.79092032e-02 4.52571762e-04 9.99610360e-01 -1.66891370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.791052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.58, Y:-6.71, Z:-1.67 [[ 9.60542196e-01 2.76978693e-01 2.53277244e-02 3.95837171e+01] [-2.76876634e-01 9.60876037e-01 -7.52133684e-03 -6.70621069e+00] [-2.64200535e-02 2.11906312e-04 9.99650907e-01 -1.67249072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.61, Y:-6.71, Z:-1.68 [[ 9.59655463e-01 2.80124285e-01 2.43264763e-02 3.96145982e+01] [-2.80030999e-01 9.59963733e-01 -7.22982332e-03 -6.71334371e+00] [-2.53777841e-02 1.25971978e-04 9.99677924e-01 -1.67590522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.65, Y:-6.72, Z:-1.68 [[ 9.59018959e-01 2.82421173e-01 2.28236125e-02 3.96450204e+01] [-2.82339564e-01 9.59290507e-01 -6.78928779e-03 -6.72200237e+00] [-2.38119134e-02 6.70469111e-05 9.99716454e-01 -1.67748545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.881052754 meters Centerline goodness [0,1] 0.999955258271627 Centerline is valid? [True, True] Translation: X:39.68, Y:-6.73, Z:-1.68 [[ 9.59386173e-01 2.81147036e-01 2.31195992e-02 3.96758576e+01] [-2.81062792e-01 9.59664698e-01 -6.88286189e-03 -6.73248201e+00] [-2.41221594e-02 1.05263438e-04 9.99709013e-01 -1.67865624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.911052754 meters Centerline goodness [0,1] 0.9998210050566072 Centerline is valid? [True, True] Translation: X:39.71, Y:-6.74, Z:-1.68 [[ 9.59732067e-01 2.79946528e-01 2.33302448e-02 3.97062563e+01] [-2.79860207e-01 9.60015584e-01 -6.95296043e-03 -6.74328024e+00] [-2.43438557e-02 1.43771948e-04 9.99703634e-01 -1.68050996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.941052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.74, Y:-6.76, Z:-1.68 [[ 9.60477245e-01 2.77305070e-01 2.41941936e-02 3.97367264e+01] [-2.77211226e-01 9.60781894e-01 -7.21725828e-03 -6.75655826e+00] [-2.52467255e-02 2.25110266e-04 9.99681225e-01 -1.67950977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.77, Y:-6.77, Z:-1.68 [[ 9.60400257e-01 2.77571765e-01 2.41921904e-02 3.97677256e+01] [-2.77477837e-01 9.60704879e-01 -7.22396506e-03 -6.76588015e+00] [-2.52467241e-02 2.25101238e-04 9.99681225e-01 -1.68077040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.80, Y:-6.78, Z:-1.68 [[ 9.60574685e-01 2.76894735e-01 2.50116026e-02 3.97987051e+01] [-2.76793898e-01 9.60900223e-01 -7.47657689e-03 -6.77625011e+00] [-2.61038793e-02 2.58751507e-04 9.99659202e-01 -1.68099640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.031052754 meters Centerline goodness [0,1] 0.9999325660852365 Centerline is valid? [True, True] Translation: X:39.83, Y:-6.79, Z:-1.68 [[ 9.60548391e-01 2.76910763e-01 2.58305488e-02 3.98285966e+01] [-2.76802991e-01 9.60895600e-01 -7.72983764e-03 -6.78652530e+00] [-2.69609359e-02 2.74909944e-04 9.99636450e-01 -1.68282359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.061052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.86, Y:-6.80, Z:-1.68 [[ 9.59649149e-01 2.79921882e-01 2.67815507e-02 3.98595106e+01] [-2.79806968e-01 9.60022759e-01 -8.02266051e-03 -6.79598882e+00] [-2.79566164e-02 2.05274834e-04 9.99609116e-01 -1.68464216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.091052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.89, Y:-6.80, Z:-1.69 [[ 9.57880735e-01 2.85951573e-01 2.63855251e-02 3.98898927e+01] [-2.85842136e-01 9.58244069e-01 -7.91054373e-03 -6.80461849e+00] [-2.75458054e-02 3.52625755e-05 9.99620542e-01 -1.68614323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.121052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.92, Y:-6.81, Z:-1.69 [[ 9.56599163e-01 2.90233699e-01 2.61235821e-02 3.99213328e+01] [-2.90127849e-01 9.56955795e-01 -7.83823641e-03 -6.81234841e+00] [-2.72740336e-02 -8.11282825e-05 9.99627991e-01 -1.68903101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.151052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.95, Y:-6.82, Z:-1.69 [[ 9.53766645e-01 2.99412460e-01 2.61029871e-02 3.99533207e+01] [-2.99309986e-01 9.54123716e-01 -7.84002277e-03 -6.81812384e+00] [-2.72528796e-02 -3.35332510e-04 9.99628515e-01 -1.69266057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.181052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.98, Y:-6.83, Z:-1.69 [[ 9.52394865e-01 3.03751032e-01 2.60640078e-02 3.99841217e+01] [-3.03650299e-01 9.52751335e-01 -7.83516577e-03 -6.82701287e+00] [-2.72124579e-02 -4.52172108e-04 9.99629570e-01 -1.69400683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.01, Y:-6.83, Z:-1.70 [[ 9.49913813e-01 3.11428536e-01 2.60002972e-02 4.00133979e+01] [-3.11330902e-01 9.50269346e-01 -7.82556738e-03 -6.83488964e+00] [-2.71443904e-02 -6.61081434e-04 9.99631305e-01 -1.69639316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.04, Y:-6.84, Z:-1.70 [[ 9.48879628e-01 3.14570570e-01 2.59385425e-02 4.00441554e+01] [-3.14474577e-01 9.49233793e-01 -7.80675744e-03 -6.84428050e+00] [-2.70775172e-02 -7.49339097e-04 9.99633056e-01 -1.69932648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.07, Y:-6.86, Z:-1.70 [[ 9.47123310e-01 3.19933754e-01 2.44913792e-02 4.00725883e+01] [-3.19849918e-01 9.47439533e-01 -7.37293066e-03 -6.85707334e+00] [-2.55629503e-02 -8.50491154e-04 9.99672853e-01 -1.70299889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.301052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.10, Y:-6.87, Z:-1.71 [[ 9.46243026e-01 3.22611816e-01 2.33613385e-02 4.01015561e+01] [-3.22536335e-01 9.46530952e-01 -7.03346685e-03 -6.86933804e+00] [-2.43813095e-02 -8.79511569e-04 9.99702345e-01 -1.70805148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.331052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.13, Y:-6.88, Z:-1.71 [[ 9.46425483e-01 3.22089829e-01 2.31721148e-02 4.01304572e+01] [-3.22015391e-01 9.46708722e-01 -6.97729837e-03 -6.88463658e+00] [-2.41845600e-02 -8.58284620e-04 9.99707142e-01 -1.70870032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.361052754 meters Centerline goodness [0,1] 0.9999767825218825 Centerline is valid? [True, True] Translation: X:40.16, Y:-6.90, Z:-1.71 [[ 9.48208832e-01 3.16617615e-01 2.55596756e-02 4.01566576e+01] [-3.16524802e-01 9.48552936e-01 -7.70571097e-03 -6.90380863e+00] [-2.66844692e-02 -7.83648063e-04 9.99643599e-01 -1.70767774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.391052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.18, Y:-6.92, Z:-1.71 [[ 9.49546822e-01 3.12473365e-01 2.68557099e-02 4.01845085e+01] [-3.12369113e-01 9.49926266e-01 -8.10099442e-03 -6.92182903e+00] [-2.80422892e-02 -6.96620764e-04 9.99606495e-01 -1.70679559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.421052754 meters Centerline goodness [0,1] 0.9997887918896086 Centerline is valid? [True, True] Translation: X:40.21, Y:-6.95, Z:-1.71 [[ 9.53188122e-01 3.01087106e-01 2.79098203e-02 4.02095532e+01] [-3.00969587e-01 9.53596568e-01 -8.41980989e-03 -6.94556233e+00] [-2.91498051e-02 -3.74344333e-04 9.99574984e-01 -1.70755991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.451052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.24, Y:-6.96, Z:-1.71 [[ 9.55037165e-01 2.95053251e-01 2.91134361e-02 4.02374211e+01] [-2.94922455e-01 9.55480791e-01 -8.78659427e-03 -6.96340561e+00] [-3.04098421e-02 -1.94681962e-04 9.99537495e-01 -1.70861058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.481052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.26, Y:-6.99, Z:-1.71 [[ 9.58408401e-01 2.83557812e-01 3.23775133e-02 4.02633414e+01] [-2.83389125e-01 9.58955123e-01 -9.78142266e-03 -6.98542880e+00] [-3.38221810e-02 1.99162493e-04 9.99427847e-01 -1.70790143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.511052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.29, Y:-7.00, Z:-1.71 [[ 9.58942599e-01 2.81338688e-01 3.57440115e-02 4.02943489e+01] [-2.81131187e-01 9.59608484e-01 -1.08079877e-02 -6.99617694e+00] [-3.73409618e-02 3.15483413e-04 9.99302533e-01 -1.70649294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.541052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.32, Y:-7.01, Z:-1.71 [[ 9.59576540e-01 2.78687069e-01 3.93240667e-02 4.03244799e+01] [-2.78433138e-01 9.60381848e-01 -1.19035391e-02 -7.00784261e+00] [-4.10834823e-02 4.73233633e-04 9.99155605e-01 -1.70521654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.35, Y:-7.02, Z:-1.70 [[ 9.61742544e-01 2.70140419e-01 4.55569165e-02 4.03524940e+01] [-2.69789363e-01 9.62820433e-01 -1.38026554e-02 -7.02064478e+00] [-4.75917852e-02 9.83829384e-04 9.98866384e-01 -1.70159418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.38, Y:-7.03, Z:-1.70 [[ 9.65192450e-01 2.56898697e-01 4.90570501e-02 4.03811472e+01] [-2.56474074e-01 9.66436715e-01 -1.48702970e-02 -7.03445436e+00] [-5.12306943e-02 1.77083689e-03 9.98685276e-01 -1.70020648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.41, Y:-7.05, Z:-1.70 [[ 9.66884076e-01 2.50433054e-01 4.91779238e-02 4.04080500e+01] [-2.49997492e-01 9.68131580e-01 -1.49163360e-02 -7.04891885e+00] [-5.13462446e-02 2.12801017e-03 9.98678644e-01 -1.70022605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.44, Y:-7.06, Z:-1.71 [[ 9.69668872e-01 2.39595071e-01 4.83371466e-02 4.04380830e+01] [-2.39160606e-01 9.70869262e-01 -1.46656355e-02 -7.05604725e+00] [-5.04428638e-02 2.66046899e-03 9.98723405e-01 -1.70583257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.691052754000005 meters Centerline goodness [0,1] 0.9999282193616309 Centerline is valid? [True, True] Translation: X:40.47, Y:-7.06, Z:-1.71 [[ 9.71084839e-01 2.34012676e-01 4.72472549e-02 4.04682275e+01] [-2.33590864e-01 9.72229260e-01 -1.43378414e-02 -7.06446653e+00] [-4.92904003e-02 2.88673327e-03 9.98780318e-01 -1.70944040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.50, Y:-7.07, Z:-1.72 [[ 9.73161800e-01 2.25798907e-01 4.43955441e-02 4.04994399e+01] [-2.25417906e-01 9.74168985e-01 -1.34742437e-02 -7.06999210e+00] [-4.62912316e-02 3.10506864e-03 9.98923160e-01 -1.71601713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.751052754 meters Centerline goodness [0,1] 0.9997627520759194 Centerline is valid? [True, True] Translation: X:40.53, Y:-7.08, Z:-1.72 [[ 9.73935976e-01 2.22764575e-01 4.27160340e-02 4.05280162e+01] [-2.22408863e-01 9.74867251e-01 -1.29669262e-02 -7.07936415e+00] [-4.45310345e-02 3.12853136e-03 9.99003103e-01 -1.71885273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.781052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.56, Y:-7.08, Z:-1.72 [[ 9.74646229e-01 2.20001720e-01 4.07918165e-02 4.05596557e+01] [-2.19674790e-01 9.75494522e-01 -1.23864903e-02 -7.08210921e+00] [-4.25172426e-02 3.11151231e-03 9.99090888e-01 -1.72430944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.811052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.59, Y:-7.09, Z:-1.73 [[ 9.74623612e-01 2.20212011e-01 4.01930974e-02 4.05920166e+01] [-2.19894654e-01 9.75447234e-01 -1.22079474e-02 -7.08771520e+00] [-4.18945823e-02 3.05990651e-03 9.99117351e-01 -1.72656444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.841052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.62, Y:-7.09, Z:-1.73 [[ 9.74065474e-01 2.22526954e-01 4.09659189e-02 4.06249590e+01] [-2.22198812e-01 9.74921834e-01 -1.24541372e-02 -7.08707947e+00] [-4.27099500e-02 3.02856649e-03 9.99082923e-01 -1.72816400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.871052754000004 meters Centerline goodness [0,1] 0.99993012205348 Centerline is valid? [True, True] Translation: X:40.65, Y:-7.10, Z:-1.73 [[ 9.73550158e-01 2.24512918e-01 4.23561130e-02 4.06542558e+01] [-2.24163885e-01 9.74466360e-01 -1.28788934e-02 -7.09615716e+00] [-4.41660852e-02 3.04353783e-03 9.99019566e-01 -1.72839597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.901052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.69, Y:-7.09, Z:-1.73 [[ 9.72298726e-01 2.29242099e-01 4.56426169e-02 4.06871429e+01] [-2.28841850e-01 9.73364656e-01 -1.38799561e-02 -7.09461204e+00] [-4.76087804e-02 3.05052278e-03 9.98861401e-01 -1.72902272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.931052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.72, Y:-7.10, Z:-1.73 [[ 9.71604238e-01 2.32016635e-01 4.64056757e-02 4.07191849e+01] [-2.31605943e-01 9.72707299e-01 -1.41137573e-02 -7.09805768e+00] [-4.84137660e-02 2.96515613e-03 9.98822965e-01 -1.73028276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.961052754 meters Centerline goodness [0,1] 0.999908181066936 Centerline is valid? [True, True] Translation: X:40.75, Y:-7.10, Z:-1.73 [[ 9.69871762e-01 2.39096849e-01 4.67061165e-02 4.07511673e+01] [-2.38688835e-01 9.70992158e-01 -1.42080746e-02 -7.10103396e+00] [-4.87483787e-02 2.63178178e-03 9.98807624e-01 -1.73024104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.991052754 meters Centerline goodness [0,1] 0.9999542773535732 Centerline is valid? [True, True] Translation: X:40.78, Y:-7.11, Z:-1.73 [[ 9.68934819e-01 2.42897823e-01 4.65399131e-02 4.07806372e+01] [-2.42496955e-01 9.70048824e-01 -1.41599817e-02 -7.10684545e+00] [-4.85854168e-02 2.43431210e-03 9.98816065e-01 -1.73157093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.81, Y:-7.11, Z:-1.74 [[ 9.67625498e-01 2.47903357e-01 4.73795378e-02 4.08132241e+01] [-2.47493672e-01 9.68782209e-01 -1.44191955e-02 -7.10513934e+00] [-4.94750203e-02 2.22624547e-03 9.98772880e-01 -1.73517824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.051052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.84, Y:-7.11, Z:-1.74 [[ 9.67165781e-01 2.49504282e-01 4.83525189e-02 4.08447610e+01] [-2.49079399e-01 9.68371214e-01 -1.47188516e-02 -7.11055890e+00] [-5.04956040e-02 2.19195322e-03 9.98721878e-01 -1.73723551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.081052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.88, Y:-7.12, Z:-1.74 [[ 9.67071748e-01 2.49779935e-01 4.88079673e-02 4.08769469e+01] [-2.49346680e-01 9.68300106e-01 -1.48706914e-02 -7.11649273e+00] [-5.09751602e-02 2.21092095e-03 9.98697474e-01 -1.73950948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.111052754 meters Centerline goodness [0,1] 0.9997981564959968 Centerline is valid? [True, True] Translation: X:40.91, Y:-7.12, Z:-1.74 [[ 9.67971090e-01 2.46164514e-01 4.93457324e-02 4.09086911e+01] [-2.45716353e-01 9.69224990e-01 -1.50463370e-02 -7.12054331e+00] [-5.15309912e-02 2.43936587e-03 9.98668417e-01 -1.74095201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.141052754 meters Centerline goodness [0,1] 0.9997991699022627 Centerline is valid? [True, True] Translation: X:40.94, Y:-7.13, Z:-1.74 [[ 9.69802390e-01 2.38633883e-01 5.03705676e-02 4.09378797e+01] [-2.38156569e-01 9.71105270e-01 -1.53623785e-02 -7.12980854e+00] [-5.25811077e-02 2.90238983e-03 9.98612439e-01 -1.74016244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.171052754 meters Centerline goodness [0,1] 0.999955462521712 Centerline is valid? [True, True] Translation: X:40.97, Y:-7.14, Z:-1.74 [[ 9.70841139e-01 2.34265847e-01 5.08625182e-02 4.09678822e+01] [-2.33772909e-01 9.72167390e-01 -1.55175024e-02 -7.13782425e+00] [-5.30821024e-02 3.17475088e-03 9.98585105e-01 -1.74154784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.201052754 meters Centerline goodness [0,1] 0.9999555318392032 Centerline is valid? [True, True] Translation: X:41.00, Y:-7.14, Z:-1.74 [[ 9.71883371e-01 2.29821613e-01 5.12322015e-02 4.09988641e+01] [-2.29315198e-01 9.73226674e-01 -1.56326712e-02 -7.14314686e+00] [-5.34532708e-02 3.44481073e-03 9.98564410e-01 -1.74378441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.231052754000004 meters Centerline goodness [0,1] 0.9999778990872323 Centerline is valid? [True, True] Translation: X:41.03, Y:-7.15, Z:-1.75 [[ 9.73700882e-01 2.22210476e-01 5.02901213e-02 4.10281436e+01] [-2.21712348e-01 9.74991342e-01 -1.53465699e-02 -7.14927205e+00] [-5.24426014e-02 3.79302777e-03 9.98616737e-01 -1.74699450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.261052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.06, Y:-7.15, Z:-1.75 [[ 9.74791573e-01 2.17591509e-01 4.93490003e-02 4.10609652e+01] [-2.17105938e-01 9.76031865e-01 -1.50602330e-02 -7.14872750e+00] [-5.14431756e-02 3.96662725e-03 9.98668046e-01 -1.75151477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.291052754 meters Centerline goodness [0,1] 0.9999781716580809 Centerline is valid? [True, True] Translation: X:41.09, Y:-7.15, Z:-1.75 [[ 9.75085126e-01 2.16166509e-01 4.98100110e-02 4.10922107e+01] [-2.15669873e-01 9.76347982e-01 -1.52027624e-02 -7.15476436e+00] [-5.19182318e-02 4.08146878e-03 9.98642999e-01 -1.75243416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.321052754 meters Centerline goodness [0,1] 0.9999783240126587 Centerline is valid? [True, True] Translation: X:41.13, Y:-7.15, Z:-1.75 [[ 9.74913142e-01 2.16743988e-01 5.06597418e-02 4.11263136e+01] [-2.16230742e-01 9.76219764e-01 -1.54673683e-02 -7.15410877e+00] [-5.28075002e-02 4.12514710e-03 9.98596190e-01 -1.75290647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.351052754 meters Centerline goodness [0,1] 0.9997198517369192 Centerline is valid? [True, True] Translation: X:41.16, Y:-7.16, Z:-1.75 [[ 9.74710688e-01 2.17767265e-01 5.01646551e-02 4.11566019e+01] [-2.17264831e-01 9.75992367e-01 -1.53262309e-02 -7.15784227e+00] [-5.22978719e-02 4.03962569e-03 9.98623359e-01 -1.75477721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.381052754 meters Centerline goodness [0,1] 0.9998716055723181 Centerline is valid? [True, True] Translation: X:41.19, Y:-7.16, Z:-1.76 [[ 9.74518635e-01 2.18732638e-01 4.96936976e-02 4.11902312e+01] [-2.18240751e-01 9.75776826e-01 -1.51842400e-02 -7.15896596e+00] [-5.18112474e-02 3.95213499e-03 9.98649075e-01 -1.75793628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.411052754 meters Centerline goodness [0,1] 0.9998940992078621 Centerline is valid? [True, True] Translation: X:41.22, Y:-7.16, Z:-1.76 [[ 9.74096230e-01 2.20643701e-01 4.95266859e-02 4.12228925e+01] [-2.20157377e-01 9.75346914e-01 -1.51369399e-02 -7.15570605e+00] [-5.16455707e-02 3.84117079e-03 9.98658090e-01 -1.76008643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.441052754000005 meters Centerline goodness [0,1] 0.9998946680991805 Centerline is valid? [True, True] Translation: X:41.26, Y:-7.16, Z:-1.76 [[ 9.73792737e-01 2.21954340e-01 4.96384488e-02 4.12550649e+01] [-2.21467300e-01 9.75049717e-01 -1.51750971e-02 -7.15896668e+00] [-5.17681341e-02 3.78410608e-03 9.98651962e-01 -1.76083439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.471052754 meters Centerline goodness [0,1] 0.9998951716040841 Centerline is valid? [True, True] Translation: X:41.29, Y:-7.16, Z:-1.76 [[ 9.73296946e-01 2.23935362e-01 5.04579849e-02 4.12866836e+01] [-2.23434203e-01 9.74596786e-01 -1.54357601e-02 -7.15874238e+00] [-5.26328024e-02 3.74953860e-03 9.98606894e-01 -1.76072641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.501052754 meters Centerline goodness [0,1] 0.9999372345544699 Centerline is valid? [True, True] Translation: X:41.32, Y:-7.15, Z:-1.76 [[ 9.72738211e-01 2.26210853e-01 5.10786022e-02 4.13209188e+01] [-2.25700328e-01 9.74071437e-01 -1.56268494e-02 -7.15291938e+00] [-5.32891703e-02 3.67237623e-03 9.98572370e-01 -1.76259132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.531052754 meters Centerline goodness [0,1] 0.9998749478949562 Centerline is valid? [True, True] Translation: X:41.35, Y:-7.16, Z:-1.76 [[ 9.72345689e-01 2.27712828e-01 5.18722340e-02 4.13533696e+01] [-2.27188137e-01 9.73721488e-01 -1.58749421e-02 -7.15619226e+00] [-5.41240368e-02 3.65117532e-03 9.98527545e-01 -1.76423935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.561052754 meters Centerline goodness [0,1] 0.9997295835586804 Centerline is valid? [True, True] Translation: X:41.39, Y:-7.15, Z:-1.77 [[ 9.71735594e-01 2.30208421e-01 5.22878430e-02 4.13855162e+01] [-2.29678316e-01 9.73134872e-01 -1.60122680e-02 -7.15420640e+00] [-5.45692823e-02 3.55030700e-03 9.98503675e-01 -1.76694013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.591052754 meters Centerline goodness [0,1] 0.9998133825450474 Centerline is valid? [True, True] Translation: X:41.42, Y:-7.15, Z:-1.77 [[ 9.71497312e-01 2.31383714e-01 5.15223247e-02 4.14194357e+01] [-2.30870422e-01 9.72856494e-01 -1.57825765e-02 -7.15241382e+00] [-5.37756593e-02 3.43774982e-03 9.98547125e-01 -1.77050329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.621052754000004 meters Centerline goodness [0,1] 0.9999584458757532 Centerline is valid? [True, True] Translation: X:41.45, Y:-7.15, Z:-1.77 [[ 9.71500875e-01 2.31670216e-01 5.01493927e-02 4.14527455e+01] [-2.31183632e-01 9.72788638e-01 -1.53751270e-02 -7.15292952e+00] [-5.23467184e-02 3.34323058e-03 9.98623374e-01 -1.77193958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.651052754 meters Centerline goodness [0,1] 0.9997927718832891 Centerline is valid? [True, True] Translation: X:41.48, Y:-7.16, Z:-1.77 [[ 9.71593088e-01 2.31480215e-01 4.92319173e-02 4.14835976e+01] [-2.31010392e-01 9.72834000e-01 -1.51065365e-02 -7.15893037e+00] [-5.13913473e-02 3.30432192e-03 9.98673125e-01 -1.77287998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.681052754 meters Centerline goodness [0,1] 0.9998337351400781 Centerline is valid? [True, True] Translation: X:41.52, Y:-7.15, Z:-1.77 [[ 9.71691850e-01 2.31234111e-01 4.84327722e-02 4.15179864e+01] [-2.30778519e-01 9.72892625e-01 -1.48733072e-02 -7.15483783e+00] [-5.05591029e-02 3.27502793e-03 9.98715701e-01 -1.77458682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.711052754 meters Centerline goodness [0,1] 0.9999792393290151 Centerline is valid? [True, True] Translation: X:41.55, Y:-7.16, Z:-1.78 [[ 9.71648153e-01 2.31498950e-01 4.80427088e-02 4.15507761e+01] [-2.31050339e-01 9.72829733e-01 -1.47665866e-02 -7.15909315e+00] [-5.01558248e-02 3.24764247e-03 9.98736124e-01 -1.77622124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.741052754 meters Centerline goodness [0,1] 0.9997714475679943 Centerline is valid? [True, True] Translation: X:41.58, Y:-7.16, Z:-1.78 [[ 9.71538331e-01 2.31801062e-01 4.88010193e-02 4.15843265e+01] [-2.31337851e-01 9.72757627e-01 -1.50132300e-02 -7.15847897e+00] [-5.09516464e-02 3.29640553e-03 9.98695681e-01 -1.77688132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.771052754 meters Centerline goodness [0,1] 0.9999584467391078 Centerline is valid? [True, True] Translation: X:41.62, Y:-7.16, Z:-1.78 [[ 9.71221251e-01 2.32965386e-01 4.95621899e-02 4.16171833e+01] [-2.32488568e-01 9.72479442e-01 -1.52578090e-02 -7.15967753e+00] [-5.17527521e-02 3.29606580e-03 9.98654489e-01 -1.77841852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.801052754000004 meters Centerline goodness [0,1] 0.9999379588460345 Centerline is valid? [True, True] Translation: X:41.65, Y:-7.16, Z:-1.78 [[ 9.70538163e-01 2.35674878e-01 5.01300939e-02 4.16484885e+01] [-2.35190117e-01 9.71826695e-01 -1.54428942e-02 -7.16081718e+00] [-5.23572657e-02 3.19781552e-03 9.98623298e-01 -1.77809112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.831052754 meters Centerline goodness [0,1] 0.9997924579208435 Centerline is valid? [True, True] Translation: X:41.68, Y:-7.16, Z:-1.78 [[ 9.70026189e-01 2.37807394e-01 4.99683568e-02 4.16807649e+01] [-2.37328500e-01 9.71307466e-01 -1.53944810e-02 -7.16386037e+00] [-5.21955595e-02 3.07413455e-03 9.98632151e-01 -1.77912636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.861052754 meters Centerline goodness [0,1] 0.9998341143781363 Centerline is valid? [True, True] Translation: X:41.71, Y:-7.16, Z:-1.78 [[ 9.68654089e-01 2.43724023e-01 4.80401614e-02 4.17128186e+01] [-2.43288523e-01 9.69841003e-01 -1.48027955e-02 -7.16184032e+00] [-5.01991152e-02 2.65116849e-03 9.98735711e-01 -1.78014173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.891052754 meters Centerline goodness [0,1] 0.9998341143781363 Centerline is valid? [True, True] Translation: X:41.74, Y:-7.17, Z:-1.78 [[ 9.68587507e-01 2.43988734e-01 4.80389303e-02 4.17438297e+01] [-2.43553361e-01 9.69774468e-01 -1.48067891e-02 -7.17145406e+00] [-5.01996178e-02 2.64162795e-03 9.98735711e-01 -1.78140142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.921052754 meters Centerline goodness [0,1] 0.9998547326042293 Centerline is valid? [True, True] Translation: X:41.78, Y:-7.17, Z:-1.78 [[ 9.67738170e-01 2.47534082e-01 4.70075786e-02 4.17762136e+01] [-2.47120838e-01 9.68876175e-01 -1.44999378e-02 -7.17207576e+00] [-4.91337517e-02 2.41559104e-03 9.98789287e-01 -1.78455003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.951052754 meters Centerline goodness [0,1] 0.9997504523051969 Centerline is valid? [True, True] Translation: X:41.81, Y:-7.17, Z:-1.79 [[ 9.65892841e-01 2.55083774e-01 4.45341241e-02 4.18081679e+01] [-2.54720856e-01 9.66917040e-01 -1.37376975e-02 -7.16984798e+00] [-4.65650672e-02 1.92537350e-03 9.98913403e-01 -1.78864287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.981052754000004 meters Centerline goodness [0,1] 0.9998548290093117 Centerline is valid? [True, True] Translation: X:41.84, Y:-7.17, Z:-1.79 [[ 9.64976452e-01 2.58580844e-01 4.42311530e-02 4.18403768e+01] [-2.58226480e-01 9.65988044e-01 -1.36449202e-02 -7.17329660e+00] [-4.62550800e-02 1.74537174e-03 9.98928136e-01 -1.79016254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.011052754 meters Centerline goodness [0,1] 0.9997500989191779 Centerline is valid? [True, True] Translation: X:41.87, Y:-7.18, Z:-1.79 [[ 9.63231724e-01 2.64971785e-01 4.44364673e-02 4.18711728e+01] [-2.64620799e-01 9.64255079e-01 -1.37103882e-02 -7.17520440e+00] [-4.64809553e-02 1.44746737e-03 9.98918128e-01 -1.78908349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.041052754 meters Centerline goodness [0,1] 0.9996264707713378 Centerline is valid? [True, True] Translation: X:41.90, Y:-7.18, Z:-1.79 [[ 9.62398045e-01 2.67768927e-01 4.57143918e-02 4.19037610e+01] [-2.67400558e-01 9.63482214e-01 -1.41054967e-02 -7.18044756e+00] [-4.78220171e-02 1.35104858e-03 9.98854959e-01 -1.78945587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.071052754 meters Centerline goodness [0,1] 0.9996884541092903 Centerline is valid? [True, True] Translation: X:41.93, Y:-7.18, Z:-1.79 [[ 9.61284758e-01 2.71720402e-01 4.58218020e-02 4.19347051e+01] [-2.71354600e-01 9.62375538e-01 -1.41423286e-02 -7.18253741e+00] [-4.79405406e-02 1.16084818e-03 9.98849517e-01 -1.78960042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.101052754 meters Centerline goodness [0,1] 0.9997917967936706 Centerline is valid? [True, True] Translation: X:41.97, Y:-7.19, Z:-1.79 [[ 9.60675620e-01 2.74056461e-01 4.46700034e-02 4.19669918e+01] [-2.73711267e-01 9.61713063e-01 -1.37886233e-02 -7.18834459e+00] [-4.67385871e-02 1.01971099e-03 9.98906635e-01 -1.79219002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.131052754 meters Centerline goodness [0,1] 0.9997709287796751 Centerline is valid? [True, True] Translation: X:42.00, Y:-7.19, Z:-1.79 [[ 9.59975225e-01 2.76657464e-01 4.36831221e-02 4.19981597e+01] [-2.76329739e-01 9.60968196e-01 -1.34908106e-02 -7.19354120e+00] [-4.57104244e-02 8.79898225e-04 9.98954345e-01 -1.79434051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.161052754 meters Centerline goodness [0,1] 0.9997085397843194 Centerline is valid? [True, True] Translation: X:42.03, Y:-7.20, Z:-1.80 [[ 9.59680174e-01 2.77653718e-01 4.38449093e-02 4.20291181e+01] [-2.77324101e-01 9.60680851e-01 -1.35516044e-02 -7.20228174e+00] [-4.58836182e-02 8.45956003e-04 9.98946434e-01 -1.79559576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.191052754000005 meters Centerline goodness [0,1] 0.9997077488309953 Centerline is valid? [True, True] Translation: X:42.06, Y:-7.21, Z:-1.80 [[ 9.59942405e-01 2.76779903e-01 4.36287086e-02 4.20589273e+01] [-2.76452114e-01 9.60932925e-01 -1.34960286e-02 -7.21189334e+00] [-4.56596921e-02 8.94161380e-04 9.98956652e-01 -1.79630096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.221052754 meters Centerline goodness [0,1] 0.9998128625787537 Centerline is valid? [True, True] Translation: X:42.09, Y:-7.22, Z:-1.80 [[ 9.60206381e-01 2.75925964e-01 4.32269342e-02 4.20899784e+01] [-2.75602849e-01 9.61178436e-01 -1.33822131e-02 -7.22136040e+00] [-4.52412971e-02 9.36220146e-04 9.98975650e-01 -1.79769617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.251052754 meters Centerline goodness [0,1] 0.9997296566639632 Centerline is valid? [True, True] Translation: X:42.12, Y:-7.23, Z:-1.80 [[ 9.60313321e-01 2.75630900e-01 4.27309320e-02 4.21220256e+01] [-2.75314370e-01 9.61263078e-01 -1.32398372e-02 -7.22998865e+00] [-4.47249754e-02 9.49952401e-04 9.98998886e-01 -1.79951883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.281052754 meters Centerline goodness [0,1] 0.9998956528998059 Centerline is valid? [True, True] Translation: X:42.15, Y:-7.24, Z:-1.80 [[ 9.60269711e-01 2.75947445e-01 4.16543980e-02 4.21534963e+01] [-2.75646438e-01 9.61172282e-01 -1.29184330e-02 -7.23913580e+00] [-4.36018613e-02 9.23293516e-04 9.99048560e-01 -1.80150975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.311052754 meters Centerline goodness [0,1] 0.999812449204993 Centerline is valid? [True, True] Translation: X:42.18, Y:-7.25, Z:-1.80 [[ 9.60148342e-01 2.76373549e-01 4.16271896e-02 4.21828176e+01] [-2.76072783e-01 9.61049855e-01 -1.29226566e-02 -7.25128730e+00] [-4.35772850e-02 9.15533205e-04 9.99049639e-01 -1.80158125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.341052754 meters Centerline goodness [0,1] 0.9997494153023722 Centerline is valid? [True, True] Translation: X:42.21, Y:-7.26, Z:-1.80 [[ 9.59957915e-01 2.76983708e-01 4.19622172e-02 4.22144168e+01] [-2.76678126e-01 9.60874187e-01 -1.30388412e-02 -7.26002402e+00] [-4.39319579e-02 9.06711176e-04 9.99034114e-01 -1.80277748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.371052754000004 meters Centerline goodness [0,1] 0.9998747887059413 Centerline is valid? [True, True] Translation: X:42.24, Y:-7.27, Z:-1.80 [[ 9.59535559e-01 2.78515195e-01 4.14824891e-02 4.22442238e+01] [-2.78217476e-01 9.60431457e-01 -1.29016794e-02 -7.26952610e+00] [-4.34344012e-02 8.38466787e-04 9.99055929e-01 -1.80394814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.401052754 meters Centerline goodness [0,1] 0.9998745452264459 Centerline is valid? [True, True] Translation: X:42.28, Y:-7.28, Z:-1.81 [[ 9.59149794e-01 2.80047605e-01 4.00626037e-02 4.22753850e+01] [-2.79770999e-01 9.59985822e-01 -1.24663499e-02 -7.27787501e+00] [-4.19507030e-02 7.48742210e-04 9.99119401e-01 -1.80651054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.431052754 meters Centerline goodness [0,1] 0.9996239266239058 Centerline is valid? [True, True] Translation: X:42.31, Y:-7.29, Z:-1.81 [[ 9.57886914e-01 2.84811321e-01 3.65399894e-02 4.23056513e+01] [-2.84584351e-01 9.58583465e-01 -1.13792258e-02 -7.28804129e+00] [-3.82675620e-02 5.01302306e-04 9.99267403e-01 -1.80975893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.461052754 meters Centerline goodness [0,1] 0.9997911139890961 Centerline is valid? [True, True] Translation: X:42.34, Y:-7.30, Z:-1.81 [[ 9.57092206e-01 2.87595519e-01 3.55433041e-02 4.23354144e+01] [-2.87382338e-01 9.57751882e-01 -1.10781215e-02 -7.29855779e+00] [-3.72276845e-02 3.88265935e-04 9.99306734e-01 -1.81118042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.491052754 meters Centerline goodness [0,1] 0.9997918487989675 Centerline is valid? [True, True] Translation: X:42.36, Y:-7.31, Z:-1.81 [[ 9.55567626e-01 2.92876923e-01 3.33709611e-02 4.23645668e+01] [-2.92691933e-01 9.56150132e-01 -1.04094379e-02 -7.31057862e+00] [-3.49563331e-02 1.79510772e-04 9.99388825e-01 -1.81281238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.521052754 meters Centerline goodness [0,1] 0.9997916493041087 Centerline is valid? [True, True] Translation: X:42.40, Y:-7.32, Z:-1.81 [[ 9.54309868e-01 2.96981727e-01 3.30836893e-02 4.23953732e+01] [-2.96802097e-01 9.54883162e-01 -1.03277444e-02 -7.32062233e+00] [-3.46582092e-02 3.65600508e-05 9.99399223e-01 -1.81414369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.551052754000004 meters Centerline goodness [0,1] 0.9996869913609615 Centerline is valid? [True, True] Translation: X:42.43, Y:-7.33, Z:-1.82 [[ 9.53881486e-01 2.98385051e-01 3.28096443e-02 4.24250782e+01] [-2.98208918e-01 9.54445578e-01 -1.02508281e-02 -7.33110671e+00] [-3.43737137e-02 -6.05341035e-06 9.99409049e-01 -1.81578307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.581052754 meters Centerline goodness [0,1] 0.9996459587229523 Centerline is valid? [True, True] Translation: X:42.46, Y:-7.34, Z:-1.82 [[ 9.53673275e-01 2.99013211e-01 3.31418821e-02 4.24550359e+01] [-2.98833526e-01 9.54248971e-01 -1.03645947e-02 -7.34324237e+00] [-3.47247576e-02 -1.94685444e-05 9.99396914e-01 -1.81665190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.611052754 meters Centerline goodness [0,1] 0.9996879940094849 Centerline is valid? [True, True] Translation: X:42.48, Y:-7.36, Z:-1.81 [[ 9.54167018e-01 2.97221666e-01 3.49940501e-02 4.24839788e+01] [-2.97019882e-01 9.54808503e-01 -1.09503997e-02 -7.36168497e+00] [-3.66673126e-02 5.45815925e-05 9.99327526e-01 -1.81339846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.641052754 meters Centerline goodness [0,1] 0.9995015886860632 Centerline is valid? [True, True] Translation: X:42.51, Y:-7.38, Z:-1.81 [[ 9.55565124e-01 2.92634577e-01 3.55006741e-02 4.25108823e+01] [-2.92423313e-01 9.56224317e-01 -1.11203197e-02 -7.38121454e+00] [-3.72007978e-02 2.44964914e-04 9.99307781e-01 -1.81064549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.671052754 meters Centerline goodness [0,1] 0.9996874869786241 Centerline is valid? [True, True] Translation: X:42.54, Y:-7.39, Z:-1.81 [[ 9.56505284e-01 2.89650748e-01 3.46422486e-02 4.25405011e+01] [-2.89447315e-01 9.57132339e-01 -1.08599101e-02 -7.39446164e+00] [-3.63027975e-02 3.60455550e-04 9.99340771e-01 -1.81206502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.701052754 meters Centerline goodness [0,1] 0.9995424958928608 Centerline is valid? [True, True] Translation: X:42.57, Y:-7.41, Z:-1.81 [[ 9.58000917e-01 2.84576700e-01 3.53602144e-02 4.25695468e+01] [-2.84360931e-01 9.58653104e-01 -1.10944969e-02 -7.41004212e+00] [-3.70554146e-02 5.73474761e-04 9.99313048e-01 -1.81293998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.731052754000004 meters Centerline goodness [0,1] 0.9997094531493204 Centerline is valid? [True, True] Translation: X:42.60, Y:-7.42, Z:-1.81 [[ 9.58474119e-01 2.82892254e-01 3.60463012e-02 4.25979992e+01] [-2.82666476e-01 9.59151467e-01 -1.13193119e-02 -7.42278461e+00] [-3.77760083e-02 6.60186579e-04 9.99286014e-01 -1.81365402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.761052754 meters Centerline goodness [0,1] 0.999438961038961 Centerline is valid? [True, True] Translation: X:42.63, Y:-7.44, Z:-1.81 [[ 9.58939460e-01 2.81418489e-01 3.51958274e-02 4.26281237e+01] [-2.81201946e-01 9.59584875e-01 -1.10604760e-02 -7.43508608e+00] [-3.68860060e-02 7.09191706e-04 9.99319228e-01 -1.81445821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.791052754 meters Centerline goodness [0,1] 0.9997511922040224 Centerline is valid? [True, True] Translation: X:42.66, Y:-7.45, Z:-1.82 [[ 9.59132792e-01 2.80975402e-01 3.34232198e-02 4.26572836e+01] [-2.80779571e-01 9.59714716e-01 -1.05116998e-02 -7.45027568e+00] [-3.50302850e-02 6.97558672e-04 9.99386008e-01 -1.81535586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.821052754 meters Centerline goodness [0,1] 0.9996257173750311 Centerline is valid? [True, True] Translation: X:42.69, Y:-7.46, Z:-1.81 [[ 9.58062308e-01 2.84685853e-01 3.27197138e-02 4.26872642e+01] [-2.84500048e-01 9.58620703e-01 -1.02990073e-02 -7.46250725e+00] [-3.42977767e-02 5.58330553e-04 9.99411502e-01 -1.81433023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.851052754 meters Centerline goodness [0,1] 0.9996056864169347 Centerline is valid? [True, True] Translation: X:42.72, Y:-7.47, Z:-1.82 [[ 9.57038994e-01 2.88143501e-01 3.23988646e-02 4.27183858e+01] [-2.87963011e-01 9.57587140e-01 -1.02065403e-02 -7.47106808e+00] [-3.39656844e-02 4.38382463e-04 9.99422904e-01 -1.81519342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.881052754 meters Centerline goodness [0,1] 0.9995844587575317 Centerline is valid? [True, True] Translation: X:42.75, Y:-7.48, Z:-1.82 [[ 9.55800399e-01 2.92280391e-01 3.19025033e-02 4.27484840e+01] [-2.92107406e-01 9.56332623e-01 -1.00587161e-02 -7.47956189e+00] [-3.34493701e-02 2.95167417e-04 9.99440370e-01 -1.81667324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.911052754 meters Centerline goodness [0,1] 0.9994392523364486 Centerline is valid? [True, True] Translation: X:42.78, Y:-7.49, Z:-1.82 [[ 9.54072439e-01 2.98129687e-01 2.94018818e-02 4.27790134e+01] [-2.97985336e-01 9.54525370e-01 -9.27673057e-03 -7.48969697e+00] [-3.08305108e-02 8.93433571e-05 9.99524623e-01 -1.81933041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.941052754000005 meters Centerline goodness [0,1] 0.999688899950224 Centerline is valid? [True, True] Translation: X:42.81, Y:-7.50, Z:-1.82 [[ 9.53358157e-01 3.00534507e-01 2.80577077e-02 4.28093263e+01] [-3.00403895e-01 9.53770942e-01 -8.85945581e-03 -7.50134093e+00] [-2.94231985e-02 1.75897793e-05 9.99567044e-01 -1.82107258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.971052754 meters Centerline goodness [0,1] 0.9996260361913863 Centerline is valid? [True, True] Translation: X:42.84, Y:-7.52, Z:-1.82 [[ 9.52455630e-01 3.03561496e-01 2.60517068e-02 4.28373399e+01] [-3.03449831e-01 9.52811846e-01 -8.23322643e-03 -7.51532272e+00] [-2.73216654e-02 -6.36031640e-05 9.99626692e-01 -1.82361313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.001052754 meters Centerline goodness [0,1] 0.9996059154170037 Centerline is valid? [True, True] Translation: X:42.87, Y:-7.53, Z:-1.82 [[ 9.52228355e-01 3.04209118e-01 2.67950004e-02 4.28679303e+01] [-3.04091067e-01 9.52605273e-01 -8.47447506e-03 -7.52889347e+00] [-2.81030713e-02 -7.84848107e-05 9.99605028e-01 -1.82425792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.031052754 meters Centerline goodness [0,1] 0.9996672282190471 Centerline is valid? [True, True] Translation: X:42.90, Y:-7.55, Z:-1.82 [[ 9.51815132e-01 3.05363762e-01 2.83006427e-02 4.28958980e+01] [-3.05232297e-01 9.52235769e-01 -8.96013745e-03 -7.54681478e+00] [-2.96849855e-02 -1.09875764e-04 9.99559298e-01 -1.82130356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.061052754 meters Centerline goodness [0,1] 0.999750675254519 Centerline is valid? [True, True] Translation: X:42.93, Y:-7.56, Z:-1.82 [[ 9.51410945e-01 3.06654732e-01 2.79300547e-02 4.29259606e+01] [-3.06527039e-01 9.51820810e-01 -8.84980776e-03 -7.56047154e+00] [-2.92982427e-02 -1.41513001e-04 9.99570704e-01 -1.82223935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.091052754 meters Centerline goodness [0,1] 0.9997092540289084 Centerline is valid? [True, True] Translation: X:42.95, Y:-7.58, Z:-1.82 [[ 9.50135908e-01 3.10686565e-01 2.67509683e-02 4.29543966e+01] [-3.10570762e-01 9.50512387e-01 -8.48550938e-03 -7.57535045e+00] [-2.80634605e-02 -2.45681452e-04 9.99606113e-01 -1.82439138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.121052754000004 meters Centerline goodness [0,1] 0.9997507943430316 Centerline is valid? [True, True] Translation: X:42.98, Y:-7.59, Z:-1.83 [[ 9.49564664e-01 3.12495873e-01 2.59475895e-02 4.29834727e+01] [-3.12387532e-01 9.49919074e-01 -8.23307637e-03 -7.58707943e+00] [-2.72209126e-02 -2.87865052e-04 9.99629401e-01 -1.82678516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.151052754 meters Centerline goodness [0,1] 0.9999376817615289 Centerline is valid? [True, True] Translation: X:43.01, Y:-7.60, Z:-1.83 [[ 9.49086631e-01 3.14011968e-01 2.51207063e-02 4.30116542e+01] [-3.13910804e-01 9.49418972e-01 -7.97639262e-03 -7.60339653e+00] [-2.63547579e-02 -3.15373506e-04 9.99652603e-01 -1.82818837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.181052754 meters Centerline goodness [0,1] 0.9998128314443173 Centerline is valid? [True, True] Translation: X:43.04, Y:-7.62, Z:-1.83 [[ 9.49640090e-01 3.12395325e-01 2.43487113e-02 4.30408571e+01] [-3.12299596e-01 9.49952154e-01 -7.73738650e-03 -7.61756028e+00] [-2.55472341e-02 -2.56360283e-04 9.99673583e-01 -1.82994529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.211052754 meters Centerline goodness [0,1] 0.9998964074089421 Centerline is valid? [True, True] Translation: X:43.07, Y:-7.64, Z:-1.83 [[ 9.51925863e-01 3.05284497e-01 2.52690816e-02 4.30677906e+01] [-3.05178660e-01 9.52261189e-01 -8.03824791e-03 -7.64044573e+00] [-2.65167182e-02 -5.97683764e-05 9.99648368e-01 -1.82980997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.09, Y:-7.66, Z:-1.83 [[ 9.54951690e-01 2.95605360e-01 2.61675550e-02 4.30934684e+01] [-2.95488110e-01 9.55310118e-01 -8.32794937e-03 -7.66450107e+00] [-2.74599165e-02 2.20587968e-04 9.99622881e-01 -1.82805338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.271052754 meters Centerline goodness [0,1] 0.9998541514741119 Centerline is valid? [True, True] Translation: X:43.12, Y:-7.68, Z:-1.83 [[ 9.56226497e-01 2.91353372e-01 2.72781819e-02 4.31223125e+01] [-2.91224138e-01 9.56615431e-01 -8.68438084e-03 -7.68080071e+00] [-2.86249534e-02 3.60170034e-04 9.99590157e-01 -1.82872138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.301052754000004 meters Centerline goodness [0,1] 0.999937254245796 Centerline is valid? [True, True] Translation: X:43.15, Y:-7.70, Z:-1.83 [[ 9.58217086e-01 2.84755803e-01 2.70951629e-02 4.31477559e+01] [-2.84625425e-01 9.58599926e-01 -8.63423916e-03 -7.70077587e+00] [-2.84320709e-02 5.61503223e-04 9.99595569e-01 -1.83005729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.331052754 meters Centerline goodness [0,1] 0.9998328667530189 Centerline is valid? [True, True] Translation: X:43.18, Y:-7.71, Z:-1.83 [[ 9.58691509e-01 2.83192031e-01 2.66995271e-02 4.31771605e+01] [-2.83064768e-01 9.59063039e-01 -8.51030595e-03 -7.71462900e+00] [-2.80165805e-02 6.01062601e-04 9.99607278e-01 -1.83120254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.21, Y:-7.73, Z:-1.83 [[ 9.58732119e-01 2.83031525e-01 2.69421512e-02 4.32072150e+01] [-2.82901691e-01 9.59110408e-01 -8.59412523e-03 -7.72742297e+00] [-2.82729060e-02 6.17483764e-04 9.99600051e-01 -1.83180579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.391052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.24, Y:-7.74, Z:-1.83 [[ 9.58773759e-01 2.82920742e-01 2.66220428e-02 4.32367630e+01] [-2.82793712e-01 9.59143091e-01 -8.49989004e-03 -7.74116466e+00] [-2.79391436e-02 6.20925221e-04 9.99609433e-01 -1.83348268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.421052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.27, Y:-7.75, Z:-1.83 [[ 9.58610783e-01 2.83628141e-01 2.49087444e-02 4.32666269e+01] [-2.83517044e-01 9.58934178e-01 -7.95795255e-03 -7.75489187e+00] [-2.61429456e-02 5.66525553e-04 9.99658054e-01 -1.83370753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.451052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.30, Y:-7.77, Z:-1.83 [[ 9.57962245e-01 2.85783993e-01 2.52159978e-02 4.32952260e+01] [-2.85670668e-01 9.58293920e-01 -8.06427264e-03 -7.76721328e+00] [-2.64689774e-02 5.21797791e-04 9.99649499e-01 -1.83483734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.481052754000004 meters Centerline goodness [0,1] 0.9998945481387747 Centerline is valid? [True, True] Translation: X:43.33, Y:-7.77, Z:-1.83 [[ 9.56369615e-01 2.91022564e-01 2.57493099e-02 4.33268885e+01] [-2.90906066e-01 9.56716109e-01 -8.24305268e-03 -7.77330356e+00] [-2.70336939e-02 3.92774681e-04 9.99634446e-01 -1.83342702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.511052754 meters Centerline goodness [0,1] 0.9999155761924863 Centerline is valid? [True, True] Translation: X:43.36, Y:-7.78, Z:-1.84 [[ 9.55423380e-01 2.94094898e-01 2.59683714e-02 4.33583017e+01] [-2.93977512e-01 9.55776174e-01 -8.31427861e-03 -7.78223792e+00] [-2.72651376e-02 3.09538975e-04 9.99628189e-01 -1.83513293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.541052754 meters Centerline goodness [0,1] 0.9998734097094752 Centerline is valid? [True, True] Translation: X:43.39, Y:-7.79, Z:-1.84 [[ 9.53488391e-01 3.00284795e-01 2.62474620e-02 4.33883337e+01] [-3.00167186e-01 9.53849581e-01 -8.40457081e-03 -7.79092323e+00] [-2.75598955e-02 1.35033881e-04 9.99620145e-01 -1.83711690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.571052754 meters Centerline goodness [0,1] 0.9999790030655524 Centerline is valid? [True, True] Translation: X:43.42, Y:-7.80, Z:-1.84 [[ 9.52515243e-01 3.03496588e-01 2.45872519e-02 4.34184943e+01] [-3.03394328e-01 9.52832524e-01 -7.87799843e-03 -7.80235156e+00] [-2.58184789e-02 4.42808292e-05 9.99666647e-01 -1.83888331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.45, Y:-7.82, Z:-1.84 [[ 9.50261078e-01 3.10641095e-01 2.24943016e-02 4.34479637e+01] [-3.10557366e-01 9.50527271e-01 -7.21314161e-03 -7.81610150e+00] [-2.36221453e-02 -1.31403319e-04 9.99720950e-01 -1.83915002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.48, Y:-7.83, Z:-1.84 [[ 9.48977112e-01 3.14606499e-01 2.15682809e-02 4.34785268e+01] [-3.14530429e-01 9.49222157e-01 -6.92133774e-03 -7.82659816e+00] [-2.26505879e-02 -2.15689539e-04 9.99743419e-01 -1.83975164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.661052754 meters Centerline goodness [0,1] 0.9999575416622439 Centerline is valid? [True, True] Translation: X:43.51, Y:-7.83, Z:-1.84 [[ 9.46453244e-01 3.22104011e-01 2.18005431e-02 4.35083829e+01] [-3.22028061e-01 9.46704206e-01 -7.00529813e-03 -7.83310270e+00] [-2.28951005e-02 -3.90199485e-04 9.99737797e-01 -1.84353910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.691052754000005 meters Centerline goodness [0,1] 0.9999365186846672 Centerline is valid? [True, True] Translation: X:43.54, Y:-7.84, Z:-1.84 [[ 9.45165105e-01 3.25875126e-01 2.16408291e-02 4.35390184e+01] [-3.25801266e-01 9.45412700e-01 -6.95421539e-03 -7.84310939e+00] [-2.27257205e-02 -4.77727799e-04 9.99741623e-01 -1.84491372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.721052754 meters Centerline goodness [0,1] 0.9999575263336731 Centerline is valid? [True, True] Translation: X:43.57, Y:-7.85, Z:-1.85 [[ 9.42685040e-01 3.33037034e-01 2.07665569e-02 4.35672149e+01] [-3.32970697e-01 9.42913542e-01 -6.67589062e-03 -7.85208281e+00] [-2.18043865e-02 -6.21392706e-04 9.99762063e-01 -1.84691292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.60, Y:-7.86, Z:-1.85 [[ 9.41539313e-01 3.36319934e-01 1.98147226e-02 4.35965782e+01] [-3.36260277e-01 9.41747555e-01 -6.36929488e-03 -7.86428282e+00] [-2.08025874e-02 -6.65962569e-04 9.99783381e-01 -1.84724000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.781052754 meters Centerline goodness [0,1] 0.9999785711224446 Centerline is valid? [True, True] Translation: X:43.62, Y:-7.88, Z:-1.85 [[ 9.39905035e-01 3.40919483e-01 1.87731392e-02 4.36240529e+01] [-3.40866831e-01 9.40092218e-01 -6.03537407e-03 -7.88168567e+00] [-1.97060587e-02 -7.26461977e-04 9.99805553e-01 -1.84577542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.811052754 meters Centerline goodness [0,1] 0.9999785711224446 Centerline is valid? [True, True] Translation: X:43.65, Y:-7.89, Z:-1.85 [[ 9.39809997e-01 3.41181322e-01 1.87743228e-02 4.36548909e+01] [-3.41128795e-01 9.39997215e-01 -6.03169582e-03 -7.89167363e+00] [-1.97057131e-02 -7.35814077e-04 9.99805553e-01 -1.84703336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.841052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.68, Y:-7.90, Z:-1.85 [[ 9.39220987e-01 3.42863775e-01 1.75604652e-02 4.36838453e+01] [-3.42818007e-01 9.39384862e-01 -5.64754503e-03 -7.90323123e+00] [-1.84323738e-02 -7.15750867e-04 9.99829853e-01 -1.84926993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.871052754000004 meters Centerline goodness [0,1] 0.9999784487403288 Centerline is valid? [True, True] Translation: X:43.71, Y:-7.92, Z:-1.85 [[ 9.38221481e-01 3.45646316e-01 1.64035731e-02 4.37116691e+01] [-3.45606699e-01 9.38364596e-01 -5.28157646e-03 -7.91752990e+00] [-1.72180897e-02 -7.13896249e-04 9.99851503e-01 -1.85358941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.901052754 meters Centerline goodness [0,1] 0.9999783507609707 Centerline is valid? [True, True] Translation: X:43.74, Y:-7.93, Z:-1.86 [[ 9.37734413e-01 3.46971160e-01 1.62844802e-02 4.37400233e+01] [-3.46932327e-01 9.37875512e-01 -5.24256493e-03 -7.92956825e+00] [-1.70918341e-02 -7.33479083e-04 9.99853655e-01 -1.85628203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.931052754 meters Centerline goodness [0,1] 0.9999563928135357 Centerline is valid? [True, True] Translation: X:43.77, Y:-7.95, Z:-1.86 [[ 9.37318477e-01 3.48114564e-01 1.58215774e-02 4.37671582e+01] [-3.48078017e-01 9.37451715e-01 -5.09673172e-03 -7.94991123e+00] [-1.66062114e-02 -7.29882475e-04 9.99861841e-01 -1.85629281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.961052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.80, Y:-7.96, Z:-1.86 [[ 9.37296756e-01 3.48201110e-01 1.51913990e-02 4.37962834e+01] [-3.48167375e-01 9.37419596e-01 -4.89698852e-03 -7.96356602e+00] [-1.59458519e-02 -6.99218042e-04 9.99872612e-01 -1.85862364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.82, Y:-7.99, Z:-1.86 [[ 9.37710288e-01 3.47098849e-01 1.48930859e-02 4.38218129e+01] [-3.47066220e-01 9.37828315e-01 -4.80514754e-03 -7.98864133e+00] [-1.56350189e-02 -6.63050762e-04 9.99877546e-01 -1.85547633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.85, Y:-8.01, Z:-1.85 [[ 9.38600113e-01 3.44677808e-01 1.50677252e-02 4.38479110e+01] [-3.44643953e-01 9.38720844e-01 -4.87063253e-03 -8.00842540e+00] [-1.58231867e-02 -6.21424146e-04 9.99874612e-01 -1.85456962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.051052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.88, Y:-8.02, Z:-1.86 [[ 9.38855552e-01 3.43952797e-01 1.57075327e-02 4.38760814e+01] [-3.43915963e-01 9.38986723e-01 -5.07387525e-03 -8.02320208e+00] [-1.64943383e-02 -6.38435298e-04 9.99863755e-01 -1.85523487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.081052754 meters Centerline goodness [0,1] 0.9998427778900792 Centerline is valid? [True, True] Translation: X:43.90, Y:-8.04, Z:-1.85 [[ 9.39315477e-01 3.42630983e-01 1.70424184e-02 4.39036104e+01] [-3.42587266e-01 9.39469836e-01 -5.51283878e-03 -8.04026283e+00] [-1.78997074e-02 -6.60220734e-04 9.99839569e-01 -1.85447783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.93, Y:-8.06, Z:-1.85 [[ 9.39905789e-01 3.40843282e-01 2.00739806e-02 4.39291550e+01] [-3.40782151e-01 9.40119842e-01 -6.49678138e-03 -8.06033260e+00] [-2.10863317e-02 -7.34491834e-04 9.99777389e-01 -1.85384545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.141052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.96, Y:-8.08, Z:-1.86 [[ 9.40283972e-01 3.39776470e-01 2.04450935e-02 4.39567563e+01] [-3.39712862e-01 9.40505940e-01 -6.61421493e-03 -8.07500533e+00] [-2.14760865e-02 -7.26220952e-04 9.99769098e-01 -1.85541648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.171052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.98, Y:-8.10, Z:-1.85 [[ 9.41205480e-01 3.37222935e-01 2.03208521e-02 4.39813843e+01] [-3.37159387e-01 9.41424590e-01 -6.57948924e-03 -8.10039854e+00] [-2.13493045e-02 -6.58714691e-04 9.99771861e-01 -1.85310439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.201052754 meters Centerline goodness [0,1] 0.9999769479022591 Centerline is valid? [True, True] Translation: X:44.01, Y:-8.12, Z:-1.85 [[ 9.41432024e-01 3.36590162e-01 2.03176784e-02 4.40097901e+01] [-3.36526424e-01 9.41651024e-01 -6.58137222e-03 -8.11531701e+00] [-2.13473878e-02 -6.41521077e-04 9.99771913e-01 -1.85333283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.231052754000004 meters Centerline goodness [0,1] 0.9999301448330461 Centerline is valid? [True, True] Translation: X:44.04, Y:-8.14, Z:-1.85 [[ 9.43400357e-01 3.31149915e-01 1.83166654e-02 4.40354084e+01] [-3.31096932e-01 9.43578043e-01 -5.94125432e-03 -8.13743374e+00] [-1.92506492e-02 -4.59610281e-04 9.99814583e-01 -1.85391916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.261052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.06, Y:-8.15, Z:-1.86 [[ 9.44515147e-01 3.27967784e-01 1.81182319e-02 4.40638395e+01] [-3.27915420e-01 9.44688826e-01 -5.87365677e-03 -8.15187589e+00] [-1.90424614e-02 -3.93489839e-04 9.99818598e-01 -1.85655938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.291052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.09, Y:-8.17, Z:-1.86 [[ 9.46864673e-01 3.21148808e-01 1.76276397e-02 4.40895554e+01] [-3.21097919e-01 9.47028714e-01 -5.72206642e-03 -8.17017642e+00] [-1.85315157e-02 -2.42175856e-04 9.99828247e-01 -1.85993413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.12, Y:-8.18, Z:-1.86 [[ 9.47601347e-01 3.18979099e-01 1.74361897e-02 4.41185986e+01] [-3.18928960e-01 9.47761729e-01 -5.65897044e-03 -8.18349675e+00] [-1.83304466e-02 -1.98457828e-04 9.99831964e-01 -1.86057131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.351052754 meters Centerline goodness [0,1] 0.9999295840766125 Centerline is valid? [True, True] Translation: X:44.15, Y:-8.19, Z:-1.86 [[ 9.47420513e-01 3.19425940e-01 1.90116088e-02 4.41493265e+01] [-3.19366301e-01 9.47611218e-01 -6.17617794e-03 -8.19206327e+00] [-1.99884452e-02 -2.20229504e-04 9.99800187e-01 -1.86108323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.381052754 meters Centerline goodness [0,1] 0.9999530868830925 Centerline is valid? [True, True] Translation: X:44.18, Y:-8.20, Z:-1.86 [[ 9.47097921e-01 3.20395699e-01 1.87649634e-02 4.41789150e+01] [-3.20337687e-01 9.47283771e-01 -6.10118239e-03 -8.20030211e+00] [-1.97305379e-02 -2.32707819e-04 9.99805307e-01 -1.86212634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.21, Y:-8.21, Z:-1.86 [[ 9.46033120e-01 3.23463416e-01 1.98180230e-02 4.42112574e+01] [-3.23399277e-01 9.46240627e-01 -6.44856644e-03 -8.20524915e+00] [-2.08384938e-02 -3.08576873e-04 9.99782807e-01 -1.86335443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.441052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.24, Y:-8.21, Z:-1.86 [[ 9.45502591e-01 3.24976841e-01 2.03691766e-02 4.42428546e+01] [-3.24909332e-01 9.45721911e-01 -6.63274773e-03 -8.21409754e+00] [-2.14190660e-02 -3.46855404e-04 9.99770525e-01 -1.86305301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.27, Y:-8.22, Z:-1.86 [[ 9.44952829e-01 3.26581689e-01 2.02126479e-02 4.42738462e+01] [-3.26515441e-01 9.45168906e-01 -6.58834682e-03 -8.22300995e+00] [-2.12559998e-02 -3.74064697e-04 9.99773996e-01 -1.86318213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.501052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.30, Y:-8.23, Z:-1.87 [[ 9.44722181e-01 3.27307601e-01 1.92285170e-02 4.43045764e+01] [-3.27247704e-01 9.44917774e-01 -6.27218838e-03 -8.22969007e+00] [-2.02223024e-02 -3.67012558e-04 9.99795441e-01 -1.86784052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.531052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.33, Y:-8.24, Z:-1.87 [[ 9.44444047e-01 3.28164878e-01 1.82552901e-02 4.43349781e+01] [-3.28110972e-01 9.44620390e-01 -5.95887434e-03 -8.23928215e+00] [-1.91998125e-02 -3.61937581e-04 9.99815601e-01 -1.87077833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.561052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.36, Y:-8.25, Z:-1.87 [[ 9.44816400e-01 3.27065174e-01 1.87174484e-02 4.43641727e+01] [-3.27008178e-01 9.45001722e-01 -6.11534972e-03 -8.24984400e+00] [-1.96881389e-02 -3.42876004e-04 9.99806111e-01 -1.87270765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.591052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.39, Y:-8.26, Z:-1.87 [[ 9.45086028e-01 3.26165469e-01 2.06999136e-02 4.43945740e+01] [-3.26095355e-01 9.45312628e-01 -6.77166834e-03 -8.26215547e+00] [-2.17765741e-02 -3.50336552e-04 9.99762801e-01 -1.87136777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.621052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.42, Y:-8.27, Z:-1.87 [[ 9.45355714e-01 3.25181577e-01 2.36540977e-02 4.44237068e+01] [-3.25089692e-01 9.45651523e-01 -7.73887221e-03 -8.27266474e+00] [-2.48850722e-02 -3.73716273e-04 9.99690249e-01 -1.86932268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.651052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.45, Y:-8.28, Z:-1.87 [[ 9.45123220e-01 3.25774654e-01 2.47582998e-02 4.44546444e+01] [-3.25674030e-01 9.45447362e-01 -8.10633462e-03 -8.28247435e+00] [-2.60485076e-02 -4.01650190e-04 9.99660599e-01 -1.86893371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.681052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.48, Y:-8.29, Z:-1.87 [[ 9.44438573e-01 3.27711533e-01 2.53166733e-02 4.44845199e+01] [-3.27606835e-01 9.44777720e-01 -8.29585987e-03 -8.29263747e+00] [-2.66372778e-02 -4.58985137e-04 9.99645059e-01 -1.86925212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.711052754 meters Centerline goodness [0,1] 0.999836704224695 Centerline is valid? [True, True] Translation: X:44.52, Y:-8.30, Z:-1.87 [[ 9.44203146e-01 3.28488921e-01 2.39884958e-02 4.45152785e+01] [-3.28395040e-01 9.44507716e-01 -7.86588168e-03 -8.30105684e+00] [-2.52411743e-02 -4.50712797e-04 9.99681289e-01 -1.87315937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.55, Y:-8.31, Z:-1.88 [[ 9.43858485e-01 3.29529963e-01 2.32629361e-02 4.45460855e+01] [-3.29441847e-01 9.44145006e-01 -7.63389257e-03 -8.30981830e+00] [-2.44791813e-02 -4.58470364e-04 9.99700235e-01 -1.87758287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.58, Y:-8.32, Z:-1.88 [[ 9.44055712e-01 3.29049595e-01 2.20267081e-02 4.45769695e+01] [-3.28970355e-01 9.44312549e-01 -7.23299065e-03 -8.32176646e+00] [-2.31801095e-02 -4.17787827e-04 9.99731218e-01 -1.88012237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.801052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.61, Y:-8.34, Z:-1.88 [[ 9.45028837e-01 3.26257247e-01 2.18335830e-02 4.46054270e+01] [-3.26178473e-01 9.45280960e-01 -7.17706562e-03 -8.33603096e+00] [-2.29804400e-02 -3.39110771e-04 9.99735857e-01 -1.87913706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.63, Y:-8.35, Z:-1.88 [[ 9.45280006e-01 3.25544316e-01 2.16011174e-02 4.46349617e+01] [-3.25466909e-01 9.45526732e-01 -7.10568109e-03 -8.34752714e+00] [-2.27376481e-02 -3.13590664e-04 9.99741417e-01 -1.87955984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.67, Y:-8.36, Z:-1.88 [[ 9.45263157e-01 3.25691103e-01 2.00715884e-02 4.46656769e+01] [-3.25624151e-01 9.45476188e-01 -6.60983163e-03 -8.35777550e+00] [-2.11299722e-02 -2.87763618e-04 9.99776696e-01 -1.88192246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.891052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.70, Y:-8.37, Z:-1.88 [[ 9.45109727e-01 3.26175314e-01 1.94233761e-02 4.46963257e+01] [-3.26112745e-01 9.45309251e-01 -6.39509567e-03 -8.36763758e+00] [-2.04470194e-02 -2.90143370e-04 9.99790896e-01 -1.88418378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.921052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.73, Y:-8.38, Z:-1.89 [[ 9.44740371e-01 3.27220896e-01 1.98019166e-02 4.47267682e+01] [-3.27155984e-01 9.44947822e-01 -6.52499741e-03 -8.37691587e+00] [-2.08468935e-02 -3.13887020e-04 9.99782631e-01 -1.88563823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.951052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.76, Y:-8.39, Z:-1.88 [[ 9.44730511e-01 3.27212171e-01 2.04072706e-02 4.47563215e+01] [-3.27143090e-01 9.44950842e-01 -6.73085033e-03 -8.38852613e+00] [-2.14862837e-02 -3.17257901e-04 9.99769093e-01 -1.88406480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.981052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.79, Y:-8.40, Z:-1.88 [[ 9.44997068e-01 3.26248226e-01 2.32945564e-02 4.47867834e+01] [-3.26157732e-01 9.45284077e-01 -7.69075816e-03 -8.39699334e+00] [-2.45290694e-02 -3.29955745e-04 9.99699063e-01 -1.88498565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.011052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.82, Y:-8.41, Z:-1.89 [[ 9.44942660e-01 3.26322834e-01 2.44290370e-02 4.48177901e+01] [-3.26223156e-01 9.45258320e-01 -8.07222669e-03 -8.40662948e+00] [-2.57259024e-02 -3.41526208e-04 9.99668976e-01 -1.88565921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.041052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.85, Y:-8.42, Z:-1.89 [[ 9.44816775e-01 3.26554619e-01 2.61408347e-02 4.48483894e+01] [-3.26440359e-01 9.45178262e-01 -8.64550281e-03 -8.41632334e+00] [-2.75309776e-02 -3.65007356e-04 9.99620884e-01 -1.88537646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.88, Y:-8.43, Z:-1.89 [[ 9.44590141e-01 3.27151835e-01 2.68540851e-02 4.48797153e+01] [-3.27031298e-01 9.44971707e-01 -8.88836417e-03 -8.42695987e+00] [-2.82841953e-02 -3.86265129e-04 9.99599847e-01 -1.88550453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.91, Y:-8.44, Z:-1.89 [[ 9.44564976e-01 3.27222009e-01 2.68842620e-02 4.49099307e+01] [-3.27100969e-01 9.44947412e-01 -8.90750309e-03 -8.43732661e+00] [-2.83189449e-02 -3.80152735e-04 9.99598866e-01 -1.88673312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.131052754 meters Centerline goodness [0,1] 0.9998595078090243 Centerline is valid? [True, True] Translation: X:44.94, Y:-8.45, Z:-1.89 [[ 9.44348466e-01 3.27914201e-01 2.60432845e-02 4.49400848e+01] [-3.27800773e-01 9.44707430e-01 -8.63273114e-03 -8.44656380e+00] [-2.74340795e-02 -3.84702372e-04 9.99623541e-01 -1.88925420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.97, Y:-8.45, Z:-1.90 [[ 9.43658475e-01 3.30024790e-01 2.43376337e-02 4.49712540e+01] [-3.29926294e-01 9.43972176e-01 -8.07292057e-03 -8.45410751e+00] [-2.56383130e-02 -4.11545382e-04 9.99671200e-01 -1.89516954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.191052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.00, Y:-8.46, Z:-1.90 [[ 9.42400341e-01 3.33755454e-01 2.21109473e-02 4.50034385e+01] [-3.33675000e-01 9.42659582e-01 -7.34217294e-03 -8.45954429e+00] [-2.32935866e-02 -4.58604070e-04 9.99728562e-01 -1.90038571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.03, Y:-8.47, Z:-1.90 [[ 9.41705907e-01 3.35820578e-01 2.03598921e-02 4.50340608e+01] [-3.35752877e-01 9.41925856e-01 -6.75926007e-03 -8.46606864e+00] [-2.14474074e-02 -4.70657214e-04 9.99769867e-01 -1.90492429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.06, Y:-8.47, Z:-1.91 [[ 9.40495866e-01 3.39409783e-01 1.63867524e-02 4.50641933e+01] [-3.39366429e-01 9.40638509e-01 -5.44272858e-03 -8.47486482e+00] [-1.72613257e-02 -4.42249921e-04 9.99850914e-01 -1.90853657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.281052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.10, Y:-8.48, Z:-1.91 [[ 9.40057791e-01 3.40654504e-01 1.56798846e-02 4.50954779e+01] [-3.40614939e-01 9.40188445e-01 -5.21061716e-03 -8.48338974e+00] [-1.65170666e-02 -4.42521690e-04 9.99863486e-01 -1.91125112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.311052754 meters Centerline goodness [0,1] 0.9999066227793729 Centerline is valid? [True, True] Translation: X:45.13, Y:-8.49, Z:-1.91 [[ 9.39789138e-01 3.41374344e-01 1.61224478e-02 4.51269363e+01] [-3.41332555e-01 9.39927307e-01 -5.36144930e-03 -8.49273101e+00] [-1.69841902e-02 -4.64484501e-04 9.99855650e-01 -1.91303678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.341052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.16, Y:-8.50, Z:-1.91 [[ 9.40020799e-01 3.40692303e-01 1.70191890e-02 4.51577873e+01] [-3.40645446e-01 9.40174737e-01 -5.66955401e-03 -8.50351052e+00] [-1.79325849e-02 -4.68010536e-04 9.99839089e-01 -1.91387326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.371052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.19, Y:-8.52, Z:-1.91 [[ 9.40459508e-01 3.39423165e-01 1.81060484e-02 4.51872760e+01] [-3.39369921e-01 9.40633665e-01 -6.03038115e-03 -8.51605436e+00] [-1.90780097e-02 -4.73318908e-04 9.99817886e-01 -1.91371164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.401052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.22, Y:-8.53, Z:-1.91 [[ 9.40734523e-01 3.38634199e-01 1.85859501e-02 4.52178010e+01] [-3.38577779e-01 9.40917991e-01 -6.19849862e-03 -8.52770327e+00] [-1.95868785e-02 -4.61648064e-04 9.99808052e-01 -1.91434052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.431052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.25, Y:-8.54, Z:-1.91 [[ 9.41915370e-01 3.35155179e-01 2.15972729e-02 4.52460312e+01] [-3.35078018e-01 9.42162833e-01 -7.20543440e-03 -8.54183206e+00] [-2.27630865e-02 -4.49861999e-04 9.99740786e-01 -1.91227549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.27, Y:-8.55, Z:-1.91 [[ 9.42652498e-01 3.32969454e-01 2.31864601e-02 4.52749501e+01] [-3.32879819e-01 9.42937518e-01 -7.73715078e-03 -8.55377671e+00] [-2.44396180e-02 -4.24860124e-04 9.99701218e-01 -1.91247548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.30, Y:-8.57, Z:-1.91 [[ 9.43791507e-01 3.29525690e-01 2.58922866e-02 4.53030207e+01] [-3.29412504e-01 9.44146536e-01 -8.64409533e-03 -8.56793190e+00] [-2.72945642e-02 -3.71019199e-04 9.99627365e-01 -1.91043915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.33, Y:-8.58, Z:-1.91 [[ 9.44097711e-01 3.28560251e-01 2.69754349e-02 4.53318484e+01] [-3.28436858e-01 9.44482947e-01 -9.01075977e-03 -8.57863102e+00] [-2.84384158e-02 -3.52689408e-04 9.99595484e-01 -1.91020987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.551052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.36, Y:-8.59, Z:-1.91 [[ 9.44228238e-01 3.28194191e-01 2.68627639e-02 4.53618490e+01] [-3.28071503e-01 9.44610217e-01 -8.97928465e-03 -8.58916335e+00] [-2.83217902e-02 -3.34413190e-04 9.99598802e-01 -1.91188305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.581052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.39, Y:-8.60, Z:-1.92 [[ 9.44107578e-01 3.28632635e-01 2.57191087e-02 4.53927719e+01] [-3.28520152e-01 9.44457773e-01 -8.60377624e-03 -8.59890150e+00] [-2.71180938e-02 -3.26355157e-04 9.99632184e-01 -1.91500957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.611052754 meters Centerline goodness [0,1] 0.9999527990182195 Centerline is valid? [True, True] Translation: X:45.42, Y:-8.60, Z:-1.92 [[ 9.43422771e-01 3.30768474e-01 2.33600431e-02 4.54230040e+01] [-3.30676163e-01 9.43711872e-01 -7.82162636e-03 -8.60378983e+00] [-2.46322975e-02 -3.45509030e-04 9.99696519e-01 -1.92412223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.641052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.45, Y:-8.61, Z:-1.93 [[ 9.42968201e-01 3.32157545e-01 2.19621634e-02 4.54537717e+01] [-3.32076314e-01 9.43223853e-01 -7.35425648e-03 -8.61347271e+00] [-2.31580082e-02 -3.58284263e-04 9.99731753e-01 -1.92655842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.671052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.49, Y:-8.62, Z:-1.93 [[ 9.42194124e-01 3.34375721e-01 2.15200032e-02 4.54851637e+01] [-3.34298183e-01 9.42439769e-01 -7.21160057e-03 -8.62053488e+00] [-2.26926910e-02 -3.99370269e-04 9.99742408e-01 -1.92975479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.701052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.52, Y:-8.63, Z:-1.93 [[ 9.41787168e-01 3.35555123e-01 2.09687860e-02 4.55154432e+01] [-3.35481677e-01 9.42020483e-01 -7.03239392e-03 -8.62842299e+00] [-2.21127817e-02 -4.11625135e-04 9.99755398e-01 -1.93181223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.731052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.55, Y:-8.64, Z:-1.93 [[ 9.41698684e-01 3.35803441e-01 2.09675291e-02 4.55461058e+01] [-3.35729973e-01 9.41931992e-01 -7.03613861e-03 -8.63880487e+00] [-2.21127460e-02 -4.13505520e-04 9.99755398e-01 -1.93307213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.761052754 meters Centerline goodness [0,1] 0.9999292219128958 Centerline is valid? [True, True] Translation: X:45.58, Y:-8.64, Z:-1.94 [[ 9.40783253e-01 3.38376711e-01 2.06899101e-02 4.55770899e+01] [-3.38305648e-01 9.41010621e-01 -6.94982116e-03 -8.64430929e+00] [-2.18210827e-02 -4.61238079e-04 9.99761785e-01 -1.93673655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.791052754 meters Centerline goodness [0,1] 0.9999528846380362 Centerline is valid? [True, True] Translation: X:45.61, Y:-8.65, Z:-1.94 [[ 9.40295930e-01 3.39756979e-01 2.02177860e-02 4.56073899e+01] [-3.39689350e-01 9.40513140e-01 -6.79548267e-03 -8.65342504e+00] [-2.13239061e-02 -4.78001891e-04 9.99772505e-01 -1.93875522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.64, Y:-8.67, Z:-1.94 [[ 9.40543334e-01 3.39195721e-01 1.80138690e-02 4.56361426e+01] [-3.39141869e-01 9.40715735e-01 -6.05799099e-03 -8.66808685e+00] [-1.90007746e-02 -4.11454132e-04 9.99819384e-01 -1.93962975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.67, Y:-8.68, Z:-1.94 [[ 9.40964714e-01 3.37997512e-01 1.85226668e-02 4.56653584e+01] [-3.37940229e-01 9.41146922e-01 -6.23487464e-03 -8.67901109e+00] [-1.95399229e-02 -3.92757217e-04 9.99809000e-01 -1.94148762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.69, Y:-8.69, Z:-1.95 [[ 9.41973042e-01 3.35039841e-01 2.08588802e-02 4.56944004e+01] [-3.34966273e-01 9.42203891e-01 -7.03021315e-03 -8.68815764e+00] [-2.20087196e-02 -3.64750090e-04 9.99757712e-01 -1.94593755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.72, Y:-8.70, Z:-1.94 [[ 9.42134906e-01 3.34542170e-01 2.15257099e-02 4.57235210e+01] [-3.34463707e-01 9.42380710e-01 -7.25435991e-03 -8.70114289e+00] [-2.27123031e-02 -3.64983036e-04 9.99741976e-01 -1.94496391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.941052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.75, Y:-8.71, Z:-1.95 [[ 9.42449754e-01 3.33545768e-01 2.31448071e-02 4.57522748e+01] [-3.33454582e-01 9.42733839e-01 -7.80707671e-03 -8.71250893e+00] [-2.44234102e-02 -3.59964467e-04 9.99701639e-01 -1.94552574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.78, Y:-8.72, Z:-1.95 [[ 9.42340868e-01 3.33764477e-01 2.43918614e-02 4.57827329e+01] [-3.33663114e-01 9.42656422e-01 -8.23384711e-03 -8.72365548e+00] [-2.57413105e-02 -3.79573803e-04 9.99668566e-01 -1.94531917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.81, Y:-8.74, Z:-1.94 [[ 9.42274093e-01 3.33843262e-01 2.58497545e-02 4.58130732e+01] [-3.33729249e-01 9.42628515e-01 -8.73328775e-03 -8.73554197e+00] [-2.72822649e-02 -3.97668348e-04 9.99627691e-01 -1.94424139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.031052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.84, Y:-8.75, Z:-1.95 [[ 9.42128955e-01 3.34265196e-01 2.56867921e-02 4.58434441e+01] [-3.34152570e-01 9.42478975e-01 -8.68568982e-03 -8.74537073e+00] [-2.71125853e-02 -4.00267735e-04 9.99632306e-01 -1.94586975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.061052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.87, Y:-8.76, Z:-1.95 [[ 9.41963314e-01 3.34632262e-01 2.69511489e-02 4.58743130e+01] [-3.34508292e-01 9.42348697e-01 -9.11787219e-03 -8.75530950e+00] [-2.84485143e-02 -4.26681696e-04 9.99595168e-01 -1.94773984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.091052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.90, Y:-8.77, Z:-1.95 [[ 9.42005193e-01 3.34443575e-01 2.78156633e-02 4.59048217e+01] [-3.34311221e-01 9.42415679e-01 -9.41778626e-03 -8.76618490e+00] [-2.93636354e-02 -4.27484809e-04 9.99568704e-01 -1.94933270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.121052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.93, Y:-8.78, Z:-1.95 [[ 9.42372256e-01 3.33378446e-01 2.81663293e-02 4.59336712e+01] [-3.33242029e-01 9.42793009e-01 -9.54422091e-03 -8.77732675e+00] [-2.97368558e-02 -3.91995715e-04 9.99557685e-01 -1.95272683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.151052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.96, Y:-8.79, Z:-1.95 [[ 9.42665399e-01 3.32531696e-01 2.83657684e-02 4.59633834e+01] [-3.32392750e-01 9.43092011e-01 -9.61868001e-03 -8.78948602e+00] [-2.99500456e-02 -3.61378953e-04 9.99551331e-01 -1.95375012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.181052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.99, Y:-8.80, Z:-1.96 [[ 9.43132875e-01 3.31254173e-01 2.77678326e-02 4.59914964e+01] [-3.31120259e-01 9.43541509e-01 -9.42314844e-03 -8.80197942e+00] [-2.93215599e-02 -3.07210850e-04 9.99569983e-01 -1.95554472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.02, Y:-8.81, Z:-1.96 [[ 9.43074539e-01 3.31467344e-01 2.71995397e-02 4.60221213e+01] [-3.31338778e-01 9.43466644e-01 -9.23607164e-03 -8.81356411e+00] [-2.87233146e-02 -3.01958269e-04 9.99587355e-01 -1.95662521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.05, Y:-8.82, Z:-1.96 [[ 9.43006214e-01 3.31672089e-01 2.70722265e-02 4.60529802e+01] [-3.31544581e-01 9.43394687e-01 -9.20081223e-03 -8.82328143e+00] [-2.85914472e-02 -2.99226862e-04 9.99591136e-01 -1.95927445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.271052754 meters Centerline goodness [0,1] 0.9999286580580723 Centerline is valid? [True, True] Translation: X:46.08, Y:-8.83, Z:-1.96 [[ 9.42937350e-01 3.31892662e-01 2.67659115e-02 4.60835014e+01] [-3.31767882e-01 9.43317112e-01 -9.10485291e-03 -8.83156150e+00] [-2.82705762e-02 -2.94763897e-04 9.99600264e-01 -1.96233807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.301052754000004 meters Centerline goodness [0,1] 0.9998812464373931 Centerline is valid? [True, True] Translation: X:46.11, Y:-8.84, Z:-1.96 [[ 9.42567444e-01 3.32782728e-01 2.86752596e-02 4.61142169e+01] [-3.32639648e-01 9.43003469e-01 -9.76325338e-03 -8.83927577e+00] [-3.02899114e-02 -3.36003499e-04 9.99541099e-01 -1.96397827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.331052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.15, Y:-8.85, Z:-1.97 [[ 9.42150784e-01 3.33877939e-01 2.96213087e-02 4.61454096e+01] [-3.33725557e-01 9.42616242e-01 -1.00931711e-02 -8.84803292e+00] [-3.12914139e-02 -3.76098739e-04 9.99510233e-01 -1.96554604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.18, Y:-8.86, Z:-1.96 [[ 9.42001251e-01 3.34253259e-01 3.01397127e-02 4.61757437e+01] [-3.34095426e-01 9.42483214e-01 -1.02780346e-02 -8.86089620e+00] [-3.18416399e-02 -3.87618717e-04 9.99492851e-01 -1.96498863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.391052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.21, Y:-8.87, Z:-1.97 [[ 9.42020024e-01 3.34182544e-01 3.03364807e-02 4.62059236e+01] [-3.34022303e-01 9.42508294e-01 -1.03545781e-02 -8.87081822e+00] [-3.20527039e-02 -3.78841273e-04 9.99486108e-01 -1.96674258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.421052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.24, Y:-8.88, Z:-1.97 [[ 9.41901526e-01 3.34459741e-01 3.09547647e-02 4.62367242e+01] [-3.34292759e-01 9.42409959e-01 -1.05744872e-02 -8.88287384e+00] [-3.27088188e-02 -3.87828066e-04 9.99464848e-01 -1.96809384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.451052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.27, Y:-8.89, Z:-1.97 [[ 9.41363510e-01 3.35832589e-01 3.24224520e-02 4.62672606e+01] [-3.35649849e-01 9.41921585e-01 -1.10862767e-02 -8.89119936e+00] [-3.42625404e-02 -4.46374762e-04 9.99412767e-01 -1.97086017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.481052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.30, Y:-8.90, Z:-1.97 [[ 9.40870141e-01 3.37168884e-01 3.28712968e-02 4.62970922e+01] [-3.36981535e-01 9.41444051e-01 -1.12491974e-02 -8.90198655e+00] [-3.47393661e-02 -4.92986095e-04 9.99396284e-01 -1.97204074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.511052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.33, Y:-8.91, Z:-1.97 [[ 9.39713703e-01 3.40359812e-01 3.30659125e-02 4.63269202e+01] [-3.40171906e-01 9.40295076e-01 -1.13244851e-02 -8.91363588e+00] [-3.49461143e-02 -6.06320593e-04 9.99389014e-01 -1.97153728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.541052754 meters Centerline goodness [0,1] 0.999904454795175 Centerline is valid? [True, True] Translation: X:46.36, Y:-8.92, Z:-1.97 [[ 9.39028514e-01 3.42193895e-01 3.35974372e-02 4.63569739e+01] [-3.42000736e-01 9.39629119e-01 -1.15159168e-02 -8.92090248e+00] [-3.55098067e-02 -6.76573957e-04 9.99369099e-01 -1.97248890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.571052754 meters Centerline goodness [0,1] 0.9998570407433881 Centerline is valid? [True, True] Translation: X:46.39, Y:-8.93, Z:-1.97 [[ 9.38621657e-01 3.43197019e-01 3.47158732e-02 4.63873591e+01] [-3.42991134e-01 9.39263155e-01 -1.19083492e-02 -8.92830762e+00] [-3.66942505e-02 -7.29802257e-04 9.99326273e-01 -1.97398052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.601052754 meters Centerline goodness [0,1] 0.9999285663261661 Centerline is valid? [True, True] Translation: X:46.42, Y:-8.94, Z:-1.98 [[ 9.38299256e-01 3.44000604e-01 3.54695680e-02 4.64187965e+01] [-3.43785927e-01 9.38969111e-01 -1.21755533e-02 -8.93878659e+00] [-3.74932264e-02 -7.69625671e-04 9.99296585e-01 -1.97672591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.45, Y:-8.95, Z:-1.98 [[ 9.38194674e-01 3.44437599e-01 3.39631389e-02 4.64495746e+01] [-3.44240702e-01 9.38808919e-01 -1.16684213e-02 -8.94804902e+00] [-3.59039407e-02 -7.44244104e-04 9.99354969e-01 -1.98062260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.48, Y:-8.96, Z:-1.98 [[ 9.38123922e-01 3.44731539e-01 3.29191846e-02 4.64799804e+01] [-3.44546432e-01 9.38701040e-01 -1.13187621e-02 -8.95911723e+00] [-3.48032071e-02 -7.23786101e-04 9.99393923e-01 -1.98243516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.691052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.51, Y:-8.97, Z:-1.98 [[ 9.38279556e-01 3.44409923e-01 3.18320510e-02 4.65098619e+01] [-3.44236356e-01 9.38819121e-01 -1.09539381e-02 -8.97362658e+00] [-3.36571832e-02 -6.79893034e-04 9.99433205e-01 -1.98458584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.54, Y:-8.98, Z:-1.99 [[ 9.38398968e-01 3.44142702e-01 3.11957877e-02 4.65408060e+01] [-3.43975544e-01 9.38917132e-01 -1.07445073e-02 -8.98436824e+00] [-3.29879033e-02 -6.47953472e-04 9.99455541e-01 -1.98755902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.57, Y:-8.99, Z:-1.99 [[ 9.38395407e-01 3.44264337e-01 2.99353619e-02 4.65713106e+01] [-3.44110192e-01 9.38872561e-01 -1.03194363e-02 -8.99373518e+00] [-3.16581038e-02 -6.17351487e-04 9.99498566e-01 -1.99227053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.781052754 meters Centerline goodness [0,1] 0.999928234815683 Centerline is valid? [True, True] Translation: X:46.60, Y:-9.00, Z:-2.00 [[ 9.38352711e-01 3.44452634e-01 2.90959225e-02 4.66024077e+01] [-3.44306853e-01 9.38803507e-01 -1.00382542e-02 -9.00226076e+00] [-3.07730572e-02 -5.98502434e-04 9.99526218e-01 -1.99568231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.811052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.63, Y:-9.01, Z:-2.00 [[ 9.38035738e-01 3.45400375e-01 2.80630627e-02 4.66329077e+01] [-3.45264952e-01 9.38455231e-01 -9.68979393e-03 -9.01225471e+00] [-2.96827865e-02 -5.99818999e-04 9.99559189e-01 -1.99862860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.841052754 meters Centerline goodness [0,1] 0.9999042489527229 Centerline is valid? [True, True] Translation: X:46.66, Y:-9.02, Z:-2.00 [[ 9.37877691e-01 3.45906474e-01 2.70951549e-02 4.66621519e+01] [-3.45780239e-01 9.38268813e-01 -9.36273061e-03 -9.02128396e+00] [-2.86611679e-02 -5.87872971e-04 9.99589011e-01 -2.00026598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.871052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.69, Y:-9.03, Z:-2.00 [[ 9.37428143e-01 3.47264958e-01 2.52096223e-02 4.66913833e+01] [-3.47155992e-01 9.37766876e-01 -8.71802973e-03 -9.03347357e+00] [-2.66682149e-02 -5.79144992e-04 9.99644172e-01 -1.99999080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.901052754 meters Centerline goodness [0,1] 0.999952129060054 Centerline is valid? [True, True] Translation: X:46.72, Y:-9.04, Z:-2.00 [[ 9.37066800e-01 3.48263353e-01 2.48686382e-02 4.67216996e+01] [-3.48157615e-01 9.37396544e-01 -8.60202475e-03 -9.04262978e+00] [-2.63075455e-02 -5.97533980e-04 9.99653718e-01 -2.00195095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.931052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.75, Y:-9.05, Z:-2.00 [[ 9.36599747e-01 3.49491279e-01 2.52340982e-02 4.67521934e+01] [-3.49382673e-01 9.36939402e-01 -8.73526248e-03 -9.05184688e+00] [-2.66957190e-02 -6.34912064e-04 9.99643404e-01 -2.00381843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.961052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.78, Y:-9.06, Z:-2.01 [[ 9.35670744e-01 3.51998910e-01 2.48399950e-02 4.67833835e+01] [-3.51894376e-01 9.36000156e-01 -8.60555080e-03 -9.05766059e+00] [-2.62793837e-02 -6.89092427e-04 9.99654400e-01 -2.00806131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.991052754 meters Centerline goodness [0,1] 0.9998807792269725 Centerline is valid? [True, True] Translation: X:46.81, Y:-9.07, Z:-2.01 [[ 9.35398251e-01 3.52720778e-01 2.48629122e-02 4.68130571e+01] [-3.52616144e-01 9.35728356e-01 -8.61962578e-03 -9.06552522e+00] [-2.63052531e-02 -7.04281363e-04 9.99653709e-01 -2.01113514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.84, Y:-9.08, Z:-2.01 [[ 9.35598978e-01 3.52128817e-01 2.56875157e-02 4.68425456e+01] [-3.52016733e-01 9.35951281e-01 -8.91180435e-03 -9.07812047e+00] [-2.71803664e-02 -7.04560320e-04 9.99630297e-01 -2.01227563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.051052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.87, Y:-9.09, Z:-2.01 [[ 9.36310920e-01 3.50199585e-01 2.61172716e-02 4.68709768e+01] [-3.50082736e-01 9.36674877e-01 -9.06929161e-03 -9.09132433e+00] [-2.76394543e-02 -6.51529133e-04 9.99617745e-01 -2.01222724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.081052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.90, Y:-9.10, Z:-2.01 [[ 9.36657159e-01 3.49240529e-01 2.65408882e-02 4.69005918e+01] [-3.49119388e-01 9.37032900e-01 -9.21943149e-03 -9.10307398e+00] [-2.80894846e-02 -6.30492135e-04 9.99605214e-01 -2.01257494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.93, Y:-9.12, Z:-2.01 [[ 9.36969874e-01 3.48402964e-01 2.65109319e-02 4.69294725e+01] [-3.48281566e-01 9.37344663e-01 -9.21597196e-03 -9.11673360e+00] [-2.80607525e-02 -5.98180798e-04 9.99606041e-01 -2.01271313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.141052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.96, Y:-9.13, Z:-2.01 [[ 9.36999012e-01 3.48304738e-01 2.67705081e-02 4.69589000e+01] [-3.48180691e-01 9.37381169e-01 -9.31395048e-03 -9.12522154e+00] [-2.83382633e-02 -5.93811626e-04 9.99598214e-01 -2.01477155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.171052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.99, Y:-9.14, Z:-2.01 [[ 9.37228459e-01 3.47578902e-01 2.81375588e-02 4.69884326e+01] [-3.47441310e-01 9.37650550e-01 -9.79704134e-03 -9.13670371e+00] [-2.97884424e-02 -5.94084327e-04 9.99556049e-01 -2.01492454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.201052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.02, Y:-9.15, Z:-2.02 [[ 9.37672058e-01 3.46326506e-01 2.87934563e-02 4.70171233e+01] [-3.46181562e-01 9.38113873e-01 -1.00342986e-02 -9.14751587e+00] [-3.04866844e-02 -5.58882274e-04 9.99535017e-01 -2.01641986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.231052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.05, Y:-9.16, Z:-2.02 [[ 9.38032129e-01 3.45328304e-01 2.90531929e-02 4.70473539e+01] [-3.45180103e-01 9.38481798e-01 -1.01297238e-02 -9.15987852e+00] [-3.07639731e-02 -5.26577727e-04 9.99526538e-01 -2.01755393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.261052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.08, Y:-9.17, Z:-2.02 [[ 9.37909251e-01 3.45699879e-01 2.85977383e-02 4.70780917e+01] [-3.45556431e-01 9.38344986e-01 -9.97192274e-03 -9.17118242e+00] [-3.02818368e-02 -5.29373792e-04 9.99541260e-01 -2.01856622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.291052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.11, Y:-9.18, Z:-2.02 [[ 9.37604958e-01 3.46516964e-01 2.86868637e-02 4.71094753e+01] [-3.46372730e-01 9.38043545e-01 -1.00119613e-02 -9.17927673e+00] [-3.03788418e-02 -5.49082756e-04 9.99538306e-01 -2.01993955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.14, Y:-9.19, Z:-2.02 [[ 9.37544795e-01 3.46669281e-01 2.88126189e-02 4.71399431e+01] [-3.46523581e-01 9.37987265e-01 -1.00647341e-02 -9.19152880e+00] [-3.05150038e-02 -5.48112774e-04 9.99534159e-01 -2.02024951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.351052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.17, Y:-9.20, Z:-2.02 [[ 9.37586449e-01 3.46581878e-01 2.85070451e-02 4.71704379e+01] [-3.46438947e-01 9.38019573e-01 -9.96676584e-03 -9.20242026e+00] [-3.01944667e-02 -5.31246076e-04 9.99543902e-01 -2.02077625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.20, Y:-9.21, Z:-2.02 [[ 9.37470732e-01 3.46895093e-01 2.85029912e-02 4.72007877e+01] [-3.46752085e-01 9.37903785e-01 -9.97404421e-03 -9.21390537e+00] [-3.01930104e-02 -5.33097102e-04 9.99543945e-01 -2.02073434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.23, Y:-9.22, Z:-2.02 [[ 9.37186283e-01 3.47672769e-01 2.83816372e-02 4.72318582e+01] [-3.47531062e-01 9.37615778e-01 -9.94054558e-03 -9.22238370e+00] [-3.00671278e-02 -5.47357547e-04 9.99547732e-01 -2.02287019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.441052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.26, Y:-9.23, Z:-2.02 [[ 9.36995427e-01 3.48168173e-01 2.86093148e-02 4.72634056e+01] [-3.48024165e-01 9.37431923e-01 -1.00285111e-02 -9.23296608e+00] [-3.03108933e-02 -5.60063861e-04 9.99540362e-01 -2.02426859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.29, Y:-9.24, Z:-2.03 [[ 9.36400997e-01 3.49826584e-01 2.78304289e-02 4.72934941e+01] [-3.49690781e-01 9.36814290e-01 -9.76438144e-03 -9.24092899e+00] [-2.94877837e-02 -5.88667914e-04 9.99564967e-01 -2.02667793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.501052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.32, Y:-9.25, Z:-2.03 [[ 9.36215013e-01 3.50382400e-01 2.70854963e-02 4.73241486e+01] [-3.50253818e-01 9.36606552e-01 -9.50947606e-03 -9.25111871e+00] [-2.87004063e-02 -5.83884223e-04 9.99587888e-01 -2.02895280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.531052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.36, Y:-9.26, Z:-2.03 [[ 9.36147346e-01 3.50551505e-01 2.72357913e-02 4.73556460e+01] [-3.50421360e-01 9.36543271e-01 -9.56929741e-03 -9.26186015e+00] [-2.88620287e-02 -5.85730653e-04 9.99583233e-01 -2.03060107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.561052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.38, Y:-9.28, Z:-2.03 [[ 9.36404706e-01 3.49844745e-01 2.74750953e-02 4.73849302e+01] [-3.49711739e-01 9.36807526e-01 -9.66227366e-03 -9.27502797e+00] [-2.91191717e-02 -5.60564841e-04 9.99575790e-01 -2.02867017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.591052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.41, Y:-9.29, Z:-2.03 [[ 9.36646275e-01 3.49174550e-01 2.77648747e-02 4.74141504e+01] [-3.49038202e-01 9.37057546e-01 -9.77188527e-03 -9.28631825e+00] [-2.94293790e-02 -5.38202007e-04 9.99566717e-01 -2.02922668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.621052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.44, Y:-9.30, Z:-2.03 [[ 9.36552134e-01 3.49427135e-01 2.77628817e-02 4.74446517e+01] [-3.49290730e-01 9.36963385e-01 -9.77754383e-03 -9.29714425e+00] [-2.94293428e-02 -5.40137686e-04 9.99566717e-01 -2.03048641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.651052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.47, Y:-9.31, Z:-2.03 [[ 9.36934632e-01 3.48321367e-01 2.87353537e-02 4.74740508e+01] [-3.48174403e-01 9.37375038e-01 -1.01303194e-02 -9.30774539e+00] [-3.04644100e-02 -5.13467501e-04 9.99535720e-01 -2.03213658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.681052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.50, Y:-9.32, Z:-2.03 [[ 9.37451922e-01 3.46953450e-01 2.84112084e-02 4.75038396e+01] [-3.46809056e-01 9.37882237e-01 -1.00193678e-02 -9.32009707e+00] [-3.01226220e-02 -4.60588721e-04 9.99546105e-01 -2.03485708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.711052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.53, Y:-9.33, Z:-2.04 [[ 9.37572533e-01 3.46664704e-01 2.79522403e-02 4.75337227e+01] [-3.46524610e-01 9.37989015e-01 -9.86425963e-03 -9.33297351e+00] [-2.96384850e-02 -4.37680259e-04 9.99560588e-01 -2.03572489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.56, Y:-9.35, Z:-2.04 [[ 9.37526577e-01 3.46876455e-01 2.68447983e-02 4.75647152e+01] [-3.46747106e-01 9.37910736e-01 -9.48129422e-03 -9.34506137e+00] [-2.84668623e-02 -4.19390822e-04 9.99594649e-01 -2.03685423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.59, Y:-9.35, Z:-2.04 [[ 9.37270071e-01 3.47668371e-01 2.55248449e-02 4.75941833e+01] [-3.47551506e-01 9.37617477e-01 -9.02320303e-03 -9.35383391e+00] [-2.70696230e-02 -4.14020149e-04 9.99633465e-01 -2.03887314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.801052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.63, Y:-9.36, Z:-2.04 [[ 9.36543518e-01 3.49709835e-01 2.42748871e-02 4.76252063e+01] [-3.49604680e-01 9.36857958e-01 -8.58683946e-03 -9.36091743e+00] [-2.57450234e-02 -4.44665312e-04 9.99668443e-01 -2.04109633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.66, Y:-9.37, Z:-2.04 [[ 9.36250329e-01 3.50540206e-01 2.35984155e-02 4.76563110e+01] [-3.50440945e-01 9.36547576e-01 -8.35356552e-03 -9.37017672e+00] [-2.50292994e-02 -4.48822546e-04 9.99686617e-01 -2.04221953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.69, Y:-9.38, Z:-2.04 [[ 9.35933556e-01 3.51486601e-01 2.20351691e-02 4.76872589e+01] [-3.51400151e-01 9.36192811e-01 -7.80733257e-03 -9.37714696e+00] [-2.33733397e-02 -4.36017235e-04 9.99726711e-01 -2.04475550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.891052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.72, Y:-9.39, Z:-2.05 [[ 9.35982499e-01 3.51365458e-01 2.18878237e-02 4.77188569e+01] [-3.51280111e-01 9.36238287e-01 -7.75582230e-03 -9.38771224e+00] [-2.32173466e-02 -4.29443198e-04 9.99730349e-01 -2.04645573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.921052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.75, Y:-9.40, Z:-2.05 [[ 9.36113426e-01 3.50992438e-01 2.22702169e-02 4.77477859e+01] [-3.50903791e-01 9.36378199e-01 -7.89919516e-03 -9.39824069e+00] [-2.36259034e-02 -4.20160906e-04 9.99720781e-01 -2.04719149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.951052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.78, Y:-9.41, Z:-2.05 [[ 9.36081372e-01 3.51050740e-01 2.26945371e-02 4.77771005e+01] [-3.50958571e-01 9.36356341e-01 -8.05506596e-03 -9.41122726e+00] [-2.40779106e-02 -4.24645105e-04 9.99709995e-01 -2.04586578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.981052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.81, Y:-9.42, Z:-2.04 [[ 9.36334942e-01 3.50295228e-01 2.38773939e-02 4.78061589e+01] [-3.50192767e-01 9.36639246e-01 -8.48224889e-03 -9.42268847e+00] [-2.53357955e-02 -4.19464625e-04 9.99678909e-01 -2.04493131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.011052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.84, Y:-9.43, Z:-2.05 [[ 9.37006999e-01 3.48532721e-01 2.32986436e-02 4.78362040e+01] [-3.48434488e-01 9.37296546e-01 -8.28208109e-03 -9.43499930e+00] [-2.47243144e-02 -3.57683025e-04 9.99694243e-01 -2.04579017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.041052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.87, Y:-9.45, Z:-2.05 [[ 9.37549663e-01 3.47121074e-01 2.25297420e-02 4.78658967e+01] [-3.47028674e-01 9.37820275e-01 -8.01447761e-03 -9.44573397e+00] [-2.39108429e-02 -3.04495709e-04 9.99714049e-01 -2.04758732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.90, Y:-9.46, Z:-2.05 [[ 9.37799794e-01 3.46441764e-01 2.25754454e-02 4.78956107e+01] [-3.46348650e-01 9.38071439e-01 -8.03666864e-03 -9.45738066e+00] [-2.39616182e-02 -2.82188834e-04 9.99712839e-01 -2.04842320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.92, Y:-9.47, Z:-2.05 [[ 9.38199785e-01 3.45341379e-01 2.28143497e-02 4.79248194e+01] [-3.45245798e-01 9.38477101e-01 -8.12831673e-03 -9.46889924e+00] [-2.42177889e-02 -2.50573352e-04 9.99706675e-01 -2.05043346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.96, Y:-9.48, Z:-2.05 [[ 9.38319826e-01 3.45027708e-01 2.26226531e-02 4.79557095e+01] [-3.44933520e-01 9.38592470e-01 -8.06485613e-03 -9.48092994e+00] [-2.40160507e-02 -2.35896959e-04 9.99711545e-01 -2.05113584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.99, Y:-9.49, Z:-2.05 [[ 9.38254808e-01 3.45256905e-01 2.18079115e-02 4.79858360e+01] [-3.45169283e-01 9.38508188e-01 -7.78124779e-03 -9.49258593e+00] [-2.31534330e-02 -2.26628009e-04 9.99731898e-01 -2.05123177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.191052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.02, Y:-9.50, Z:-2.05 [[ 9.37956718e-01 3.46104810e-01 2.11815100e-02 4.80163158e+01] [-3.46022244e-01 9.38195824e-01 -7.56317911e-03 -9.50310052e+00] [-2.24900569e-02 -2.35338952e-04 9.99747039e-01 -2.05263296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.05, Y:-9.51, Z:-2.05 [[ 9.37510852e-01 3.47365284e-01 2.02672687e-02 4.80462337e+01] [-3.47289873e-01 9.37729864e-01 -7.24202292e-03 -9.51153877e+00] [-2.15208504e-02 -2.49142082e-04 9.99768369e-01 -2.05459837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.08, Y:-9.52, Z:-2.06 [[ 9.37175142e-01 3.48245340e-01 2.06866069e-02 4.80773434e+01] [-3.48166894e-01 9.37403387e-01 -7.39622352e-03 -9.52161012e+00] [-2.19673958e-02 -2.70834832e-04 9.99758651e-01 -2.05655128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.281052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.11, Y:-9.53, Z:-2.06 [[ 9.37069133e-01 3.48565783e-01 2.00832094e-02 4.81084344e+01] [-3.48491802e-01 9.37284282e-01 -7.18603287e-03 -9.53280272e+00] [-2.13284817e-02 -2.65024234e-04 9.99772487e-01 -2.05761985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.311052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.14, Y:-9.54, Z:-2.06 [[ 9.37044631e-01 3.48638682e-01 1.99606959e-02 4.81381447e+01] [-3.48565478e-01 9.37257170e-01 -7.14876386e-03 -9.54300804e+00] [-2.12006409e-02 -2.58898704e-04 9.99775208e-01 -2.05953722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.341052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.17, Y:-9.56, Z:-2.06 [[ 9.36894268e-01 3.49061752e-01 1.96220478e-02 4.81683235e+01] [-3.48990996e-01 9.37099689e-01 -7.03268600e-03 -9.55514392e+00] [-2.08426565e-02 -2.59034784e-04 9.99782735e-01 -2.05876541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.371052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.20, Y:-9.57, Z:-2.06 [[ 9.36512967e-01 3.50051594e-01 2.01827888e-02 4.81995717e+01] [-3.49976822e-01 9.36730378e-01 -7.24035241e-03 -9.56581195e+00] [-2.14403283e-02 -2.82824359e-04 9.99770090e-01 -2.05762066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.401052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.23, Y:-9.58, Z:-2.06 [[ 9.36159521e-01 3.50986015e-01 2.03511039e-02 4.82298976e+01] [-3.50910067e-01 9.36380653e-01 -7.30740564e-03 -9.57585477e+00] [-2.16211771e-02 -3.00509856e-04 9.99766190e-01 -2.05808435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.431052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.26, Y:-9.59, Z:-2.06 [[ 9.35855960e-01 3.51795722e-01 2.03320466e-02 4.82605155e+01] [-3.51719989e-01 9.36076744e-01 -7.30601850e-03 -9.58714470e+00] [-2.16025821e-02 -3.13806265e-04 9.99766588e-01 -2.05755431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.29, Y:-9.60, Z:-2.06 [[ 9.35780283e-01 3.51940540e-01 2.12865935e-02 4.82896492e+01] [-3.51857383e-01 9.36022303e-01 -7.65706290e-03 -9.59727688e+00] [-2.26195572e-02 -3.24516616e-04 9.99744092e-01 -2.05891959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.32, Y:-9.61, Z:-2.06 [[ 9.35813645e-01 3.51866655e-01 2.10399522e-02 4.83206616e+01] [-3.51785300e-01 9.36050083e-01 -7.57261453e-03 -9.60924337e+00] [-2.23589995e-02 -3.14989894e-04 9.99749957e-01 -2.05969906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.35, Y:-9.62, Z:-2.06 [[ 9.36366324e-01 3.50356557e-01 2.16423255e-02 4.83492747e+01] [-3.50269892e-01 9.36616360e-01 -7.79726832e-03 -9.62087248e+00] [-2.30023802e-02 -2.79555560e-04 9.99735371e-01 -2.06123716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.551052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.38, Y:-9.64, Z:-2.06 [[ 9.37380419e-01 3.47544969e-01 2.30313741e-02 4.83774420e+01] [-3.47445817e-01 9.37663291e-01 -8.30404355e-03 -9.63510040e+00] [-2.44817026e-02 -2.18106752e-04 9.99700254e-01 -2.06009282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.581052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.41, Y:-9.65, Z:-2.06 [[ 9.37918741e-01 3.46068141e-01 2.33511807e-02 4.84071403e+01] [-3.45965624e-01 9.38209364e-01 -8.42475840e-03 -9.64715868e+00] [-2.48238368e-02 -1.76967004e-04 9.99691825e-01 -2.06001226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.44, Y:-9.66, Z:-2.06 [[ 9.38403284e-01 3.44756401e-01 2.32873628e-02 4.84367620e+01] [-3.44653881e-01 9.38692178e-01 -8.40813370e-03 -9.65777899e+00] [-2.47584232e-02 -1.35859701e-04 9.99693454e-01 -2.06184110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.641052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.47, Y:-9.67, Z:-2.06 [[ 9.39258600e-01 3.42493293e-01 2.21726488e-02 4.84671930e+01] [-3.42399624e-01 9.39520271e-01 -8.00983692e-03 -9.66930687e+00] [-2.35749685e-02 -6.85984217e-05 9.99722069e-01 -2.06494604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.671052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.50, Y:-9.68, Z:-2.07 [[ 9.39477745e-01 3.41968024e-01 2.09627543e-02 4.84969677e+01] [-3.41884030e-01 9.39711588e-01 -7.57900206e-03 -9.68113002e+00] [-2.22907195e-02 -4.65271525e-05 9.99751530e-01 -2.06626377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.701052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.53, Y:-9.69, Z:-2.07 [[ 9.40143841e-01 3.40280924e-01 1.83970571e-02 4.85269367e+01] [-3.40215840e-01 9.40323823e-01 -6.65501674e-03 -9.69332933e+00] [-1.95637663e-02 -2.29722310e-06 9.99808611e-01 -2.06853585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.731052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.56, Y:-9.70, Z:-2.07 [[ 9.40387014e-01 3.39635404e-01 1.78901370e-02 4.85580192e+01] [-3.39573671e-01 9.40557171e-01 -6.47531040e-03 -9.70471182e+00] [-1.90259413e-02 1.42783048e-05 9.99818990e-01 -2.07036815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.761052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.59, Y:-9.72, Z:-2.07 [[ 9.40638304e-01 3.38914484e-01 1.83453791e-02 4.85887522e+01] [-3.38849326e-01 9.40817183e-01 -6.64556474e-03 -9.71585128e+00] [-1.95119261e-02 3.47533990e-05 9.99809624e-01 -2.06909532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.791052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.62, Y:-9.73, Z:-2.07 [[ 9.40654278e-01 3.38733522e-01 2.07154501e-02 4.86183921e+01] [-3.38650172e-01 9.40882351e-01 -7.51416973e-03 -9.72637901e+00] [-2.20361026e-02 5.29451613e-05 9.99757174e-01 -2.06800986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.65, Y:-9.74, Z:-2.07 [[ 9.40401325e-01 3.39357814e-01 2.19458978e-02 4.86480574e+01] [-3.39264350e-01 9.40657362e-01 -7.96423201e-03 -9.73636397e+00] [-2.33462947e-02 4.41135796e-05 9.99727437e-01 -2.06779430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.68, Y:-9.75, Z:-2.06 [[ 9.39729548e-01 3.41140062e-01 2.30615552e-02 4.86789773e+01] [-3.41037344e-01 9.40012478e-01 -8.37089331e-03 -9.74686887e+00] [-2.45337967e-02 1.52426948e-06 9.99699001e-01 -2.06342671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.71, Y:-9.76, Z:-2.06 [[ 9.39201138e-01 3.42540431e-01 2.38175683e-02 4.87081484e+01] [-3.42431137e-01 9.39503088e-01 -8.65240513e-03 -9.75710881e+00] [-2.53404775e-02 -2.95282419e-05 9.99678878e-01 -2.06453506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.74, Y:-9.77, Z:-2.06 [[ 9.38609364e-01 3.44064925e-01 2.51354298e-02 4.87385915e+01] [-3.43943566e-01 9.38945857e-01 -9.13785722e-03 -9.76694576e+00] [-2.67448239e-02 -6.82910364e-05 9.99642291e-01 -2.06474020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.941052754000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.77, Y:-9.77, Z:-2.07 [[ 9.37220377e-01 3.47652824e-01 2.74859595e-02 4.87697347e+01] [-3.47509004e-01 9.37623315e-01 -1.00005412e-02 -9.77463539e+00] [-2.92481929e-02 -1.78907367e-04 9.99572164e-01 -2.06572338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.80, Y:-9.78, Z:-2.07 [[ 9.35450085e-01 3.52403369e-01 2.72947699e-02 4.88004332e+01] [-3.52263353e-01 9.35848152e-01 -9.93808191e-03 -9.78325291e+00] [-2.90459735e-02 -3.18367598e-04 9.99578026e-01 -2.06573144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.83, Y:-9.79, Z:-2.07 [[ 9.34450662e-01 3.55045671e-01 2.72861162e-02 4.88301496e+01] [-3.54906650e-01 9.34848874e-01 -9.94249510e-03 -9.79306399e+00] [-2.90384348e-02 -3.93252958e-04 9.99578218e-01 -2.06605942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.031052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.86, Y:-9.80, Z:-2.07 [[ 9.32969955e-01 3.58897235e-01 2.75651485e-02 4.88604532e+01] [-3.58756833e-01 9.33376940e-01 -1.00509984e-02 -9.80318167e+00] [-2.93359495e-02 -5.11905862e-04 9.99569477e-01 -2.06684188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.061052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.89, Y:-9.81, Z:-2.07 [[ 9.32483107e-01 3.60212885e-01 2.68687942e-02 4.88899511e+01] [-3.60079834e-01 9.32869977e-01 -9.80406785e-03 -9.81253357e+00] [-2.85966429e-02 -5.32783292e-04 9.99590890e-01 -2.06998723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.091052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.92, Y:-9.82, Z:-2.07 [[ 9.31641502e-01 3.62574591e-01 2.41614894e-02 4.89189504e+01] [-3.62467649e-01 9.31954600e-01 -8.82199515e-03 -9.82278473e+00] [-2.57160425e-02 -5.38821474e-04 9.99669143e-01 -2.07459600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.121052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.95, Y:-9.83, Z:-2.08 [[ 9.31549455e-01 3.62942843e-01 2.20931018e-02 4.89480871e+01] [-3.62853421e-01 9.31811271e-01 -8.07155121e-03 -9.83487215e+00] [-2.35161130e-02 -4.97508430e-04 9.99723334e-01 -2.07745850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.151052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.98, Y:-9.85, Z:-2.08 [[ 9.31625059e-01 3.62860002e-01 2.01833810e-02 4.89777143e+01] [-3.62785268e-01 9.31843558e-01 -7.37779927e-03 -9.84748108e+00] [-2.14848619e-02 -4.48890629e-04 9.99769073e-01 -2.07986735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.181052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.01, Y:-9.86, Z:-2.08 [[ 9.32333332e-01 3.61120276e-01 1.86199945e-02 4.90063775e+01] [-3.61056242e-01 9.32519172e-01 -6.81055418e-03 -9.86094764e+00] [-1.98229311e-02 -3.73158571e-04 9.99803437e-01 -2.08351396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.04, Y:-9.87, Z:-2.09 [[ 9.33028547e-01 3.59314192e-01 1.87361404e-02 4.90364599e+01] [-3.59248892e-01 9.33216589e-01 -6.85802928e-03 -9.87269465e+00] [-1.99490643e-02 -3.32200604e-04 9.99800942e-01 -2.08665465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.07, Y:-9.88, Z:-2.09 [[ 9.32948364e-01 3.59551410e-01 1.81695944e-02 4.90663053e+01] [-3.59489959e-01 9.33125222e-01 -6.65507332e-03 -9.88448284e+00] [-1.93473478e-02 -3.22946993e-04 9.99812770e-01 -2.08722090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.10, Y:-9.89, Z:-2.09 [[ 9.32697606e-01 3.60220465e-01 1.77874351e-02 4.90956809e+01] [-3.60161599e-01 9.32867145e-01 -6.52010627e-03 -9.89426753e+00] [-1.89419895e-02 -3.25063558e-04 9.99820532e-01 -2.08951198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.301052754000004 meters Centerline goodness [0,1] 0.9999767089786887 Centerline is valid? [True, True] Translation: X:49.13, Y:-9.91, Z:-2.09 [[ 9.32367599e-01 3.61124751e-01 1.67205055e-02 4.91252347e+01] [-3.61072826e-01 9.32517459e-01 -6.13209020e-03 -9.90605962e+00] [-1.78066129e-02 -3.19957955e-04 9.99841399e-01 -2.08853682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.331052754 meters Centerline goodness [0,1] 0.9999299196411886 Centerline is valid? [True, True] Translation: X:49.16, Y:-9.91, Z:-2.09 [[ 9.32162966e-01 3.61672274e-01 1.62902271e-02 4.91552784e+01] [-3.61622991e-01 9.32305243e-01 -5.97886617e-03 -9.91426048e+00] [-1.73498543e-02 -3.17643045e-04 9.99849429e-01 -2.09192600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.19, Y:-9.92, Z:-2.09 [[ 9.31240460e-01 3.64065027e-01 1.57436024e-02 4.91854099e+01] [-3.64019277e-01 9.31373467e-01 -5.78190606e-03 -9.92417486e+00] [-1.67681633e-02 -3.46629890e-04 9.99859344e-01 -2.09008408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.391052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.22, Y:-9.93, Z:-2.09 [[ 9.30781909e-01 3.65240849e-01 1.56256379e-02 4.92165340e+01] [-3.65195890e-01 9.30912988e-01 -5.74199202e-03 -9.93338864e+00] [-1.66433193e-02 -3.61876455e-04 9.99861425e-01 -2.09182044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.421052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.25, Y:-9.94, Z:-2.09 [[ 9.30226725e-01 3.66686453e-01 1.48083097e-02 4.92472643e+01] [-3.66646204e-01 9.30344513e-01 -5.44500876e-03 -9.94169492e+00] [-1.57734406e-02 -3.64317872e-04 9.99875525e-01 -2.09496489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.451052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.28, Y:-9.95, Z:-2.10 [[ 9.30153397e-01 3.66897389e-01 1.41762045e-02 4.92775096e+01] [-3.66860476e-01 9.30261353e-01 -5.21600592e-03 -9.95196455e+00] [-1.51013141e-02 -3.49003514e-04 9.99885908e-01 -2.09760351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.481052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.31, Y:-9.96, Z:-2.10 [[ 9.30080815e-01 3.67063856e-01 1.46220448e-02 4.93071993e+01] [-3.67024530e-01 9.30195677e-01 -5.38487761e-03 -9.96185834e+00] [-1.55779568e-02 -3.58277769e-04 9.99878592e-01 -2.09944724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.511052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.34, Y:-9.97, Z:-2.10 [[ 9.29981901e-01 3.67314421e-01 1.46211862e-02 4.93375502e+01] [-3.67275090e-01 9.30096762e-01 -5.38720732e-03 -9.97313721e+00] [-1.55779169e-02 -3.59992191e-04 9.99878592e-01 -2.10070751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.541052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.37, Y:-9.99, Z:-2.10 [[ 9.29867299e-01 3.67579450e-01 1.52366340e-02 4.93668366e+01] [-3.67536679e-01 9.29992047e-01 -5.61979745e-03 -9.98716797e+00] [-1.62356705e-02 -3.74355991e-04 9.99868123e-01 -2.09760561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.40, Y:-10.00, Z:-2.10 [[ 9.29684985e-01 3.68055547e-01 1.48641521e-02 4.93956142e+01] [-3.68014835e-01 9.29803731e-01 -5.48668194e-03 -9.99819355e+00] [-1.58401478e-02 -3.69342656e-04 9.99874469e-01 -2.09795744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.43, Y:-10.01, Z:-2.10 [[ 9.29363634e-01 3.68881158e-01 1.44889043e-02 4.94255640e+01] [-3.68842529e-01 9.29476495e-01 -5.35115538e-03 -1.00095174e+01] [-1.54410363e-02 -3.70954883e-04 9.99880711e-01 -2.09867775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.46, Y:-10.02, Z:-2.10 [[ 9.29026275e-01 3.69755225e-01 1.38294638e-02 4.94551847e+01] [-3.69720035e-01 9.29129131e-01 -5.11399405e-03 -1.00176418e+01] [-1.47402837e-02 -3.61994988e-04 9.99891291e-01 -2.10166433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.49, Y:-10.03, Z:-2.10 [[ 9.28851558e-01 3.70184304e-01 1.40841954e-02 4.94852756e+01] [-3.70147887e-01 9.28958254e-01 -5.20607891e-03 -1.00315796e+01] [-1.50108383e-02 -3.77560662e-04 9.99887260e-01 -2.09986946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.691052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.51, Y:-10.04, Z:-2.10 [[ 9.29181436e-01 3.69333863e-01 1.46409366e-02 4.95145244e+01] [-3.69294301e-01 9.29296701e-01 -5.41847515e-03 -1.00409414e+01] [-1.56070004e-02 -3.72067923e-04 9.99878134e-01 -2.10217125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.54, Y:-10.06, Z:-2.10 [[ 9.29879443e-01 3.67532749e-01 1.56172807e-02 4.95434098e+01] [-3.67487410e-01 9.30010510e-01 -5.78407903e-03 -1.00551569e+01] [-1.66500736e-02 -3.60657836e-04 9.99861313e-01 -2.10125479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.57, Y:-10.07, Z:-2.10 [[ 9.30273555e-01 3.66539069e-01 1.54991681e-02 4.95718204e+01] [-3.66494205e-01 9.30402600e-01 -5.74456841e-03 -1.00667615e+01] [-1.65260750e-02 -3.36335205e-04 9.99863379e-01 -2.10308421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.781052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.60, Y:-10.08, Z:-2.10 [[ 9.31104990e-01 3.64488888e-01 1.38328379e-02 4.96006486e+01] [-3.64452901e-01 9.31207699e-01 -5.12866033e-03 -1.00824588e+01] [-1.47505849e-02 -2.66096676e-04 9.99891169e-01 -2.10377027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.811052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.63, Y:-10.10, Z:-2.10 [[ 9.31444023e-01 3.63614529e-01 1.40180742e-02 4.96298340e+01] [-3.63577394e-01 9.31549468e-01 -5.20259257e-03 -1.00963089e+01] [-1.49502678e-02 -2.50731132e-04 9.99888207e-01 -2.10236574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.841052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.66, Y:-10.11, Z:-2.10 [[ 9.32128848e-01 3.61731914e-01 1.69066289e-02 4.96585014e+01] [-3.61677406e-01 9.32282123e-01 -6.28464948e-03 -1.01060607e+01] [-1.80351062e-02 -2.56642613e-04 9.99837321e-01 -2.10340503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.871052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.69, Y:-10.12, Z:-2.10 [[ 9.32341703e-01 3.61100280e-01 1.85886104e-02 4.96878215e+01] [-3.61034257e-01 9.32526952e-01 -6.91012259e-03 -1.01158982e+01] [-1.98296274e-02 -2.68529658e-04 9.99803338e-01 -2.10424122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.901052754 meters Centerline goodness [0,1] 0.9999765868277493 Centerline is valid? [True, True] Translation: X:49.72, Y:-10.13, Z:-2.10 [[ 9.33049687e-01 3.59115068e-01 2.13225194e-02 4.97180902e+01] [-3.59027467e-01 9.33293258e-01 -7.93557231e-03 -1.01280791e+01] [-2.27499472e-02 -2.51086887e-04 9.99741155e-01 -2.10121813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.931052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.75, Y:-10.14, Z:-2.10 [[ 9.33526896e-01 3.57837840e-01 2.19001319e-02 4.97472074e+01] [-3.57745076e-01 9.33783717e-01 -8.15054470e-03 -1.01393235e+01] [-2.33665599e-02 -2.25911648e-04 9.99726939e-01 -2.10134316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.961052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.78, Y:-10.15, Z:-2.10 [[ 9.34638527e-01 3.54882807e-01 2.25614275e-02 4.97763189e+01] [-3.54783358e-01 9.34910782e-01 -8.40228461e-03 -1.01528466e+01] [-2.40747482e-02 -1.51320116e-04 9.99710150e-01 -2.10129153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.81, Y:-10.17, Z:-2.10 [[ 9.35133686e-01 3.53592156e-01 2.23064198e-02 4.98066440e+01] [-3.53494447e-01 9.35399687e-01 -8.31270570e-03 -1.01653144e+01] [-2.38047256e-02 -1.11704422e-04 9.99716621e-01 -2.10301765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.84, Y:-10.18, Z:-2.11 [[ 9.36661432e-01 3.49583049e-01 2.13788132e-02 4.98353981e+01] [-3.49492106e-01 9.36905380e-01 -7.97347007e-03 -1.01778568e+01] [-2.28173151e-02 -3.28453945e-06 9.99739651e-01 -2.10789282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.051052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.86, Y:-10.19, Z:-2.11 [[ 9.37659276e-01 3.46930466e-01 2.08406772e-02 4.98641563e+01] [-3.46843247e-01 9.37890850e-01 -7.77911231e-03 -1.01905610e+01] [-2.22450915e-02 6.57086684e-05 9.99752545e-01 -2.11098110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.081052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.89, Y:-10.21, Z:-2.11 [[ 9.39913821e-01 3.40850292e-01 1.95726389e-02 4.98922060e+01] [-3.40771960e-01 9.40117566e-01 -7.30978907e-03 -1.02061961e+01] [-2.08921253e-02 2.00765264e-04 9.99781716e-01 -2.11374664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.92, Y:-10.22, Z:-2.12 [[ 9.40767145e-01 3.38498128e-01 1.93957931e-02 4.99216721e+01] [-3.38420601e-01 9.40967030e-01 -7.24876741e-03 -1.02183367e+01] [-2.07044960e-02 2.55466263e-04 9.99785606e-01 -2.11546330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.141052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.95, Y:-10.23, Z:-2.12 [[ 9.41295200e-01 3.36986174e-01 2.00914386e-02 4.99505229e+01] [-3.36902515e-01 9.41509546e-01 -7.51462731e-03 -1.02289034e+01] [-2.14486068e-02 3.04626409e-04 9.99769906e-01 -2.11638188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.171052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.98, Y:-10.24, Z:-2.12 [[ 9.41287051e-01 3.37023515e-01 1.98453679e-02 4.99804005e+01] [-3.36941784e-01 9.41496180e-01 -7.42815128e-03 -1.02403648e+01] [-2.11877997e-02 3.05288963e-04 9.99775467e-01 -2.11725244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.201052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.01, Y:-10.25, Z:-2.12 [[ 9.40733116e-01 3.38590332e-01 1.94368648e-02 5.00120842e+01] [-3.38512221e-01 9.40933853e-01 -7.27737036e-03 -1.02473388e+01] [-2.07528514e-02 2.66447005e-04 9.99784601e-01 -2.11748786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.231052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.04, Y:-10.25, Z:-2.12 [[ 9.40360521e-01 3.39608918e-01 1.96945089e-02 5.00438150e+01] [-3.39528838e-01 9.40566701e-01 -7.37894298e-03 -1.02548186e+01] [-2.10299541e-02 2.52012928e-04 9.99778814e-01 -2.11882868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.261052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.07, Y:-10.26, Z:-2.12 [[ 9.39892953e-01 3.40910772e-01 1.95213509e-02 5.00747485e+01] [-3.40832266e-01 9.40095631e-01 -7.31928029e-03 -1.02641382e+01] [-2.08471582e-02 2.25833683e-04 9.99782649e-01 -2.12263394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.291052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.10, Y:-10.28, Z:-2.12 [[ 9.39660975e-01 3.41530862e-01 1.98474652e-02 5.01036425e+01] [-3.41449726e-01 9.39870534e-01 -7.44737665e-03 -1.02751890e+01] [-2.11975566e-02 2.21097664e-04 9.99775282e-01 -2.12341046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.13, Y:-10.29, Z:-2.12 [[ 9.39035967e-01 3.43103731e-01 2.21648888e-02 5.01337985e+01] [-3.43002826e-01 9.39297495e-01 -8.32326989e-03 -1.02857220e+01] [-2.36751694e-02 2.13230296e-04 9.99719681e-01 -2.12228231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.351052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.16, Y:-10.30, Z:-2.12 [[ 9.38414967e-01 3.44674911e-01 2.40115681e-02 5.01636062e+01] [-3.44556820e-01 9.38722093e-01 -9.02386320e-03 -1.02963567e+01] [-2.56504887e-02 1.94778722e-04 9.99670953e-01 -2.12099481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.19, Y:-10.31, Z:-2.12 [[ 9.38000010e-01 3.45760366e-01 2.46120211e-02 5.01926617e+01] [-3.45636485e-01 9.38322833e-01 -9.25643033e-03 -1.03074887e+01] [-2.62945281e-02 1.75719279e-04 9.99654224e-01 -2.12185644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.22, Y:-10.32, Z:-2.12 [[ 9.37459662e-01 3.47196877e-01 2.49741897e-02 5.02226047e+01] [-3.47069674e-01 9.37792252e-01 -9.39856610e-03 -1.03185931e+01] [-2.66837544e-02 1.42992723e-04 9.99643915e-01 -2.12248312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.441052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.25, Y:-10.33, Z:-2.12 [[ 9.35957860e-01 3.51201761e-01 2.53023257e-02 5.02525626e+01] [-3.51072474e-01 9.36299804e-01 -9.52867565e-03 -1.03287081e+01] [-2.70370502e-02 3.54887951e-05 9.99634432e-01 -2.12363548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.28, Y:-10.34, Z:-2.13 [[ 9.34968644e-01 3.53878861e-01 2.45639085e-02 5.02836931e+01] [-3.53757783e-01 9.35291265e-01 -9.25638140e-03 -1.03393620e+01] [-2.62500468e-02 -3.52474443e-05 9.99655408e-01 -2.12621942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.501052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.31, Y:-10.35, Z:-2.13 [[ 9.33147154e-01 3.58760909e-01 2.29564585e-02 5.03140159e+01] [-3.58656468e-01 9.33429476e-01 -8.65745987e-03 -1.03489084e+01] [-2.45341932e-02 -1.54798273e-04 9.99698979e-01 -2.13081717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.531052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.34, Y:-10.36, Z:-2.13 [[ 9.32218152e-01 3.61196276e-01 2.25070561e-02 5.03439142e+01] [-3.61096453e-01 9.32489789e-01 -8.49383146e-03 -1.03596963e+01] [-2.40555403e-02 -2.09114288e-04 9.99710602e-01 -2.13330287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.561052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.37, Y:-10.37, Z:-2.13 [[ 9.30571341e-01 3.65450050e-01 2.19827447e-02 5.03729703e+01] [-3.65355880e-01 9.30830901e-01 -8.30143031e-03 -1.03725364e+01] [-2.34959762e-02 -3.06451913e-04 9.99723884e-01 -2.13346924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.591052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.40, Y:-10.38, Z:-2.14 [[ 9.30311135e-01 3.66229650e-01 1.99257399e-02 5.04022886e+01] [-3.66152317e-01 9.30524454e-01 -7.53136116e-03 -1.03811224e+01] [-2.12995960e-02 -2.89346688e-04 9.99773096e-01 -2.14083620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.621052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.43, Y:-10.39, Z:-2.14 [[ 9.29988337e-01 3.67125098e-01 1.84622573e-02 5.04313481e+01] [-3.67058869e-01 9.30171533e-01 -6.97900529e-03 -1.03907242e+01] [-1.97352342e-02 -2.86341755e-04 9.99805200e-01 -2.14488630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.651052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.46, Y:-10.40, Z:-2.15 [[ 9.29632634e-01 3.68146685e-01 1.58487889e-02 5.04600336e+01] [-3.68097995e-01 9.29767686e-01 -5.99306438e-03 -1.04039907e+01] [-1.69420185e-02 -2.62559180e-04 9.99856439e-01 -2.14563421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.681052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.49, Y:-10.42, Z:-2.15 [[ 9.29513096e-01 3.68490295e-01 1.48427537e-02 5.04890077e+01] [-3.68447548e-01 9.29631562e-01 -5.61802718e-03 -1.04153411e+01] [-1.58684808e-02 -2.46746380e-04 9.99874057e-01 -2.14783162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.711052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.52, Y:-10.43, Z:-2.15 [[ 9.29315766e-01 3.68988340e-01 1.48260582e-02 5.05201690e+01] [-3.68945773e-01 9.29433989e-01 -5.61044336e-03 -1.04268079e+01] [-1.58500306e-02 -2.56138037e-04 9.99874348e-01 -2.14935368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.55, Y:-10.44, Z:-2.15 [[ 9.29239053e-01 3.69168328e-01 1.51501893e-02 5.05507428e+01] [-3.69123753e-01 9.29362513e-01 -5.74238048e-03 -1.04367544e+01] [-1.61999230e-02 -2.56250550e-04 9.99868740e-01 -2.15188072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.58, Y:-10.44, Z:-2.16 [[ 9.29166210e-01 3.69356272e-01 1.50365492e-02 5.05815686e+01] [-3.69312431e-01 9.29287833e-01 -5.69666343e-03 -1.04442387e+01] [-1.60773806e-02 -2.60037358e-04 9.99870717e-01 -2.15878294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.801052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.61, Y:-10.46, Z:-2.15 [[ 9.29164573e-01 3.69372268e-01 1.47419278e-02 5.06108979e+01] [-3.69330073e-01 9.29281477e-01 -5.58863166e-03 -1.04593673e+01] [-1.57636860e-02 -2.51878711e-04 9.99875714e-01 -2.15453780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.64, Y:-10.47, Z:-2.16 [[ 9.29003365e-01 3.69758757e-01 1.52055791e-02 5.06417468e+01] [-3.69713815e-01 9.29127760e-01 -5.77074086e-03 -1.04655851e+01] [-1.62617076e-02 -2.60674985e-04 9.99867736e-01 -2.16234817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.67, Y:-10.48, Z:-2.16 [[ 9.28813194e-01 3.70239599e-01 1.51224825e-02 5.06713117e+01] [-3.70195174e-01 9.28936257e-01 -5.74146025e-03 -1.04810637e+01] [-1.61735382e-02 -2.65526011e-04 9.99869165e-01 -2.15775857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.891052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.70, Y:-10.49, Z:-2.16 [[ 9.28238504e-01 3.71755014e-01 1.30953985e-02 5.07009417e+01] [-3.71721740e-01 9.28330841e-01 -4.97977854e-03 -1.04925009e+01] [-1.40081199e-02 -2.45422134e-04 9.99901851e-01 -2.15964619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.921052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.73, Y:-10.50, Z:-2.16 [[ 9.27817165e-01 3.72844855e-01 1.19173001e-02 5.07310373e+01] [-3.72817443e-01 9.27893666e-01 -4.52759983e-03 -1.05038589e+01] [-1.27460795e-02 -2.42192492e-04 9.99918736e-01 -2.16162330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.951052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.76, Y:-10.51, Z:-2.17 [[ 9.27047186e-01 3.74777199e-01 1.12056484e-02 5.07606068e+01] [-3.74753066e-01 9.27114873e-01 -4.26035851e-03 -1.05131812e+01] [-1.19856086e-02 -2.49797743e-04 9.99928139e-01 -2.16560158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.981052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.79, Y:-10.53, Z:-2.17 [[ 9.26753488e-01 3.75515356e-01 1.07791868e-02 5.07906781e+01] [-3.75493050e-01 9.26816140e-01 -4.10035320e-03 -1.05255470e+01] [-1.15300699e-02 -2.47493114e-04 9.99933496e-01 -2.16603784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.011052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.82, Y:-10.54, Z:-2.17 [[ 9.26289771e-01 3.76663276e-01 1.05847578e-02 5.08207543e+01] [-3.76641814e-01 9.26350210e-01 -4.02894228e-03 -1.05372401e+01] [-1.13227472e-02 -2.54694357e-04 9.99935863e-01 -2.16546036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.041052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.85, Y:-10.55, Z:-2.17 [[ 9.25879882e-01 3.77640897e-01 1.15670572e-02 5.08513800e+01] [-3.77615291e-01 9.25952088e-01 -4.40697698e-03 -1.05469291e+01] [-1.23747955e-02 -2.87566348e-04 9.99923388e-01 -2.16746955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.88, Y:-10.56, Z:-2.17 [[ 9.25447459e-01 3.78646322e-01 1.31895450e-02 5.08818030e+01] [-3.78613061e-01 9.25541381e-01 -5.03009199e-03 -1.05569646e+01] [-1.41120956e-02 -3.38648178e-04 9.99900362e-01 -2.16709997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.91, Y:-10.57, Z:-2.17 [[ 9.25260961e-01 3.79081042e-01 1.37738183e-02 5.09107111e+01] [-3.79044759e-01 9.25363407e-01 -5.25690999e-03 -1.05702050e+01] [-1.47385823e-02 -3.56880034e-04 9.99891318e-01 -2.16504242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.94, Y:-10.58, Z:-2.17 [[ 9.25236024e-01 3.79093965e-01 1.50354729e-02 5.09404634e+01] [-3.79050606e-01 9.25358103e-01 -5.74614980e-03 -1.05802018e+01] [-1.60915274e-02 -3.82660323e-04 9.99870450e-01 -2.16753991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.97, Y:-10.59, Z:-2.17 [[ 9.25591282e-01 3.78226150e-01 1.50252664e-02 5.09700689e+01] [-3.78182736e-01 9.25713155e-01 -5.74226143e-03 -1.05929308e+01] [-1.60809602e-02 -3.67309240e-04 9.99870626e-01 -2.17034235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.191052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.00, Y:-10.61, Z:-2.17 [[ 9.25958433e-01 3.77326630e-01 1.50198119e-02 5.09997182e+01] [-3.77283063e-01 9.26080177e-01 -5.74428692e-03 -1.06056599e+01] [-1.60770224e-02 -3.47749719e-04 9.99870696e-01 -2.17207365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.03, Y:-10.62, Z:-2.17 [[ 9.26169121e-01 3.76787437e-01 1.55558991e-02 5.10283830e+01] [-3.76740544e-01 9.26299686e-01 -5.95439695e-03 -1.06174016e+01] [-1.66529664e-02 -3.45759293e-04 9.99861270e-01 -2.17430187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.06, Y:-10.63, Z:-2.17 [[ 9.26835450e-01 3.75090599e-01 1.68252888e-02 5.10564454e+01] [-3.75035371e-01 9.26988095e-01 -6.44528074e-03 -1.06312185e+01] [-1.80144066e-02 -3.36363733e-04 9.99837671e-01 -2.17415122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.281052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.09, Y:-10.65, Z:-2.17 [[ 9.27387211e-01 3.73622095e-01 1.89602638e-02 5.10860023e+01] [-3.73551479e-01 9.27580948e-01 -7.27167011e-03 -1.06455417e+01] [-2.03040361e-02 -3.38980714e-04 9.99793794e-01 -2.17197000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.311052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.12, Y:-10.66, Z:-2.17 [[ 9.27520469e-01 3.73196199e-01 2.07455001e-02 5.11153322e+01] [-3.73111552e-01 9.27752374e-01 -7.95630671e-03 -1.06561683e+01] [-2.22159504e-02 -3.60748409e-04 9.99753130e-01 -2.17312071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.341052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.15, Y:-10.67, Z:-2.17 [[ 9.28103501e-01 3.71639471e-01 2.25387674e-02 5.11450266e+01] [-3.71538950e-01 9.28377070e-01 -8.65012562e-03 -1.06687657e+01] [-2.41392030e-02 -3.45818103e-04 9.99708547e-01 -2.17402853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.371052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.17, Y:-10.68, Z:-2.18 [[ 9.28391451e-01 3.70903244e-01 2.28056615e-02 5.11741147e+01] [-3.70799945e-01 9.28671459e-01 -8.75914383e-03 -1.06803147e+01] [-2.44277618e-02 -3.24423774e-04 9.99701545e-01 -2.17538339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.401052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.20, Y:-10.69, Z:-2.18 [[ 9.28293238e-01 3.71149081e-01 2.28040282e-02 5.12042977e+01] [-3.71045752e-01 9.28573235e-01 -8.76339351e-03 -1.06920033e+01] [-2.44277357e-02 -3.26338844e-04 9.99701545e-01 -2.17664310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.431052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.23, Y:-10.70, Z:-2.18 [[ 9.29123545e-01 3.68948699e-01 2.46230873e-02 5.12323640e+01] [-3.68827213e-01 9.29449718e-01 -9.47148747e-03 -1.07045992e+01] [-2.63804145e-02 -2.81482647e-04 9.99651937e-01 -2.17729559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.26, Y:-10.72, Z:-2.18 [[ 9.29581555e-01 3.67713795e-01 2.57817490e-02 5.12613715e+01] [-3.67579947e-01 9.29938977e-01 -9.92373571e-03 -1.07169179e+01] [-2.76245478e-02 -2.51932254e-04 9.99618338e-01 -2.17850979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.29, Y:-10.73, Z:-2.18 [[ 9.29888025e-01 3.66906478e-01 2.62277865e-02 5.12907492e+01] [-3.66767439e-01 9.30257806e-01 -1.01024606e-02 -1.07294430e+01] [-2.81052614e-02 -2.25340977e-04 9.99604944e-01 -2.17969098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.32, Y:-10.74, Z:-2.18 [[ 9.30379640e-01 3.65583090e-01 2.72530834e-02 5.13194099e+01] [-3.65432174e-01 9.30778690e-01 -1.05050369e-02 -1.07424569e+01] [-2.92070531e-02 -1.85481087e-04 9.99573366e-01 -2.18064468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.551052754000004 meters Centerline goodness [0,1] 0.9999762447738503 Centerline is valid? [True, True] Translation: X:51.35, Y:-10.75, Z:-2.18 [[ 9.30484696e-01 3.65244887e-01 2.81851694e-02 5.13491105e+01] [-3.65083106e-01 9.30911458e-01 -1.08712247e-02 -1.07543268e+01] [-3.02085564e-02 -1.74420997e-04 9.99543602e-01 -2.18186554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.581052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.38, Y:-10.77, Z:-2.18 [[ 9.30717778e-01 3.64635629e-01 2.83773917e-02 5.13788757e+01] [-3.64471142e-01 9.31150276e-01 -1.09521909e-02 -1.07672174e+01] [-3.04171751e-02 -1.49341552e-04 9.99537280e-01 -2.18322661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.41, Y:-10.78, Z:-2.19 [[ 9.31015194e-01 3.63932171e-01 2.76420640e-02 5.14088070e+01] [-3.63775529e-01 9.31425446e-01 -1.06771860e-02 -1.07783281e+01] [-2.96322933e-02 -1.14884090e-04 9.99560861e-01 -2.18835978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.641052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.44, Y:-10.79, Z:-2.19 [[ 9.31326596e-01 3.63124644e-01 2.77716508e-02 5.14381974e+01] [-3.62965917e-01 9.31740568e-01 -1.07357832e-02 -1.07896488e+01] [-2.97744011e-02 -8.16422952e-05 9.99556641e-01 -2.19117329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.671052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.47, Y:-10.80, Z:-2.19 [[ 9.31830359e-01 3.61861616e-01 2.73560560e-02 5.14685461e+01] [-3.61706839e-01 9.32231822e-01 -1.05826463e-02 -1.08019783e+01] [-2.93316394e-02 -3.36414802e-05 9.99569734e-01 -2.19347039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.701052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.50, Y:-10.82, Z:-2.20 [[ 9.32687614e-01 3.59779357e-01 2.55466144e-02 5.14968411e+01] [-3.59643384e-01 9.33037412e-01 -9.89056413e-03 -1.08151228e+01] [-2.73943678e-02 3.71357953e-05 9.99624703e-01 -2.19742464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.731052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.53, Y:-10.83, Z:-2.20 [[ 9.32450285e-01 3.60434312e-01 2.49714293e-02 5.15269587e+01] [-3.60304476e-01 9.32784598e-01 -9.67357278e-03 -1.08257384e+01] [-2.67796522e-02 2.28079527e-05 9.99641361e-01 -2.20068470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.761052754 meters Centerline goodness [0,1] 0.9999763638082632 Centerline is valid? [True, True] Translation: X:51.56, Y:-10.84, Z:-2.20 [[ 9.31994717e-01 3.61605736e-01 2.50427369e-02 5.15579959e+01] [-3.61475394e-01 9.32331106e-01 -9.70814623e-03 -1.08361232e+01] [-2.68586439e-02 -4.39216883e-06 9.99639242e-01 -2.20157887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.791052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.59, Y:-10.84, Z:-2.21 [[ 9.31384106e-01 3.63291296e-01 2.33041227e-02 5.15884436e+01] [-3.63178772e-01 9.31675605e-01 -9.04140214e-03 -1.08430075e+01] [-2.49965453e-02 -4.25444243e-05 9.99687537e-01 -2.20716867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.62, Y:-10.85, Z:-2.21 [[ 9.30979621e-01 3.64418390e-01 2.18216064e-02 5.16193962e+01] [-3.64319932e-01 9.31235326e-01 -8.47074614e-03 -1.08525724e+01] [-2.34079464e-02 -6.39541233e-05 9.99725994e-01 -2.21035854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.65, Y:-10.86, Z:-2.21 [[ 9.30670077e-01 3.65254799e-01 2.10271220e-02 5.16499632e+01] [-3.65163472e-01 9.30907582e-01 -8.16780004e-03 -1.08632868e+01] [-2.25576354e-02 -7.68097778e-05 9.99745541e-01 -2.21329383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.68, Y:-10.88, Z:-2.21 [[ 9.30727314e-01 3.65079565e-01 2.15308577e-02 5.16782506e+01] [-3.64983611e-01 9.30976319e-01 -8.37000927e-03 -1.08759259e+01] [-2.31004380e-02 -6.82139464e-05 9.99733147e-01 -2.21461036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.71, Y:-10.89, Z:-2.21 [[ 9.30688983e-01 3.65126159e-01 2.23809231e-02 5.17070888e+01] [-3.65022343e-01 9.30958046e-01 -8.70661625e-03 -1.08884869e+01] [-2.40147138e-02 -6.63851533e-05 9.99711603e-01 -2.21454980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.941052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.74, Y:-10.90, Z:-2.21 [[ 9.30463164e-01 3.65590150e-01 2.41276383e-02 5.17367336e+01] [-3.65469484e-01 9.30775932e-01 -9.39257104e-03 -1.08999238e+01] [-2.58912565e-02 -7.84741694e-05 9.99664762e-01 -2.21330814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.77, Y:-10.91, Z:-2.22 [[ 9.29837308e-01 3.67133896e-01 2.48049047e-02 5.17684353e+01] [-3.67006732e-01 9.30168097e-01 -9.66284753e-03 -1.09101055e+01] [-2.66202898e-02 -1.18690854e-04 9.99645610e-01 -2.21582376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.80, Y:-10.92, Z:-2.22 [[ 9.29554381e-01 3.67771476e-01 2.59382948e-02 5.17982422e+01] [-3.67632423e-01 9.29916192e-01 -1.01132669e-02 -1.09217254e+01] [-2.78398115e-02 -1.34926592e-04 9.99612388e-01 -2.21627041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.031052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.83, Y:-10.93, Z:-2.22 [[ 9.29188422e-01 3.68613743e-01 2.70699902e-02 5.18270132e+01] [-3.68462409e-01 9.29582639e-01 -1.05626738e-02 -1.09336835e+01] [-2.90573397e-02 -1.59559631e-04 9.99577734e-01 -2.21783222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.061052754 meters Centerline goodness [0,1] 0.9999763565433266 Centerline is valid? [True, True] Translation: X:51.86, Y:-10.95, Z:-2.22 [[ 9.29063386e-01 3.68961431e-01 2.66211673e-02 5.18567104e+01] [-3.68815044e-01 9.29444692e-01 -1.03936078e-02 -1.09466932e+01] [-2.85777431e-02 -1.61966596e-04 9.99591560e-01 -2.21946591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.091052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.89, Y:-10.96, Z:-2.22 [[ 9.28423076e-01 3.70647090e-01 2.55211115e-02 5.18853769e+01] [-3.70512965e-01 9.28773759e-01 -9.97232279e-03 -1.09590186e+01] [-2.73995510e-02 -1.97368070e-04 9.99624542e-01 -2.22185850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.121052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.92, Y:-10.97, Z:-2.22 [[ 9.27649239e-01 3.72575448e-01 2.55817192e-02 5.19154786e+01] [-3.72441245e-01 9.28001871e-01 -1.00022687e-02 -1.09699171e+01] [-2.74664831e-02 -2.49090385e-04 9.99622694e-01 -2.22318387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.151052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.95, Y:-10.98, Z:-2.23 [[ 9.25770593e-01 3.77285186e-01 2.45906001e-02 5.19460129e+01] [-3.77162671e-01 9.26097054e-01 -9.62113250e-03 -1.09783156e+01] [-2.64031931e-02 -3.67694863e-04 9.99651307e-01 -2.22606961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.181052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.98, Y:-10.99, Z:-2.23 [[ 9.24802918e-01 3.79742267e-01 2.31381537e-02 5.19763072e+01] [-3.79634423e-01 9.25092236e-01 -9.05865382e-03 -1.09885970e+01] [-2.48448801e-02 -4.06570156e-04 9.99691236e-01 -2.22805385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.01, Y:-11.00, Z:-2.23 [[ 9.23139279e-01 3.83796466e-01 2.26747642e-02 5.20070506e+01] [-3.83693959e-01 9.23417578e-01 -8.88380581e-03 -1.09950364e+01] [-2.43478492e-02 -4.99179978e-04 9.99703423e-01 -2.23151145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.04, Y:-11.01, Z:-2.23 [[ 9.22574649e-01 3.85117382e-01 2.32512043e-02 5.20367872e+01] [-3.85009863e-01 9.22867438e-01 -9.11574294e-03 -1.10065576e+01] [-2.49684104e-02 -5.41989647e-04 9.99688094e-01 -2.23228749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.07, Y:-11.02, Z:-2.23 [[ 9.22011240e-01 3.86461483e-01 2.32979593e-02 5.20661710e+01] [-3.86353797e-01 9.22305369e-01 -9.14058122e-03 -1.10188857e+01] [-2.50203155e-02 -5.73536398e-04 9.99686778e-01 -2.23192862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.301052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.10, Y:-11.03, Z:-2.23 [[ 9.21941905e-01 3.86574314e-01 2.41541502e-02 5.20955380e+01] [-3.86458423e-01 9.22258071e-01 -9.48352064e-03 -1.10318648e+01] [-2.59424454e-02 -5.91319706e-04 9.99663263e-01 -2.23175992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.331052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.12, Y:-11.04, Z:-2.23 [[ 9.22178042e-01 3.85924539e-01 2.54933181e-02 5.21247362e+01] [-3.85794972e-01 9.22530158e-01 -1.00173082e-02 -1.10428085e+01] [-2.73842798e-02 -5.97452285e-04 9.99624802e-01 -2.23291199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.15, Y:-11.05, Z:-2.24 [[ 9.22297122e-01 3.85605755e-01 2.60042299e-02 5.21542716e+01] [-3.85470619e-01 9.22663454e-01 -1.02250566e-02 -1.10535170e+01] [-2.79359932e-02 -5.93326331e-04 9.99609538e-01 -2.23558842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.391052754 meters Centerline goodness [0,1] 0.9999050873196659 Centerline is valid? [True, True] Translation: X:52.18, Y:-11.07, Z:-2.24 [[ 9.22652189e-01 3.84715087e-01 2.65939829e-02 5.21832164e+01] [-3.84573186e-01 9.23035196e-01 -1.04637898e-02 -1.10667060e+01] [-2.85727600e-02 -5.72894206e-04 9.99591551e-01 -2.23627317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.421052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.21, Y:-11.08, Z:-2.24 [[ 9.22968908e-01 3.83868643e-01 2.78075510e-02 5.22121985e+01] [-3.83712863e-01 9.23387539e-01 -1.09495128e-02 -1.10791137e+01] [-2.98803206e-02 -5.64055164e-04 9.99553324e-01 -2.23676656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.451052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.24, Y:-11.09, Z:-2.24 [[ 9.23893402e-01 3.81560787e-01 2.88504192e-02 5.22404754e+01] [-3.81391716e-01 9.24343613e-01 -1.13685115e-02 -1.10936894e+01] [-3.10054789e-02 -5.00018116e-04 9.99519089e-01 -2.23544269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.481052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.27, Y:-11.11, Z:-2.24 [[ 9.24866039e-01 3.79174289e-01 2.91490741e-02 5.22689257e+01] [-3.79000266e-01 9.25325178e-01 -1.14940673e-02 -1.11082043e+01] [-3.13306270e-02 -4.17034298e-04 9.99508988e-01 -2.23553446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.511052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.30, Y:-11.12, Z:-2.24 [[ 9.25529393e-01 3.77537648e-01 2.93371097e-02 5.22984473e+01] [-3.77360284e-01 9.25994167e-01 -1.15766557e-02 -1.11189640e+01] [-3.15366158e-02 -3.56124971e-04 9.99502534e-01 -2.23829719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.541052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.33, Y:-11.13, Z:-2.24 [[ 9.26187279e-01 3.75887234e-01 2.97642526e-02 5.23281781e+01] [-3.75703566e-01 9.26665365e-01 -1.17529392e-02 -1.11317843e+01] [-3.19992818e-02 -2.97113074e-04 9.99487848e-01 -2.23978935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.36, Y:-11.15, Z:-2.24 [[ 9.28432565e-01 3.70238530e-01 3.06007022e-02 5.23563231e+01] [-3.70041033e-01 9.28936716e-01 -1.20918329e-02 -1.11476059e+01] [-3.29029783e-02 -9.70640107e-05 9.99458546e-01 -2.24161090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.39, Y:-11.16, Z:-2.24 [[ 9.29918040e-01 3.66465538e-01 3.09103214e-02 5.23851962e+01] [-3.66261657e-01 9.30431624e-01 -1.22225698e-02 -1.11637914e+01] [-3.32390912e-02 4.47225899e-05 9.99447428e-01 -2.24141737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.41, Y:-11.18, Z:-2.24 [[ 9.33141006e-01 3.58125802e-01 3.15241740e-02 5.24111571e+01] [-3.57908611e-01 9.33673273e-01 -1.24757770e-02 -1.11828757e+01] [-3.39011763e-02 3.58885825e-04 9.99425125e-01 -2.24068938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.44, Y:-11.19, Z:-2.24 [[ 9.34194143e-01 3.55371050e-01 3.15074653e-02 5.24406557e+01] [-3.55152252e-01 9.34725200e-01 -1.24771279e-02 -1.11943470e+01] [-3.38848318e-02 4.66112590e-04 9.99425636e-01 -2.24207562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.691052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.47, Y:-11.21, Z:-2.24 [[ 9.36708241e-01 3.48771956e-01 3.05907475e-02 5.24706763e+01] [-3.48561887e-01 9.37207364e-01 -1.21230656e-02 -1.12052799e+01] [-3.28980592e-02 6.93006822e-04 9.99458472e-01 -2.24454182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.50, Y:-11.22, Z:-2.25 [[ 9.38041849e-01 3.45231563e-01 2.98773851e-02 5.24998967e+01] [-3.45029314e-01 9.38517196e-01 -1.18424848e-02 -1.12179186e+01] [-3.21288393e-02 8.00172658e-04 9.99483415e-01 -2.24591158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.53, Y:-11.24, Z:-2.25 [[ 9.41237355e-01 3.36549452e-01 2.84025974e-02 5.25260050e+01] [-3.36362689e-01 9.41665215e-01 -1.12590028e-02 -1.12356328e+01] [-3.05349492e-02 1.04382004e-03 9.99533155e-01 -2.24894675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.781052754 meters Centerline goodness [0,1] 0.9998094784472493 Centerline is valid? [True, True] Translation: X:52.56, Y:-11.25, Z:-2.25 [[ 9.44398341e-01 3.27596033e-01 2.81533881e-02 5.25551778e+01] [-3.27408327e-01 9.44816952e-01 -1.11675549e-02 -1.12484736e+01] [-3.02582450e-02 1.32896659e-03 9.99541231e-01 -2.24881562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.811052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.59, Y:-11.26, Z:-2.25 [[ 9.45273703e-01 3.25049597e-01 2.82911124e-02 5.25856677e+01] [-3.24858859e-01 9.45695906e-01 -1.12238698e-02 -1.12578153e+01] [-3.04031035e-02 1.41901051e-03 9.99536712e-01 -2.24934853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.841052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.61, Y:-11.27, Z:-2.25 [[ 9.45458086e-01 3.24585001e-01 2.74514927e-02 5.26149603e+01] [-3.24405216e-01 9.45855507e-01 -1.08910787e-02 -1.12675146e+01] [-2.95002263e-02 1.39165102e-03 9.99563805e-01 -2.25202097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.871052754000004 meters Centerline goodness [0,1] 0.9999526369384517 Centerline is valid? [True, True] Translation: X:52.64, Y:-11.28, Z:-2.25 [[ 9.44917779e-01 3.26166482e-01 2.73096376e-02 5.26442592e+01] [-3.25989000e-01 9.45311390e-01 -1.08419104e-02 -1.12770368e+01] [-2.93523792e-02 1.34207242e-03 9.99568225e-01 -2.25332443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.901052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.68, Y:-11.28, Z:-2.25 [[ 9.43202721e-01 3.31097813e-01 2.72555380e-02 5.26759025e+01] [-3.30922865e-01 9.43595683e-01 -1.08279049e-02 -1.12813996e+01] [-2.93033036e-02 1.19342863e-03 9.99569854e-01 -2.25339283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.931052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.70, Y:-11.29, Z:-2.26 [[ 9.42251249e-01 3.33786000e-01 2.73768344e-02 5.27036864e+01] [-3.33610460e-01 9.42648212e-01 -1.08815900e-02 -1.12931567e+01] [-2.94388464e-02 1.11999348e-03 9.99565956e-01 -2.25502920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.961052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.74, Y:-11.29, Z:-2.25 [[ 9.39791925e-01 3.40619309e-01 2.77420833e-02 5.27370350e+01] [-3.40441936e-01 9.40200850e-01 -1.10295096e-02 -1.12948140e+01] [-2.98399942e-02 9.20875521e-04 9.99554264e-01 -2.25439365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.77, Y:-11.30, Z:-2.26 [[ 9.38331850e-01 3.44579076e-01 2.82595064e-02 5.27665200e+01] [-3.44396553e-01 9.38756940e-01 -1.12437809e-02 -1.13034075e+01] [-3.04031794e-02 8.17921148e-04 9.99537382e-01 -2.25596241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.80, Y:-11.31, Z:-2.25 [[ 9.34993524e-01 3.53389933e-01 3.00443843e-02 5.27980345e+01] [-3.53188092e-01 9.35475940e-01 -1.19556660e-02 -1.13087305e+01] [-3.23308106e-02 5.67151485e-04 9.99477062e-01 -2.25470538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.051052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.83, Y:-11.32, Z:-2.25 [[ 9.33245084e-01 3.57924266e-01 3.07218665e-02 5.28295717e+01] [-3.57715504e-01 9.33750523e-01 -1.22302293e-02 -1.13162718e+01] [-3.30640548e-02 4.24113418e-04 9.99453145e-01 -2.25450395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.081052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.86, Y:-11.32, Z:-2.26 [[ 9.30100975e-01 3.65937834e-01 3.16493086e-02 5.28616651e+01] [-3.65720579e-01 9.30639285e-01 -1.26087144e-02 -1.13206421e+01] [-3.40680956e-02 1.52574062e-04 9.99419502e-01 -2.25712163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.89, Y:-11.33, Z:-2.26 [[ 9.29030692e-01 3.68620747e-01 3.19486861e-02 5.28914061e+01] [-3.68400615e-01 9.29579873e-01 -1.27375954e-02 -1.13289438e+01] [-3.43941975e-02 6.37014518e-05 9.99408343e-01 -2.25957205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.141052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.92, Y:-11.34, Z:-2.26 [[ 9.27512155e-01 3.72471209e-01 3.14070184e-02 5.29229354e+01] [-3.72260550e-01 9.28043745e-01 -1.25255595e-02 -1.13373531e+01] [-3.38124973e-02 -7.39852750e-05 9.99428191e-01 -2.26052537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.171052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.95, Y:-11.35, Z:-2.26 [[ 9.26512320e-01 3.74985096e-01 3.10015831e-02 5.29535541e+01] [-3.74780918e-01 9.27030827e-01 -1.23737214e-02 -1.13472700e+01] [-3.33793843e-02 -1.54396400e-04 9.99442741e-01 -2.26226685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.201052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.98, Y:-11.36, Z:-2.26 [[ 9.26128019e-01 3.75981591e-01 3.04094772e-02 5.29838496e+01] [-3.75785370e-01 9.26627116e-01 -1.21467615e-02 -1.13587750e+01] [-3.27452049e-02 -1.77980493e-04 9.99463716e-01 -2.26402094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.231052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.01, Y:-11.37, Z:-2.27 [[ 9.25799170e-01 3.76867664e-01 2.94391079e-02 5.30146172e+01] [-3.76684063e-01 9.26267092e-01 -1.17640184e-02 -1.13710023e+01] [-3.17019549e-02 -1.98124297e-04 9.99497347e-01 -2.26565860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.261052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.04, Y:-11.38, Z:-2.27 [[ 9.24898634e-01 3.79137198e-01 2.85919959e-02 5.30442857e+01] [-3.78964786e-01 9.25340434e-01 -1.14355733e-02 -1.13813772e+01] [-3.07929811e-02 -2.58613495e-04 9.99525750e-01 -2.26720020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.291052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.07, Y:-11.39, Z:-2.27 [[ 9.24236168e-01 3.80703911e-01 2.91896712e-02 5.30748555e+01] [-3.80524888e-01 9.24696941e-01 -1.16780432e-02 -1.13927285e+01] [-3.14374764e-02 -3.14126473e-04 9.99505671e-01 -2.26823038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.10, Y:-11.40, Z:-2.27 [[ 9.24133132e-01 3.80954198e-01 2.91865155e-02 5.31048789e+01] [-3.80775050e-01 9.24593857e-01 -1.16859240e-02 -1.14048281e+01] [-3.14374747e-02 -3.14147399e-04 9.99505671e-01 -2.26949089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.351052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.13, Y:-11.42, Z:-2.27 [[ 9.22740661e-01 3.84358667e-01 2.86022269e-02 5.31347707e+01] [-3.84187976e-01 9.23183754e-01 -1.14609877e-02 -1.14161483e+01] [-3.08102412e-02 -4.13112310e-04 9.99525166e-01 -2.27009946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.16, Y:-11.43, Z:-2.27 [[ 9.21996069e-01 3.86178126e-01 2.81016832e-02 5.31646864e+01] [-3.86013969e-01 9.22424113e-01 -1.12681131e-02 -1.14281545e+01] [-3.02731690e-02 -4.58486304e-04 9.99541557e-01 -2.27180960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.19, Y:-11.44, Z:-2.27 [[ 9.20610229e-01 3.89539714e-01 2.71222669e-02 5.31935409e+01] [-3.89388040e-01 9.21009510e-01 -1.08828985e-02 -1.14406257e+01] [-2.92191869e-02 -5.42178676e-04 9.99572881e-01 -2.27473054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.441052754 meters Centerline goodness [0,1] 0.999976824491877 Centerline is valid? [True, True] Translation: X:53.22, Y:-11.45, Z:-2.28 [[ 9.20014940e-01 3.90961824e-01 2.68581992e-02 5.32226141e+01] [-3.90813498e-01 9.20406715e-01 -1.07837485e-02 -1.14537599e+01] [-2.89365009e-02 -5.75337078e-04 9.99581086e-01 -2.27613928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.25, Y:-11.47, Z:-2.28 [[ 9.19293398e-01 3.92694759e-01 2.62768869e-02 5.32496924e+01] [-3.92553282e-01 9.19668666e-01 -1.05577475e-02 -1.14704673e+01] [-2.83120016e-02 -6.09410683e-04 9.99598949e-01 -2.27565222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.501052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.28, Y:-11.48, Z:-2.28 [[ 9.18894233e-01 3.93664418e-01 2.57238129e-02 5.32782591e+01] [-3.93529039e-01 9.19254014e-01 -1.03418280e-02 -1.14849529e+01] [-2.77179280e-02 -6.20021239e-04 9.99615592e-01 -2.27609318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.531052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.31, Y:-11.50, Z:-2.28 [[ 9.18528136e-01 3.94581654e-01 2.47261289e-02 5.33061390e+01] [-3.94456694e-01 9.18860675e-01 -9.94869074e-03 -1.15000036e+01] [-2.66454383e-02 -6.15234682e-04 9.99644758e-01 -2.27819483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.561052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.34, Y:-11.51, Z:-2.28 [[ 9.18179063e-01 3.95390800e-01 2.47653647e-02 5.33353536e+01] [-3.95265675e-01 9.18512770e-01 -9.96678430e-03 -1.15132590e+01] [-2.66880786e-02 -6.37605944e-04 9.99643606e-01 -2.28002126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.591052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.36, Y:-11.53, Z:-2.28 [[ 9.17753622e-01 3.96399289e-01 2.44109227e-02 5.33630323e+01] [-3.96277905e-01 9.18077981e-01 -9.83070213e-03 -1.15307404e+01] [-2.63080139e-02 -6.51346800e-04 9.99653672e-01 -2.28119426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.621052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.39, Y:-11.55, Z:-2.28 [[ 9.17598396e-01 3.96826754e-01 2.32746584e-02 5.33914563e+01] [-3.96716397e-01 9.17893313e-01 -9.37905934e-03 -1.15464784e+01] [-2.50855149e-02 -6.27228800e-04 9.99685112e-01 -2.28266228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.651052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.42, Y:-11.56, Z:-2.29 [[ 9.17900072e-01 3.96246422e-01 2.11714756e-02 5.34181968e+01] [-3.96154837e-01 9.18144035e-01 -8.53675345e-03 -1.15616711e+01] [-2.28211220e-02 -5.51295840e-04 9.99739412e-01 -2.28857886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.681052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.45, Y:-11.58, Z:-2.29 [[ 9.18483580e-01 3.94920052e-01 2.06413675e-02 5.34454221e+01] [-3.94832557e-01 9.18715354e-01 -8.32767672e-03 -1.15788327e+01] [-2.22523078e-02 -5.01049608e-04 9.99752261e-01 -2.28926523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.711052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.47, Y:-11.59, Z:-2.29 [[ 9.18903456e-01 3.93913521e-01 2.11796066e-02 5.34748596e+01] [-3.93820941e-01 9.19147380e-01 -8.55337404e-03 -1.15919219e+01] [-2.28364696e-02 -4.81247625e-04 9.99739098e-01 -2.28916315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.51, Y:-11.60, Z:-2.29 [[ 9.19052092e-01 3.93547466e-01 2.15323999e-02 5.35050251e+01] [-3.93451625e-01 9.19304173e-01 -8.69802973e-03 -1.16043492e+01] [-2.32179126e-02 -4.78015302e-04 9.99730314e-01 -2.28904641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.53, Y:-11.61, Z:-2.29 [[ 9.18626202e-01 3.94589168e-01 2.06225411e-02 5.35347354e+01] [-3.94501528e-01 9.18857527e-01 -8.33005610e-03 -1.16138844e+01] [-2.22361270e-02 -4.83416178e-04 9.99752630e-01 -2.29045077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.801052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.56, Y:-11.62, Z:-2.29 [[ 9.18373242e-01 3.95228147e-01 1.96290484e-02 5.35645823e+01] [-3.95148806e-01 9.18582871e-01 -7.93291148e-03 -1.16244292e+01] [-2.11662176e-02 -4.71021423e-04 9.99775860e-01 -2.29215613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.59, Y:-11.64, Z:-2.29 [[ 9.18261652e-01 3.95562324e-01 1.80550773e-02 5.35932571e+01] [-3.95495179e-01 9.18439033e-01 -7.30107456e-03 -1.16378283e+01] [-1.94705178e-02 -4.36399253e-04 9.99810336e-01 -2.29300666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.62, Y:-11.65, Z:-2.29 [[ 9.18369339e-01 3.95346407e-01 1.72909372e-02 5.36232988e+01] [-3.95284731e-01 9.18532008e-01 -6.99508902e-03 -1.16509555e+01] [-1.86477626e-02 -4.10768189e-04 9.99826031e-01 -2.29497757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.891052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.65, Y:-11.66, Z:-2.30 [[ 9.18797975e-01 3.94357246e-01 1.71068288e-02 5.36524560e+01] [-3.94296593e-01 9.18957136e-01 -6.92670759e-03 -1.16628900e+01] [-1.84520397e-02 -3.80919392e-04 9.99829674e-01 -2.29780686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.921052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.68, Y:-11.68, Z:-2.30 [[ 9.19880669e-01 3.91796098e-01 1.77587178e-02 5.36802690e+01] [-3.91730148e-01 9.20052012e-01 -7.19630790e-03 -1.16765311e+01] [-1.91584294e-02 -3.36880623e-04 9.99816404e-01 -2.29845515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.951052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.71, Y:-11.69, Z:-2.30 [[ 9.20955305e-01 3.89205773e-01 1.89787455e-02 5.37082271e+01] [-3.89129794e-01 9.21150790e-01 -7.69584145e-03 -1.16920350e+01] [-2.04775523e-02 -2.97669302e-04 9.99790269e-01 -2.29563454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.981052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.74, Y:-11.71, Z:-2.29 [[ 9.21430077e-01 3.88049671e-01 1.95975919e-02 5.37372481e+01] [-3.87968276e-01 9.21638420e-01 -7.95239446e-03 -1.17052269e+01] [-2.11478177e-02 -2.75668482e-04 9.99776322e-01 -2.29433370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.011052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.77, Y:-11.72, Z:-2.29 [[ 9.21616928e-01 3.87458907e-01 2.23121623e-02 5.37664211e+01] [-3.87353041e-01 9.21886929e-01 -9.06151528e-03 -1.17171934e+01] [-2.40802556e-02 -2.91438063e-04 9.99709986e-01 -2.29199726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.041052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.80, Y:-11.73, Z:-2.29 [[ 9.21675662e-01 3.87192112e-01 2.44180746e-02 5.37962446e+01] [-3.87065050e-01 9.21999011e-01 -9.92328751e-03 -1.17298055e+01] [-2.63556592e-02 -3.05330659e-04 9.99652583e-01 -2.29064740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.83, Y:-11.74, Z:-2.29 [[ 9.21836884e-01 3.86732236e-01 2.55917392e-02 5.38257872e+01] [-3.86592278e-01 9.22192002e-01 -1.04077817e-02 -1.17423791e+01] [-2.76255219e-02 -2.99291762e-04 9.99618298e-01 -2.29103381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.86, Y:-11.76, Z:-2.29 [[ 9.22415454e-01 3.85360417e-01 2.54377431e-02 5.38550131e+01] [-3.85221426e-01 9.22766106e-01 -1.03520996e-02 -1.17564116e+01] [-2.74623765e-02 -2.50227048e-04 9.99622806e-01 -2.29201696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.88, Y:-11.77, Z:-2.29 [[ 9.22531801e-01 3.85164730e-01 2.41496944e-02 5.38841557e+01] [-3.85039231e-01 9.22847810e-01 -9.83416127e-03 -1.17695146e+01] [-2.60742646e-02 -2.26253259e-04 9.99659983e-01 -2.29359395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.91, Y:-11.78, Z:-2.30 [[ 9.22419322e-01 3.85536478e-01 2.24547960e-02 5.39124465e+01] [-3.85427950e-01 9.22692569e-01 -9.14974914e-03 -1.17823282e+01] [-2.42464354e-02 -2.14800562e-04 9.99705989e-01 -2.29542591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.191052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.94, Y:-11.80, Z:-2.30 [[ 9.21852739e-01 3.87072564e-01 1.90356756e-02 5.39406084e+01] [-3.86994785e-01 9.22049232e-01 -7.76212228e-03 -1.17950519e+01] [-2.05563346e-02 -2.11173507e-04 9.99788674e-01 -2.29796629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.97, Y:-11.81, Z:-2.30 [[ 9.21464440e-01 3.88045786e-01 1.79931471e-02 5.39707485e+01] [-3.87976488e-01 9.21640070e-01 -7.33656515e-03 -1.18070622e+01] [-1.94301286e-02 -2.20534125e-04 9.99811193e-01 -2.29989690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.00, Y:-11.82, Z:-2.30 [[ 9.21226430e-01 3.88545564e-01 1.93444982e-02 5.40002583e+01] [-3.88465408e-01 9.21429480e-01 -7.89556551e-03 -1.18158122e+01] [-2.08923779e-02 -2.41064770e-04 9.99781701e-01 -2.30358573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.281052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.03, Y:-11.83, Z:-2.30 [[ 9.21179755e-01 3.88605238e-01 2.03427802e-02 5.40299744e+01] [-3.88516573e-01 9.21404311e-01 -8.30467083e-03 -1.18271146e+01] [-2.19711640e-02 -2.53412613e-04 9.99758573e-01 -2.30445985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.311052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.06, Y:-11.84, Z:-2.30 [[ 9.21317427e-01 3.88226094e-01 2.13236773e-02 5.40583387e+01] [-3.88128386e-01 9.21564126e-01 -8.71312598e-03 -1.18389996e+01] [-2.30337989e-02 -2.48769632e-04 9.99734656e-01 -2.30340012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.341052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.09, Y:-11.85, Z:-2.30 [[ 9.21117946e-01 3.88639806e-01 2.23792604e-02 5.40881495e+01] [-3.88532213e-01 9.21389727e-01 -9.14822190e-03 -1.18526343e+01] [-2.41753838e-02 -2.68472200e-04 9.99707697e-01 -2.29962546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.371052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.12, Y:-11.86, Z:-2.30 [[ 9.20833549e-01 3.89320474e-01 2.22518366e-02 5.41183285e+01] [-3.89214276e-01 9.21102322e-01 -9.09720512e-03 -1.18633448e+01] [-2.40379465e-02 -2.83720787e-04 9.99711007e-01 -2.30172151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.401052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.15, Y:-11.88, Z:-2.30 [[ 9.20614282e-01 3.89877025e-01 2.15696463e-02 5.41482184e+01] [-3.89777225e-01 9.20866888e-01 -8.82549184e-03 -1.18753885e+01] [-2.33036296e-02 -2.82483043e-04 9.99728394e-01 -2.30328581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.431052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.18, Y:-11.89, Z:-2.31 [[ 9.20835223e-01 3.89391593e-01 2.08968533e-02 5.41772504e+01] [-3.89297675e-01 9.21072267e-01 -8.55564156e-03 -1.18872517e+01] [-2.25790069e-02 -2.56760300e-04 9.99745029e-01 -2.30649283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.21, Y:-11.90, Z:-2.31 [[ 9.20673842e-01 3.89768147e-01 2.09873378e-02 5.42070540e+01] [-3.89673371e-01 9.20912983e-01 -8.59890266e-03 -1.19001481e+01] [-2.26790902e-02 -2.61421915e-04 9.99742762e-01 -2.30728997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.24, Y:-11.91, Z:-2.31 [[ 9.20794835e-01 3.89464847e-01 2.13073737e-02 5.42365546e+01] [-3.89366905e-01 9.21041297e-01 -8.73743974e-03 -1.19129255e+01] [-2.30278968e-02 -2.50996781e-04 9.99734791e-01 -2.30810953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.27, Y:-11.93, Z:-2.31 [[ 9.21148619e-01 3.88644384e-01 2.09943725e-02 5.42662586e+01] [-3.88548975e-01 9.21387808e-01 -8.61400693e-03 -1.19271974e+01] [-2.26917443e-02 -2.22561328e-04 9.99742484e-01 -2.30835756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.551052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.30, Y:-11.94, Z:-2.31 [[ 9.21339461e-01 3.88162031e-01 2.15368357e-02 5.42952913e+01] [-3.88061316e-01 9.21591121e-01 -8.84428218e-03 -1.19401048e+01] [-2.32811711e-02 -2.09026609e-04 9.99728935e-01 -2.30890175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.581052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.32, Y:-11.95, Z:-2.31 [[ 9.22082348e-01 3.86357200e-01 2.21868862e-02 5.43233009e+01] [-3.86249590e-01 9.22349223e-01 -9.11953496e-03 -1.19528575e+01] [-2.39874552e-02 -1.60713500e-04 9.99712247e-01 -2.30891976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.35, Y:-11.97, Z:-2.31 [[ 9.22522757e-01 3.85229834e-01 2.34465054e-02 5.43521360e+01] [-3.85109223e-01 9.22820652e-01 -9.64001970e-03 -1.19661439e+01] [-2.53505426e-02 -1.36327909e-04 9.99678614e-01 -2.30680973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.641052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.38, Y:-11.98, Z:-2.31 [[ 9.22607535e-01 3.85003368e-01 2.38273382e-02 5.43818714e+01] [-3.84878563e-01 9.22915159e-01 -9.80313506e-03 -1.19773451e+01] [-2.57648516e-02 -1.26185395e-04 9.99668023e-01 -2.30813666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.671052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.41, Y:-11.99, Z:-2.31 [[ 9.22663874e-01 3.84864124e-01 2.38952290e-02 5.44122586e+01] [-3.84738383e-01 9.22973235e-01 -9.83788597e-03 -1.19889432e+01] [-2.58409062e-02 -1.16349786e-04 9.99666061e-01 -2.30961584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.701052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.44, Y:-12.00, Z:-2.31 [[ 9.22683529e-01 3.84889359e-01 2.26999055e-02 5.44415397e+01] [-3.84775672e-01 9.22962714e-01 -9.35477149e-03 -1.19993970e+01] [-2.45517184e-02 -1.02877827e-04 9.99698556e-01 -2.31424768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.731052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.47, Y:-12.01, Z:-2.32 [[ 9.22097369e-01 3.86397272e-01 2.08228295e-02 5.44714609e+01] [-3.86301973e-01 9.22332441e-01 -8.58219033e-03 -1.20107563e+01] [-2.25217061e-02 -1.30284985e-04 9.99746346e-01 -2.31606743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.761052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.50, Y:-12.02, Z:-2.32 [[ 9.21713039e-01 3.87337640e-01 2.03623834e-02 5.45005821e+01] [-3.87246615e-01 9.21937922e-01 -8.39808255e-03 -1.20220179e+01] [-2.20257469e-02 -1.44641844e-04 9.99757393e-01 -2.31824368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.791052754 meters Centerline goodness [0,1] 0.9999054284093059 Centerline is valid? [True, True] Translation: X:54.53, Y:-12.04, Z:-2.32 [[ 9.21098063e-01 3.88811544e-01 2.00983097e-02 5.45303331e+01] [-3.88723114e-01 9.21317292e-01 -8.29382439e-03 -1.20351918e+01] [-2.17416549e-02 -1.73251941e-04 9.99763607e-01 -2.31748773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.56, Y:-12.05, Z:-2.32 [[ 9.20998262e-01 3.89027717e-01 2.04850422e-02 5.45602464e+01] [-3.88935788e-01 9.21226033e-01 -8.45864238e-03 -1.20484047e+01] [-2.21620005e-02 -1.76971080e-04 9.99754377e-01 -2.31774065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.59, Y:-12.06, Z:-2.32 [[ 9.20744393e-01 3.89608626e-01 2.08538252e-02 5.45900816e+01] [-3.89513348e-01 9.20980501e-01 -8.61792772e-03 -1.20607712e+01] [-2.25635853e-02 -1.87934622e-04 9.99745392e-01 -2.31837763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.62, Y:-12.07, Z:-2.32 [[ 9.20423864e-01 3.90323600e-01 2.16193956e-02 5.46199764e+01] [-3.90221232e-01 9.20677709e-01 -8.94124741e-03 -1.20727839e+01] [-2.33944755e-02 -2.06609686e-04 9.99726290e-01 -2.31964107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.65, Y:-12.09, Z:-2.32 [[ 9.20071599e-01 3.91127408e-01 2.20817432e-02 5.46501413e+01] [-3.91020711e-01 9.20336514e-01 -9.13810724e-03 -1.20853598e+01] [-2.38967987e-02 -2.26705966e-04 9.99714405e-01 -2.32068366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.941052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.68, Y:-12.10, Z:-2.32 [[ 9.19549973e-01 3.92360555e-01 2.19326597e-02 5.46797793e+01] [-3.92255475e-01 9.19811465e-01 -9.08353767e-03 -1.20979227e+01] [-2.37379338e-02 -2.50439034e-04 9.99718184e-01 -2.32060161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.71, Y:-12.11, Z:-2.32 [[ 9.19450296e-01 3.92585490e-01 2.20858831e-02 5.47090007e+01] [-3.92478864e-01 9.19715483e-01 -9.15274095e-03 -1.21097303e+01] [-2.39059620e-02 -2.52751936e-04 9.99714180e-01 -2.32172104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.74, Y:-12.12, Z:-2.32 [[ 9.19190339e-01 3.93193380e-01 2.20926596e-02 5.47382063e+01] [-3.93086713e-01 9.19455761e-01 -9.16187574e-03 -1.21235441e+01] [-2.39156120e-02 -2.62823244e-04 9.99713946e-01 -2.32060627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.031052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.77, Y:-12.13, Z:-2.32 [[ 9.18902192e-01 3.93900948e-01 2.14663551e-02 5.47666939e+01] [-3.93800276e-01 9.19152855e-01 -8.90903275e-03 -1.21347133e+01] [-2.32401381e-02 -2.66926859e-04 9.99729876e-01 -2.32127851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.061052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.80, Y:-12.14, Z:-2.32 [[ 9.18171902e-01 3.95607164e-01 2.13384877e-02 5.47976377e+01] [-3.95508070e-01 9.18419773e-01 -8.85930917e-03 -1.21446359e+01] [-2.31024952e-02 -3.05175348e-04 9.99733055e-01 -2.32321838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.091052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.83, Y:-12.15, Z:-2.33 [[ 9.17824459e-01 3.96459326e-01 2.04515105e-02 5.48274828e+01] [-3.96368388e-01 9.18052236e-01 -8.49665089e-03 -1.21529970e+01] [-2.21441314e-02 -3.07898219e-04 9.99754741e-01 -2.32871328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.121052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.86, Y:-12.16, Z:-2.33 [[ 9.17411538e-01 3.97550932e-01 1.75876714e-02 5.48572198e+01] [-3.97483815e-01 9.17580065e-01 -7.31033661e-03 -1.21629252e+01] [-1.90443278e-02 -2.84227567e-04 9.99818600e-01 -2.33433883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.151052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.89, Y:-12.18, Z:-2.34 [[ 9.17167668e-01 3.98113752e-01 1.75758080e-02 5.48875294e+01] [-3.98046768e-01 9.17336010e-01 -7.30859689e-03 -1.21753099e+01] [-1.90325745e-02 -2.92784786e-04 9.99818821e-01 -2.33585068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.181052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.92, Y:-12.19, Z:-2.33 [[ 9.17230232e-01 3.97974403e-01 1.74664427e-02 5.49167018e+01] [-3.97908077e-01 9.17396477e-01 -7.27093674e-03 -1.21917527e+01] [-1.89172997e-02 -2.80915640e-04 9.99821012e-01 -2.33224312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.94, Y:-12.21, Z:-2.33 [[ 9.17231980e-01 3.97946738e-01 1.79969045e-02 5.49442777e+01] [-3.97876305e-01 9.17408475e-01 -7.49230803e-03 -1.22067386e+01] [-1.94920523e-02 -2.88357363e-04 9.99809970e-01 -2.32991508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.97, Y:-12.22, Z:-2.33 [[ 9.17125822e-01 3.98191392e-01 1.79956291e-02 5.49741224e+01] [-3.98120947e-01 9.17302312e-01 -7.49536971e-03 -1.22192663e+01] [-1.94920239e-02 -2.90239810e-04 9.99809970e-01 -2.33117492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.00, Y:-12.23, Z:-2.33 [[ 9.16929605e-01 3.98594367e-01 1.90428686e-02 5.50038189e+01] [-3.98515421e-01 9.17127273e-01 -7.93877961e-03 -1.22325691e+01] [-2.06290870e-02 -3.09574762e-04 9.99787150e-01 -2.33056683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.301052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.03, Y:-12.24, Z:-2.33 [[ 9.15865519e-01 4.01002962e-01 1.96717106e-02 5.50335763e+01] [-4.00919099e-01 9.16076683e-01 -8.20895844e-03 -1.22406775e+01] [-2.13126121e-02 -3.68462526e-04 9.99772793e-01 -2.33317285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.331052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.06, Y:-12.25, Z:-2.34 [[ 9.15544951e-01 4.01778660e-01 1.87443332e-02 5.50627253e+01] [-4.01702674e-01 9.15736738e-01 -7.82233683e-03 -1.22515365e+01] [-2.03077226e-02 -3.67947785e-04 9.99793709e-01 -2.33630909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.09, Y:-12.26, Z:-2.34 [[ 9.15476226e-01 4.01993008e-01 1.74614282e-02 5.50928190e+01] [-4.01927041e-01 9.15642672e-01 -7.29046245e-03 -1.22627832e+01] [-1.89191437e-02 -3.43975097e-04 9.99820958e-01 -2.34043769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.391052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.12, Y:-12.28, Z:-2.34 [[ 9.15348800e-01 4.02281975e-01 1.74867621e-02 5.51230092e+01] [-4.02215795e-01 9.15515752e-01 -7.30494275e-03 -1.22762865e+01] [-1.89480530e-02 -3.46881343e-04 9.99820409e-01 -2.34095988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.421052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.15, Y:-12.29, Z:-2.34 [[ 9.15441475e-01 4.02059799e-01 1.77432904e-02 5.51522838e+01] [-4.01991500e-01 9.15613347e-01 -7.41838876e-03 -1.22907549e+01] [-1.92286294e-02 -3.41551162e-04 9.99815054e-01 -2.33969383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.451052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.18, Y:-12.30, Z:-2.34 [[ 9.15435372e-01 4.02038682e-01 1.85196548e-02 5.51815623e+01] [-4.01964156e-01 9.15622616e-01 -7.74866836e-03 -1.23049749e+01] [-2.00722792e-02 -3.50832306e-04 9.99798470e-01 -2.33753149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.481052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.21, Y:-12.32, Z:-2.34 [[ 9.15541618e-01 4.01794914e-01 1.85577984e-02 5.52113379e+01] [-4.01719925e-01 9.15729616e-01 -7.76991465e-03 -1.23179064e+01] [-2.01158378e-02 -3.41357165e-04 9.99797598e-01 -2.33851962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.511052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.24, Y:-12.33, Z:-2.34 [[ 9.15611897e-01 4.01664105e-01 1.79109201e-02 5.52408921e+01] [-4.01594143e-01 9.15787007e-01 -7.50345030e-03 -1.23287259e+01] [-1.94164546e-02 -3.22672268e-04 9.99811431e-01 -2.34224860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.541052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.27, Y:-12.34, Z:-2.34 [[ 9.15923490e-01 4.00913233e-01 1.87814005e-02 5.52696896e+01] [-4.00836005e-01 9.16115975e-01 -7.87509329e-03 -1.23407467e+01] [-2.03631702e-02 -3.15278626e-04 9.99792599e-01 -2.34440735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.30, Y:-12.35, Z:-2.34 [[ 9.16149080e-01 4.00366643e-01 1.94271556e-02 5.52993942e+01] [-4.00283726e-01 9.16354984e-01 -8.15363216e-03 -1.23543690e+01] [-2.10666132e-02 -3.06431642e-04 9.99778027e-01 -2.34438184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.33, Y:-12.37, Z:-2.34 [[ 9.16090662e-01 4.00466497e-01 2.01117915e-02 5.53288471e+01] [-4.00377670e-01 9.16311346e-01 -8.44034694e-03 -1.23682380e+01] [-2.18087389e-02 -3.20189185e-04 9.99762110e-01 -2.34234385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.36, Y:-12.38, Z:-2.34 [[ 9.15974632e-01 4.00748449e-01 1.97776174e-02 5.53571480e+01] [-4.00662460e-01 9.16188071e-01 -8.30730524e-03 -1.23802823e+01] [-2.14491568e-02 -3.14867961e-04 9.99769891e-01 -2.34283642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.39, Y:-12.39, Z:-2.35 [[ 9.15539384e-01 4.01756150e-01 1.94841393e-02 5.53877154e+01] [-4.01672903e-01 9.15746627e-01 -8.18499374e-03 -1.23910117e+01] [-2.11309064e-02 -3.32566658e-04 9.99776662e-01 -2.34544257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.691052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.42, Y:-12.40, Z:-2.35 [[ 9.15002455e-01 4.03031856e-01 1.83256646e-02 5.54170825e+01] [-4.02958389e-01 9.15185888e-01 -7.70238192e-03 -1.24028620e+01] [-1.98756949e-02 -3.36781931e-04 9.99802402e-01 -2.34695529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.45, Y:-12.41, Z:-2.35 [[ 9.14287914e-01 4.04755380e-01 1.58332764e-02 5.54465720e+01] [-4.04700696e-01 9.14424946e-01 -6.66076340e-03 -1.24107898e+01] [-1.71743227e-02 -3.17882493e-04 9.99852460e-01 -2.35415981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.48, Y:-12.42, Z:-2.36 [[ 9.14658328e-01 4.03942868e-01 1.51757490e-02 5.54761481e+01] [-4.03892549e-01 9.14784168e-01 -6.38235116e-03 -1.24241945e+01] [-1.64606401e-02 -2.91701300e-04 9.99864472e-01 -2.35517271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.781052754 meters Centerline goodness [0,1] 0.999976448976708 Centerline is valid? [True, True] Translation: X:55.50, Y:-12.44, Z:-2.36 [[ 9.15895470e-01 4.01188388e-01 1.35412277e-02 5.55048423e+01] [-4.01147924e-01 9.15995542e-01 -5.70171019e-03 -1.24368627e+01] [-1.46911641e-02 -2.09864836e-04 9.99892057e-01 -2.35770773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.811052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.54, Y:-12.45, Z:-2.36 [[ 9.16116990e-01 4.00701119e-01 1.29720412e-02 5.55351064e+01] [-4.00663964e-01 9.16208805e-01 -5.46015756e-03 -1.24502323e+01] [-1.40729896e-02 -1.95286346e-04 9.99900952e-01 -2.35894940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.841052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.56, Y:-12.46, Z:-2.36 [[ 9.16108533e-01 4.00712588e-01 1.32128085e-02 5.55638618e+01] [-4.00673957e-01 9.16203790e-01 -5.56735822e-03 -1.24618768e+01] [-1.43365357e-02 -1.93723887e-04 9.99897208e-01 -2.36023439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.871052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.59, Y:-12.47, Z:-2.36 [[ 9.15877703e-01 4.01240953e-01 1.31807124e-02 5.55940382e+01] [-4.01202536e-01 9.15972520e-01 -5.55588913e-03 -1.24743926e+01] [-1.43024207e-02 -1.99620282e-04 9.99897695e-01 -2.36055863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.901052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.62, Y:-12.49, Z:-2.36 [[ 9.15528709e-01 4.02047829e-01 1.28345364e-02 5.56234165e+01] [-4.02011412e-01 9.15618645e-01 -5.41503986e-03 -1.24860295e+01] [-1.39286459e-02 -2.02005663e-04 9.99902971e-01 -2.36087762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.931052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.65, Y:-12.50, Z:-2.36 [[ 9.15163756e-01 4.02851538e-01 1.36359055e-02 5.56538606e+01] [-4.02810467e-01 9.15265310e-01 -5.75665078e-03 -1.24975201e+01] [-1.47995469e-02 -2.24407320e-04 9.99890456e-01 -2.36060166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.961052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.68, Y:-12.51, Z:-2.36 [[ 9.15659718e-01 4.01639615e-01 1.59028362e-02 5.56814893e+01] [-4.01583454e-01 9.15797776e-01 -6.72040374e-03 -1.25112965e+01] [-1.72629624e-02 -2.32712898e-04 9.99850957e-01 -2.35981654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.71, Y:-12.53, Z:-2.36 [[ 9.16253659e-01 4.00250224e-01 1.67030058e-02 5.57105372e+01] [-4.00187893e-01 9.16405868e-01 -7.06652815e-03 -1.25266442e+01] [-1.81351120e-02 -2.09608414e-04 9.99835523e-01 -2.35828124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.021052754 meters Centerline goodness [0,1] 0.999810695693327 Centerline is valid? [True, True] Translation: X:55.74, Y:-12.54, Z:-2.36 [[ 9.16645602e-01 3.99294064e-01 1.80302554e-02 5.57384948e+01] [-3.99221268e-01 9.16822888e-01 -7.62699387e-03 -1.25408572e+01] [-1.95759642e-02 -2.06811048e-04 9.99808351e-01 -2.35752900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.051052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.77, Y:-12.56, Z:-2.35 [[ 9.17310852e-01 3.97615510e-01 2.10406119e-02 5.57667654e+01] [-3.97515765e-01 9.17552107e-01 -8.90771718e-03 -1.25564380e+01] [-2.28477043e-02 -1.92829295e-04 9.99738939e-01 -2.35434772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.081052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.80, Y:-12.57, Z:-2.36 [[ 9.17504396e-01 3.97108789e-01 2.21425615e-02 5.57952326e+01] [-3.96998000e-01 9.17771527e-01 -9.38146394e-03 -1.25684136e+01] [-2.40472743e-02 -1.83018243e-04 9.99710806e-01 -2.35620337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.82, Y:-12.58, Z:-2.36 [[ 9.17540656e-01 3.97003984e-01 2.25162317e-02 5.58248400e+01] [-3.96889262e-01 9.17816869e-01 -9.54509159e-03 -1.25819269e+01] [-2.44552167e-02 -1.78440994e-04 9.99700911e-01 -2.35617000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.141052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.85, Y:-12.60, Z:-2.36 [[ 9.17853350e-01 3.96272336e-01 2.26597502e-02 5.58532996e+01] [-3.96155723e-01 9.18133004e-01 -9.61410232e-03 -1.25955172e+01] [-2.46144673e-02 -1.52453712e-04 9.99697006e-01 -2.35768616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.171052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.88, Y:-12.61, Z:-2.36 [[ 9.17859995e-01 3.96275869e-01 2.23263249e-02 5.58832995e+01] [-3.96162544e-01 9.18131480e-01 -9.47755382e-03 -1.26091447e+01] [-2.42542276e-02 -1.45786160e-04 9.99705812e-01 -2.35934226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.201052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.91, Y:-12.62, Z:-2.36 [[ 9.17840501e-01 3.96372525e-01 2.13924498e-02 5.59123833e+01] [-3.96268348e-01 9.18089758e-01 -9.08807130e-03 -1.26219983e+01] [-2.32424508e-02 -1.35750838e-04 9.99729849e-01 -2.36162468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.231052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.94, Y:-12.63, Z:-2.37 [[ 9.17368458e-01 3.97634203e-01 1.79486259e-02 5.59423284e+01] [-3.97561012e-01 9.17544017e-01 -7.63017818e-03 -1.26336898e+01] [-1.95026742e-02 -1.35989099e-04 9.99809796e-01 -2.36688203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.261052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.97, Y:-12.65, Z:-2.37 [[ 9.16855977e-01 3.98884072e-01 1.63283127e-02 5.59717700e+01] [-3.98823683e-01 9.17001350e-01 -6.94220540e-03 -1.26450275e+01] [-1.77422199e-02 -1.47115299e-04 9.99842584e-01 -2.36998916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.291052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.00, Y:-12.65, Z:-2.37 [[ 9.15412266e-01 4.02258405e-01 1.44415563e-02 5.60026481e+01] [-4.02211485e-01 9.15526156e-01 -6.14647213e-03 -1.26537728e+01] [-1.56940926e-02 -1.82003823e-04 9.99876824e-01 -2.37349733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.03, Y:-12.66, Z:-2.37 [[ 9.13677581e-01 4.06171175e-01 1.47734801e-02 5.60337420e+01] [-4.06122630e-01 9.13796975e-01 -6.28481851e-03 -1.26622234e+01] [-1.60526735e-02 -2.57546828e-04 9.99871114e-01 -2.37453030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.351052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.06, Y:-12.67, Z:-2.38 [[ 9.13035639e-01 4.07627420e-01 1.43460545e-02 5.60642013e+01] [-4.07581765e-01 9.13148297e-01 -6.10675951e-03 -1.26725435e+01] [-1.55893579e-02 -2.71501145e-04 9.99878442e-01 -2.37650418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.09, Y:-12.68, Z:-2.38 [[ 9.12293344e-01 4.09283093e-01 1.44292876e-02 5.60945135e+01] [-4.09237050e-01 9.12407398e-01 -6.14626237e-03 -1.26834346e+01] [-1.56809500e-02 -2.97804824e-04 9.99877002e-01 -2.37789668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.12, Y:-12.69, Z:-2.38 [[ 9.11474818e-01 4.11034357e-01 1.62607994e-02 5.61241929e+01] [-4.10976057e-01 9.11619781e-01 -6.93221786e-03 -1.26946050e+01] [-1.76730461e-02 -3.64257199e-04 9.99843753e-01 -2.37662001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.441052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.15, Y:-12.71, Z:-2.38 [[ 9.11453597e-01 4.11052115e-01 1.69852761e-02 5.61534306e+01] [-4.10988412e-01 9.11611769e-01 -7.24620777e-03 -1.27074621e+01] [-1.84625467e-02 -3.76169536e-04 9.99829482e-01 -2.37632288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.18, Y:-12.72, Z:-2.38 [[ 9.12373833e-01 4.08977110e-01 1.76553449e-02 5.61818592e+01] [-4.08907792e-01 9.12544577e-01 -7.53733502e-03 -1.27223425e+01] [-1.91938867e-02 -3.42540853e-04 9.99815722e-01 -2.37709320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.501052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.21, Y:-12.74, Z:-2.38 [[ 9.13595871e-01 4.06223426e-01 1.80308873e-02 5.62090174e+01] [-4.06150482e-01 9.13773739e-01 -7.70317963e-03 -1.27368665e+01] [-1.96053633e-02 -2.85660462e-04 9.99807756e-01 -2.37923206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.531052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.24, Y:-12.75, Z:-2.38 [[ 9.13931402e-01 4.05443035e-01 1.85832648e-02 5.62380437e+01] [-4.05365297e-01 9.14120272e-01 -7.94382584e-03 -1.27505259e+01] [-2.02081080e-02 -2.72898790e-04 9.99795758e-01 -2.37997314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.561052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.27, Y:-12.77, Z:-2.38 [[ 9.14856363e-01 4.03350694e-01 1.86025180e-02 5.62672221e+01] [-4.03272202e-01 9.15045447e-01 -7.96000505e-03 -1.27653039e+01] [-2.02328230e-02 -2.19617142e-04 9.99795271e-01 -2.38085815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.591052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.30, Y:-12.78, Z:-2.38 [[ 9.15072967e-01 4.02862211e-01 1.85338468e-02 5.62966318e+01] [-4.02784239e-01 9.15260616e-01 -7.92853954e-03 -1.27793709e+01] [-2.01574090e-02 -2.09949190e-04 9.99796797e-01 -2.38143396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.621052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.33, Y:-12.79, Z:-2.38 [[ 9.15616269e-01 4.01683820e-01 1.72324104e-02 5.63256871e+01] [-4.01616106e-01 9.15778402e-01 -7.37713479e-03 -1.27937201e+01] [-1.87443450e-02 -1.66188942e-04 9.99824296e-01 -2.38243719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.651052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.36, Y:-12.81, Z:-2.38 [[ 9.15301593e-01 4.02410374e-01 1.69965820e-02 5.63559508e+01] [-4.02344552e-01 9.15459371e-01 -7.28020097e-03 -1.28067214e+01] [-1.84893087e-02 -1.74902641e-04 9.99829043e-01 -2.38350811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.681052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.39, Y:-12.82, Z:-2.38 [[ 9.15024248e-01 4.03030050e-01 1.72454216e-02 5.63859400e+01] [-4.02962288e-01 9.15186727e-01 -7.39255780e-03 -1.28189163e+01] [-1.87622039e-02 -1.84884892e-04 9.99823957e-01 -2.38448155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.711052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.42, Y:-12.83, Z:-2.39 [[ 9.14067304e-01 4.05174474e-01 1.77372018e-02 5.64171232e+01] [-4.05103075e-01 9.14239352e-01 -7.60958221e-03 -1.28269790e+01] [-1.92992564e-02 -2.29724703e-04 9.99813726e-01 -2.38824167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.45, Y:-12.84, Z:-2.39 [[ 9.13417599e-01 4.06652996e-01 1.73675104e-02 5.64468075e+01] [-4.06584693e-01 9.13582661e-01 -7.45716715e-03 -1.28383387e+01] [-1.88991357e-02 -2.49856149e-04 9.99821364e-01 -2.38884910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.48, Y:-12.85, Z:-2.39 [[ 9.12230766e-01 4.09333017e-01 1.67782461e-02 5.64769491e+01] [-4.09269631e-01 9.12385005e-01 -7.20918710e-03 -1.28466154e+01] [-1.82591785e-02 -2.90384326e-04 9.99833245e-01 -2.39262907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.801052754000004 meters Centerline goodness [0,1] 0.9999764395438696 Centerline is valid? [True, True] Translation: X:56.51, Y:-12.86, Z:-2.39 [[ 9.11633606e-01 4.10680863e-01 1.62910187e-02 5.65071598e+01] [-4.10621254e-01 9.11779105e-01 -7.00353911e-03 -1.28581646e+01] [-1.77300299e-02 -3.04776915e-04 9.99842764e-01 -2.39483451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.54, Y:-12.87, Z:-2.40 [[ 9.11157699e-01 4.11771191e-01 1.53666626e-02 5.65367229e+01] [-4.11718251e-01 9.11287218e-01 -6.60973666e-03 -1.28704290e+01] [-1.67251423e-02 -3.04222986e-04 9.99860079e-01 -2.39752374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.57, Y:-12.88, Z:-2.40 [[ 9.11193922e-01 4.11701843e-01 1.50741195e-02 5.65669030e+01] [-4.11650838e-01 9.11318553e-01 -6.48709739e-03 -1.28845212e+01] [-1.64080748e-02 -2.94270217e-04 9.99865335e-01 -2.39927940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.891052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.60, Y:-12.90, Z:-2.40 [[ 9.11778382e-01 4.10382508e-01 1.56964514e-02 5.65950462e+01] [-4.10326898e-01 9.11913439e-01 -6.76134337e-03 -1.29006780e+01] [-1.70885420e-02 -2.75829496e-04 9.99853942e-01 -2.39900661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.921052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.62, Y:-12.92, Z:-2.40 [[ 9.12313655e-01 4.09146771e-01 1.68141556e-02 5.66238512e+01] [-4.09082647e-01 9.12468547e-01 -7.24830840e-03 -1.29156409e+01] [-1.83080101e-02 -2.65648546e-04 9.99832359e-01 -2.39898280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.951052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.65, Y:-12.93, Z:-2.40 [[ 9.13318928e-01 4.06805193e-01 1.89227706e-02 5.66519352e+01] [-4.06723336e-01 9.13514902e-01 -8.16399940e-03 -1.29314941e+01] [-2.06073903e-02 -2.39997209e-04 9.99787616e-01 -2.39838716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.981052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.68, Y:-12.94, Z:-2.40 [[ 9.13458860e-01 4.06446322e-01 1.98569538e-02 5.66806140e+01] [-4.06355964e-01 9.13674631e-01 -8.57319638e-03 -1.29448595e+01] [-2.16273391e-02 -2.37729420e-04 9.99766073e-01 -2.39956978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.011052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.71, Y:-12.96, Z:-2.40 [[ 9.13753475e-01 4.05721533e-01 2.10861335e-02 5.67084932e+01] [-4.05619255e-01 9.13996710e-01 -9.11224461e-03 -1.29582571e+01] [-2.29696905e-02 -2.26596604e-04 9.99736136e-01 -2.40104284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.041052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.74, Y:-12.97, Z:-2.40 [[ 9.14076250e-01 4.04972691e-01 2.14878896e-02 5.67367310e+01] [-4.04866219e-01 9.14328757e-01 -9.28810815e-03 -1.29711151e+01] [-2.34084256e-02 -2.09681562e-04 9.99725963e-01 -2.40329327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.76, Y:-12.99, Z:-2.40 [[ 9.14597618e-01 4.03736125e-01 2.25463454e-02 5.67645375e+01] [-4.03618382e-01 9.14875461e-01 -9.75160369e-03 -1.29869908e+01] [-2.45641728e-02 -1.81325920e-04 9.99698239e-01 -2.40296783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.79, Y:-13.00, Z:-2.41 [[ 9.14752387e-01 4.03356356e-01 2.30590498e-02 5.67930632e+01] [-4.03232904e-01 9.15042962e-01 -9.98014311e-03 -1.29993310e+01] [-2.51255754e-02 -1.68807874e-04 9.99684289e-01 -2.40524530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.82, Y:-13.01, Z:-2.41 [[ 9.14367731e-01 4.04211267e-01 2.33431688e-02 5.68236251e+01] [-4.04084876e-01 9.14665631e-01 -1.01092646e-02 -1.30121279e+01] [-2.54374729e-02 -1.89036119e-04 9.99676397e-01 -2.40653527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.85, Y:-13.03, Z:-2.41 [[ 9.14258112e-01 4.04459306e-01 2.33403914e-02 5.68532857e+01] [-4.04332832e-01 9.14555977e-01 -1.01156719e-02 -1.30250635e+01] [-2.54374721e-02 -1.88951394e-04 9.99676397e-01 -2.40779590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.191052754 meters Centerline goodness [0,1] 0.9999762875841791 Centerline is valid? [True, True] Translation: X:56.88, Y:-13.04, Z:-2.41 [[ 9.13855344e-01 4.05375001e-01 2.32275247e-02 5.68832502e+01] [-4.05249856e-01 9.14150461e-01 -1.00741633e-02 -1.30378848e+01] [-2.53172663e-02 -2.06623031e-04 9.99679445e-01 -2.40890683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.91, Y:-13.05, Z:-2.41 [[ 9.12965867e-01 4.07388002e-01 2.29856982e-02 5.69120635e+01] [-4.07265845e-01 9.13255141e-01 -9.97891122e-03 -1.30481993e+01] [-2.50570957e-02 -2.50884446e-04 9.99685990e-01 -2.41157814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.94, Y:-13.06, Z:-2.41 [[ 9.12368825e-01 4.08726133e-01 2.29363402e-02 5.69414120e+01] [-4.08604886e-01 9.12657037e-01 -9.95893828e-03 -1.30601467e+01] [-2.50034906e-02 -2.85675838e-04 9.99687323e-01 -2.41263663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.281052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.97, Y:-13.07, Z:-2.42 [[ 9.11294467e-01 4.11103048e-01 2.31663061e-02 5.69719684e+01] [-4.10979959e-01 9.11588812e-01 -1.00653174e-02 -1.30710111e+01] [-2.52560282e-02 -3.48419437e-04 9.99680955e-01 -2.41507503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.311052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.00, Y:-13.08, Z:-2.42 [[ 9.10675846e-01 4.12444996e-01 2.36353411e-02 5.70023257e+01] [-4.12317149e-01 9.10982423e-01 -1.02758691e-02 -1.30813403e+01] [-2.57696111e-02 -3.87270652e-04 9.99667833e-01 -2.41915739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.341052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.03, Y:-13.10, Z:-2.42 [[ 9.10606395e-01 4.12594629e-01 2.36994784e-02 5.70318051e+01] [-4.12465958e-01 9.10914663e-01 -1.03107209e-02 -1.30958477e+01] [-2.58423504e-02 -3.86219710e-04 9.99665956e-01 -2.41909013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.371052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.06, Y:-13.11, Z:-2.42 [[ 9.10713999e-01 4.12297178e-01 2.47193965e-02 5.70605839e+01] [-4.12156830e-01 9.11049334e-01 -1.07637943e-02 -1.31085985e+01] [-2.69584718e-02 -3.85529979e-04 9.99636480e-01 -2.41969390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.401052754 meters Centerline goodness [0,1] 0.9999762521076254 Centerline is valid? [True, True] Translation: X:57.09, Y:-13.12, Z:-2.42 [[ 9.10812911e-01 4.12037528e-01 2.53952129e-02 5.70895378e+01] [-4.11889109e-01 9.11166796e-01 -1.10649217e-02 -1.31218857e+01] [-2.76984378e-02 -3.81938055e-04 9.99616252e-01 -2.41964305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.431052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.12, Y:-13.13, Z:-2.42 [[ 9.10860347e-01 4.11896722e-01 2.59714804e-02 5.71182398e+01] [-4.11741213e-01 9.11230457e-01 -1.13237469e-02 -1.31340014e+01] [-2.83302182e-02 -3.79176774e-04 9.99598547e-01 -2.42114700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.15, Y:-13.15, Z:-2.42 [[ 9.10613819e-01 4.12403314e-01 2.65702720e-02 5.71490188e+01] [-4.12240577e-01 9.11001289e-01 -1.15912971e-02 -1.31465701e+01] [-2.89858414e-02 -3.98148931e-04 9.99579743e-01 -2.42387574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.18, Y:-13.16, Z:-2.43 [[ 9.10335585e-01 4.13031417e-01 2.63471407e-02 5.71793976e+01] [-4.12871423e-01 9.10716687e-01 -1.15023854e-02 -1.31587733e+01] [-2.87456272e-02 -4.06950668e-04 9.99586676e-01 -2.42689287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.21, Y:-13.17, Z:-2.43 [[ 9.10219691e-01 4.13275512e-01 2.65229317e-02 5.72091030e+01] [-4.13113199e-01 9.10605943e-01 -1.15888396e-02 -1.31717501e+01] [-2.89413229e-02 -4.08583181e-04 9.99581029e-01 -2.42922555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.551052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.24, Y:-13.19, Z:-2.43 [[ 9.10200450e-01 4.13293727e-01 2.68967537e-02 5.72390695e+01] [-4.13126657e-01 9.10597676e-01 -1.17574747e-02 -1.31863218e+01] [-2.93514120e-02 -4.10107162e-04 9.99569070e-01 -2.42908835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.581052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.27, Y:-13.20, Z:-2.43 [[ 9.10231293e-01 4.13213872e-01 2.70793198e-02 5.72685142e+01] [-4.13044213e-01 9.10633919e-01 -1.18466753e-02 -1.31991256e+01] [-2.95545577e-02 -4.01741787e-04 9.99563088e-01 -2.42984805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.30, Y:-13.21, Z:-2.43 [[ 9.10290008e-01 4.13107258e-01 2.67300248e-02 5.72976168e+01] [-4.12941665e-01 9.10682296e-01 -1.17019935e-02 -1.32122665e+01] [-2.91767388e-02 -3.85733206e-04 9.99574194e-01 -2.43156044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.641052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.33, Y:-13.23, Z:-2.43 [[ 9.10308601e-01 4.13069260e-01 2.66840195e-02 5.73278097e+01] [-4.12903987e-01 9.10699536e-01 -1.16898636e-02 -1.32258253e+01] [-2.91298474e-02 -3.76554682e-04 9.99575565e-01 -2.43302572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.671052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.36, Y:-13.24, Z:-2.44 [[ 9.10286639e-01 4.13138490e-01 2.63594954e-02 5.73587747e+01] [-4.12977003e-01 9.10668136e-01 -1.15560042e-02 -1.32378265e+01] [-2.87789826e-02 -3.66589213e-04 9.99585732e-01 -2.43653363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.701052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.39, Y:-13.25, Z:-2.44 [[ 9.10217964e-01 4.13269405e-01 2.66768909e-02 5.73897425e+01] [-4.13103809e-01 9.10608733e-01 -1.17038231e-02 -1.32499373e+01] [-2.91290418e-02 -3.67295149e-04 9.99575592e-01 -2.44015234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.731052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.42, Y:-13.26, Z:-2.44 [[ 9.09914528e-01 4.14000477e-01 2.56740475e-02 5.74188329e+01] [-4.13847156e-01 9.10276589e-01 -1.12722138e-02 -1.32609476e+01] [-2.80371863e-02 -3.68380464e-04 9.99606813e-01 -2.44330036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.761052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.45, Y:-13.27, Z:-2.44 [[ 9.09637968e-01 4.14609224e-01 2.56506823e-02 5.74489493e+01] [-4.14456259e-01 9.09999476e-01 -1.12678332e-02 -1.32749641e+01] [-2.80138550e-02 -3.81436931e-04 9.99607462e-01 -2.44326886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.791052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.48, Y:-13.29, Z:-2.44 [[ 9.10265997e-01 4.13275003e-01 2.48914821e-02 5.74771611e+01] [-4.13130237e-01 9.10606209e-01 -1.09425606e-02 -1.32895007e+01] [-2.71886249e-02 -3.22783060e-04 9.99630269e-01 -2.44302237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.51, Y:-13.30, Z:-2.44 [[ 9.10985866e-01 4.11698794e-01 2.46749708e-02 5.75058723e+01] [-4.11555770e-01 9.11319939e-01 -1.08543445e-02 -1.33033749e+01] [-2.69555135e-02 -2.66972161e-04 9.99636598e-01 -2.44422956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.53, Y:-13.32, Z:-2.45 [[ 9.12782756e-01 4.07696426e-01 2.47237740e-02 5.75346493e+01] [-4.07551121e-01 9.13117519e-01 -1.08848358e-02 -1.33189668e+01] [-2.70134198e-02 -1.40711389e-04 9.99635061e-01 -2.44607226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.56, Y:-13.33, Z:-2.45 [[ 9.14166319e-01 4.04545031e-01 2.53625414e-02 5.75618533e+01] [-4.04390874e-01 9.14518078e-01 -1.11671446e-02 -1.33337957e+01] [-2.77121155e-02 -4.77528151e-05 9.99615944e-01 -2.44704763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.59, Y:-13.35, Z:-2.45 [[ 9.14505045e-01 4.03738668e-01 2.59924971e-02 5.75918040e+01] [-4.03576247e-01 9.14874356e-01 -1.14509857e-02 -1.33485989e+01] [-2.84030747e-02 -1.79702156e-05 9.99596551e-01 -2.44615446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.941052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.62, Y:-13.36, Z:-2.44 [[ 9.14874838e-01 4.02803181e-01 2.74522922e-02 5.76198733e+01] [-4.02621271e-01 9.15286620e-01 -1.21043409e-02 -1.33625243e+01] [-3.00023828e-02 2.10801716e-05 9.99549827e-01 -2.44472308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.65, Y:-13.38, Z:-2.44 [[ 9.15096335e-01 4.02238191e-01 2.83396484e-02 5.76502113e+01] [-4.02043823e-01 9.15535054e-01 -1.25031500e-02 -1.33764307e+01] [-3.09751860e-02 4.78061249e-05 9.99520153e-01 -2.44402583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.68, Y:-13.39, Z:-2.44 [[ 9.15102821e-01 4.02140431e-01 2.94940787e-02 5.76802195e+01] [-4.01929535e-01 9.15577998e-01 -1.30222588e-02 -1.33893467e+01] [-3.22409063e-02 6.21644254e-05 9.99480125e-01 -2.44375282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.031052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.71, Y:-13.40, Z:-2.44 [[ 9.14215389e-01 4.04027372e-01 3.11786087e-02 5.77105854e+01] [-4.03792419e-01 9.14746895e-01 -1.37767741e-02 -1.33995854e+01] [-3.40867293e-02 5.25303872e-06 9.99418879e-01 -2.44405026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.061052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.74, Y:-13.41, Z:-2.44 [[ 9.13112623e-01 4.06482753e-01 3.15770358e-02 5.77410088e+01] [-4.06242916e-01 9.13658451e-01 -1.39616710e-02 -1.34112125e+01] [-3.45258041e-02 -7.93690024e-05 9.99403804e-01 -2.44437092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.091052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.77, Y:-13.42, Z:-2.45 [[ 9.12460179e-01 4.07995331e-01 3.09229928e-02 5.77701726e+01] [-4.07765866e-01 9.12984006e-01 -1.36822428e-02 -1.34242645e+01] [-3.38144890e-02 -1.24839258e-04 9.99428119e-01 -2.44542799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.121052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.80, Y:-13.44, Z:-2.45 [[ 9.11611363e-01 4.10022688e-01 2.90881043e-02 5.78000656e+01] [-4.09820426e-01 9.12075305e-01 -1.28785105e-02 -1.34367879e+01] [-3.18110231e-02 -1.80702810e-04 9.99493885e-01 -2.44779034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.151052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.83, Y:-13.45, Z:-2.45 [[ 9.11033358e-01 4.11332673e-01 2.86993472e-02 5.78305861e+01] [-4.11136195e-01 9.11485263e-01 -1.27139267e-02 -1.34488950e+01] [-3.13886855e-02 -2.16529057e-04 9.99507230e-01 -2.45008541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.181052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.86, Y:-13.46, Z:-2.45 [[ 9.09800747e-01 4.14147220e-01 2.72888534e-02 5.78605449e+01] [-4.13970579e-01 9.10209864e-01 -1.20980796e-02 -1.34576652e+01] [-2.98489696e-02 -2.89940619e-04 9.99554378e-01 -2.45490706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.89, Y:-13.47, Z:-2.46 [[ 9.08991996e-01 4.16008734e-01 2.58898486e-02 5.78902769e+01] [-4.15850320e-01 9.09360559e-01 -1.14841439e-02 -1.34693090e+01] [-2.83207114e-02 -3.27306967e-04 9.99598835e-01 -2.45727956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.92, Y:-13.48, Z:-2.46 [[ 9.07807882e-01 4.18786212e-01 2.24267255e-02 5.79197559e+01] [-4.18668065e-01 9.08084789e-01 -9.95328211e-03 -1.34798620e+01] [-2.45336656e-02 -3.53685847e-04 9.99698942e-01 -2.46145671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.95, Y:-13.49, Z:-2.46 [[ 9.07386443e-01 4.19751003e-01 2.14228314e-02 5.79485325e+01] [-4.19643344e-01 9.07639227e-01 -9.51298357e-03 -1.34923834e+01] [-2.34372865e-02 -3.57996258e-04 9.99725245e-01 -2.46330043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.301052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.98, Y:-13.51, Z:-2.46 [[ 9.07362544e-01 4.19857932e-01 2.03108677e-02 5.79772054e+01] [-4.19761087e-01 9.07589777e-01 -9.02369415e-03 -1.35064535e+01] [-2.22226054e-02 -3.37949824e-04 9.99752990e-01 -2.46464844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.331052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.01, Y:-13.52, Z:-2.47 [[ 9.07486734e-01 4.19606663e-01 1.99518327e-02 5.80072374e+01] [-4.19513045e-01 9.07705979e-01 -8.86901895e-03 -1.35200393e+01] [-2.18318973e-02 -3.21537071e-04 9.99761604e-01 -2.46685958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.04, Y:-13.53, Z:-2.47 [[ 9.08155551e-01 4.18164614e-01 1.97952265e-02 5.80358214e+01] [-4.18071968e-01 9.08371223e-01 -8.80629870e-03 -1.35342120e+01] [-2.16638966e-02 -2.78340241e-04 9.99765272e-01 -2.46887342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.391052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.07, Y:-13.55, Z:-2.47 [[ 9.08390649e-01 4.17659602e-01 1.96694058e-02 5.80653008e+01] [-4.17567911e-01 9.08603538e-01 -8.75501353e-03 -1.35488655e+01] [-2.15283071e-02 -2.60340261e-04 9.99768205e-01 -2.46889645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.421052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.09, Y:-13.56, Z:-2.47 [[ 9.08432808e-01 4.17570431e-01 1.96155039e-02 5.80946298e+01] [-4.17479075e-01 9.08644524e-01 -8.73784949e-03 -1.35622321e+01] [-2.14721878e-02 -2.51313269e-04 9.99769414e-01 -2.47042323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.451052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.12, Y:-13.58, Z:-2.47 [[ 9.08495054e-01 4.17459431e-01 1.90882207e-02 5.81238113e+01] [-4.17372744e-01 9.08695531e-01 -8.51024410e-03 -1.35751072e+01] [-2.08980625e-02 -2.35388391e-04 9.99781584e-01 -2.47078717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.481052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.15, Y:-13.59, Z:-2.47 [[ 9.08888115e-01 4.16531958e-01 2.05796295e-02 5.81524343e+01] [-4.16430880e-01 9.09121046e-01 -9.17859946e-03 -1.35892482e+01] [-2.25325543e-02 -2.27673243e-04 9.99746084e-01 -2.46781313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.511052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.18, Y:-13.60, Z:-2.47 [[ 9.09036521e-01 4.16183316e-01 2.10725084e-02 5.81821698e+01] [-4.16077098e-01 9.09280705e-01 -9.40471465e-03 -1.36015758e+01] [-2.30749106e-02 -2.18559068e-04 9.99733715e-01 -2.46864591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.541052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.21, Y:-13.61, Z:-2.47 [[ 9.09381044e-01 4.15423868e-01 2.11926043e-02 5.82114866e+01] [-4.15316079e-01 9.09627930e-01 -9.46482327e-03 -1.36116699e+01] [-2.32092983e-02 -1.94498448e-04 9.99730609e-01 -2.47267120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.24, Y:-13.63, Z:-2.47 [[ 9.09570949e-01 4.15054055e-01 2.02687172e-02 5.82415949e+01] [-4.14955275e-01 9.09796736e-01 -9.05638597e-03 -1.36259107e+01] [-2.21993025e-02 -1.73185564e-04 9.99753550e-01 -2.47402492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.27, Y:-13.64, Z:-2.48 [[ 9.09652546e-01 4.14923824e-01 1.92474863e-02 5.82701626e+01] [-4.14834586e-01 9.09856140e-01 -8.60640864e-03 -1.36402266e+01] [-2.10834476e-02 -1.55681483e-04 9.99777707e-01 -2.47547055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.30, Y:-13.65, Z:-2.48 [[ 9.09795441e-01 4.14675786e-01 1.77833357e-02 5.82975723e+01] [-4.14599471e-01 9.09969216e-01 -7.95640076e-03 -1.36543311e+01] [-1.94816148e-02 -1.34264424e-04 9.99810206e-01 -2.47659605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.33, Y:-13.67, Z:-2.48 [[ 9.09678518e-01 4.14990753e-01 1.63605953e-02 5.83273261e+01] [-4.14926157e-01 9.09825620e-01 -7.32292276e-03 -1.36672218e+01] [-1.79242340e-02 -1.26933430e-04 9.99839340e-01 -2.47823702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.691052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.36, Y:-13.68, Z:-2.48 [[ 9.09443263e-01 4.15554871e-01 1.50698846e-02 5.83559209e+01] [-4.15500085e-01 9.09568103e-01 -6.74874955e-03 -1.36788682e+01] [-1.65115621e-02 -1.23933537e-04 9.99863667e-01 -2.48209287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.39, Y:-13.69, Z:-2.48 [[ 9.09268277e-01 4.15978064e-01 1.39086504e-02 5.83850609e+01] [-4.15931398e-01 9.09374640e-01 -6.23179717e-03 -1.36922159e+01] [-1.52404649e-02 -1.18668935e-04 9.99883850e-01 -2.48400210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.41, Y:-13.71, Z:-2.48 [[ 9.09331159e-01 4.15843876e-01 1.38099395e-02 5.84142121e+01] [-4.15797809e-01 9.09436011e-01 -6.19063929e-03 -1.37065838e+01] [-1.51335957e-02 -1.12801368e-04 9.99885474e-01 -2.48475514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.781052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.44, Y:-13.72, Z:-2.48 [[ 9.09257775e-01 4.15928758e-01 1.59237799e-02 5.84416552e+01] [-4.15867345e-01 9.09397192e-01 -7.14831298e-03 -1.37207357e+01] [-1.74542296e-02 -1.22520901e-04 9.99847656e-01 -2.48327802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.811052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.47, Y:-13.73, Z:-2.48 [[ 9.09052186e-01 4.16341505e-01 1.68485733e-02 5.84711949e+01] [-4.16272762e-01 9.09208300e-01 -7.56669194e-03 -1.37346499e+01] [-1.84691906e-02 -1.35084282e-04 9.99829421e-01 -2.48216760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.841052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.50, Y:-13.75, Z:-2.48 [[ 9.08348774e-01 4.17800073e-01 1.85904243e-02 5.84991472e+01] [-4.17716653e-01 9.08538974e-01 -8.35052858e-03 -1.37476177e+01] [-2.03789765e-02 -1.80337426e-04 9.99792311e-01 -2.47939912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.871052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.53, Y:-13.76, Z:-2.48 [[ 9.07733210e-01 4.19121073e-01 1.89194229e-02 5.85297288e+01] [-4.19034876e-01 9.07930329e-01 -8.50243093e-03 -1.37604601e+01] [-2.07410659e-02 -2.09959112e-04 9.99784859e-01 -2.47966295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.901052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.56, Y:-13.77, Z:-2.48 [[ 9.06949842e-01 4.20868474e-01 1.76553579e-02 5.85584012e+01] [-4.20793584e-01 9.07121644e-01 -7.94244875e-03 -1.37712445e+01] [-1.93582836e-02 -2.25858686e-04 9.99812585e-01 -2.48172533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.931052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.59, Y:-13.78, Z:-2.48 [[ 9.06837841e-01 4.21145336e-01 1.67850046e-02 5.85879665e+01] [-4.21077705e-01 9.06993141e-01 -7.55047246e-03 -1.37835736e+01] [-1.84037303e-02 -2.20737052e-04 9.99830613e-01 -2.48495250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.961052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.62, Y:-13.80, Z:-2.49 [[ 9.07819228e-01 4.19059654e-01 1.59140321e-02 5.86164201e+01] [-4.18998477e-01 9.07958688e-01 -7.16220655e-03 -1.37967047e+01] [-1.74506755e-02 -1.65966395e-04 9.99847712e-01 -2.48936288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.65, Y:-13.81, Z:-2.49 [[ 9.08568708e-01 4.17449664e-01 1.54492934e-02 5.86450725e+01] [-4.17391710e-01 9.08700039e-01 -6.95690514e-03 -1.38124500e+01] [-1.69429312e-02 -1.27580691e-04 9.99856450e-01 -2.48966516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.67, Y:-13.83, Z:-2.49 [[ 9.10322414e-01 4.13562115e-01 1.67176612e-02 5.86726089e+01] [-4.13493475e-01 9.10475905e-01 -7.53468625e-03 -1.38305919e+01] [-1.83370885e-02 -5.36500741e-05 9.99831860e-01 -2.48626835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.051052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.70, Y:-13.84, Z:-2.49 [[ 9.10211405e-01 4.13806438e-01 1.67161807e-02 5.87020767e+01] [-4.13737780e-01 9.10364888e-01 -7.53796869e-03 -1.38439743e+01] [-1.83370839e-02 -5.49704137e-05 9.99831860e-01 -2.48752838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.081052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.73, Y:-13.86, Z:-2.49 [[ 9.11670326e-01 4.10529727e-01 1.79599283e-02 5.87293482e+01] [-4.10449681e-01 9.11847215e-01 -8.10656550e-03 -1.38599394e+01] [-1.97046967e-02 1.88683710e-05 9.99805843e-01 -2.48815155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.76, Y:-13.87, Z:-2.49 [[ 9.12019763e-01 4.09770195e-01 1.75595589e-02 5.87588719e+01] [-4.09693475e-01 9.12188788e-01 -7.92914388e-03 -1.38736225e+01] [-1.92667596e-02 3.74992304e-05 9.99814378e-01 -2.48734223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.141052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.79, Y:-13.89, Z:-2.49 [[ 9.11904350e-01 4.10045564e-01 1.71199173e-02 5.87892691e+01] [-4.09972591e-01 9.12065038e-01 -7.73567794e-03 -1.38850499e+01] [-1.87864585e-02 3.55015064e-05 9.99823518e-01 -2.48990889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.171052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.82, Y:-13.90, Z:-2.49 [[ 9.11337279e-01 4.11319375e-01 1.67551698e-02 5.88192008e+01] [-4.11249554e-01 9.11491290e-01 -7.57844292e-03 -1.38971111e+01] [-1.83893518e-02 1.59614203e-05 9.99830901e-01 -2.49357610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.201052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.85, Y:-13.91, Z:-2.50 [[ 9.10094806e-01 4.14101694e-01 1.57235806e-02 5.88483932e+01] [-4.14040591e-01 9.10230622e-01 -7.11355325e-03 -1.39092013e+01] [-1.72578190e-02 -3.61927488e-05 9.99851072e-01 -2.49500953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.231052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.88, Y:-13.92, Z:-2.49 [[ 9.08921726e-01 4.16671774e-01 1.56821190e-02 5.88786092e+01] [-4.16611327e-01 9.09056998e-01 -7.09762333e-03 -1.39230903e+01] [-1.72133193e-02 -8.21643336e-05 9.99851836e-01 -2.49433641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.261052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.91, Y:-13.94, Z:-2.49 [[ 9.08081234e-01 4.18500558e-01 1.56765885e-02 5.89084008e+01] [-4.18440340e-01 9.08216533e-01 -7.10014414e-03 -1.39359288e+01] [-1.72091511e-02 -1.12209352e-04 9.99851905e-01 -2.49460398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.291052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.94, Y:-13.95, Z:-2.49 [[ 9.07257735e-01 4.20262283e-01 1.62177672e-02 5.89390918e+01] [-4.20198017e-01 9.07402663e-01 -7.35076475e-03 -1.39484769e+01] [-1.78052943e-02 -1.45635420e-04 9.99841463e-01 -2.49470249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.97, Y:-13.96, Z:-2.50 [[ 9.05486417e-01 4.24043033e-01 1.67885503e-02 5.89694155e+01] [-4.23974642e-01 9.05642014e-01 -7.61868105e-03 -1.39571310e+01] [-1.84350652e-02 -2.19307422e-04 9.99830036e-01 -2.49782717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.351052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.00, Y:-13.97, Z:-2.50 [[ 9.04749053e-01 4.25617120e-01 1.67098353e-02 5.89991936e+01] [-4.25549634e-01 9.04903313e-01 -7.58311684e-03 -1.39697727e+01] [-1.83482897e-02 -2.50046529e-04 9.99831625e-01 -2.49927255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.03, Y:-13.98, Z:-2.50 [[ 9.03856548e-01 4.27557605e-01 1.54218955e-02 5.90275333e+01] [-4.27500344e-01 9.03988067e-01 -7.00225649e-03 -1.39824789e+01] [-1.69350775e-02 -2.63830228e-04 9.99856556e-01 -2.50274116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.06, Y:-14.00, Z:-2.50 [[ 9.03831347e-01 4.27620682e-01 1.51475715e-02 5.90560399e+01] [-4.27565397e-01 9.03958233e-01 -6.88081360e-03 -1.39988098e+01] [-1.66351502e-02 -2.57482399e-04 9.99861593e-01 -2.50204576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.441052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.08, Y:-14.01, Z:-2.50 [[ 9.04030220e-01 4.27201819e-01 1.50985785e-02 5.90848005e+01] [-4.27146730e-01 9.04156262e-01 -6.86467426e-03 -1.40139877e+01] [-1.65840756e-02 -2.43435451e-04 9.99862445e-01 -2.50224247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.11, Y:-14.03, Z:-2.50 [[ 9.04671668e-01 4.25802835e-01 1.61591870e-02 5.91127374e+01] [-4.25739407e-01 9.04815945e-01 -7.35281055e-03 -1.40280098e+01] [-1.77519376e-02 -2.27723304e-04 9.99842396e-01 -2.50325252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.501052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.14, Y:-14.04, Z:-2.51 [[ 9.04259412e-01 4.26660384e-01 1.66082053e-02 5.91427522e+01] [-4.26593452e-01 9.04411884e-01 -7.56120768e-03 -1.40382729e+01] [-1.82467260e-02 -2.47658426e-04 9.99833484e-01 -2.50689185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.531052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.17, Y:-14.05, Z:-2.51 [[ 9.03703644e-01 4.27821764e-01 1.69782700e-02 5.91732750e+01] [-4.27751925e-01 9.03863078e-01 -7.73476819e-03 -1.40517596e+01] [-1.86551335e-02 -2.72549477e-04 9.99825941e-01 -2.50636950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.561052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.20, Y:-14.06, Z:-2.51 [[ 9.03259859e-01 4.28738819e-01 1.74543011e-02 5.92030532e+01] [-4.28665054e-01 9.03428436e-01 -7.95816485e-03 -1.40633251e+01] [-1.91806861e-02 -2.93758062e-04 9.99815991e-01 -2.50752897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.591052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.23, Y:-14.08, Z:-2.51 [[ 9.03059712e-01 4.29154174e-01 1.76026264e-02 5.92322268e+01] [-4.29079129e-01 9.03231202e-01 -8.03095735e-03 -1.40776260e+01] [-1.93457602e-02 -3.00485563e-04 9.99812808e-01 -2.50692789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.621052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.26, Y:-14.09, Z:-2.51 [[ 9.03120456e-01 4.29027578e-01 1.75721066e-02 5.92619463e+01] [-4.28952658e-01 9.03291344e-01 -8.02276833e-03 -1.40922707e+01] [-1.93147206e-02 -2.92075624e-04 9.99813411e-01 -2.50808889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.651052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.29, Y:-14.11, Z:-2.51 [[ 9.03651230e-01 4.27927037e-01 1.71144931e-02 5.92898809e+01] [-4.27855648e-01 9.03813247e-01 -7.82041944e-03 -1.41053844e+01] [-1.88148745e-02 -2.55600903e-04 9.99822952e-01 -2.51158751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.681052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.32, Y:-14.12, Z:-2.52 [[ 9.04074513e-01 4.27066688e-01 1.62271129e-02 5.93190088e+01] [-4.27002280e-01 9.04220104e-01 -7.42006033e-03 -1.41179429e+01] [-1.78417423e-02 -2.20726783e-04 9.99840799e-01 -2.51671510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.711052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.35, Y:-14.13, Z:-2.52 [[ 9.04188636e-01 4.26851282e-01 1.55207551e-02 5.93482190e+01] [-4.26792319e-01 9.04321812e-01 -7.09761592e-03 -1.41318858e+01] [-1.70653839e-02 -2.06555428e-04 9.99854354e-01 -2.51928767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.38, Y:-14.15, Z:-2.52 [[ 9.04032497e-01 4.27206784e-01 1.48191956e-02 5.93775783e+01] [-4.27152937e-01 9.04153928e-01 -6.78551797e-03 -1.41455873e+01] [-1.62976532e-02 -1.95734189e-04 9.99867165e-01 -2.52079644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.41, Y:-14.16, Z:-2.52 [[ 9.03875066e-01 4.27523635e-01 1.52776251e-02 5.94067436e+01] [-4.27466484e-01 9.04004147e-01 -6.99337583e-03 -1.41595308e+01] [-1.68008699e-02 -2.09534646e-04 9.99858833e-01 -2.52020624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.801052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.44, Y:-14.17, Z:-2.52 [[ 9.03629454e-01 4.28006886e-01 1.62454435e-02 5.94353407e+01] [-4.27942248e-01 9.03775444e-01 -7.44170073e-03 -1.41736014e+01] [-1.78673321e-02 -2.27571648e-04 9.99840341e-01 -2.51772343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.46, Y:-14.19, Z:-2.52 [[ 9.03490004e-01 4.28261777e-01 1.72529191e-02 5.94649113e+01] [-4.28188812e-01 9.03654686e-01 -7.90881493e-03 -1.41861864e+01] [-1.89777243e-02 -2.41971714e-04 9.99819877e-01 -2.51837452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.49, Y:-14.20, Z:-2.52 [[ 9.03541128e-01 4.28076695e-01 1.90728325e-02 5.94930888e+01] [-4.27987306e-01 9.03742374e-01 -8.75147911e-03 -1.41986562e+01] [-2.09832311e-02 -2.55608877e-04 9.99779795e-01 -2.51895114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.891052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.52, Y:-14.21, Z:-2.52 [[ 9.03737990e-01 4.27641725e-01 1.94987211e-02 5.95218537e+01] [-4.27548167e-01 9.03948280e-01 -8.94830049e-03 -1.42134367e+01] [-2.14525021e-02 -2.49723353e-04 9.99769837e-01 -2.51890514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.921052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.55, Y:-14.23, Z:-2.52 [[ 9.04645113e-01 4.25616396e-01 2.16310470e-02 5.95487928e+01] [-4.25500497e-01 9.04903661e-01 -9.93432411e-03 -1.42288549e+01] [-2.38022248e-02 -2.16983479e-04 9.99716663e-01 -2.51816586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.951052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.58, Y:-14.24, Z:-2.52 [[ 9.04934690e-01 4.24932351e-01 2.29282413e-02 5.95766104e+01] [-4.24801749e-01 9.05225085e-01 -1.05365381e-02 -1.42427741e+01] [-2.52325351e-02 -2.05078129e-04 9.99681588e-01 -2.51804045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.981052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.61, Y:-14.26, Z:-2.52 [[ 9.05150906e-01 4.24379301e-01 2.45773631e-02 5.96050712e+01] [-4.24228841e-01 9.05484495e-01 -1.13013397e-02 -1.42561793e+01] [-2.70504759e-02 -1.97008450e-04 9.99634050e-01 -2.51831097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.011052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.63, Y:-14.27, Z:-2.52 [[ 9.05030523e-01 4.24666495e-01 2.40441517e-02 5.96345105e+01] [-4.24522455e-01 9.05349838e-01 -1.10614241e-02 -1.42700258e+01] [-2.64657851e-02 -1.96355852e-04 9.99649700e-01 -2.52002917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.041052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.66, Y:-14.29, Z:-2.52 [[ 9.05455079e-01 4.23796670e-01 2.33983493e-02 5.96637584e+01] [-4.23659797e-01 9.05757339e-01 -1.07712587e-02 -1.42855606e+01] [-2.57580502e-02 -1.60048983e-04 9.99668194e-01 -2.52151244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.69, Y:-14.30, Z:-2.52 [[ 9.05497037e-01 4.23699514e-01 2.35337637e-02 5.96935507e+01] [-4.23560823e-01 9.05802792e-01 -1.08411464e-02 -1.43002697e+01] [-2.59103373e-02 -1.51354345e-04 9.99664259e-01 -2.52260860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.72, Y:-14.31, Z:-2.52 [[ 9.05054743e-01 4.24648960e-01 2.34344306e-02 5.97239408e+01] [-4.24511539e-01 9.05358068e-01 -1.08038002e-02 -1.43137273e+01] [-2.58043733e-02 -1.70155590e-04 9.99666997e-01 -2.52252585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.75, Y:-14.33, Z:-2.52 [[ 9.05041461e-01 4.24667335e-01 2.36137393e-02 5.97531009e+01] [-4.24527663e-01 9.05349450e-01 -1.08920736e-02 -1.43268118e+01] [-2.60041938e-02 -1.66907397e-04 9.99661820e-01 -2.52411940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.78, Y:-14.34, Z:-2.53 [[ 9.05373117e-01 4.23932487e-01 2.40990731e-02 5.97818482e+01] [-4.23786641e-01 9.05693781e-01 -1.11201279e-02 -1.43399597e+01] [-2.65405641e-02 -1.45000427e-04 9.99647727e-01 -2.52516762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.191052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.81, Y:-14.35, Z:-2.53 [[ 9.05495086e-01 4.23644388e-01 2.45780562e-02 5.98110543e+01] [-4.23492386e-01 9.05828579e-01 -1.13483156e-02 -1.43529855e+01] [-2.70711559e-02 -1.32775628e-04 9.99633500e-01 -2.52730605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.84, Y:-14.37, Z:-2.53 [[ 9.05518632e-01 4.23687491e-01 2.29110581e-02 5.98400095e+01] [-4.23555283e-01 9.05808421e-01 -1.05842698e-02 -1.43676289e+01] [-2.52374520e-02 -1.19846190e-04 9.99681478e-01 -2.52905255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.87, Y:-14.38, Z:-2.53 [[ 9.05331738e-01 4.24151701e-01 2.16743725e-02 5.98685215e+01] [-4.24033378e-01 9.05591144e-01 -1.00187065e-02 -1.43813260e+01] [-2.38775712e-02 -1.20404369e-04 9.99714883e-01 -2.53118029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.281052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.90, Y:-14.39, Z:-2.54 [[ 9.04819190e-01 4.25318250e-01 2.01648316e-02 5.98970928e+01] [-4.25216002e-01 9.05043849e-01 -9.32649478e-03 -1.43926839e+01] [-2.22167852e-02 -1.35617608e-04 9.99753168e-01 -2.53602399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.311052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.93, Y:-14.41, Z:-2.54 [[ 9.04326749e-01 4.26368924e-01 2.00666971e-02 5.99269695e+01] [-4.26267825e-01 9.04549344e-01 -9.28574909e-03 -1.44054753e+01] [-2.21104725e-02 -1.56436027e-04 9.99755521e-01 -2.53791307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.341052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.96, Y:-14.42, Z:-2.54 [[ 9.03920099e-01 4.27233414e-01 2.00016275e-02 5.99568881e+01] [-4.27133038e-01 9.04141350e-01 -9.26212872e-03 -1.44183344e+01] [-2.20413894e-02 -1.71131632e-04 9.99757044e-01 -2.53891366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.371052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.99, Y:-14.43, Z:-2.54 [[ 9.02788088e-01 4.29578103e-01 2.08883230e-02 5.99877781e+01] [-4.29469089e-01 9.03029678e-01 -9.67995744e-03 -1.44303734e+01] [-2.30210734e-02 -2.31938799e-04 9.99734953e-01 -2.53705031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.401052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.02, Y:-14.44, Z:-2.54 [[ 9.02192406e-01 4.30799360e-01 2.14656559e-02 6.00179383e+01] [-4.30684395e-01 9.02447695e-01 -9.95537438e-03 -1.44420842e+01] [-2.36604006e-02 -2.63259852e-04 9.99720019e-01 -2.53882769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.431052754 meters Centerline goodness [0,1] 0.9999294017979009 Centerline is valid? [True, True] Translation: X:60.05, Y:-14.46, Z:-2.54 [[ 9.02048244e-01 4.31095259e-01 2.15834082e-02 6.00465834e+01] [-4.30978950e-01 9.02306382e-01 -1.00168627e-02 -1.44550013e+01] [-2.37930690e-02 -2.66301256e-04 9.99716869e-01 -2.54112789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.08, Y:-14.47, Z:-2.54 [[ 9.01995096e-01 4.31199832e-01 2.17152479e-02 6.00759708e+01] [-4.31081973e-01 9.02256413e-01 -1.00845331e-02 -1.44697329e+01] [-2.39411707e-02 -2.64852544e-04 9.99713334e-01 -2.54237392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.10, Y:-14.48, Z:-2.54 [[ 9.02403912e-01 4.30271555e-01 2.30991226e-02 6.01033492e+01] [-4.30137657e-01 9.02699467e-01 -1.07362979e-02 -1.44842591e+01] [-2.54710893e-02 -2.47325262e-04 9.99675529e-01 -2.54244372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.521052754 meters Centerline goodness [0,1] 0.9999526951914662 Centerline is valid? [True, True] Translation: X:60.13, Y:-14.50, Z:-2.54 [[ 9.02365313e-01 4.30298579e-01 2.40826604e-02 6.01323757e+01] [-4.30152869e-01 9.02686584e-01 -1.11999971e-02 -1.44990437e+01] [-2.65584373e-02 -2.52736592e-04 9.99647231e-01 -2.54166874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.551052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.16, Y:-14.51, Z:-2.54 [[ 9.01807441e-01 4.31440729e-01 2.45405280e-02 6.01617456e+01] [-4.31289657e-01 9.02141240e-01 -1.14199645e-02 -1.45128160e+01] [-2.70660602e-02 -2.85466952e-04 9.99633606e-01 -2.54102609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.581052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.19, Y:-14.53, Z:-2.54 [[ 9.01000880e-01 4.33144736e-01 2.41464665e-02 6.01903757e+01] [-4.32998891e-01 9.01324322e-01 -1.12440207e-02 -1.45263776e+01] [-2.66340859e-02 -3.24520626e-04 9.99645197e-01 -2.54157686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.22, Y:-14.54, Z:-2.54 [[ 9.01098867e-01 4.32935360e-01 2.42447157e-02 6.02200221e+01] [-4.32788073e-01 9.01424914e-01 -1.12963665e-02 -1.45412291e+01] [-2.67453872e-02 -3.13680773e-04 9.99642229e-01 -2.54297316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.641052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.25, Y:-14.56, Z:-2.55 [[ 9.01783138e-01 4.31586534e-01 2.28086682e-02 6.02484899e+01] [-4.31455578e-01 9.02071505e-01 -1.06341030e-02 -1.45584818e+01] [-2.51645853e-02 -2.51272308e-04 9.99683290e-01 -2.54530891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.671052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.28, Y:-14.57, Z:-2.55 [[ 9.02024007e-01 4.31139135e-01 2.17194996e-02 6.02762819e+01] [-4.31020093e-01 9.02285430e-01 -1.01332446e-02 -1.45732793e+01] [-2.39660264e-02 -2.21110832e-04 9.99712749e-01 -2.54738687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.701052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.30, Y:-14.59, Z:-2.55 [[ 9.02350927e-01 4.30500672e-01 2.07840484e-02 6.03042544e+01] [-4.30391358e-01 9.02590237e-01 -9.70278009e-03 -1.45884636e+01] [-2.29365325e-02 -1.89962205e-04 9.99736905e-01 -2.54956164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.731052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.33, Y:-14.60, Z:-2.55 [[ 9.02112585e-01 4.31037461e-01 1.99897885e-02 6.03334803e+01] [-4.30936343e-01 9.02334013e-01 -9.33792770e-03 -1.46025250e+01] [-2.20624627e-02 -1.90464244e-04 9.99756576e-01 -2.54974924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.761052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.36, Y:-14.62, Z:-2.55 [[ 9.01726675e-01 4.31857032e-01 1.97105752e-02 6.03633748e+01] [-4.31758808e-01 9.01942051e-01 -9.21242642e-03 -1.46155001e+01] [-2.17562478e-02 -2.03123822e-04 9.99763284e-01 -2.55137701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.791052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.39, Y:-14.63, Z:-2.55 [[ 9.00793143e-01 4.33785734e-01 2.00412381e-02 6.03939399e+01] [-4.33684501e-01 9.01016024e-01 -9.37431718e-03 -1.46251258e+01] [-2.21239218e-02 -2.47253728e-04 9.99755206e-01 -2.55332011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.42, Y:-14.64, Z:-2.55 [[ 9.00263308e-01 4.34828605e-01 2.12146557e-02 6.04233233e+01] [-4.34715303e-01 9.00513190e-01 -9.92977190e-03 -1.46379639e+01] [-2.34218261e-02 -2.82926179e-04 9.99725631e-01 -2.55232984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.45, Y:-14.65, Z:-2.55 [[ 9.00339422e-01 4.34649028e-01 2.16598373e-02 6.04515340e+01] [-4.34530709e-01 9.00599881e-01 -1.01448221e-02 -1.46515068e+01] [-2.39162839e-02 -2.78081178e-04 9.99713926e-01 -2.55312282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.48, Y:-14.67, Z:-2.55 [[ 9.00867605e-01 4.33536516e-01 2.19919827e-02 6.04797509e+01] [-4.33414040e-01 9.01135966e-01 -1.03073300e-02 -1.46653527e+01] [-2.42863705e-02 -2.46094370e-04 9.99705012e-01 -2.55435890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.51, Y:-14.68, Z:-2.55 [[ 9.00992507e-01 4.33280615e-01 2.19182868e-02 6.05086620e+01] [-4.33158759e-01 9.01259038e-01 -1.02779317e-02 -1.46802132e+01] [-2.42072826e-02 -2.33758448e-04 9.99706933e-01 -2.55461244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.941052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.54, Y:-14.69, Z:-2.56 [[ 9.00875910e-01 4.33523131e-01 2.19155214e-02 6.05379236e+01] [-4.33401203e-01 9.01142408e-01 -1.02838236e-02 -1.46940348e+01] [-2.42072812e-02 -2.33764457e-04 9.99706934e-01 -2.55587306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.57, Y:-14.71, Z:-2.56 [[ 9.00788978e-01 4.33675900e-01 2.24595339e-02 6.05660738e+01] [-4.33547687e-01 9.01068897e-01 -1.05473134e-02 -1.47075833e+01] [-2.48117031e-02 -2.36375321e-04 9.99692114e-01 -2.55632204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.59, Y:-14.72, Z:-2.55 [[ 9.00333645e-01 4.34534330e-01 2.40674857e-02 6.05946419e+01] [-4.34387208e-01 9.00655229e-01 -1.13098155e-02 -1.47223025e+01] [-2.65910099e-02 -2.72000466e-04 9.99646360e-01 -2.55290946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.031052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.63, Y:-14.73, Z:-2.55 [[ 8.99594275e-01 4.36014080e-01 2.49371572e-02 6.06251315e+01] [-4.35856491e-01 8.99939786e-01 -1.17260375e-02 -1.47348536e+01] [-2.75546574e-02 -3.20345677e-04 9.99620247e-01 -2.55498887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.061052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.65, Y:-14.75, Z:-2.56 [[ 8.99103675e-01 4.37042166e-01 2.46318150e-02 6.06542563e+01] [-4.36888556e-01 8.99440954e-01 -1.15913607e-02 -1.47463854e+01] [-2.72207766e-02 -3.39523099e-04 9.99629388e-01 -2.55822946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.091052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.68, Y:-14.76, Z:-2.56 [[ 8.98717770e-01 4.37852497e-01 2.43220310e-02 6.06831971e+01] [-4.37702854e-01 8.99046754e-01 -1.14519088e-02 -1.47608489e+01] [-2.68808899e-02 -3.53788449e-04 9.99638581e-01 -2.55988754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.121052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.71, Y:-14.78, Z:-2.56 [[ 8.98113460e-01 4.39163522e-01 2.29698328e-02 6.07114099e+01] [-4.39030330e-01 8.98407072e-01 -1.08213831e-02 -1.47754251e+01] [-2.53886169e-02 -3.65623431e-04 9.99677590e-01 -2.56234329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.151052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.74, Y:-14.79, Z:-2.56 [[ 8.96927074e-01 4.41645621e-01 2.17018225e-02 6.07400718e+01] [-4.41527320e-01 8.97189490e-01 -1.02296279e-02 -1.47905466e+01] [-2.39885174e-02 -4.06717334e-04 9.99712151e-01 -2.56412926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.181052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.77, Y:-14.80, Z:-2.57 [[ 8.96181605e-01 4.43213488e-01 2.05020983e-02 6.07692140e+01] [-4.43108189e-01 8.96415991e-01 -9.66971557e-03 -1.48036154e+01] [-2.26641572e-02 -4.18826452e-04 9.99743047e-01 -2.56571001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.80, Y:-14.81, Z:-2.57 [[ 8.95582337e-01 4.44458858e-01 1.97129598e-02 6.07980877e+01] [-4.44361685e-01 8.95799163e-01 -9.30336790e-03 -1.48143277e+01] [-2.17938171e-02 -4.27752046e-04 9.99762395e-01 -2.56962647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.83, Y:-14.83, Z:-2.57 [[ 8.94411565e-01 4.46894118e-01 1.77087489e-02 6.08282659e+01] [-4.46816037e-01 8.94586755e-01 -8.36465203e-03 -1.48257505e+01] [-1.95801260e-02 -4.31111505e-04 9.99808198e-01 -2.57191305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.86, Y:-14.84, Z:-2.57 [[ 8.93852061e-01 4.48038971e-01 1.70168968e-02 6.08580181e+01] [-4.47967127e-01 8.94013919e-01 -8.03533618e-03 -1.48367934e+01] [-1.88134863e-02 -4.40608556e-04 9.99822914e-01 -2.57472797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.301052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.89, Y:-14.85, Z:-2.58 [[ 8.93011831e-01 4.49716603e-01 1.68774229e-02 6.08885370e+01] [-4.49646138e-01 8.93171181e-01 -7.97447598e-03 -1.48473055e+01] [-1.86606820e-02 -4.67566623e-04 9.99825765e-01 -2.57760327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.331052754 meters Centerline goodness [0,1] 0.9998354219076953 Centerline is valid? [True, True] Translation: X:60.92, Y:-14.86, Z:-2.58 [[ 8.93049435e-01 4.49666615e-01 1.62062696e-02 6.09183987e+01] [-4.49601569e-01 8.93196360e-01 -7.66100058e-03 -1.48619562e+01] [-1.79202772e-02 -4.44711987e-04 9.99839320e-01 -2.57810224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.95, Y:-14.88, Z:-2.58 [[ 8.93106067e-01 4.49576681e-01 1.55679571e-02 6.09473305e+01] [-4.49516562e-01 8.93241642e-01 -7.36410416e-03 -1.48779348e+01] [-1.72166770e-02 -4.21128430e-04 9.99851693e-01 -2.57784611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.391052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.98, Y:-14.89, Z:-2.58 [[ 8.93079897e-01 4.49639661e-01 1.52470615e-02 6.09755760e+01] [-4.49581877e-01 8.93209947e-01 -7.21984022e-03 -1.48916494e+01] [-1.68651535e-02 -4.06908350e-04 9.99857690e-01 -2.57980075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.421052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.00, Y:-14.91, Z:-2.58 [[ 8.92922124e-01 4.49964658e-01 1.48958447e-02 6.10045293e+01] [-4.49909546e-01 8.93046272e-01 -7.05386793e-03 -1.49066613e+01] [-1.64766699e-02 -4.03228001e-04 9.99864169e-01 -2.58074761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.451052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.03, Y:-14.92, Z:-2.58 [[ 8.93142897e-01 4.49518257e-01 1.51361259e-02 6.10324394e+01] [-4.49461175e-01 8.93271056e-01 -7.17441276e-03 -1.49191845e+01] [-1.67456927e-02 -3.95325146e-04 9.99859703e-01 -2.58348974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.481052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.06, Y:-14.93, Z:-2.58 [[ 8.93902909e-01 4.47995064e-01 1.54276237e-02 6.10613605e+01] [-4.47935420e-01 8.94035954e-01 -7.31931361e-03 -1.49342624e+01] [-1.70718666e-02 -3.67823367e-04 9.99854197e-01 -2.58429317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.511052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.09, Y:-14.95, Z:-2.58 [[ 8.94816564e-01 4.46162139e-01 1.55776292e-02 6.10887868e+01] [-4.46101044e-01 8.94952084e-01 -7.39086515e-03 -1.49498246e+01] [-1.72387559e-02 -3.35728097e-04 9.99851345e-01 -2.58482147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.541052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.12, Y:-14.96, Z:-2.59 [[ 8.95128541e-01 4.45524563e-01 1.58984197e-02 6.11168712e+01] [-4.45460752e-01 8.95269656e-01 -7.54726066e-03 -1.49644729e+01] [-1.75958627e-02 -3.26353566e-04 9.99845128e-01 -2.58507303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.14, Y:-14.98, Z:-2.59 [[ 8.95375441e-01 4.45001866e-01 1.66180020e-02 6.11446588e+01] [-4.44931953e-01 8.95529583e-01 -7.89457080e-03 -1.49785362e+01] [-1.83950111e-02 -3.25275257e-04 9.99830745e-01 -2.58573071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.17, Y:-14.99, Z:-2.59 [[ 8.95328113e-01 4.45090379e-01 1.67965783e-02 6.11739432e+01] [-4.45018906e-01 8.95485593e-01 -7.98288723e-03 -1.49927209e+01] [-1.85942002e-02 -3.27491545e-04 9.99827059e-01 -2.58614684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.20, Y:-15.01, Z:-2.59 [[ 8.95362500e-01 4.44932905e-01 1.89921812e-02 6.12026528e+01] [-4.44841310e-01 8.95563834e-01 -9.03478926e-03 -1.50059326e+01] [-2.10285856e-02 -3.59095266e-04 9.99778810e-01 -2.58524259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.23, Y:-15.02, Z:-2.58 [[ 8.95386992e-01 4.44853712e-01 1.96801648e-02 6.12312670e+01] [-4.44755216e-01 8.95603172e-01 -9.36783202e-03 -1.50207393e+01] [-2.17929329e-02 -3.65021003e-04 9.99762439e-01 -2.58438009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.691052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.26, Y:-15.03, Z:-2.59 [[ 8.95567001e-01 4.44478044e-01 1.99753627e-02 6.12597944e+01] [-4.44376334e-01 8.95789675e-01 -9.51482708e-03 -1.50325759e+01] [-2.21228554e-02 -3.55413285e-04 9.99755197e-01 -2.58720923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.29, Y:-15.05, Z:-2.59 [[ 8.95857711e-01 4.43907590e-01 1.96217504e-02 6.12889038e+01] [-4.43809220e-01 8.96072509e-01 -9.35065842e-03 -1.50490410e+01] [-2.17333394e-02 -3.31454279e-04 9.99763748e-01 -2.58787822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.32, Y:-15.06, Z:-2.59 [[ 8.96300064e-01 4.43031903e-01 1.92074879e-02 6.13166555e+01] [-4.42937288e-01 8.96505797e-01 -9.16047558e-03 -1.50624458e+01] [-2.12780072e-02 -2.97177768e-04 9.99773553e-01 -2.59138733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.781052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.34, Y:-15.08, Z:-2.59 [[ 8.96423570e-01 4.42777043e-01 1.93202832e-02 6.13446593e+01] [-4.42681150e-01 8.96631701e-01 -9.21917026e-03 -1.50780391e+01] [-2.14052153e-02 -2.88443666e-04 9.99770841e-01 -2.59106324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.811052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.37, Y:-15.09, Z:-2.59 [[ 8.96466032e-01 4.42681256e-01 1.95437542e-02 6.13728466e+01] [-4.42582979e-01 8.96678998e-01 -9.33174867e-03 -1.50922593e+01] [-2.16554641e-02 -2.84137241e-04 9.99765453e-01 -2.59186736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.841052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.40, Y:-15.11, Z:-2.59 [[ 8.96636498e-01 4.42286143e-01 2.06387506e-02 6.14011385e+01] [-4.42176285e-01 8.96873953e-01 -9.86132557e-03 -1.51063240e+01] [-2.28718855e-02 -2.83941637e-04 9.99738364e-01 -2.59118786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.871052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.43, Y:-15.12, Z:-2.59 [[ 8.96812564e-01 4.41876679e-01 2.17307726e-02 6.14301001e+01] [-4.41754600e-01 8.97075761e-01 -1.03899892e-02 -1.51209345e+01] [-2.40852433e-02 -2.81795872e-04 9.99709869e-01 -2.59042463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.901052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.46, Y:-15.13, Z:-2.59 [[ 8.97274041e-01 4.40833808e-01 2.37665668e-02 6.14584251e+01] [-4.40687170e-01 8.97588704e-01 -1.13726430e-02 -1.51338938e+01] [-2.63460475e-02 -2.69243730e-04 9.99652846e-01 -2.59114426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.931052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.49, Y:-15.15, Z:-2.59 [[ 8.97595210e-01 4.40119860e-01 2.48464979e-02 6.14861375e+01] [-4.39959225e-01 8.97938997e-01 -1.18927586e-02 -1.51474043e+01] [-2.75448787e-02 -2.56562846e-04 9.99620535e-01 -2.59252066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.961052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.51, Y:-15.16, Z:-2.59 [[ 8.98161142e-01 4.38990414e-01 2.43716862e-02 6.15147413e+01] [-4.38835294e-01 8.98491720e-01 -1.16710523e-02 -1.51630705e+01] [-2.70212383e-02 -2.12670419e-04 9.99634837e-01 -2.59420728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.54, Y:-15.18, Z:-2.60 [[ 8.98185482e-01 4.38973533e-01 2.37713460e-02 6.15440867e+01] [-4.38825751e-01 8.98499971e-01 -1.13913617e-02 -1.51775535e+01] [-2.63590600e-02 -1.99923015e-04 9.99652520e-01 -2.59684304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.57, Y:-15.19, Z:-2.60 [[ 8.97956381e-01 4.39484547e-01 2.29710885e-02 6.15728789e+01] [-4.39346515e-01 8.98250128e-01 -1.10157557e-02 -1.51916464e+01] [-2.54750376e-02 -2.00599503e-04 9.99675438e-01 -2.59963500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.051052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.60, Y:-15.21, Z:-2.60 [[ 8.97516203e-01 4.40383363e-01 2.29599628e-02 6.16023387e+01] [-4.40245599e-01 8.97809805e-01 -1.10166614e-02 -1.52062726e+01] [-2.54652341e-02 -2.20390453e-04 9.99675684e-01 -2.60039218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.081052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.63, Y:-15.22, Z:-2.60 [[ 8.97043161e-01 4.41319969e-01 2.34574556e-02 6.16315711e+01] [-4.41176273e-01 8.97349779e-01 -1.12636988e-02 -1.52192703e+01] [-2.60204378e-02 -2.44848878e-04 9.99661381e-01 -2.60142915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.66, Y:-15.23, Z:-2.60 [[ 8.96385723e-01 4.42636918e-01 2.37738325e-02 6.16619109e+01] [-4.42489590e-01 8.96700887e-01 -1.14228791e-02 -1.52324526e+01] [-2.63742047e-02 -2.80367655e-04 9.99652101e-01 -2.60203721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.141052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.69, Y:-15.24, Z:-2.60 [[ 8.94722178e-01 4.45976368e-01 2.40271171e-02 6.16930693e+01] [-4.45826854e-01 8.95044657e-01 -1.15532810e-02 -1.52410241e+01] [-2.66578331e-02 -3.74957325e-04 9.99644546e-01 -2.60399737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.171052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.72, Y:-15.25, Z:-2.61 [[ 8.93405815e-01 4.48590733e-01 2.43393687e-02 6.17234299e+01] [-4.48438077e-01 8.93737182e-01 -1.17107273e-02 -1.52508047e+01] [-2.70063225e-02 -4.52267814e-04 9.99635160e-01 -2.60678491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.201052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.75, Y:-15.26, Z:-2.61 [[ 8.93191074e-01 4.49022250e-01 2.42636539e-02 6.17517897e+01] [-4.48870515e-01 8.93520458e-01 -1.16812227e-02 -1.52642440e+01] [-2.69252001e-02 -4.57675007e-04 9.99637346e-01 -2.60816052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.231052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.78, Y:-15.28, Z:-2.61 [[ 8.93697291e-01 4.47990648e-01 2.46886737e-02 6.17798941e+01] [-4.47832931e-01 8.94038141e-01 -1.18940793e-02 -1.52806762e+01] [-2.74010522e-02 -4.26694611e-04 9.99624430e-01 -2.60926195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.261052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.81, Y:-15.30, Z:-2.61 [[ 8.94063097e-01 4.47267778e-01 2.45502127e-02 6.18076853e+01] [-4.47111323e-01 8.94400011e-01 -1.18357698e-02 -1.52954139e+01] [-2.72514689e-02 -3.94753099e-04 9.99628532e-01 -2.61054329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.291052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.84, Y:-15.31, Z:-2.61 [[ 8.94453355e-01 4.46533342e-01 2.36890271e-02 6.18354136e+01] [-4.46387330e-01 8.94766924e-01 -1.14238098e-02 -1.53109376e+01] [-2.62972698e-02 -3.56416572e-04 9.99654103e-01 -2.61327278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.86, Y:-15.33, Z:-2.62 [[ 8.94606456e-01 4.46308339e-01 2.20942677e-02 6.18637695e+01] [-4.46181185e-01 8.94879189e-01 -1.06577581e-02 -1.53268122e+01] [-2.45283466e-02 -3.23547376e-04 9.99699082e-01 -2.61601625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.351052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.89, Y:-15.34, Z:-2.62 [[ 8.94393552e-01 4.46741464e-01 2.19599132e-02 6.18933140e+01] [-4.46615846e-01 8.94663041e-01 -1.05985644e-02 -1.53418044e+01] [-2.43815409e-02 -3.28357568e-04 9.99702672e-01 -2.61668757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.92, Y:-15.36, Z:-2.62 [[ 8.94238226e-01 4.47037489e-01 2.22593694e-02 6.19226867e+01] [-4.46908331e-01 8.94515160e-01 -1.07504506e-02 -1.53566783e+01] [-2.47171978e-02 -3.34433712e-04 9.99694427e-01 -2.61695106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.95, Y:-15.37, Z:-2.62 [[ 8.93901933e-01 4.47715686e-01 2.21358940e-02 6.19528783e+01] [-4.47587989e-01 8.94175903e-01 -1.06979613e-02 -1.53695971e+01] [-2.45830281e-02 -3.44832004e-04 9.99697732e-01 -2.61893927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.441052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.98, Y:-15.38, Z:-2.62 [[ 8.93497859e-01 4.48559308e-01 2.13570475e-02 6.19826308e+01] [-4.48440496e-01 8.93753000e-01 -1.03293623e-02 -1.53797179e+01] [-2.37212569e-02 -3.48101827e-04 9.99718551e-01 -2.62473477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.01, Y:-15.39, Z:-2.63 [[ 8.93132743e-01 4.49357286e-01 1.97973009e-02 6.20110720e+01] [-4.49255290e-01 8.93352067e-01 -9.57965061e-03 -1.53935279e+01] [-2.19906455e-02 -3.38142547e-04 9.99758119e-01 -2.62865260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.501052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.04, Y:-15.41, Z:-2.63 [[ 8.93237772e-01 4.49186316e-01 1.89191807e-02 6.20393122e+01] [-4.49093041e-01 8.93438053e-01 -9.15896908e-03 -1.54095982e+01] [-2.10171996e-02 -3.15335253e-04 9.99779065e-01 -2.62856888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.531052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.07, Y:-15.43, Z:-2.62 [[ 8.93563397e-01 4.48496982e-01 1.98724018e-02 6.20658115e+01] [-4.48393731e-01 8.93784293e-01 -9.62807262e-03 -1.54280181e+01] [-2.20798021e-02 -3.07367118e-04 9.99756164e-01 -2.62478368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.561052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.09, Y:-15.44, Z:-2.63 [[ 8.93679459e-01 4.48231038e-01 2.06388177e-02 6.20945348e+01] [-4.48119443e-01 8.93917693e-01 -1.00060949e-02 -1.54415990e+01] [-2.29344466e-02 -3.06414075e-04 9.99736924e-01 -2.62567720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.591052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.12, Y:-15.45, Z:-2.63 [[ 8.93528501e-01 4.48472696e-01 2.18874094e-02 6.21237326e+01] [-4.48347085e-01 8.93796473e-01 -1.06186367e-02 -1.54544081e+01] [-2.43250579e-02 -3.25101648e-04 9.99704049e-01 -2.62799100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.621052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.15, Y:-15.47, Z:-2.63 [[ 8.93151756e-01 4.49133534e-01 2.36433660e-02 6.21526812e+01] [-4.48986975e-01 8.93464569e-01 -1.14786613e-02 -1.54657379e+01] [-2.62799615e-02 -3.63376853e-04 9.99654556e-01 -2.62996532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.651052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.18, Y:-15.48, Z:-2.63 [[ 8.92925415e-01 4.49573594e-01 2.38282829e-02 6.21822149e+01] [-4.49424734e-01 8.93243216e-01 -1.15743296e-02 -1.54790912e+01] [-2.64879650e-02 -3.74006634e-04 9.99649062e-01 -2.63150975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.681052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.21, Y:-15.49, Z:-2.63 [[ 8.92855574e-01 4.49736230e-01 2.33719276e-02 6.22106984e+01] [-4.49592875e-01 8.93161346e-01 -1.13603167e-02 -1.54921322e+01] [-2.59840483e-02 -3.64730066e-04 9.99662291e-01 -2.63414067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.711052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.24, Y:-15.51, Z:-2.63 [[ 8.93548167e-01 4.48363582e-01 2.32759756e-02 6.22376149e+01] [-4.48220725e-01 8.93851217e-01 -1.13218144e-02 -1.55099730e+01] [-2.58815484e-02 -3.16188180e-04 9.99664967e-01 -2.63265848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.27, Y:-15.52, Z:-2.63 [[ 8.93771037e-01 4.47907095e-01 2.35067723e-02 6.22656259e+01] [-4.47761033e-01 8.94080055e-01 -1.14416833e-02 -1.55241406e+01] [-2.61417474e-02 -2.99171549e-04 9.99658201e-01 -2.63382898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.29, Y:-15.54, Z:-2.64 [[ 8.94312333e-01 4.46734278e-01 2.51780900e-02 6.22942214e+01] [-4.46566022e-01 8.94666647e-01 -1.22629465e-02 -1.55367585e+01] [-2.80042759e-02 -2.76775200e-04 9.99607765e-01 -2.63680207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.801052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.32, Y:-15.55, Z:-2.64 [[ 8.94677160e-01 4.45981126e-01 2.55658926e-02 6.23230232e+01] [-4.45807140e-01 8.95042330e-01 -1.24588068e-02 -1.55514701e+01] [-2.84389488e-02 -2.50847578e-04 9.99595500e-01 -2.63800606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.35, Y:-15.57, Z:-2.64 [[ 8.94556147e-01 4.46223968e-01 2.55630588e-02 6.23520766e+01] [-4.46049915e-01 8.94921285e-01 -1.24646180e-02 -1.55657166e+01] [-2.84389368e-02 -2.52099542e-04 9.99595500e-01 -2.63926596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.38, Y:-15.58, Z:-2.64 [[ 8.96077069e-01 4.43139029e-01 2.59554829e-02 6.23797996e+01] [-4.42958025e-01 8.96452887e-01 -1.26652598e-02 -1.55828249e+01] [-2.88803385e-02 -1.48140578e-04 9.99582865e-01 -2.64018792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.891052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.41, Y:-15.60, Z:-2.64 [[ 8.96763735e-01 4.41713025e-01 2.65406793e-02 6.24078128e+01] [-4.41522908e-01 8.97156393e-01 -1.29587048e-02 -1.55988416e+01] [-2.95351688e-02 -9.74213850e-05 9.99563737e-01 -2.63982839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.921052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.44, Y:-15.61, Z:-2.64 [[ 8.97727900e-01 4.39712469e-01 2.71580985e-02 6.24350000e+01] [-4.39512225e-01 8.98138599e-01 -1.32687848e-02 -1.56144409e+01] [-3.02261867e-02 -2.45579596e-05 9.99543084e-01 -2.64112975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.951052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.46, Y:-15.63, Z:-2.64 [[ 8.97967280e-01 4.39163894e-01 2.81040756e-02 6.24628590e+01] [-4.38948929e-01 8.98406965e-01 -1.37391209e-02 -1.56286160e+01] [-3.12826230e-02 1.02711569e-06 9.99510579e-01 -2.64179051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.981052754000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.49, Y:-15.64, Z:-2.64 [[ 8.98240831e-01 4.38572025e-01 2.86004769e-02 6.24918706e+01] [-4.38348857e-01 8.98696043e-01 -1.39893413e-02 -1.56433157e+01] [-3.18384692e-02 2.88112524e-05 9.99493027e-01 -2.64272742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.52, Y:-15.66, Z:-2.64 [[ 8.98875896e-01 4.37231971e-01 2.91603754e-02 6.25210830e+01] [-4.36998942e-01 8.99348762e-01 -1.42733554e-02 -1.56577233e+01] [-3.24661148e-02 8.69219542e-05 9.99472833e-01 -2.64471788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.55, Y:-15.67, Z:-2.65 [[ 8.98882384e-01 4.37182848e-01 2.96920468e-02 6.25496288e+01] [-4.36940873e-01 8.99372641e-01 -1.45439311e-02 -1.56724850e+01] [-3.30625718e-02 9.96145919e-05 9.99453279e-01 -2.64571880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.58, Y:-15.69, Z:-2.65 [[ 8.98827182e-01 4.37259459e-01 3.02301481e-02 6.25789720e+01] [-4.37008352e-01 8.99335396e-01 -1.48170889e-02 -1.56878224e+01] [-3.36659545e-02 1.07175029e-04 9.99433135e-01 -2.64589869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.61, Y:-15.70, Z:-2.65 [[ 8.98865605e-01 4.37060982e-01 3.19111747e-02 6.26064233e+01] [-4.36780620e-01 8.99431866e-01 -1.56527537e-02 -1.57023188e+01] [-3.55431353e-02 1.31539250e-04 9.99368134e-01 -2.64534811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.64, Y:-15.72, Z:-2.65 [[ 8.98439843e-01 4.37845921e-01 3.31179437e-02 6.26355498e+01] [-4.37544283e-01 8.99050020e-01 -1.62499956e-02 -1.57167428e+01] [-3.68896822e-02 1.09076608e-04 9.99319338e-01 -2.64511299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.66, Y:-15.73, Z:-2.65 [[ 8.98082844e-01 4.38647439e-01 3.21811835e-02 6.26649037e+01] [-4.38362771e-01 8.98659233e-01 -1.58007772e-02 -1.57309138e+01] [-3.58508881e-02 8.33741305e-05 9.99357147e-01 -2.64674083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.191052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.69, Y:-15.74, Z:-2.65 [[ 8.96734005e-01 4.41516516e-01 3.05170350e-02 6.26948056e+01] [-4.41261860e-01 8.97253122e-01 -1.49935106e-02 -1.57418763e+01] [-3.40013875e-02 -2.08128431e-05 9.99421785e-01 -2.65173084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.72, Y:-15.75, Z:-2.66 [[ 8.95935069e-01 4.43189925e-01 2.97160261e-02 6.27241396e+01] [-4.42949082e-01 8.96427736e-01 -1.46090942e-02 -1.57537278e+01] [-3.31128733e-02 -7.38866474e-05 9.99451616e-01 -2.65541866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.75, Y:-15.77, Z:-2.66 [[ 8.94967255e-01 4.45206392e-01 2.87207383e-02 6.27536577e+01] [-4.44982178e-01 8.95427970e-01 -1.41283710e-02 -1.57670500e+01] [-3.20073935e-02 -1.35787236e-04 9.99487623e-01 -2.65692816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28105275399999 meters Centerline goodness [0,1] 0.999976369952031 Centerline is valid? [True, True] Translation: X:62.78, Y:-15.78, Z:-2.66 [[ 8.93158965e-01 4.48975591e-01 2.62294135e-02 6.27825104e+01] [-4.48790011e-01 8.93543989e-01 -1.29099213e-02 -1.57792753e+01] [-2.92333743e-02 -2.40886832e-04 9.99572585e-01 -2.65941688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.81, Y:-15.79, Z:-2.66 [[ 8.92200860e-01 4.50937212e-01 2.51645968e-02 6.28117586e+01] [-4.50766999e-01 8.92555628e-01 -1.23921215e-02 -1.57930794e+01] [-2.80488713e-02 -2.87108324e-04 9.99606512e-01 -2.66085055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.84, Y:-15.80, Z:-2.67 [[ 8.90732659e-01 4.53914489e-01 2.36001271e-02 6.28408813e+01] [-4.53765652e-01 8.91045180e-01 -1.16284249e-02 -1.58043913e+01] [-2.63070901e-02 -3.51109219e-04 9.99653847e-01 -2.66560122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.87, Y:-15.82, Z:-2.67 [[ 8.89893983e-01 4.55573656e-01 2.32667581e-02 6.28694876e+01] [-4.55429396e-01 8.90198007e-01 -1.14705423e-02 -1.58167431e+01] [-2.59376986e-02 -3.88799037e-04 9.99663486e-01 -2.66839537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.90, Y:-15.83, Z:-2.67 [[ 8.88526808e-01 4.58234572e-01 2.32634474e-02 6.28994882e+01] [-4.58091107e-01 8.88831179e-01 -1.14749014e-02 -1.58286114e+01] [-2.59354739e-02 -4.61020894e-04 9.99663513e-01 -2.67058950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.93, Y:-15.84, Z:-2.67 [[ 8.87905996e-01 4.59418732e-01 2.36087072e-02 6.29286917e+01] [-4.59271209e-01 8.88219670e-01 -1.16522634e-02 -1.58421613e+01] [-2.63229862e-02 -4.96685002e-04 9.99653367e-01 -2.67198545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.96, Y:-15.86, Z:-2.67 [[ 8.87828209e-01 4.59524579e-01 2.44588038e-02 6.29563980e+01] [-4.59366032e-01 8.88164907e-01 -1.20808593e-02 -1.58563702e+01] [-2.72749030e-02 -5.09816010e-04 9.99627841e-01 -2.67224986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.98, Y:-15.87, Z:-2.67 [[ 8.88912709e-01 4.57385847e-01 2.51472068e-02 6.29829865e+01] [-4.57217268e-01 8.89268228e-01 -1.24252914e-02 -1.58730422e+01] [-2.80457645e-02 -4.52737714e-04 9.99606538e-01 -2.67030788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.01, Y:-15.89, Z:-2.67 [[ 8.89465887e-01 4.56280732e-01 2.56579241e-02 6.30112138e+01] [-4.56104630e-01 8.89835780e-01 -1.26826978e-02 -1.58895118e+01] [-2.86182096e-02 -4.21870978e-04 9.99590326e-01 -2.67044081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.551052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.04, Y:-15.90, Z:-2.67 [[ 8.90082924e-01 4.55029975e-01 2.64596112e-02 6.30399514e+01] [-4.54842068e-01 8.90476035e-01 -1.30814490e-02 -1.59048777e+01] [-2.95141011e-02 -3.91369923e-04 9.99564287e-01 -2.67129843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.581052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.07, Y:-15.92, Z:-2.67 [[ 8.90639010e-01 4.53962651e-01 2.60780627e-02 6.30670706e+01] [-4.53779576e-01 8.91020646e-01 -1.28959609e-02 -1.59193125e+01] [-2.90903769e-02 -3.48046429e-04 9.99576725e-01 -2.67336728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.10, Y:-15.93, Z:-2.68 [[ 8.90547448e-01 4.54181229e-01 2.53900493e-02 6.30968487e+01] [-4.54007601e-01 8.90909252e-01 -1.25619568e-02 -1.59342417e+01] [-2.83256348e-02 -3.40256733e-04 9.99598691e-01 -2.67539587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.641052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.13, Y:-15.95, Z:-2.68 [[ 8.90236076e-01 4.54784217e-01 2.55155693e-02 6.31263169e+01] [-4.54608871e-01 8.90601589e-01 -1.26326363e-02 -1.59477032e+01] [-2.84693302e-02 -3.53575547e-04 9.99594604e-01 -2.67714513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.16, Y:-15.96, Z:-2.68 [[ 8.90139209e-01 4.55041973e-01 2.42691476e-02 6.31558735e+01] [-4.54883179e-01 8.90469927e-01 -1.20251022e-02 -1.59568578e+01] [-2.70828723e-02 -3.35612057e-04 9.99633135e-01 -2.68332175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.18, Y:-15.97, Z:-2.68 [[ 8.90131134e-01 4.55099921e-01 2.34654245e-02 6.31841136e+01] [-4.54951451e-01 8.90440316e-01 -1.16284547e-02 -1.59745687e+01] [-2.61866688e-02 -3.24779339e-04 9.99657018e-01 -2.68124118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.21, Y:-15.99, Z:-2.68 [[ 8.90609896e-01 4.54150953e-01 2.36838618e-02 6.32131127e+01] [-4.53999141e-01 8.90924703e-01 -1.17453532e-02 -1.59880685e+01] [-2.64347009e-02 -2.91925124e-04 9.99650500e-01 -2.68230500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.24, Y:-16.00, Z:-2.68 [[ 8.90920391e-01 4.53569807e-01 2.31362681e-02 6.32409823e+01] [-4.53424572e-01 8.91220714e-01 -1.14802309e-02 -1.60026744e+01] [-2.58266075e-02 -2.62580664e-04 9.99666403e-01 -2.68317502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.27, Y:-16.02, Z:-2.68 [[ 8.91368117e-01 4.52692297e-01 2.30773474e-02 6.32691899e+01] [-4.52547313e-01 8.91666772e-01 -1.14585255e-02 -1.60189897e+01] [-2.57644900e-02 -2.29827242e-04 9.99668014e-01 -2.68340846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.30, Y:-16.04, Z:-2.68 [[ 8.92627985e-01 4.50127486e-01 2.45056400e-02 6.32970710e+01] [-4.49962813e-01 8.92964289e-01 -1.21756432e-02 -1.60356516e+01] [-2.73632531e-02 -1.58306879e-04 9.99625544e-01 -2.68197726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.33, Y:-16.05, Z:-2.68 [[ 8.93240773e-01 4.48818252e-01 2.61361639e-02 6.33255601e+01] [-4.48630120e-01 8.93623054e-01 -1.29943350e-02 -1.60509347e+01] [-2.91879734e-02 -1.18400476e-04 9.99573933e-01 -2.68154048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.35, Y:-16.07, Z:-2.68 [[ 8.94572265e-01 4.46018182e-01 2.84296279e-02 6.33525511e+01] [-4.45793859e-01 8.95023900e-01 -1.41440528e-02 -1.60672842e+01] [-3.17537011e-02 -2.08762089e-05 9.99495724e-01 -2.67901021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.38, Y:-16.08, Z:-2.68 [[ 8.96086974e-01 4.42917401e-01 2.91943491e-02 6.33806091e+01] [-4.42678939e-01 8.96562416e-01 -1.45324245e-02 -1.60849291e+01] [-3.26112198e-02 9.85928353e-05 9.99468108e-01 -2.67877671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.941052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.41, Y:-16.10, Z:-2.68 [[ 8.96857594e-01 4.41372448e-01 2.89278074e-02 6.34092290e+01] [-4.41137206e-01 8.97323986e-01 -1.44093625e-02 -1.61009989e+01] [-3.23175111e-02 1.62014092e-04 9.99477640e-01 -2.68066045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.44, Y:-16.12, Z:-2.68 [[ 8.97586137e-01 4.39907673e-01 2.86420322e-02 6.34377237e+01] [-4.39676005e-01 8.98042978e-01 -1.42765664e-02 -1.61156757e+01] [-3.20021470e-02 2.21233806e-04 9.99487776e-01 -2.68140484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.46, Y:-16.13, Z:-2.68 [[ 8.99061411e-01 4.36873263e-01 2.88154799e-02 6.34640784e+01] [-4.36636928e-01 8.99523005e-01 -1.43720606e-02 -1.61329350e+01] [-3.21989561e-02 3.39462444e-04 9.99481422e-01 -2.68223610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.49, Y:-16.15, Z:-2.68 [[ 8.99961427e-01 4.34965122e-01 2.95765453e-02 6.34903475e+01] [-4.34714818e-01 9.00447200e-01 -1.47603053e-02 -1.61490767e+01] [-3.30523354e-02 4.26342931e-04 9.99453531e-01 -2.68237631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.52, Y:-16.17, Z:-2.68 [[ 9.02185088e-01 4.30180210e-01 3.17341229e-02 6.35175453e+01] [-4.29888752e-01 9.02742798e-01 -1.58462119e-02 -1.61654095e+01] [-3.54644776e-02 6.54073597e-04 9.99370724e-01 -2.67958713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.54, Y:-16.18, Z:-2.68 [[ 9.03587497e-01 4.27177496e-01 3.23886094e-02 6.35446570e+01] [-4.26871627e-01 9.04167437e-01 -1.61821020e-02 -1.61808533e+01] [-3.61973557e-02 7.96166634e-04 9.99344344e-01 -2.68136359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.57, Y:-16.19, Z:-2.68 [[ 9.03759081e-01 4.26882240e-01 3.14813738e-02 6.35743154e+01] [-4.26592805e-01 9.04306875e-01 -1.57370279e-02 -1.61926020e+01] [-3.51866805e-02 7.92754308e-04 9.99380443e-01 -2.68380155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.60, Y:-16.20, Z:-2.69 [[ 9.03801125e-01 4.27023904e-01 2.81799740e-02 6.36034992e+01] [-4.26791841e-01 9.04240056e-01 -1.40941572e-02 -1.62044997e+01] [-3.15000033e-02 7.11332177e-04 9.99503499e-01 -2.68888413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.63, Y:-16.22, Z:-2.69 [[ 9.03800844e-01 4.27128339e-01 2.65596704e-02 6.36328778e+01] [-4.26922047e-01 9.04190759e-01 -1.32904469e-02 -1.62179377e+01] [-2.96917351e-02 6.73008244e-04 9.99558877e-01 -2.69078452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.66, Y:-16.23, Z:-2.69 [[ 9.04238386e-01 4.26327617e-01 2.44480007e-02 6.36591879e+01] [-4.26152313e-01 9.04568593e-01 -1.22420191e-02 -1.62335512e+01] [-2.73340044e-02 6.51131556e-04 9.99626144e-01 -2.69423123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.69, Y:-16.25, Z:-2.70 [[ 9.04349361e-01 4.26113747e-01 2.40688059e-02 6.36881078e+01] [-4.25943707e-01 9.04669361e-01 -1.20542718e-02 -1.62467700e+01] [-2.69108022e-02 6.49316558e-04 9.99637628e-01 -2.69553061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.72, Y:-16.26, Z:-2.70 [[ 9.04201673e-01 4.26408167e-01 2.44010005e-02 6.37180101e+01] [-4.26233321e-01 9.04530621e-01 -1.22274814e-02 -1.62609644e+01] [-2.72853501e-02 6.55589652e-04 9.99627471e-01 -2.69687988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.301052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.75, Y:-16.27, Z:-2.70 [[ 9.03651025e-01 4.27566873e-01 2.45233164e-02 6.37479283e+01] [-4.27390459e-01 9.03983501e-01 -1.22973765e-02 -1.62724043e+01] [-2.74266242e-02 6.31505382e-04 9.99623620e-01 -2.69667812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.331052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.78, Y:-16.28, Z:-2.70 [[ 9.02585422e-01 4.29772295e-01 2.52057814e-02 6.37768311e+01] [-4.29586557e-01 9.02937113e-01 -1.26475566e-02 -1.62843169e+01] [-2.81948049e-02 5.87435370e-04 9.99602275e-01 -2.69734012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.81, Y:-16.30, Z:-2.70 [[ 9.02207679e-01 4.30553991e-01 2.53882752e-02 6.38067330e+01] [-4.30365673e-01 9.02564642e-01 -1.27457997e-02 -1.62965008e+01] [-2.84023145e-02 5.73116240e-04 9.99596409e-01 -2.69731218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.391052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.84, Y:-16.31, Z:-2.70 [[ 9.01420677e-01 4.32158545e-01 2.60721188e-02 6.38354774e+01] [-4.31960369e-01 9.01797481e-01 -1.30974791e-02 -1.63092450e+01] [-2.91719586e-02 5.44216442e-04 9.99574260e-01 -2.69782196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.86, Y:-16.32, Z:-2.70 [[ 9.00983482e-01 4.33014595e-01 2.69652726e-02 6.38646792e+01] [-4.32802755e-01 9.01386747e-01 -1.35538705e-02 -1.63231255e+01] [-3.01751631e-02 5.41169151e-04 9.99544480e-01 -2.69783773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.89, Y:-16.34, Z:-2.70 [[ 9.00626138e-01 4.33604971e-01 2.93136178e-02 6.38940076e+01] [-4.33354617e-01 9.01102879e-01 -1.47437505e-02 -1.63364055e+01] [-3.28075488e-02 5.75415447e-04 9.99461522e-01 -2.69563879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.92, Y:-16.35, Z:-2.70 [[ 9.00877030e-01 4.33071763e-01 2.94860137e-02 6.39207357e+01] [-4.32817870e-01 9.01359240e-01 -1.48395224e-02 -1.63516866e+01] [-3.30040690e-02 6.06511211e-04 9.99455033e-01 -2.69618004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.95, Y:-16.37, Z:-2.70 [[ 9.01013373e-01 4.32822761e-01 2.89717155e-02 6.39493739e+01] [-4.32577267e-01 9.01478831e-01 -1.45885159e-02 -1.63663249e+01] [-3.24316300e-02 6.11942399e-04 9.99473769e-01 -2.69766859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.98, Y:-16.38, Z:-2.70 [[ 9.00950627e-01 4.32974418e-01 2.86552089e-02 6.39786262e+01] [-4.32734082e-01 9.01406004e-01 -1.44370875e-02 -1.63805863e+01] [-3.20808669e-02 6.07017525e-04 9.99485092e-01 -2.69955124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.01, Y:-16.39, Z:-2.70 [[ 9.00869005e-01 4.33188549e-01 2.79770669e-02 6.40072322e+01] [-4.32959271e-01 9.01303128e-01 -1.41046332e-02 -1.63934711e+01] [-3.13257835e-02 5.93496436e-04 9.99509051e-01 -2.70225926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.04, Y:-16.41, Z:-2.70 [[ 9.00721472e-01 4.33495365e-01 2.79749686e-02 6.40372996e+01] [-4.33266004e-01 9.01155602e-01 -1.41120509e-02 -1.64066994e+01] [-3.13273083e-02 5.90424450e-04 9.99509005e-01 -2.70343912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.06, Y:-16.42, Z:-2.70 [[ 9.00278347e-01 4.34425822e-01 2.78047416e-02 6.40648693e+01] [-4.34199382e-01 9.00707438e-01 -1.40359893e-02 -1.64217821e+01] [-3.11415338e-02 5.63495683e-04 9.99514826e-01 -2.70358373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.09, Y:-16.44, Z:-2.70 [[ 8.99400600e-01 4.36208116e-01 2.83026456e-02 6.40936885e+01] [-4.35974126e-01 8.99845660e-01 -1.42951070e-02 -1.64354077e+01] [-3.17036545e-02 5.17806643e-04 9.99497179e-01 -2.70300990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.691052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.12, Y:-16.45, Z:-2.70 [[ 8.99005841e-01 4.36944166e-01 2.94668347e-02 6.41213913e+01] [-4.36690616e-01 8.99488480e-01 -1.48923120e-02 -1.64497930e+01] [-3.30121872e-02 5.20385336e-04 9.99454814e-01 -2.70307015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.15, Y:-16.46, Z:-2.70 [[ 8.98804157e-01 4.37307378e-01 3.02215928e-02 6.41510954e+01] [-4.37040599e-01 8.99311948e-01 -1.52818821e-02 -1.64641668e+01] [-3.38615192e-02 5.27356161e-04 9.99426395e-01 -2.70315929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.18, Y:-16.48, Z:-2.70 [[ 8.98685908e-01 4.37550619e-01 3.02174534e-02 6.41799397e+01] [-4.37283703e-01 8.99193626e-01 -1.52900623e-02 -1.64788364e+01] [-3.38615177e-02 5.27363575e-04 9.99426395e-01 -2.70441989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.21, Y:-16.49, Z:-2.71 [[ 8.99166823e-01 4.36569623e-01 3.00996311e-02 6.42080233e+01] [-4.36303885e-01 8.99670294e-01 -1.52408190e-02 -1.64939079e+01] [-3.37334226e-02 5.71452809e-04 9.99430703e-01 -2.70605627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.23, Y:-16.51, Z:-2.71 [[ 8.99741048e-01 4.35427831e-01 2.94728607e-02 6.42347982e+01] [-4.35172149e-01 9.00223435e-01 -1.49321212e-02 -1.65090685e+01] [-3.30340211e-02 6.09274245e-04 9.99454042e-01 -2.70757923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.26, Y:-16.53, Z:-2.71 [[ 9.01611896e-01 4.31553242e-01 2.92880131e-02 6.42616635e+01] [-4.31298444e-01 9.02087153e-01 -1.48465899e-02 -1.65269025e+01] [-3.28274343e-02 7.53987625e-04 9.99460750e-01 -2.70757682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.29, Y:-16.55, Z:-2.71 [[ 9.03084281e-01 4.28460990e-01 2.93250806e-02 6.42869428e+01] [-4.28203685e-01 9.03559857e-01 -1.48723845e-02 -1.65460590e+01] [-3.28692022e-02 8.73909064e-04 9.99459280e-01 -2.70818387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.31, Y:-16.56, Z:-2.71 [[ 9.06954291e-01 4.20203379e-01 2.93774628e-02 6.43135708e+01] [-4.19940544e-01 9.07429182e-01 -1.49069986e-02 -1.65641636e+01] [-3.29219383e-02 1.18317860e-03 9.99457226e-01 -2.70737630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.34, Y:-16.58, Z:-2.71 [[ 9.09045251e-01 4.15687277e-01 2.89968852e-02 6.43413444e+01] [-4.15428613e-01 9.09506623e-01 -1.47230980e-02 -1.65804852e+01] [-3.24930637e-02 1.33782653e-03 9.99471066e-01 -2.70868362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.961052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.37, Y:-16.60, Z:-2.71 [[ 9.13395923e-01 4.06115737e-01 2.78908105e-02 6.43668215e+01] [-4.05871900e-01 9.13820220e-01 -1.41635725e-02 -1.65993984e+01] [-3.12392362e-02 1.61685311e-03 9.99510628e-01 -2.70909368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.39, Y:-16.62, Z:-2.71 [[ 9.15377315e-01 4.01666635e-01 2.73548251e-02 6.43916887e+01] [-4.01430036e-01 9.15784308e-01 -1.38934425e-02 -1.66173509e+01] [-3.06316519e-02 1.73669362e-03 9.99529232e-01 -2.70993929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.42, Y:-16.64, Z:-2.71 [[ 9.19279642e-01 3.92616062e-01 2.78848887e-02 6.44167496e+01] [-3.92365782e-01 9.19700101e-01 -1.41709854e-02 -1.66353080e+01] [-3.12094914e-02 2.08602225e-03 9.99510688e-01 -2.71051619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.051052754 meters Centerline goodness [0,1] 0.9999527376704398 Centerline is valid? [True, True] Translation: X:64.44, Y:-16.65, Z:-2.71 [[ 9.20817514e-01 3.88977752e-01 2.81320811e-02 6.44435813e+01] [-3.88721198e-01 9.21244443e-01 -1.43005826e-02 -1.66506709e+01] [-3.14791318e-02 2.23269068e-03 9.99501916e-01 -2.71164422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.081052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.47, Y:-16.66, Z:-2.71 [[ 9.22730337e-01 3.84299045e-01 2.97147861e-02 6.44731582e+01] [-3.84010234e-01 9.23205197e-01 -1.51097490e-02 -1.66626605e+01] [-3.32395071e-02 2.53144186e-03 9.99444209e-01 -2.71197384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.51, Y:-16.67, Z:-2.71 [[ 9.22944011e-01 3.83504587e-01 3.31449006e-02 6.45052856e+01] [-3.83144627e-01 9.23534549e-01 -1.68562118e-02 -1.66706822e+01] [-3.70748953e-02 2.85804916e-03 9.99308403e-01 -2.70908513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.141052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.54, Y:-16.68, Z:-2.71 [[ 9.22410349e-01 3.84643209e-01 3.47670892e-02 6.45354156e+01] [-3.84247533e-01 9.23060584e-01 -1.76915586e-02 -1.66818861e+01] [-3.88970676e-02 2.95970849e-03 9.99238839e-01 -2.70869834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17105275399999 meters Centerline goodness [0,1] 0.999953823420761 Centerline is valid? [True, True] Translation: X:64.57, Y:-16.69, Z:-2.71 [[ 9.20167146e-01 3.89844154e-01 3.62485842e-02 6.45690583e+01] [-3.89417904e-01 9.20876408e-01 -1.84482505e-02 -1.66859290e+01] [-4.05724086e-02 2.85962636e-03 9.99172509e-01 -2.70982928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.60, Y:-16.69, Z:-2.71 [[ 9.18593457e-01 3.93570155e-01 3.58969951e-02 6.46015423e+01] [-3.93154812e-01 9.19290700e-01 -1.82729864e-02 -1.66923869e+01] [-4.01914759e-02 2.67236940e-03 9.99188423e-01 -2.71261223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.63, Y:-16.70, Z:-2.72 [[ 9.14652455e-01 4.02833361e-01 3.37071285e-02 6.46329074e+01] [-4.02473076e-01 9.15270847e-01 -1.71668460e-02 -1.66969497e+01] [-3.77665304e-02 2.13548614e-03 9.99284308e-01 -2.71685662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.67, Y:-16.70, Z:-2.72 [[ 9.10191851e-01 4.12916935e-01 3.24098518e-02 6.46679915e+01] [-4.12589999e-01 9.10767182e-01 -1.65115997e-02 -1.66973953e+01] [-3.63357486e-02 1.65674274e-03 9.99338265e-01 -2.71822506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.70, Y:-16.71, Z:-2.72 [[ 9.08038496e-01 4.17653139e-01 3.21239070e-02 6.46977397e+01] [-4.17334582e-01 9.08605369e-01 -1.63746644e-02 -1.67070414e+01] [-3.60268843e-02 1.46240829e-03 9.99349751e-01 -2.72045788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.73, Y:-16.72, Z:-2.72 [[ 9.06219940e-01 4.21677440e-01 3.08797094e-02 6.47276264e+01] [-4.21385174e-01 9.06745032e-01 -1.57474512e-02 -1.67159812e+01] [-3.46403680e-02 1.25840253e-03 9.99399050e-01 -2.72390810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.351052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.76, Y:-16.72, Z:-2.73 [[ 9.02459106e-01 4.29872061e-01 2.78850024e-02 6.47604629e+01] [-4.29637435e-01 9.02889403e-01 -1.42267509e-02 -1.67207431e+01] [-3.12927558e-02 8.58619971e-04 9.99509893e-01 -2.72969545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.79, Y:-16.73, Z:-2.73 [[ 8.99338548e-01 4.36419641e-01 2.69828448e-02 6.47912769e+01] [-4.36202854e-01 8.99743032e-01 -1.37675976e-02 -1.67282069e+01] [-3.02860766e-02 6.11737310e-04 9.99541084e-01 -2.73404653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.411052754 meters Centerline goodness [0,1] 0.9999110438998354 Centerline is valid? [True, True] Translation: X:64.82, Y:-16.74, Z:-2.74 [[ 8.98256461e-01 4.38678753e-01 2.63871622e-02 6.48208882e+01] [-4.38472255e-01 8.98643796e-01 -1.34688197e-02 -1.67405951e+01] [-2.96211446e-02 5.28415808e-04 9.99561058e-01 -2.73665416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.441052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.85, Y:-16.75, Z:-2.74 [[ 8.96561033e-01 4.42145314e-01 2.61884525e-02 6.48502962e+01] [-4.41943165e-01 8.96943335e-01 -1.33750375e-02 -1.67542929e+01] [-2.94032681e-02 4.17729828e-04 9.99567543e-01 -2.73767075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.88, Y:-16.77, Z:-2.74 [[ 8.95797250e-01 4.43629543e-01 2.72050810e-02 6.48780892e+01] [-4.43411814e-01 8.96210174e-01 -1.39027600e-02 -1.67685217e+01] [-3.05491454e-02 3.90999823e-04 9.99533189e-01 -2.73748343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.501052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.91, Y:-16.78, Z:-2.74 [[ 8.94945700e-01 4.45274725e-01 2.83304222e-02 6.49068988e+01] [-4.45039179e-01 8.95393932e-01 -1.44857306e-02 -1.67823038e+01] [-3.18170178e-02 3.55794443e-04 9.99493647e-01 -2.73723179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.94, Y:-16.80, Z:-2.74 [[ 8.92717790e-01 4.49609440e-01 3.01047984e-02 6.49362823e+01] [-4.49345594e-01 8.93225225e-01 -1.54024355e-02 -1.67950314e+01] [-3.38154457e-02 2.22569644e-04 9.99428069e-01 -2.73684755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.97, Y:-16.81, Z:-2.74 [[ 8.90457030e-01 4.54089001e-01 2.98237847e-02 6.49653146e+01] [-4.53832274e-01 8.90956327e-01 -1.52673151e-02 -1.68074793e+01] [-3.35044095e-02 5.98919927e-05 9.99438568e-01 -2.73851641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.00, Y:-16.82, Z:-2.74 [[ 8.89563373e-01 4.55901132e-01 2.88299193e-02 6.49951062e+01] [-4.55661932e-01 8.90030425e-01 -1.47663758e-02 -1.68222655e+01] [-3.23915128e-02 -1.06965301e-06 9.99475257e-01 -2.74122301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.02, Y:-16.84, Z:-2.74 [[ 8.88906682e-01 4.57250481e-01 2.76930917e-02 6.50237475e+01] [-4.57030163e-01 8.89337954e-01 -1.41927640e-02 -1.68374357e+01] [-3.11181657e-02 -4.05354530e-05 9.99515712e-01 -2.74367521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.05, Y:-16.86, Z:-2.74 [[ 8.88712635e-01 4.57643273e-01 2.74315067e-02 6.50512389e+01] [-4.57427009e-01 8.89135891e-01 -1.40676370e-02 -1.68561575e+01] [-3.08282965e-02 -4.58253065e-05 9.99524694e-01 -2.74467290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.08, Y:-16.88, Z:-2.74 [[ 8.90430092e-01 4.54245365e-01 2.82028533e-02 6.50759033e+01] [-4.54014729e-01 8.90876614e-01 -1.44735456e-02 -1.68790177e+01] [-3.16998034e-02 8.31697827e-05 9.99497431e-01 -2.74390120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.711052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.10, Y:-16.90, Z:-2.75 [[ 8.91517573e-01 4.52094408e-01 2.84088646e-02 6.51033878e+01] [-4.51859134e-01 8.91970077e-01 -1.45843850e-02 -1.68982745e+01] [-3.19333761e-02 1.65430521e-04 9.99489986e-01 -2.74509189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.13, Y:-16.92, Z:-2.74 [[ 8.94797617e-01 4.45485448e-01 2.96637935e-02 6.51270541e+01] [-4.45224937e-01 8.95289077e-01 -1.52388690e-02 -1.69213229e+01] [-3.33463647e-02 4.28643033e-04 9.99443763e-01 -2.74400650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.15, Y:-16.94, Z:-2.74 [[ 8.96854935e-01 4.41294255e-01 3.01762624e-02 6.51527127e+01] [-4.41021987e-01 8.97362255e-01 -1.55109737e-02 -1.69421134e+01] [-3.39239425e-02 6.02698139e-04 9.99424236e-01 -2.74372898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.801052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.18, Y:-16.96, Z:-2.74 [[ 8.99034631e-01 4.36780944e-01 3.09699671e-02 6.51763056e+01] [-4.36491258e-01 8.99567545e-01 -1.59252209e-02 -1.69629470e+01] [-3.48154103e-02 7.99205186e-04 9.99393440e-01 -2.74377605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.20, Y:-16.99, Z:-2.74 [[ 9.02800446e-01 4.28830894e-01 3.24872122e-02 6.52001548e+01] [-4.28506784e-01 9.03384031e-01 -1.67101380e-02 -1.69867369e+01] [-3.65142522e-02 1.16492923e-03 9.99332453e-01 -2.74130144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.22, Y:-17.01, Z:-2.74 [[ 9.05092906e-01 4.23864938e-01 3.38429771e-02 6.52242846e+01] [-4.23509346e-01 9.05724277e-01 -1.74174769e-02 -1.70087694e+01] [-3.80350637e-02 1.43161761e-03 9.99275380e-01 -2.74097392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.891052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.25, Y:-17.03, Z:-2.74 [[ 9.05590724e-01 4.22763830e-01 3.42955437e-02 6.52492358e+01] [-4.22397489e-01 9.06238641e-01 -1.76603209e-02 -1.70277990e+01] [-3.85460918e-02 1.50667129e-03 9.99255687e-01 -2.74179151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.28, Y:-17.05, Z:-2.74 [[ 9.06051427e-01 4.21815702e-01 3.37983024e-02 6.52765430e+01] [-4.21458896e-01 9.06680298e-01 -1.74136748e-02 -1.70450261e+01] [-3.79896164e-02 1.53308969e-03 9.99276958e-01 -2.74418906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.30, Y:-17.06, Z:-2.75 [[ 9.06197222e-01 4.21493778e-01 3.39056124e-02 6.53011708e+01] [-4.21134074e-01 9.06829950e-01 -1.74795276e-02 -1.70639199e+01] [-3.81141369e-02 1.56109070e-03 9.99272173e-01 -2.74610174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.33, Y:-17.08, Z:-2.75 [[ 9.06829415e-01 4.20121239e-01 3.40375810e-02 6.53284012e+01] [-4.19757565e-01 9.07466522e-01 -1.75527290e-02 -1.70810456e+01] [-3.82622395e-02 1.62979884e-03 9.99266403e-01 -2.74661970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.36, Y:-17.10, Z:-2.75 [[ 9.07205056e-01 4.19408178e-01 3.27988777e-02 6.53555144e+01] [-4.19069690e-01 9.07796340e-01 -1.69233440e-02 -1.70979029e+01] [-3.68724900e-02 1.60792774e-03 9.99318685e-01 -2.74739375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.38, Y:-17.12, Z:-2.75 [[ 9.07666264e-01 4.18480666e-01 3.18729562e-02 6.53789235e+01] [-4.18160100e-01 9.08224282e-01 -1.64555357e-02 -1.71194902e+01] [-3.58341163e-02 1.60813608e-03 9.99356458e-01 -2.74971306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.41, Y:-17.13, Z:-2.75 [[ 9.08578653e-01 4.16521766e-01 3.15349074e-02 6.54078580e+01] [-4.16206610e-01 9.09124206e-01 -1.62860503e-02 -1.71320493e+01] [-3.54526421e-02 1.67212072e-03 9.99369959e-01 -2.75244954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.43, Y:-17.15, Z:-2.75 [[ 9.09428904e-01 4.14715162e-01 3.08286155e-02 6.54319221e+01] [-4.14412795e-01 9.09949680e-01 -1.59252998e-02 -1.71523508e+01] [-3.46569521e-02 1.70715520e-03 9.99397809e-01 -2.75263865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.46, Y:-17.17, Z:-2.75 [[ 9.09947994e-01 4.13644521e-01 2.98807388e-02 6.54593837e+01] [-4.13359668e-01 9.10436884e-01 -1.54423351e-02 -1.71682507e+01] [-3.35921640e-02 1.70022958e-03 9.99434178e-01 -2.75352893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.49, Y:-17.19, Z:-2.76 [[ 9.10871081e-01 4.11694586e-01 2.86608214e-02 6.54851006e+01] [-4.11431310e-01 9.11320281e-01 -1.48196621e-02 -1.71857529e+01] [-3.22203625e-02 1.70684232e-03 9.99479332e-01 -2.75669754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.191052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.51, Y:-17.20, Z:-2.76 [[ 9.10856640e-01 4.11759152e-01 2.81883355e-02 6.55127931e+01] [-4.11504278e-01 9.11291154e-01 -1.45829184e-02 -1.72019316e+01] [-3.16924309e-02 1.68332741e-03 9.99496251e-01 -2.75891243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.54, Y:-17.21, Z:-2.76 [[ 9.10477096e-01 4.12589924e-01 2.83021460e-02 6.55426556e+01] [-4.12333117e-01 9.10915347e-01 -1.46503016e-02 -1.72147350e+01] [-3.18254260e-02 1.66885194e-03 9.99492050e-01 -2.76054268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.57, Y:-17.23, Z:-2.76 [[ 9.10361051e-01 4.12784155e-01 2.91889971e-02 6.55690478e+01] [-4.12510791e-01 9.10827247e-01 -1.51186533e-02 -1.72320295e+01] [-3.28268744e-02 1.72265680e-03 9.99459568e-01 -2.76201142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.60, Y:-17.25, Z:-2.76 [[ 9.10282941e-01 4.12911221e-01 2.98209717e-02 6.55974643e+01] [-4.12625618e-01 9.10769570e-01 -1.54560289e-02 -1.72477036e+01] [-3.35420014e-02 1.76446259e-03 9.99435751e-01 -2.76238808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.63, Y:-17.26, Z:-2.76 [[ 9.10452906e-01 4.12502797e-01 3.02811427e-02 6.56271799e+01] [-4.12207724e-01 9.10954523e-01 -1.57051000e-02 -1.72602369e+01] [-3.40631416e-02 1.81663304e-03 9.99418032e-01 -2.76281519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.65, Y:-17.28, Z:-2.76 [[ 9.11649802e-01 4.09727488e-01 3.19064797e-02 6.56534071e+01] [-4.09397800e-01 9.12205707e-01 -1.65586897e-02 -1.72764217e+01] [-3.58898232e-02 2.03328360e-03 9.99353684e-01 -2.76149456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.68, Y:-17.29, Z:-2.76 [[ 9.12490562e-01 4.07724403e-01 3.34930638e-02 6.56824927e+01] [-4.07359554e-01 9.13102334e-01 -1.73873556e-02 -1.72900049e+01] [-3.76718439e-02 2.22207830e-03 9.99287694e-01 -2.76071630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.71, Y:-17.30, Z:-2.76 [[ 9.14310226e-01 4.03435535e-01 3.57292485e-02 6.57117425e+01] [-4.03016838e-01 9.15004478e-01 -1.85535431e-02 -1.73033373e+01] [-4.01775809e-02 2.56420543e-03 9.99189265e-01 -2.76002298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.74, Y:-17.32, Z:-2.76 [[ 9.14996918e-01 4.01819609e-01 3.63543934e-02 6.57373445e+01] [-4.01384410e-01 9.15714889e-01 -1.88890611e-02 -1.73204644e+01] [-4.08802545e-02 2.69134597e-03 9.99160428e-01 -2.76125564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.77, Y:-17.33, Z:-2.76 [[ 9.15921613e-01 3.99711412e-01 3.63095716e-02 6.57671475e+01] [-3.99275296e-01 9.16636790e-01 -1.88741612e-02 -1.73327207e+01] [-4.08269068e-02 2.78973722e-03 9.99162340e-01 -2.76166730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.491052754 meters Centerline goodness [0,1] 0.9999524081477251 Centerline is valid? [True, True] Translation: X:65.80, Y:-17.35, Z:-2.76 [[ 9.16042639e-01 3.99419878e-01 3.64643009e-02 6.57960318e+01] [-3.98979657e-01 9.16763775e-01 -1.89582118e-02 -1.73467064e+01] [-4.10014368e-02 2.81801612e-03 9.99155114e-01 -2.76218386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.521052754 meters Centerline goodness [0,1] 0.9999288627525372 Centerline is valid? [True, True] Translation: X:65.83, Y:-17.36, Z:-2.76 [[ 9.15690814e-01 4.00179336e-01 3.69706869e-02 6.58261852e+01] [-3.99726936e-01 9.16432470e-01 -1.92328922e-02 -1.73573317e+01] [-4.15777440e-02 2.83320331e-03 9.99131255e-01 -2.76328464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.551052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.85, Y:-17.37, Z:-2.76 [[ 9.15013313e-01 4.01704244e-01 3.72066982e-02 6.58523183e+01] [-4.01246829e-01 9.15765202e-01 -1.93668906e-02 -1.73733467e+01] [-4.18523616e-02 2.79189311e-03 9.99119905e-01 -2.76359900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.581052754 meters Centerline goodness [0,1] 0.999952739904062 Centerline is valid? [True, True] Translation: X:65.88, Y:-17.38, Z:-2.76 [[ 9.14849899e-01 4.02012153e-01 3.78931506e-02 6.58844306e+01] [-4.01537576e-01 9.15629935e-01 -1.97331414e-02 -1.73823637e+01] [-4.26290657e-02 2.83733861e-03 9.99086939e-01 -2.76460408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.91, Y:-17.40, Z:-2.77 [[ 9.14605418e-01 4.02523637e-01 3.83621098e-02 6.59135617e+01] [-4.02037107e-01 9.15405123e-01 -1.99906397e-02 -1.73950605e+01] [-4.31635768e-02 2.86055572e-03 9.99063923e-01 -2.76570219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.641052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.94, Y:-17.41, Z:-2.77 [[ 9.14495586e-01 4.02773564e-01 3.83572691e-02 6.59422846e+01] [-4.02286865e-01 9.15295188e-01 -1.99999238e-02 -1.74100970e+01] [-4.31636644e-02 2.85921652e-03 9.99063923e-01 -2.76696469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.97, Y:-17.42, Z:-2.77 [[ 9.14441508e-01 4.02843253e-01 3.89106895e-02 6.59733265e+01] [-4.02341872e-01 9.15264360e-01 -2.03019789e-02 -1.74206060e+01] [-4.37920826e-02 2.90957259e-03 9.99036430e-01 -2.77003451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.00, Y:-17.43, Z:-2.77 [[ 9.13489249e-01 4.05011688e-01 3.87675727e-02 6.60042973e+01] [-4.04515424e-01 9.14307202e-01 -2.02388963e-02 -1.74289372e+01] [-4.36424604e-02 2.80593308e-03 9.99043274e-01 -2.77311668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.03, Y:-17.44, Z:-2.77 [[ 9.12425765e-01 4.07473990e-01 3.80022393e-02 6.60313546e+01] [-4.06998846e-01 9.13212986e-01 -1.98489853e-02 -1.74425073e+01] [-4.27920836e-02 2.64385804e-03 9.99080501e-01 -2.77481438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.06, Y:-17.45, Z:-2.78 [[ 9.09642677e-01 4.13828112e-01 3.60068662e-02 6.60598657e+01] [-4.13406241e-01 9.10352311e-01 -1.88135810e-02 -1.74530199e+01] [-4.05645225e-02 2.22817296e-03 9.99174437e-01 -2.77693377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.09, Y:-17.47, Z:-2.78 [[ 9.07899647e-01 4.17636698e-01 3.60252674e-02 6.60865383e+01] [-4.17217066e-01 9.08611754e-01 -1.88308371e-02 -1.74670664e+01] [-4.05974300e-02 2.06615403e-03 9.99173448e-01 -2.77826262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.12, Y:-17.47, Z:-2.78 [[ 9.03769096e-01 4.26635208e-01 3.44066905e-02 6.61186030e+01] [-4.26258761e-01 9.04422393e-01 -1.79889759e-02 -1.74738422e+01] [-3.87929118e-02 1.59172722e-03 9.99246004e-01 -2.78182062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.15, Y:-17.48, Z:-2.78 [[ 9.01607274e-01 4.31260026e-01 3.34531480e-02 6.61501768e+01] [-4.30907226e-01 9.02226662e-01 -1.74932577e-02 -1.74806937e+01] [-3.77264648e-02 1.35684520e-03 9.99287182e-01 -2.78458131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.18, Y:-17.49, Z:-2.79 [[ 8.97545008e-01 4.39766583e-01 3.19109801e-02 6.61790752e+01] [-4.39450630e-01 8.98111590e-01 -1.66947595e-02 -1.74907208e+01] [-3.60014184e-02 9.60997783e-04 9.99351277e-01 -2.78839939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.21, Y:-17.50, Z:-2.79 [[ 8.95737534e-01 4.43450650e-01 3.17142183e-02 6.62083860e+01] [-4.43140601e-01 8.96298420e-01 -1.65997219e-02 -1.75031777e+01] [-3.57865612e-02 8.15136189e-04 9.99359123e-01 -2.79039218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.941052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.24, Y:-17.51, Z:-2.79 [[ 8.92139197e-01 4.50664567e-01 3.14499773e-02 6.62366730e+01] [-4.50364069e-01 8.92693214e-01 -1.64630351e-02 -1.75149104e+01] [-3.54944879e-02 5.23379218e-04 9.99369735e-01 -2.79115424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.27, Y:-17.53, Z:-2.79 [[ 8.89015619e-01 4.56814447e-01 3.11735487e-02 6.62667839e+01] [-4.56522739e-01 8.89561961e-01 -1.63250605e-02 -1.75268199e+01] [-3.51883266e-02 2.81799915e-04 9.99380659e-01 -2.79350183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.30, Y:-17.54, Z:-2.80 [[ 8.87374029e-01 4.60025819e-01 3.07177171e-02 6.62951703e+01] [-4.59744193e-01 8.87905524e-01 -1.60952337e-02 -1.75404767e+01] [-3.46786538e-02 1.60200358e-04 9.99398502e-01 -2.79596378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.32, Y:-17.56, Z:-2.80 [[ 8.86161918e-01 4.62376213e-01 3.04186188e-02 6.63241224e+01] [-4.62101133e-01 8.86683840e-01 -1.59471338e-02 -1.75554381e+01] [-3.43452731e-02 7.52644431e-05 9.99410024e-01 -2.79859601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.35, Y:-17.57, Z:-2.80 [[ 8.85074189e-01 4.64593854e-01 2.82175621e-02 6.63514432e+01] [-4.64358009e-01 8.85523885e-01 -1.48016732e-02 -1.75730959e+01] [-3.18640916e-02 -2.47204817e-06 9.99492211e-01 -2.80133771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.38, Y:-17.59, Z:-2.80 [[ 8.84917134e-01 4.64908455e-01 2.79605908e-02 6.63780423e+01] [-4.64676737e-01 8.85358757e-01 -1.46765929e-02 -1.75902019e+01] [-3.15784261e-02 -5.06756609e-06 9.99501277e-01 -2.80291689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.40, Y:-17.61, Z:-2.80 [[ 8.84708174e-01 4.65339991e-01 2.73886710e-02 6.64047444e+01] [-4.65117602e-01 8.85132020e-01 -1.43848173e-02 -1.76097590e+01] [-3.09364205e-02 -1.25875545e-05 9.99521354e-01 -2.80278597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.43, Y:-17.63, Z:-2.81 [[ 8.84529422e-01 4.65721427e-01 2.66693503e-02 6.64313683e+01] [-4.65510468e-01 8.84931383e-01 -1.40161424e-02 -1.76273464e+01] [-3.01281629e-02 -1.71714264e-05 9.99546044e-01 -2.80547821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.46, Y:-17.65, Z:-2.81 [[ 8.84559360e-01 4.65691140e-01 2.62011715e-02 6.64591337e+01] [-4.65487270e-01 8.84947322e-01 -1.37782145e-02 -1.76451745e+01] [-2.96030489e-02 -8.66316739e-06 9.99561734e-01 -2.80790324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.48, Y:-17.67, Z:-2.81 [[ 8.85531236e-01 4.63944053e-01 2.42970285e-02 6.64834321e+01] [-4.63767869e-01 8.85864500e-01 -1.27847811e-02 -1.76669064e+01] [-2.74552982e-02 5.31418799e-05 9.99623031e-01 -2.81041586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.51, Y:-17.69, Z:-2.81 [[ 8.86474191e-01 4.62191473e-01 2.32927463e-02 6.65098801e+01] [-4.62028778e-01 8.86780148e-01 -1.22628547e-02 -1.76857918e+01] [-2.63233319e-02 1.08785114e-04 9.99653475e-01 -2.81244552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.53, Y:-17.71, Z:-2.82 [[ 8.88241996e-01 4.58883282e-01 2.12671420e-02 6.65334720e+01] [-4.58746564e-01 8.88496537e-01 -1.12024193e-02 -1.77070027e+01] [-2.40363849e-02 1.94231024e-04 9.99711065e-01 -2.81518285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.301052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.56, Y:-17.72, Z:-2.82 [[ 8.88774980e-01 4.57891670e-01 2.03532235e-02 6.65612191e+01] [-4.57766075e-01 8.89007971e-01 -1.07260816e-02 -1.77239502e+01] [-2.30055613e-02 2.16057751e-04 9.99735314e-01 -2.81572744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.331052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.59, Y:-17.74, Z:-2.82 [[ 8.89073680e-01 4.57338751e-01 1.97296090e-02 6.65876871e+01] [-4.57220427e-01 8.89292536e-01 -1.04051798e-02 -1.77402534e+01] [-2.23040859e-02 2.30191258e-04 9.99751206e-01 -2.81589035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.62, Y:-17.75, Z:-2.82 [[ 8.88685498e-01 4.58085975e-01 1.98827937e-02 6.66162913e+01] [-4.57965963e-01 8.88907866e-01 -1.04872736e-02 -1.77541565e+01] [-2.24780447e-02 2.14245180e-04 9.99747314e-01 -2.81575622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.391052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.65, Y:-17.77, Z:-2.82 [[ 8.87561215e-01 4.60279363e-01 1.94421761e-02 6.66462834e+01] [-4.60165011e-01 8.87774117e-01 -1.02606267e-02 -1.77659544e+01] [-2.19830155e-02 1.60325078e-04 9.99758331e-01 -2.81863797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.68, Y:-17.78, Z:-2.82 [[ 8.86968053e-01 4.61455381e-01 1.86173197e-02 6.66760115e+01] [-4.61350690e-01 8.87163409e-01 -9.82990050e-03 -1.77798781e+01] [-2.10526653e-02 1.29694413e-04 9.99778360e-01 -2.82143623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.71, Y:-17.79, Z:-2.83 [[ 8.85984267e-01 4.63448348e-01 1.57323857e-02 6.67050674e+01] [-4.63373817e-01 8.86123932e-01 -8.31159871e-03 -1.77909048e+01] [-1.77928401e-02 7.39700897e-05 9.99841692e-01 -2.82720559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.73, Y:-17.80, Z:-2.83 [[ 8.85430875e-01 4.64520075e-01 1.52730254e-02 6.67346173e+01] [-4.64449941e-01 8.85562588e-01 -8.07183451e-03 -1.78040950e+01] [-1.72747491e-02 5.34957484e-05 9.99850779e-01 -2.83123205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.76, Y:-17.82, Z:-2.83 [[ 8.85030546e-01 4.65284850e-01 1.51967808e-02 6.67635910e+01] [-4.65215431e-01 8.85161006e-01 -8.03716068e-03 -1.78183498e+01] [-1.71911668e-02 4.33557881e-05 9.99852220e-01 -2.83438827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.79, Y:-17.83, Z:-2.83 [[ 8.84874462e-01 4.65612526e-01 1.42183447e-02 6.67912209e+01] [-4.65551732e-01 8.84988686e-01 -7.52401315e-03 -1.78346631e+01] [-1.60863489e-02 3.84321057e-05 9.99870606e-01 -2.83397287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.82, Y:-17.85, Z:-2.83 [[ 8.83794391e-01 4.67654485e-01 1.43790505e-02 6.68184415e+01] [-4.67592500e-01 8.83911354e-01 -7.61389068e-03 -1.78491739e+01] [-1.62704761e-02 5.57770431e-06 9.99867627e-01 -2.83279631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.85, Y:-17.86, Z:-2.83 [[ 8.82838676e-01 4.69449424e-01 1.45982920e-02 6.68483080e+01] [-4.69385732e-01 8.82959363e-01 -7.73284323e-03 -1.78634164e+01] [-1.65198774e-02 -2.53769047e-05 9.99863537e-01 -2.83263399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.88, Y:-17.87, Z:-2.84 [[ 8.80249883e-01 4.74294636e-01 1.43087739e-02 6.68776228e+01] [-4.74233988e-01 8.80366166e-01 -7.58543123e-03 -1.78749295e+01] [-1.61946898e-02 -1.08631973e-04 9.99868852e-01 -2.83514542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.91, Y:-17.89, Z:-2.83 [[ 8.78813074e-01 4.76957967e-01 1.40953394e-02 6.69067890e+01] [-4.76899408e-01 8.78926092e-01 -7.47530883e-03 -1.78892087e+01] [-1.59541697e-02 -1.52659899e-04 9.99872712e-01 -2.83429719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.691052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.94, Y:-17.90, Z:-2.84 [[ 8.76180209e-01 4.81781956e-01 1.39423174e-02 6.69361544e+01] [-4.81725196e-01 8.76291100e-01 -7.39883645e-03 -1.79001731e+01] [-1.57821546e-02 -2.33651524e-04 9.99875427e-01 -2.83780348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.96, Y:-17.92, Z:-2.84 [[ 8.74747462e-01 4.84381225e-01 1.38458207e-02 6.69648746e+01] [-4.84325520e-01 8.74856990e-01 -7.35102860e-03 -1.79151308e+01] [-1.56738132e-02 -2.75590690e-04 9.99877120e-01 -2.83853944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.99, Y:-17.93, Z:-2.84 [[ 8.74262847e-01 4.85252991e-01 1.39287108e-02 6.69940556e+01] [-4.85196673e-01 8.74373748e-01 -7.39853271e-03 -1.79313573e+01] [-1.57690591e-02 -2.89901839e-04 9.99875619e-01 -2.83827744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.02, Y:-17.95, Z:-2.84 [[ 8.73251808e-01 4.87051172e-01 1.45751926e-02 6.70220365e+01] [-4.86989647e-01 8.73373372e-01 -7.74841057e-03 -1.79466797e+01] [-1.65034575e-02 -3.31654349e-04 9.99863754e-01 -2.83649989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.05, Y:-17.96, Z:-2.84 [[ 8.72872175e-01 4.87738191e-01 1.43395262e-02 6.70501341e+01] [-4.87678617e-01 8.72989889e-01 -7.63026865e-03 -1.79593322e+01] [-1.62398348e-02 -3.32831090e-04 9.99868070e-01 -2.83989400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84105275399999 meters Centerline goodness [0,1] 0.9999764689272184 Centerline is valid? [True, True] Translation: X:67.08, Y:-17.98, Z:-2.84 [[ 8.72689968e-01 4.88074227e-01 1.39917568e-02 6.70782848e+01] [-4.88017559e-01 8.72802062e-01 -7.44468943e-03 -1.79755471e+01] [-1.58455953e-02 -3.31317240e-04 9.99874396e-01 -2.84049811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.11, Y:-17.99, Z:-2.84 [[ 8.72848241e-01 4.87797517e-01 1.37670076e-02 6.71068634e+01] [-4.87742571e-01 8.72956746e-01 -7.32825021e-03 -1.79918508e+01] [-1.55927044e-02 -3.18305379e-04 9.99878376e-01 -2.84224380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90105275399999 meters Centerline goodness [0,1] 0.9999526503941855 Centerline is valid? [True, True] Translation: X:67.13, Y:-18.01, Z:-2.85 [[ 8.73706582e-01 4.86286335e-01 1.27439947e-02 6.71329790e+01] [-4.86239018e-01 8.73799479e-01 -6.78876264e-03 -1.80091133e+01] [-1.44369784e-02 -2.65240869e-04 9.99895746e-01 -2.84500688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.16, Y:-18.03, Z:-2.84 [[ 8.73850183e-01 4.86032015e-01 1.25991238e-02 6.71606397e+01] [-4.85985713e-01 8.73940967e-01 -6.71363108e-03 -1.80273198e+01] [-1.42739301e-02 -2.56286392e-04 9.99898089e-01 -2.84496937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.961052754 meters Centerline goodness [0,1] 0.9999052850918735 Centerline is valid? [True, True] Translation: X:67.19, Y:-18.04, Z:-2.85 [[ 8.73875474e-01 4.85986477e-01 1.26015780e-02 6.71886890e+01] [-4.85940088e-01 8.73966292e-01 -6.71939642e-03 -1.80443944e+01] [-1.42788902e-02 -2.51696189e-04 9.99898020e-01 -2.84593981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.991052754 meters Centerline goodness [0,1] 0.9996914459318332 Centerline is valid? [True, True] Translation: X:67.22, Y:-18.06, Z:-2.85 [[ 8.73604635e-01 4.86467228e-01 1.28287601e-02 6.72170573e+01] [-4.86419126e-01 8.73698786e-01 -6.84579961e-03 -1.80589687e+01] [-1.45387293e-02 -2.59632028e-04 9.99894273e-01 -2.84810924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.021052754 meters Centerline goodness [0,1] 0.9999525762928888 Centerline is valid? [True, True] Translation: X:67.24, Y:-18.08, Z:-2.85 [[ 8.73491061e-01 4.86669183e-01 1.29024051e-02 6.72446764e+01] [-4.86620493e-01 8.73586308e-01 -6.88897232e-03 -1.80763828e+01] [-1.46240150e-02 -2.61118985e-04 9.99893029e-01 -2.84735117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.051052754 meters Centerline goodness [0,1] 0.9996914605781554 Centerline is valid? [True, True] Translation: X:67.27, Y:-18.09, Z:-2.85 [[ 8.73420986e-01 4.86783358e-01 1.33320806e-02 6.72722799e+01] [-4.86731251e-01 8.73522692e-01 -7.12714407e-03 -1.80916172e+01] [-1.51152501e-02 -2.64143080e-04 9.99885723e-01 -2.84798735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.081052754 meters Centerline goodness [0,1] 0.9999286156189026 Centerline is valid? [True, True] Translation: X:67.30, Y:-18.11, Z:-2.85 [[ 8.73181529e-01 4.87211181e-01 1.33896826e-02 6.73009754e+01] [-4.87158695e-01 8.73284141e-01 -7.15648316e-03 -1.81078944e+01] [-1.51797160e-02 -2.73991383e-04 9.99884744e-01 -2.84824155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.111052754 meters Centerline goodness [0,1] 0.999976260564049 Centerline is valid? [True, True] Translation: X:67.33, Y:-18.12, Z:-2.85 [[ 8.72807529e-01 4.87878542e-01 1.34738615e-02 6.73300683e+01] [-4.87825392e-01 8.72911478e-01 -7.20683813e-03 -1.81217300e+01] [-1.52775501e-02 -2.82709206e-04 9.99883251e-01 -2.85211344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.141052754 meters Centerline goodness [0,1] 0.999976303879055 Centerline is valid? [True, True] Translation: X:67.36, Y:-18.13, Z:-2.86 [[ 8.72487573e-01 4.88460647e-01 1.31007997e-02 6.73585453e+01] [-4.88410389e-01 8.72585880e-01 -7.01241867e-03 -1.81345601e+01] [-1.48568634e-02 -2.80318555e-04 9.99889591e-01 -2.85690703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.39, Y:-18.15, Z:-2.86 [[ 8.72247783e-01 4.88886996e-01 1.31647606e-02 6.73875914e+01] [-4.88836262e-01 8.72347077e-01 -7.04886689e-03 -1.81510130e+01] [-1.49303398e-02 -2.87053857e-04 9.99888495e-01 -2.85727628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.42, Y:-18.17, Z:-2.86 [[ 8.71923750e-01 4.89443844e-01 1.39175042e-02 6.74150312e+01] [-4.89387102e-01 8.72034764e-01 -7.45891833e-03 -1.81650793e+01] [-1.57872692e-02 -3.07439011e-04 9.99875326e-01 -2.85870114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.44, Y:-18.18, Z:-2.86 [[ 8.71751461e-01 4.89728734e-01 1.46682128e-02 6.74431924e+01] [-4.89665672e-01 8.71874797e-01 -7.86566113e-03 -1.81808978e+01] [-1.66408854e-02 -3.25618711e-04 9.99861478e-01 -2.85803408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.47, Y:-18.19, Z:-2.86 [[ 8.71383841e-01 4.90348309e-01 1.57713990e-02 6.74710514e+01] [-4.90275399e-01 8.71526481e-01 -8.46315972e-03 -1.81949697e+01] [-1.78950879e-02 -3.57668304e-04 9.99839806e-01 -2.85767784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.50, Y:-18.21, Z:-2.86 [[ 8.71078622e-01 4.90883767e-01 1.59737544e-02 6.74996917e+01] [-4.90809008e-01 8.71224994e-01 -8.57486067e-03 -1.82114566e+01] [-1.81259940e-02 -3.70684708e-04 9.99835642e-01 -2.85720124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.53, Y:-18.23, Z:-2.86 [[ 8.70516092e-01 4.91901156e-01 1.53292494e-02 6.75284429e+01] [-4.91832299e-01 8.70650973e-01 -8.23847863e-03 -1.82255795e+01] [-1.73989431e-02 -3.67691751e-04 9.99848559e-01 -2.85969121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.351052754 meters Centerline goodness [0,1] 0.9999762012422951 Centerline is valid? [True, True] Translation: X:67.56, Y:-18.24, Z:-2.86 [[ 8.70261228e-01 4.92389971e-01 1.40539144e-02 6.75553120e+01] [-4.92332202e-01 8.70374629e-01 -7.55031255e-03 -1.82403454e+01] [-1.59498687e-02 -3.48450356e-04 9.99872732e-01 -2.86306508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.58, Y:-18.26, Z:-2.86 [[ 8.70307220e-01 4.92310564e-01 1.39875024e-02 6.75835496e+01] [-4.92253279e-01 8.70419549e-01 -7.51785966e-03 -1.82576228e+01] [-1.58761173e-02 -3.42546375e-04 9.99873908e-01 -2.86479962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.61, Y:-18.27, Z:-2.87 [[ 8.71411905e-01 4.90314736e-01 1.52561983e-02 6.76096569e+01] [-4.90246142e-01 8.71545382e-01 -8.20774004e-03 -1.82746431e+01] [-1.73208450e-02 -3.26969971e-04 9.99849929e-01 -2.86681250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.441052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.64, Y:-18.29, Z:-2.87 [[ 8.72184712e-01 4.88907227e-01 1.62342595e-02 6.76361574e+01] [-4.88829219e-01 8.72335730e-01 -8.73897890e-03 -1.82928977e+01] [-1.84342745e-02 -3.13776583e-04 9.99830025e-01 -2.86582713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.66, Y:-18.31, Z:-2.86 [[ 8.73246075e-01 4.86966495e-01 1.74621098e-02 6.76614757e+01] [-4.86875721e-01 8.73420603e-01 -9.40650510e-03 -1.83123978e+01] [-1.98324193e-02 -2.87683647e-04 9.99803277e-01 -2.86262965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.501052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.69, Y:-18.33, Z:-2.86 [[ 8.73517048e-01 4.86445485e-01 1.84053384e-02 6.76888422e+01] [-4.86344409e-01 8.73710884e-01 -9.92004980e-03 -1.83262486e+01] [-2.09065079e-02 -2.86000803e-04 9.99781394e-01 -2.86458808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.72, Y:-18.34, Z:-2.87 [[ 8.73359111e-01 4.86719231e-01 1.86615564e-02 6.77179651e+01] [-4.86615275e-01 8.73558415e-01 -1.00632573e-02 -1.83419742e+01] [-2.11999405e-02 -2.92161014e-04 9.99775213e-01 -2.86561540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.75, Y:-18.36, Z:-2.87 [[ 8.73228234e-01 4.86954105e-01 1.86587855e-02 6.77464028e+01] [-4.86850093e-01 8.73427510e-01 -1.00683910e-02 -1.83574206e+01] [-2.11999409e-02 -2.92028173e-04 9.99775213e-01 -2.86687619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59105275399999 meters Centerline goodness [0,1] 0.999928421454476 Centerline is valid? [True, True] Translation: X:67.78, Y:-18.37, Z:-2.87 [[ 8.72514074e-01 4.88224316e-01 1.88734837e-02 6.77766262e+01] [-4.88118036e-01 8.72718119e-01 -1.01915880e-02 -1.83691898e+01] [-2.14470123e-02 -3.20183846e-04 9.99769935e-01 -2.87111217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.81, Y:-18.38, Z:-2.87 [[ 8.71678705e-01 4.89730070e-01 1.84578777e-02 6.78054857e+01] [-4.89628644e-01 8.71874039e-01 -9.97252616e-03 -1.83825343e+01] [-2.09767903e-02 -3.44666930e-04 9.99779904e-01 -2.87365866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.83, Y:-18.40, Z:-2.87 [[ 8.71617867e-01 4.89816514e-01 1.90283147e-02 6.78333286e+01] [-4.89708609e-01 8.71825475e-01 -1.02868395e-02 -1.83976350e+01] [-2.16280334e-02 -3.52136451e-04 9.99766025e-01 -2.87493331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68105275399999 meters Centerline goodness [0,1] 0.9999760828490111 Centerline is valid? [True, True] Translation: X:67.86, Y:-18.41, Z:-2.87 [[ 8.72301003e-01 4.88533916e-01 2.06294192e-02 6.78606662e+01] [-4.88406560e-01 8.72544839e-01 -1.11595574e-02 -1.84143538e+01] [-2.34519155e-02 -3.41050499e-04 9.99724908e-01 -2.87485789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.711052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.89, Y:-18.43, Z:-2.88 [[ 8.72612395e-01 4.87957599e-01 2.10947905e-02 6.78883895e+01] [-4.87824054e-01 8.72867273e-01 -1.14200236e-02 -1.84293167e+01] [-2.39854395e-02 -3.25292113e-04 9.99712255e-01 -2.87562087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.92, Y:-18.44, Z:-2.88 [[ 8.72621265e-01 4.87927765e-01 2.14155010e-02 6.79164451e+01] [-4.87790064e-01 8.72883949e-01 -1.15959049e-02 -1.84447291e+01] [-2.43512110e-02 -3.27435386e-04 9.99703412e-01 -2.87658410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.94, Y:-18.46, Z:-2.88 [[ 8.73372675e-01 4.86555170e-01 2.20053637e-02 6.79438621e+01] [-4.86409152e-01 8.73649805e-01 -1.19228610e-02 -1.84595151e+01] [-2.50261113e-02 -2.90509316e-04 9.99686756e-01 -2.87976524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.801052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.97, Y:-18.48, Z:-2.88 [[ 8.74265663e-01 4.84921216e-01 2.26045007e-02 6.79707086e+01] [-4.84766422e-01 8.74557805e-01 -1.22540573e-02 -1.84775862e+01] [-2.57111949e-02 -2.44601432e-04 9.99669383e-01 -2.88009165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.00, Y:-18.49, Z:-2.88 [[ 8.74446015e-01 4.84581838e-01 2.29043387e-02 6.79981203e+01] [-4.84422598e-01 8.74745900e-01 -1.24240819e-02 -1.84925066e+01] [-2.60559608e-02 -2.31190324e-04 9.99660459e-01 -2.88177006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.03, Y:-18.50, Z:-2.88 [[ 8.74003410e-01 4.85286157e-01 2.48069363e-02 6.80274153e+01] [-4.85099424e-01 8.74355348e-01 -1.34638032e-02 -1.85047034e+01] [-2.82238747e-02 -2.66420650e-04 9.99601592e-01 -2.88402749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.06, Y:-18.52, Z:-2.89 [[ 8.73649589e-01 4.85905727e-01 2.51400366e-02 6.80560433e+01] [-4.85713982e-01 8.74011181e-01 -1.36522331e-02 -1.85185602e+01] [-2.86063713e-02 -2.83599387e-04 9.99590714e-01 -2.88605012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.09, Y:-18.53, Z:-2.89 [[ 8.73060437e-01 4.86969866e-01 2.50164710e-02 6.80858530e+01] [-4.86780213e-01 8.73418716e-01 -1.35930220e-02 -1.85323875e+01] [-2.84692461e-02 -3.09993354e-04 9.99594621e-01 -2.88847782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.11, Y:-18.55, Z:-2.89 [[ 8.72678490e-01 4.87683769e-01 2.44293970e-02 6.81138822e+01] [-4.87502945e-01 8.73020298e-01 -1.32830012e-02 -1.85455266e+01] [-2.78052635e-02 -3.17613565e-04 9.99613308e-01 -2.89121452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.14, Y:-18.56, Z:-2.89 [[ 8.71986788e-01 4.88929606e-01 2.42256508e-02 6.81417457e+01] [-4.88752087e-01 8.72323174e-01 -1.31787037e-02 -1.85605006e+01] [-2.75760549e-02 -3.48681902e-04 9.99619647e-01 -2.89218990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.17, Y:-18.57, Z:-2.89 [[ 8.71180908e-01 4.90366755e-01 2.41716874e-02 6.81705438e+01] [-4.90190365e-01 8.71516091e-01 -1.31571168e-02 -1.85735561e+01] [-2.75178272e-02 -3.86499315e-04 9.99621238e-01 -2.89359694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.20, Y:-18.59, Z:-2.89 [[ 8.70159632e-01 4.92175846e-01 2.41899047e-02 6.81999248e+01] [-4.91999701e-01 8.70495689e-01 -1.31738148e-02 -1.85866323e+01] [-2.75410412e-02 -4.38104047e-04 9.99620578e-01 -2.89387083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.23, Y:-18.60, Z:-2.90 [[ 8.69762398e-01 4.92874520e-01 2.42503366e-02 6.82291999e+01] [-4.92697560e-01 8.70100282e-01 -1.32141580e-02 -1.85994917e+01] [-2.76131465e-02 -4.54903952e-04 9.99618581e-01 -2.89586492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.26, Y:-18.61, Z:-2.90 [[ 8.69307285e-01 4.93642436e-01 2.49397241e-02 6.82586295e+01] [-4.93455344e-01 8.69664826e-01 -1.35983139e-02 -1.86148559e+01] [-2.84019057e-02 -4.85526795e-04 9.99596467e-01 -2.89733870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.29, Y:-18.63, Z:-2.90 [[ 8.69418168e-01 4.93477625e-01 2.43286412e-02 6.82878580e+01] [-4.93299292e-01 8.69758369e-01 -1.32735762e-02 -1.86306807e+01] [-2.77102521e-02 -4.61013176e-04 9.99615891e-01 -2.89894969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.32, Y:-18.65, Z:-2.90 [[ 8.69657367e-01 4.93053303e-01 2.43824694e-02 6.83157103e+01] [-4.92873755e-01 8.69998992e-01 -1.33121973e-02 -1.86465322e+01] [-2.77763467e-02 -4.40428780e-04 9.99614066e-01 -2.90062654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.191052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.34, Y:-18.66, Z:-2.90 [[ 8.70216233e-01 4.92068441e-01 2.43383910e-02 6.83429752e+01] [-4.91888937e-01 8.70556425e-01 -1.32960826e-02 -1.86608773e+01] [-2.77305253e-02 -4.01318311e-04 9.99615354e-01 -2.90313607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.37, Y:-18.68, Z:-2.90 [[ 8.70393339e-01 4.91763340e-01 2.41713225e-02 6.83717050e+01] [-4.91586001e-01 8.70728816e-01 -1.32111118e-02 -1.86770653e+01] [-2.75434075e-02 -3.83420048e-04 9.99620535e-01 -2.90457588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.40, Y:-18.69, Z:-2.91 [[ 8.70586532e-01 4.91427736e-01 2.40389361e-02 6.83990446e+01] [-4.91251965e-01 8.70918279e-01 -1.31475855e-02 -1.86930175e+01] [-2.73970371e-02 -3.63063734e-04 9.99624565e-01 -2.90523250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.43, Y:-18.71, Z:-2.91 [[ 8.70484512e-01 4.91649415e-01 2.31854918e-02 6.84264226e+01] [-4.91485787e-01 8.70793161e-01 -1.26882243e-02 -1.87093001e+01] [-2.64279258e-02 -3.50437002e-04 9.99650660e-01 -2.90677341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.45, Y:-18.73, Z:-2.91 [[ 8.70605270e-01 4.91438119e-01 2.31309228e-02 6.84547366e+01] [-4.91274932e-01 8.70912431e-01 -1.26679816e-02 -1.87269108e+01] [-2.63705373e-02 -3.34831039e-04 9.99652181e-01 -2.90741034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.48, Y:-18.74, Z:-2.91 [[ 8.70612597e-01 4.91382125e-01 2.40273342e-02 6.84819586e+01] [-4.91205954e-01 8.70944022e-01 -1.31613823e-02 -1.87424396e+01] [-2.73937311e-02 -3.43904362e-04 9.99624662e-01 -2.90856250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.51, Y:-18.76, Z:-2.91 [[ 8.70757892e-01 4.90980596e-01 2.68094846e-02 6.85092705e+01] [-4.90760799e-01 8.71170433e-01 -1.46940375e-02 -1.87598722e+01] [-3.05701176e-02 -3.62094943e-04 9.99532559e-01 -2.90755570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40105275399999 meters Centerline goodness [0,1] 0.9999763173475429 Centerline is valid? [True, True] Translation: X:68.54, Y:-18.78, Z:-2.91 [[ 8.70882907e-01 4.90730036e-01 2.73311906e-02 6.85365643e+01] [-4.90501209e-01 8.71311602e-01 -1.49885387e-02 -1.87766351e+01] [-3.11693096e-02 -3.52719883e-04 9.99514057e-01 -2.90811773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.56, Y:-18.79, Z:-2.91 [[ 8.71273759e-01 4.90030953e-01 2.74171691e-02 6.85634587e+01] [-4.89800074e-01 8.71704974e-01 -1.50441366e-02 -1.87936266e+01] [-3.12717753e-02 -3.21369964e-04 9.99510867e-01 -2.90883302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.59, Y:-18.81, Z:-2.91 [[ 8.71035325e-01 4.90464052e-01 2.72484117e-02 6.85912524e+01] [-4.90235959e-01 8.71461363e-01 -1.49598575e-02 -1.88086392e+01] [-3.10832103e-02 -3.27586922e-04 9.99516747e-01 -2.90987020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.62, Y:-18.82, Z:-2.91 [[ 8.70553667e-01 4.91337641e-01 2.69004634e-02 6.86206407e+01] [-4.91115487e-01 8.70969117e-01 -1.47775506e-02 -1.88235716e+01] [-3.06902397e-02 -3.46583256e-04 9.99528884e-01 -2.91176861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.65, Y:-18.84, Z:-2.91 [[ 8.70202960e-01 4.91957410e-01 2.69205319e-02 6.86508614e+01] [-4.91734931e-01 8.70619192e-01 -1.47980102e-02 -1.88374701e+01] [-3.07175225e-02 -3.60493576e-04 9.99528041e-01 -2.91463406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.551052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.68, Y:-18.85, Z:-2.92 [[ 8.69192874e-01 4.93778016e-01 2.62110539e-02 6.86806927e+01] [-4.93567663e-01 8.69587895e-01 -1.44171837e-02 -1.88486446e+01] [-2.99117035e-02 -4.05615295e-04 9.99552463e-01 -2.91867709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.581052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.71, Y:-18.86, Z:-2.92 [[ 8.68476672e-01 4.95064655e-01 2.56760146e-02 6.87087010e+01] [-4.94863135e-01 8.68856029e-01 -1.41307921e-02 -1.88627227e+01] [-2.93044158e-02 -4.33849829e-04 9.99570439e-01 -2.92013926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.74, Y:-18.88, Z:-2.92 [[ 8.67332778e-01 4.97121450e-01 2.45787809e-02 6.87373278e+01] [-4.96937435e-01 8.67680838e-01 -1.35332607e-02 -1.88775691e+01] [-2.80542114e-02 -4.76275720e-04 9.99606290e-01 -2.92071956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.77, Y:-18.89, Z:-2.92 [[ 8.67300914e-01 4.97207542e-01 2.39537867e-02 6.87657255e+01] [-4.97032613e-01 8.67631516e-01 -1.31959902e-02 -1.88929247e+01] [-2.73442061e-02 -4.60918788e-04 9.99625971e-01 -2.92319993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.79, Y:-18.91, Z:-2.92 [[ 8.67666011e-01 4.96556744e-01 2.42300084e-02 6.87926302e+01] [-4.96377274e-01 8.68004152e-01 -1.33564135e-02 -1.89100619e+01] [-2.76639651e-02 -4.38319493e-04 9.99617183e-01 -2.92336425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.82, Y:-18.93, Z:-2.92 [[ 8.68582640e-01 4.94856489e-01 2.61008321e-02 6.88190069e+01] [-4.94647203e-01 8.68974620e-01 -1.43963236e-02 -1.89287670e+01] [-2.98050749e-02 -4.06306852e-04 9.99555647e-01 -2.92148819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.85, Y:-18.94, Z:-2.92 [[ 8.68821017e-01 4.94400242e-01 2.68037715e-02 6.88465276e+01] [-4.94179012e-01 8.69234288e-01 -1.47938332e-02 -1.89439604e+01] [-3.06128319e-02 -3.92668091e-04 9.99531240e-01 -2.92276774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.87, Y:-18.96, Z:-2.92 [[ 8.68993338e-01 4.94070616e-01 2.72911287e-02 6.88739091e+01] [-4.93840975e-01 8.69421692e-01 -1.50669580e-02 -1.89600891e+01] [-3.11716405e-02 -3.84391488e-04 9.99513972e-01 -2.92318128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.90, Y:-18.98, Z:-2.92 [[ 8.69212585e-01 4.93654199e-01 2.78390730e-02 6.89007937e+01] [-4.93414746e-01 8.69658206e-01 -1.53783279e-02 -1.89773081e+01] [-3.18020544e-02 -3.69172946e-04 9.99494119e-01 -2.92226959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.93, Y:-18.99, Z:-2.92 [[ 8.69062930e-01 4.93887949e-01 2.83604736e-02 6.89297401e+01] [-4.93639271e-01 8.69525475e-01 -1.56754201e-02 -1.89912387e+01] [-3.24020553e-02 -3.76917003e-04 9.99474844e-01 -2.92413494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.96, Y:-19.01, Z:-2.93 [[ 8.68780585e-01 4.94388467e-01 2.82902660e-02 6.89587918e+01] [-4.94140979e-01 8.69240987e-01 -1.56460530e-02 -1.90057490e+01] [-3.23262869e-02 -3.86392619e-04 9.99477294e-01 -2.92641177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.99, Y:-19.02, Z:-2.93 [[ 8.68413128e-01 4.95123374e-01 2.66736509e-02 6.89877948e+01] [-4.94903445e-01 8.68822593e-01 -1.47607969e-02 -1.90196639e+01] [-3.04830861e-02 -3.82411969e-04 9.99535210e-01 -2.92988931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.02, Y:-19.03, Z:-2.93 [[ 8.67996383e-01 4.95867532e-01 2.64134506e-02 6.90159788e+01] [-4.95651973e-01 8.68398084e-01 -1.46249191e-02 -1.90341926e+01] [-3.01894124e-02 -3.97502041e-04 9.99544117e-01 -2.93081534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.941052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.04, Y:-19.05, Z:-2.93 [[ 8.67729789e-01 4.96345925e-01 2.61865424e-02 6.90448001e+01] [-4.96134019e-01 8.68124737e-01 -1.45077706e-02 -1.90509113e+01] [-2.99340580e-02 -4.03209738e-04 9.99551794e-01 -2.93137017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.07, Y:-19.07, Z:-2.93 [[ 8.67980274e-01 4.95948405e-01 2.54051898e-02 6.90736632e+01] [-4.95748527e-01 8.68351912e-01 -1.40838456e-02 -1.90666952e+01] [-2.90455059e-02 -3.70085262e-04 9.99578022e-01 -2.93309553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.10, Y:-19.08, Z:-2.93 [[ 8.68226004e-01 4.95530485e-01 2.51623579e-02 6.91020414e+01] [-4.95333978e-01 8.68590479e-01 -1.39581819e-02 -1.90829872e+01] [-2.87724891e-02 -3.44914356e-04 9.99585927e-01 -2.93441934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.13, Y:-19.10, Z:-2.93 [[ 8.68673991e-01 4.94770869e-01 2.46431226e-02 6.91292900e+01] [-4.94581840e-01 8.69023414e-01 -1.36788110e-02 -1.91006817e+01] [-2.81833277e-02 -3.05613605e-04 9.99602724e-01 -2.93412819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.16, Y:-19.12, Z:-2.94 [[ 8.68705081e-01 4.94737177e-01 2.42199987e-02 6.91572276e+01] [-4.94554336e-01 8.69042600e-01 -1.34524415e-02 -1.91172322e+01] [-2.77036336e-02 -2.91901077e-04 9.99616138e-01 -2.93560365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.19, Y:-19.13, Z:-2.94 [[ 8.68472794e-01 4.95137374e-01 2.43718443e-02 6.91855255e+01] [-4.94952150e-01 8.68814647e-01 -1.35454211e-02 -1.91334197e+01] [-2.78814596e-02 -2.99066972e-04 9.99611192e-01 -2.93738771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.21, Y:-19.15, Z:-2.94 [[ 8.68123047e-01 4.95760013e-01 2.41740535e-02 6.92145529e+01] [-4.95577785e-01 8.68459506e-01 -1.34441259e-02 -1.91488695e+01] [-2.76592466e-02 -3.08968412e-04 9.99617362e-01 -2.93948233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:-19.16, Z:-2.94 [[ 8.67801339e-01 4.96324607e-01 2.41396148e-02 6.92435821e+01] [-4.96142877e-01 8.68136961e-01 -1.34336415e-02 -1.91636202e+01] [-2.76239387e-02 -3.18965905e-04 9.99618335e-01 -2.94209730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.27, Y:-19.18, Z:-2.94 [[ 8.67561312e-01 4.96744978e-01 2.41204627e-02 6.92713290e+01] [-4.96563454e-01 8.67896493e-01 -1.34318184e-02 -1.91783580e+01] [-2.76062533e-02 -3.24414337e-04 9.99618822e-01 -2.94301711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.30, Y:-19.20, Z:-2.94 [[ 8.67419784e-01 4.96901900e-01 2.59117680e-02 6.92983742e+01] [-4.96692190e-01 8.67806650e-01 -1.44390508e-02 -1.91951970e+01] [-2.96611964e-02 -3.45454491e-04 9.99559950e-01 -2.93994928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.33, Y:-19.21, Z:-2.94 [[ 8.67169263e-01 4.97296316e-01 2.67178707e-02 6.93264194e+01] [-4.97073277e-01 8.67580684e-01 -1.48967909e-02 -1.92099980e+01] [-3.05880278e-02 -3.62700355e-04 9.99532011e-01 -2.94018804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.36, Y:-19.22, Z:-2.94 [[ 8.66656718e-01 4.98184522e-01 2.68013991e-02 6.93553394e+01] [-4.97960233e-01 8.67070950e-01 -1.49524022e-02 -1.92233297e+01] [-3.06877699e-02 -3.87431146e-04 9.99528944e-01 -2.94152205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.301052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.38, Y:-19.24, Z:-2.94 [[ 8.66324141e-01 4.98775911e-01 2.65532289e-02 6.93836395e+01] [-4.98555783e-01 8.66730888e-01 -1.48222180e-02 -1.92396490e+01] [-3.04074689e-02 -3.97420572e-04 9.99537507e-01 -2.94330594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.331052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.41, Y:-19.25, Z:-2.95 [[ 8.66210767e-01 4.98991855e-01 2.61922851e-02 6.94125027e+01] [-4.98777494e-01 8.66606587e-01 -1.46299535e-02 -1.92545382e+01] [-2.99986344e-02 -3.91499052e-04 9.99549863e-01 -2.94840355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.44, Y:-19.27, Z:-2.95 [[ 8.66308572e-01 4.98873455e-01 2.51939342e-02 6.94406679e+01] [-4.98674832e-01 8.66674762e-01 -1.40807898e-02 -1.92718535e+01] [-2.88594792e-02 -3.65272058e-04 9.99583412e-01 -2.94942079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.47, Y:-19.29, Z:-2.95 [[ 8.66604644e-01 4.98377602e-01 2.48225192e-02 6.94678033e+01] [-4.98184340e-01 8.66960007e-01 -1.38820134e-02 -1.92898970e+01] [-2.84386159e-02 -3.35973085e-04 9.99595484e-01 -2.94899008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.50, Y:-19.31, Z:-2.95 [[ 8.66370844e-01 4.98783048e-01 2.48401473e-02 6.94968209e+01] [-4.98589423e-01 8.66726805e-01 -1.39008035e-02 -1.93060497e+01] [-2.84631067e-02 -3.41783888e-04 9.99594785e-01 -2.94914797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.53, Y:-19.32, Z:-2.95 [[ 8.66232454e-01 4.99023541e-01 2.48362807e-02 6.95250216e+01] [-4.98829817e-01 8.66588362e-01 -1.39077077e-02 -1.93219160e+01] [-2.84631053e-02 -3.41769622e-04 9.99594785e-01 -2.95040854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.55, Y:-19.33, Z:-2.95 [[ 8.65537340e-01 5.00264924e-01 2.40856567e-02 6.95539654e+01] [-5.00082931e-01 8.65872320e-01 -1.34976579e-02 -1.93344758e+01] [-2.76075083e-02 -3.62098916e-04 9.99618775e-01 -2.95294368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.58, Y:-19.35, Z:-2.95 [[ 8.64812866e-01 5.01553996e-01 2.32872566e-02 6.95818456e+01] [-5.01384270e-01 8.65126256e-01 -1.30527694e-02 -1.93491772e+01] [-2.66930858e-02 -3.87661224e-04 9.99643601e-01 -2.95486898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.61, Y:-19.36, Z:-2.96 [[ 8.64069989e-01 5.02908418e-01 2.15911252e-02 6.96093494e+01] [-5.02762764e-01 8.64339615e-01 -1.21092582e-02 -1.93637534e+01] [-2.47519127e-02 -3.91967137e-04 9.99693548e-01 -2.95780510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.64, Y:-19.38, Z:-2.96 [[ 8.63884790e-01 5.03215218e-01 2.18521162e-02 6.96376259e+01] [-5.03066083e-01 8.64161027e-01 -1.22570292e-02 -1.93797901e+01] [-2.50516708e-02 -4.04397385e-04 9.99686076e-01 -2.95880380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.67, Y:-19.40, Z:-2.96 [[ 8.63859835e-01 5.03255164e-01 2.19186249e-02 6.96657133e+01] [-5.03104926e-01 8.64137767e-01 -1.23025724e-02 -1.93955603e+01] [-2.51320446e-02 -3.99670006e-04 9.99684060e-01 -2.96001132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.69, Y:-19.41, Z:-2.96 [[ 8.63738436e-01 5.03431816e-01 2.26345028e-02 6.96935817e+01] [-5.03271450e-01 8.64034859e-01 -1.27125695e-02 -1.94118166e+01] [-2.59569114e-02 -4.10964162e-04 9.99662978e-01 -2.95982727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.72, Y:-19.43, Z:-2.96 [[ 8.63499232e-01 5.03843982e-01 2.25902138e-02 6.97219540e+01] [-5.03684217e-01 8.63794575e-01 -1.26941541e-02 -1.94289121e+01] [-2.59091773e-02 -4.16941835e-04 9.99664214e-01 -2.96021425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.691052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.75, Y:-19.44, Z:-2.96 [[ 8.63261149e-01 5.04271726e-01 2.21407992e-02 6.97498682e+01] [-5.04118190e-01 8.63544935e-01 -1.24497058e-02 -1.94442747e+01] [-2.53976096e-02 -4.14232250e-04 9.99677343e-01 -2.96116868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.721052754 meters Centerline goodness [0,1] 0.9999057159693577 Centerline is valid? [True, True] Translation: X:69.78, Y:-19.46, Z:-2.96 [[ 8.63350030e-01 5.04112328e-01 2.23043948e-02 6.97774841e+01] [-5.03956261e-01 8.63638001e-01 -1.25495414e-02 -1.94600468e+01] [-2.55893015e-02 -4.05792491e-04 9.99672458e-01 -2.96185614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.80, Y:-19.47, Z:-2.96 [[ 8.63403758e-01 5.04006683e-01 2.26100677e-02 6.98043082e+01] [-5.03846080e-01 8.63699660e-01 -1.27289287e-02 -1.94749517e+01] [-2.59437730e-02 -4.01789091e-04 9.99663323e-01 -2.96381519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.83, Y:-19.49, Z:-2.96 [[ 8.63327737e-01 5.04162092e-01 2.20409487e-02 6.98326369e+01] [-5.04009395e-01 8.63608957e-01 -1.24136527e-02 -1.94923609e+01] [-2.52932538e-02 -3.91794528e-04 9.99679998e-01 -2.96459008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.86, Y:-19.51, Z:-2.97 [[ 8.63086434e-01 5.04603197e-01 2.13874070e-02 6.98607370e+01] [-5.04459355e-01 8.63351299e-01 -1.20537991e-02 -1.95058127e+01] [-2.45472311e-02 -3.85607026e-04 9.99698597e-01 -2.96848045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.89, Y:-19.52, Z:-2.97 [[ 8.62583670e-01 5.05488041e-01 2.07666275e-02 6.98891093e+01] [-5.05352554e-01 8.62833521e-01 -1.17094371e-02 -1.95216686e+01] [-2.38371228e-02 -3.94098993e-04 9.99715778e-01 -2.96976806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.92, Y:-19.54, Z:-2.97 [[ 8.62230209e-01 5.06125008e-01 1.99133951e-02 6.99171572e+01] [-5.06000467e-01 8.62460042e-01 -1.12340144e-02 -1.95374418e+01] [-2.28603232e-02 -3.89880631e-04 9.99738593e-01 -2.97099738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.94, Y:-19.55, Z:-2.97 [[ 8.61633824e-01 5.07140313e-01 1.98961619e-02 6.99449885e+01] [-5.07016118e-01 8.61863408e-01 -1.12304144e-02 -1.95529501e+01] [-2.28431698e-02 -4.11169826e-04 9.99738976e-01 -2.97120706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.97, Y:-19.57, Z:-2.97 [[ 8.61359425e-01 5.07529431e-01 2.17673539e-02 6.99733737e+01] [-5.07380690e-01 8.61634302e-01 -1.22949003e-02 -1.95659195e+01] [-2.49955225e-02 -4.54006767e-04 9.99687460e-01 -2.97204723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.961052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.00, Y:-19.58, Z:-2.97 [[ 8.61316780e-01 5.07571525e-01 2.24622199e-02 7.00011619e+01] [-5.07412936e-01 8.61609501e-01 -1.26956435e-02 -1.95815609e+01] [-2.57976093e-02 -4.62650152e-04 9.99667079e-01 -2.97272414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.03, Y:-19.60, Z:-2.97 [[ 8.61101220e-01 5.07929743e-01 2.26288653e-02 7.00299983e+01] [-5.07768870e-01 8.61398369e-01 -1.27916085e-02 -1.95978196e+01] [-2.59897061e-02 -4.75363699e-04 9.99662098e-01 -2.97354756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.06, Y:-19.61, Z:-2.98 [[ 8.60952464e-01 5.08162608e-01 2.30568583e-02 7.00578699e+01] [-5.07995404e-01 8.61261012e-01 -1.30437506e-02 -1.96125543e+01] [-2.64863194e-02 -4.82728845e-04 9.99649059e-01 -2.97528635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.051052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.09, Y:-19.63, Z:-2.98 [[ 8.60418885e-01 5.09084632e-01 2.26313809e-02 7.00857502e+01] [-5.08923755e-01 8.60716323e-01 -1.28071033e-02 -1.96261823e+01] [-2.59990984e-02 -4.98173800e-04 9.99661842e-01 -2.97720065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.081052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.11, Y:-19.64, Z:-2.98 [[ 8.59687213e-01 5.10357247e-01 2.17572360e-02 7.01127438e+01] [-5.10208812e-01 8.59962336e-01 -1.23186090e-02 -1.96435603e+01] [-2.49972949e-02 -5.10582841e-04 9.99687388e-01 -2.97622291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.14, Y:-19.66, Z:-2.98 [[ 8.59597392e-01 5.10550872e-01 2.07395783e-02 7.01408867e+01] [-5.10415907e-01 8.59847411e-01 -1.17486655e-02 -1.96593818e+01] [-2.38311641e-02 -4.86688472e-04 9.99715879e-01 -2.97813274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.17, Y:-19.68, Z:-2.98 [[ 8.59540887e-01 5.10689373e-01 1.96425029e-02 7.01682212e+01] [-5.10568217e-01 8.59765173e-01 -1.11329514e-02 -1.96751858e+01] [-2.25734198e-02 -4.59610729e-04 9.99745082e-01 -2.98027991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.19, Y:-19.69, Z:-2.98 [[ 8.60454353e-01 5.09201799e-01 1.82163295e-02 7.01943320e+01] [-5.09097115e-01 8.60647071e-01 -1.03318844e-02 -1.96919676e+01] [-2.09388448e-02 -3.83765897e-04 9.99780685e-01 -2.98428882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.22, Y:-19.71, Z:-2.99 [[ 8.61102287e-01 5.08108476e-01 1.81281339e-02 7.02212397e+01] [-5.08004537e-01 8.61293011e-01 -1.02829653e-02 -1.97095399e+01] [-2.08384968e-02 -3.54489310e-04 9.99782792e-01 -2.98570347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.25, Y:-19.73, Z:-2.99 [[ 8.61883165e-01 5.06763690e-01 1.86540082e-02 7.02477156e+01] [-5.06653186e-01 8.62084947e-01 -1.05874333e-02 -1.97276050e+01] [-2.14466664e-02 -3.25982117e-04 9.99769941e-01 -2.98597640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.27, Y:-19.75, Z:-2.99 [[ 8.63436155e-01 5.04103026e-01 1.89247417e-02 7.02727244e+01] [-5.03988508e-01 8.63643487e-01 -1.07476125e-02 -1.97469921e+01] [-2.17621339e-02 -2.57975176e-04 9.99763143e-01 -2.98566598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.30, Y:-19.76, Z:-2.98 [[ 8.63770896e-01 5.03503602e-01 1.95949776e-02 7.02984877e+01] [-5.03380536e-01 8.63993092e-01 -1.11343324e-02 -1.97638299e+01] [-2.25361017e-02 -2.46218084e-04 9.99745999e-01 -2.98406102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.33, Y:-19.78, Z:-2.98 [[ 8.63746871e-01 5.03504291e-01 2.06100004e-02 7.03259486e+01] [-5.03367955e-01 8.63992688e-01 -1.17190610e-02 -1.97789184e+01] [-2.37074872e-02 -2.52111511e-04 9.99718906e-01 -2.98461296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.351052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.36, Y:-19.79, Z:-2.98 [[ 8.63174819e-01 5.04422731e-01 2.20667410e-02 7.03552120e+01] [-5.04266665e-01 8.63456786e-01 -1.25502433e-02 -1.97912800e+01] [-2.53843053e-02 -2.94467923e-04 9.99677723e-01 -2.98495379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.38, Y:-19.81, Z:-2.99 [[ 8.62682381e-01 5.05246984e-01 2.24632030e-02 7.03842834e+01] [-5.05085374e-01 8.62974730e-01 -1.27820529e-02 -1.98063894e+01] [-2.58432702e-02 -3.18983430e-04 9.99665956e-01 -2.98604951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.41, Y:-19.82, Z:-2.99 [[ 8.61765084e-01 5.06886457e-01 2.06654049e-02 7.04136790e+01] [-5.06749988e-01 8.62012766e-01 -1.17660923e-02 -1.98188849e+01] [-2.37779157e-02 -3.32586137e-04 9.99717210e-01 -2.99089662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.441052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.44, Y:-19.83, Z:-2.99 [[ 8.61349482e-01 5.07620501e-01 1.99623888e-02 7.04417298e+01] [-5.07493220e-01 8.61580707e-01 -1.13717646e-02 -1.98337671e+01] [-2.29717499e-02 -3.35713414e-04 9.99736058e-01 -2.99305747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.47, Y:-19.85, Z:-2.99 [[ 8.60233573e-01 5.09522586e-01 1.96197578e-02 7.04696713e+01] [-5.09399993e-01 8.60457201e-01 -1.11827110e-02 -1.98503955e+01] [-2.25798057e-02 -3.74561087e-04 9.99744974e-01 -2.99225710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.501052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.50, Y:-19.87, Z:-2.99 [[ 8.59192611e-01 5.11286545e-01 1.93423376e-02 7.04962494e+01] [-5.11167698e-01 8.59410206e-01 -1.10309946e-02 -1.98666583e+01] [-2.22630014e-02 -4.09429155e-04 9.99752065e-01 -2.99027032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.53, Y:-19.88, Z:-2.99 [[ 8.58712448e-01 5.12074766e-01 1.98082200e-02 7.05254408e+01] [-5.11950209e-01 8.58940769e-01 -1.13021789e-02 -1.98803525e+01] [-2.28016483e-02 -4.35500661e-04 9.99739914e-01 -2.99280325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.55, Y:-19.90, Z:-2.99 [[ 8.58463195e-01 5.12479411e-01 2.01443824e-02 7.05541763e+01] [-5.12350545e-01 8.58699396e-01 -1.15007460e-02 -1.98964803e+01] [-2.31918646e-02 -4.48018151e-04 9.99730932e-01 -2.99349762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.58, Y:-19.91, Z:-3.00 [[ 8.58533224e-01 5.12348478e-01 2.04875558e-02 7.05823900e+01] [-5.12214954e-01 8.58777526e-01 -1.17047932e-02 -1.99118588e+01] [-2.35911855e-02 -4.45078616e-04 9.99721590e-01 -2.99665612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.61, Y:-19.93, Z:-3.00 [[ 8.58609514e-01 5.12252402e-01 1.96768915e-02 7.06103760e+01] [-5.12129090e-01 8.58834850e-01 -1.12469844e-02 -1.99290441e+01] [-2.26604949e-02 -4.20340764e-04 9.99743130e-01 -2.99872571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.64, Y:-19.95, Z:-3.00 [[ 8.59685132e-01 5.10474770e-01 1.88939637e-02 7.06362531e+01] [-5.10360483e-01 8.59892659e-01 -1.08070641e-02 -1.99470424e+01] [-2.17635143e-02 -3.52060087e-04 9.99763085e-01 -3.00179700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.66, Y:-19.97, Z:-3.00 [[ 8.60814414e-01 5.08540315e-01 1.96288575e-02 7.06625695e+01] [-5.08416259e-01 8.61038125e-01 -1.12363188e-02 -1.99668523e+01] [-2.26153158e-02 -3.07245163e-04 9.99744194e-01 -3.00138716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.711052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.69, Y:-19.98, Z:-3.00 [[ 8.60768843e-01 5.08623359e-01 1.94750219e-02 7.06911988e+01] [-5.08501290e-01 8.60989073e-01 -1.11469374e-02 -1.99835944e+01] [-2.24373738e-02 -3.08137381e-04 9.99748203e-01 -3.00240612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.72, Y:-20.00, Z:-3.00 [[ 8.60396397e-01 5.09261270e-01 1.92613275e-02 7.07200433e+01] [-5.09141873e-01 8.60611910e-01 -1.10314615e-02 -1.99989204e+01] [-2.21944239e-02 -3.15318593e-04 9.99753624e-01 -3.00395387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.75, Y:-20.01, Z:-3.00 [[ 8.59324266e-01 5.11025833e-01 2.03569213e-02 7.07492584e+01] [-5.10892766e-01 8.59565273e-01 -1.16671962e-02 -2.00112964e+01] [-2.34603413e-02 -3.74299048e-04 9.99724698e-01 -3.00465660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.801052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.78, Y:-20.03, Z:-3.00 [[ 8.58714498e-01 5.12017631e-01 2.11508020e-02 7.07778241e+01] [-5.11874110e-01 8.58974841e-01 -1.21292269e-02 -2.00270704e+01] [-2.43783848e-02 -4.11004913e-04 9.99702719e-01 -3.00386329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.81, Y:-20.04, Z:-3.01 [[ 8.57838020e-01 5.13422400e-01 2.26134988e-02 7.08073701e+01] [-5.13258580e-01 8.58135895e-01 -1.29774670e-02 -2.00387616e+01] [-2.60683772e-02 -4.74007712e-04 9.99660050e-01 -3.00557956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.84, Y:-20.06, Z:-3.01 [[ 8.57490888e-01 5.13981645e-01 2.30704706e-02 7.08356344e+01] [-5.13811127e-01 8.57801040e-01 -1.32476700e-02 -2.00554205e+01] [-2.65989329e-02 -4.94108210e-04 9.99646064e-01 -3.00541632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.86, Y:-20.07, Z:-3.01 [[ 8.56965110e-01 5.14855670e-01 2.31179573e-02 7.08634072e+01] [-5.14684524e-01 8.57276720e-01 -1.32840520e-02 -2.00701795e+01] [-2.66578560e-02 -5.14485769e-04 9.99644484e-01 -3.00640307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.89, Y:-20.09, Z:-3.01 [[ 8.56942119e-01 5.14908014e-01 2.28022091e-02 7.08910804e+01] [-5.14741380e-01 8.57245287e-01 -1.31083609e-02 -2.00874509e+01] [-2.62966863e-02 -5.04134002e-04 9.99654055e-01 -3.00668563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.92, Y:-20.10, Z:-3.01 [[ 8.57238858e-01 5.14458812e-01 2.17639623e-02 7.09193328e+01] [-5.14306681e-01 8.57514966e-01 -1.25188053e-02 -2.01041970e+01] [-2.51033331e-02 -4.61744865e-04 9.99684755e-01 -3.00928498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.95, Y:-20.12, Z:-3.01 [[ 8.57668981e-01 5.13774424e-01 2.09704395e-02 7.09482638e+01] [-5.13632799e-01 8.57925210e-01 -1.20699256e-02 -2.01203344e+01] [-2.41922878e-02 -4.19104732e-04 9.99707236e-01 -3.01250501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.97, Y:-20.14, Z:-3.02 [[ 8.59330341e-01 5.11045971e-01 1.95801090e-02 7.09738971e+01] [-5.10921627e-01 8.59553324e-01 -1.12771200e-02 -2.01368880e+01] [-2.25932745e-02 -3.13129780e-04 9.99744690e-01 -3.01828900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.00, Y:-20.16, Z:-3.02 [[ 8.60136721e-01 5.09714231e-01 1.88739085e-02 7.10002309e+01] [-5.09598264e-01 8.60343730e-01 -1.08755067e-02 -2.01561899e+01] [-2.17814494e-02 -2.63688296e-04 9.99762721e-01 -3.01871249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.03, Y:-20.18, Z:-3.02 [[ 8.62414862e-01 5.05892802e-01 1.76940184e-02 7.10254224e+01] [-5.05789911e-01 8.62596342e-01 -1.02037278e-02 -2.01778386e+01] [-2.04247881e-02 -1.49609456e-04 9.99791381e-01 -3.01927026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.05, Y:-20.20, Z:-3.02 [[ 8.63170126e-01 5.04607000e-01 1.75814936e-02 7.10529650e+01] [-5.04505106e-01 8.63349154e-01 -1.01408048e-02 -2.01953342e+01] [-2.02960888e-02 -1.16713543e-04 9.99794006e-01 -3.02075367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.08, Y:-20.21, Z:-3.02 [[ 8.62727151e-01 5.05379066e-01 1.71424333e-02 7.10813545e+01] [-5.05282379e-01 8.62897434e-01 -9.88611037e-03 -2.02104455e+01] [-1.97883949e-02 -1.32753629e-04 9.99804182e-01 -3.02256530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.11, Y:-20.23, Z:-3.02 [[ 8.61931877e-01 5.06739507e-01 1.69856205e-02 7.11099836e+01] [-5.06644742e-01 8.62099209e-01 -9.80094297e-03 -2.02253683e+01] [-1.96098151e-02 -1.57930168e-04 9.99807697e-01 -3.02355319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.191052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.14, Y:-20.24, Z:-3.02 [[ 8.60011797e-01 5.10002543e-01 1.66467769e-02 7.11392506e+01] [-5.09912035e-01 8.60172864e-01 -9.61041976e-03 -2.02389412e+01] [-1.92204443e-02 -2.23317511e-04 9.99815245e-01 -3.02382030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.17, Y:-20.25, Z:-3.02 [[ 8.58554570e-01 5.12471883e-01 1.60193473e-02 7.11685250e+01] [-5.12388347e-01 8.58703966e-01 -9.25639152e-03 -2.02524042e+01] [-1.84995175e-02 -2.61009655e-04 9.99828835e-01 -3.02445571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.20, Y:-20.27, Z:-3.03 [[ 8.57963697e-01 5.13456791e-01 1.61374529e-02 7.11970277e+01] [-5.13372241e-01 8.58115401e-01 -9.32206966e-03 -2.02684800e+01] [-1.86342769e-02 -2.86523021e-04 9.99826326e-01 -3.02501914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.23, Y:-20.29, Z:-3.03 [[ 8.57720293e-01 5.13850040e-01 1.65540180e-02 7.12257282e+01] [-5.13761017e-01 8.57879973e-01 -9.56916613e-03 -2.02854229e+01] [-1.91184769e-02 -2.97141178e-04 9.99817181e-01 -3.02589077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.25, Y:-20.30, Z:-3.02 [[ 8.57784649e-01 5.13705534e-01 1.76669366e-02 7.12531026e+01] [-5.13603945e-01 8.57966509e-01 -1.02204435e-02 -2.03030077e+01] [-2.04079383e-02 -3.06868773e-04 9.99791689e-01 -3.02472099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.28, Y:-20.32, Z:-3.03 [[ 8.58263959e-01 5.12833465e-01 1.96166934e-02 7.12812304e+01] [-5.12707753e-01 8.58488056e-01 -1.13586386e-02 -2.03195589e+01] [-2.26657870e-02 -3.08920672e-04 9.99743050e-01 -3.02563201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.31, Y:-20.34, Z:-3.03 [[ 8.58125305e-01 5.13065420e-01 1.96172313e-02 7.13092016e+01] [-5.12939790e-01 8.58349448e-01 -1.13577112e-02 -2.03358439e+01] [-2.26656885e-02 -3.16119078e-04 9.99743050e-01 -3.02688912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.34, Y:-20.35, Z:-3.03 [[ 8.58056420e-01 5.13129498e-01 2.09116666e-02 7.13368199e+01] [-5.12986542e-01 8.58311137e-01 -1.21161027e-02 -2.03519729e+01] [-2.41658461e-02 -3.31103775e-04 9.99707908e-01 -3.02738401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.36, Y:-20.37, Z:-3.03 [[ 8.57753505e-01 5.13549394e-01 2.29334786e-02 7.13640251e+01] [-5.13377330e-01 8.58059954e-01 -1.32978508e-02 -2.03687446e+01] [-2.65074028e-02 -3.67249894e-04 9.99648550e-01 -3.02547684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.39, Y:-20.38, Z:-3.03 [[ 8.57499694e-01 5.13928814e-01 2.39050091e-02 7.13903389e+01] [-5.13741975e-01 8.57832745e-01 -1.38623294e-02 -2.03847008e+01] [-2.76307501e-02 -3.94063386e-04 9.99618120e-01 -3.02530000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.42, Y:-20.40, Z:-3.02 [[ 8.56933773e-01 5.14820892e-01 2.49791458e-02 7.14175330e+01] [-5.14617050e-01 8.57297650e-01 -1.44924694e-02 -2.04027901e+01] [-2.88755890e-02 -4.35607816e-04 9.99582918e-01 -3.02468384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.45, Y:-20.42, Z:-3.03 [[ 8.57066624e-01 5.14608129e-01 2.48047422e-02 7.14459558e+01] [-5.14406775e-01 8.57425390e-01 -1.44003816e-02 -2.04198235e+01] [-2.86787691e-02 -4.17640999e-04 9.99588592e-01 -3.02689681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.551052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.47, Y:-20.44, Z:-3.03 [[ 8.57266126e-01 5.14299277e-01 2.43113991e-02 7.14731669e+01] [-5.14105476e-01 8.57610693e-01 -1.41229823e-02 -2.04353386e+01] [-2.81131555e-02 -3.91469077e-04 9.99604670e-01 -3.03191097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.581052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.50, Y:-20.45, Z:-3.03 [[ 8.57169925e-01 5.14478875e-01 2.38999412e-02 7.15005590e+01] [-5.14291437e-01 8.57502967e-01 -1.38916785e-02 -2.04527758e+01] [-2.76412457e-02 -3.84006058e-04 9.99617834e-01 -3.03389222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.53, Y:-20.47, Z:-3.04 [[ 8.56488192e-01 5.15721989e-01 2.14197681e-02 7.15277296e+01] [-5.15571641e-01 8.56755911e-01 -1.24576552e-02 -2.04679688e+01] [-2.47761996e-02 -3.73590443e-04 9.99692953e-01 -3.03753236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.56, Y:-20.48, Z:-3.04 [[ 8.55669442e-01 5.17132719e-01 2.00887063e-02 7.15552976e+01] [-5.17000700e-01 8.55905138e-01 -1.16906576e-02 -2.04833957e+01] [-2.32396485e-02 -3.82536712e-04 9.99729850e-01 -3.03974543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.58, Y:-20.50, Z:-3.04 [[ 8.53876978e-01 5.20163954e-01 1.79879789e-02 7.15838102e+01] [-5.20058766e-01 8.54066325e-01 -1.04686170e-02 -2.04954772e+01] [-2.08083243e-02 -4.15895052e-04 9.99783397e-01 -3.04394066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.61, Y:-20.51, Z:-3.05 [[ 8.53142710e-01 5.21409030e-01 1.67374038e-02 7.16122487e+01] [-5.21318122e-01 8.53306776e-01 -9.74480261e-03 -2.05104224e+01] [-1.93631681e-02 -4.11804603e-04 9.99812431e-01 -3.04647237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.64, Y:-20.52, Z:-3.05 [[ 8.51858822e-01 5.23541762e-01 1.55103467e-02 7.16408394e+01] [-5.23463965e-01 8.51999909e-01 -9.03509310e-03 -2.05231343e+01] [-1.79450625e-02 -4.22483792e-04 9.99838885e-01 -3.05063991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.67, Y:-20.54, Z:-3.05 [[ 8.51430406e-01 5.24223080e-01 1.60132891e-02 7.16689778e+01] [-5.24140210e-01 8.51580860e-01 -9.33163648e-03 -2.05405298e+01] [-1.85284698e-02 -4.47969683e-04 9.99828233e-01 -3.05108073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.70, Y:-20.56, Z:-3.05 [[ 8.51559937e-01 5.23952415e-01 1.78757089e-02 7.16966102e+01] [-5.23848900e-01 8.51747398e-01 -1.04258844e-02 -2.05558306e+01] [-2.06882559e-02 -4.85904986e-04 9.99785857e-01 -3.05377037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.72, Y:-20.58, Z:-3.05 [[ 8.52923380e-01 5.21687824e-01 1.90662832e-02 7.17203802e+01] [-5.21569331e-01 8.53136337e-01 -1.11275934e-02 -2.05764317e+01] [-2.20712691e-02 -4.53403999e-04 9.99756297e-01 -3.04998528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.75, Y:-20.60, Z:-3.05 [[ 8.53661055e-01 5.20441056e-01 2.00975273e-02 7.17468008e+01] [-5.20308909e-01 8.53897485e-01 -1.17355963e-02 -2.05956855e+01] [-2.32689141e-02 -4.38700976e-04 9.99729146e-01 -3.04772635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.77, Y:-20.61, Z:-3.05 [[ 8.54328041e-01 5.19287892e-01 2.15333334e-02 7.17738061e+01] [-5.19135628e-01 8.54599263e-01 -1.25817143e-02 -2.06119082e+01] [-2.49359028e-02 -4.29809192e-04 9.99688960e-01 -3.04749685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.80, Y:-20.63, Z:-3.05 [[ 8.55288793e-01 5.17581911e-01 2.42908686e-02 7.18007663e+01] [-5.17387202e-01 8.55633559e-01 -1.42019515e-02 -2.06301358e+01] [-2.81347556e-02 -4.21014643e-04 9.99604051e-01 -3.04611186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.941052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.83, Y:-20.64, Z:-3.05 [[ 8.55630077e-01 5.16990483e-01 2.48598404e-02 7.18279914e+01] [-5.16786045e-01 8.55991050e-01 -1.45432396e-02 -2.06444482e+01] [-2.87985174e-02 -4.03585349e-04 9.99585155e-01 -3.04981749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.86, Y:-20.66, Z:-3.05 [[ 8.55865345e-01 5.16634714e-01 2.41471113e-02 7.18555975e+01] [-5.16441514e-01 8.56205835e-01 -1.41326364e-02 -2.06614300e+01] [-2.79763081e-02 -3.74937006e-04 9.99608516e-01 -3.05163186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.88, Y:-20.68, Z:-3.05 [[ 8.56609075e-01 5.15477825e-01 2.24388927e-02 7.18824959e+01] [-5.15310408e-01 8.56902864e-01 -1.31402261e-02 -2.06806441e+01] [-2.60014466e-02 -3.06958015e-04 9.99661858e-01 -3.05336127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.91, Y:-20.70, Z:-3.06 [[ 8.57809854e-01 5.13503926e-01 2.18167672e-02 7.19095761e+01] [-5.13344763e-01 8.58087212e-01 -1.27863248e-02 -2.06986494e+01] [-2.52865170e-02 -2.31287807e-04 9.99680218e-01 -3.05500270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.94, Y:-20.72, Z:-3.06 [[ 8.58130515e-01 5.12969588e-01 2.17766390e-02 7.19378164e+01] [-5.12810849e-01 8.58406754e-01 -1.27623332e-02 -2.07154014e+01] [-2.52399028e-02 -2.15549186e-04 9.99681400e-01 -3.05667916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.97, Y:-20.73, Z:-3.06 [[ 8.58450020e-01 5.12371390e-01 2.32190157e-02 7.19651850e+01] [-5.12190434e-01 8.58763948e-01 -1.36176916e-02 -2.07307780e+01] [-2.69169691e-02 -2.02450101e-04 9.99637652e-01 -3.05731522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.99, Y:-20.75, Z:-3.06 [[ 8.58242742e-01 5.12689163e-01 2.38582948e-02 7.19942323e+01] [-5.12498042e-01 8.58574270e-01 -1.39993040e-02 -2.07467369e+01] [-2.76614095e-02 -2.12528327e-04 9.99617327e-01 -3.05822492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.02, Y:-20.76, Z:-3.06 [[ 8.58130935e-01 5.12863998e-01 2.41208965e-02 7.20227611e+01] [-5.12668470e-01 8.58469845e-01 -1.41621180e-02 -2.07625694e+01] [-2.79703028e-02 -2.13071540e-04 9.99608732e-01 -3.05924814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.05, Y:-20.78, Z:-3.06 [[ 8.57976038e-01 5.13123786e-01 2.41059740e-02 7.20512293e+01] [-5.12928361e-01 8.58314590e-01 -1.41619722e-02 -2.07797697e+01] [-2.79573539e-02 -2.14004959e-04 9.99609094e-01 -3.05893777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.08, Y:-20.80, Z:-3.06 [[ 8.58077249e-01 5.12937727e-01 2.44606474e-02 7.20793291e+01] [-5.12736177e-01 8.58425796e-01 -1.43793551e-02 -2.07974916e+01] [-2.83733645e-02 -2.03261397e-04 9.99597374e-01 -3.05895516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.11, Y:-20.82, Z:-3.06 [[ 8.58857292e-01 5.11537320e-01 2.63386115e-02 7.21056934e+01] [-5.11302637e-01 8.59261046e-01 -1.54941375e-02 -2.08153836e+01] [-3.05575725e-02 -1.59748523e-04 9.99532996e-01 -3.05752291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.13, Y:-20.83, Z:-3.06 [[ 8.58982527e-01 5.11296916e-01 2.69161998e-02 7.21337832e+01] [-5.11051443e-01 8.59404120e-01 -1.58423706e-02 -2.08328470e+01] [-3.12320482e-02 -1.47243234e-04 9.99512150e-01 -3.05810976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.301052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.16, Y:-20.85, Z:-3.06 [[ 8.58975491e-01 5.11245671e-01 2.80886151e-02 7.21620162e+01] [-5.10977959e-01 8.59434607e-01 -1.65433402e-02 -2.08487661e+01] [-3.25980389e-02 -1.42339450e-04 9.99468533e-01 -3.06085147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.331052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.19, Y:-20.86, Z:-3.06 [[ 8.58578373e-01 5.11885795e-01 2.85676321e-02 7.21906438e+01] [-5.11608928e-01 8.59053495e-01 -1.68344402e-02 -2.08648332e+01] [-3.31584350e-02 -1.61769322e-04 9.99450095e-01 -3.06298465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.22, Y:-20.88, Z:-3.06 [[ 8.57129929e-01 5.14297382e-01 2.87487135e-02 7.22175475e+01] [-5.14017992e-01 8.57611883e-01 -1.69517715e-02 -2.08795001e+01] [-3.33734900e-02 -2.47485253e-04 9.99442919e-01 -3.06434837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.24, Y:-20.90, Z:-3.06 [[ 8.56249718e-01 5.15776633e-01 2.84760361e-02 7.22448893e+01] [-5.15503046e-01 8.56723046e-01 -1.67997611e-02 -2.08959456e+01] [-3.30610006e-02 -2.94692677e-04 9.99453292e-01 -3.06490210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.27, Y:-20.91, Z:-3.07 [[ 8.55181207e-01 5.17627673e-01 2.69572806e-02 7.22720046e+01] [-5.17383173e-01 8.55605912e-01 -1.59114846e-02 -2.09134517e+01] [-3.13010334e-02 -3.40040767e-04 9.99509945e-01 -3.06565314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.45105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.30, Y:-20.93, Z:-3.07 [[ 8.54697880e-01 5.18505592e-01 2.53670033e-02 7.22999902e+01] [-5.18289258e-01 8.55074168e-01 -1.49804092e-02 -2.09293019e+01] [-2.94580952e-02 -3.43721364e-04 9.99565957e-01 -3.06866692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.33, Y:-20.94, Z:-3.08 [[ 8.53581096e-01 5.20460271e-01 2.28126970e-02 7.23284862e+01] [-5.20285839e-01 8.53885808e-01 -1.34785933e-02 -2.09417250e+01] [-2.64945106e-02 -3.64050746e-04 9.99648893e-01 -3.07535818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.36, Y:-20.96, Z:-3.08 [[ 8.52815488e-01 5.21776273e-01 2.13369151e-02 7.23567802e+01] [-5.21623958e-01 8.53082282e-01 -1.26121322e-02 -2.09572451e+01] [-2.47828556e-02 -3.74024456e-04 9.99692788e-01 -3.07837569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54105275399999 meters Centerline goodness [0,1] 0.9999062199610813 Centerline is valid? [True, True] Translation: X:72.38, Y:-20.97, Z:-3.08 [[ 8.51788729e-01 5.23522412e-01 1.94998974e-02 7.23847517e+01] [-5.23395525e-01 8.52011818e-01 -1.15320272e-02 -2.09718002e+01] [-2.26514177e-02 -3.83308221e-04 9.99743350e-01 -3.08222888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.41, Y:-20.99, Z:-3.08 [[ 8.51742414e-01 5.23571405e-01 2.01951650e-02 7.24120663e+01] [-5.23435178e-01 8.51981707e-01 -1.19492778e-02 -2.09878891e+01] [-2.34622113e-02 -3.93153101e-04 9.99724647e-01 -3.08281243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.44, Y:-21.00, Z:-3.08 [[ 8.51842905e-01 5.23388949e-01 2.06802766e-02 7.24395853e+01] [-5.23245828e-01 8.52093807e-01 -1.22452730e-02 -2.10029431e+01] [-2.40305762e-02 -3.89819536e-04 9.99711148e-01 -3.08454719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.47, Y:-21.02, Z:-3.08 [[ 8.52516586e-01 5.22258281e-01 2.14885700e-02 7.24664724e+01] [-5.22103328e-01 8.52787284e-01 -1.27264945e-02 -2.10205353e+01] [-2.49716964e-02 -3.69706244e-04 9.99688090e-01 -3.08466448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.49, Y:-21.04, Z:-3.09 [[ 8.52708243e-01 5.21936391e-01 2.17038443e-02 7.24937290e+01] [-5.21777987e-01 8.52984336e-01 -1.28629365e-02 -2.10355790e+01] [-2.52266738e-02 -3.56256243e-04 9.99681693e-01 -3.08714962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.691052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.52, Y:-21.05, Z:-3.09 [[ 8.52526522e-01 5.22241431e-01 2.15038938e-02 7.25201124e+01] [-5.22085992e-01 8.52797606e-01 -1.27459810e-02 -2.10547873e+01] [-2.49949485e-02 -3.60594866e-04 9.99687512e-01 -3.08726581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.55, Y:-21.07, Z:-3.09 [[ 8.52280524e-01 5.22630684e-01 2.17962443e-02 7.25469575e+01] [-5.22470894e-01 8.52559107e-01 -1.29280092e-02 -2.10711590e+01] [-2.53391609e-02 -3.69612797e-04 9.99678844e-01 -3.08793419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.57, Y:-21.09, Z:-3.09 [[ 8.52586206e-01 5.22034012e-01 2.40260466e-02 7.25737467e+01] [-5.21839280e-01 8.52924585e-01 -1.42624753e-02 -2.10900989e+01] [-2.79379031e-02 -3.77745133e-04 9.99609589e-01 -3.08507829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.60, Y:-21.11, Z:-3.08 [[ 8.52762412e-01 5.21692494e-01 2.51636795e-02 7.26005464e+01] [-5.21478684e-01 8.53133516e-01 -1.49394285e-02 -2.11062335e+01] [-2.92617661e-02 -3.82539399e-04 9.99571710e-01 -3.08434297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.63, Y:-21.12, Z:-3.09 [[ 8.53182212e-01 5.20974634e-01 2.57981193e-02 7.26285337e+01] [-5.20749341e-01 8.53572083e-01 -1.53239452e-02 -2.11218623e+01] [-3.00039411e-02 -3.60236158e-04 9.99549715e-01 -3.08830590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.66, Y:-21.14, Z:-3.09 [[ 8.53463830e-01 5.20547934e-01 2.50866417e-02 7.26564436e+01] [-5.20334499e-01 8.53832384e-01 -1.49086734e-02 -2.11398507e+01] [-2.91804662e-02 -3.29431635e-04 9.99574105e-01 -3.09079926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.68, Y:-21.16, Z:-3.09 [[ 8.53583915e-01 5.20422838e-01 2.35492967e-02 7.26831515e+01] [-5.20234489e-01 8.53908649e-01 -1.40034065e-02 -2.11578611e+01] [-2.73966406e-02 -2.98073770e-04 9.99624597e-01 -3.09191440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.71, Y:-21.17, Z:-3.09 [[ 8.53630600e-01 5.20356781e-01 2.33156614e-02 7.27102134e+01] [-5.20171930e-01 8.53948909e-01 -1.38717321e-02 -2.11742209e+01] [-2.71286334e-02 -2.86817581e-04 9.99631910e-01 -3.09425578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.74, Y:-21.19, Z:-3.09 [[ 8.52986498e-01 5.21379843e-01 2.40227629e-02 7.27386235e+01] [-5.21183779e-01 8.53324649e-01 -1.43007997e-02 -2.11911931e+01] [-2.79553644e-02 -3.21885309e-04 9.99609121e-01 -3.09271965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.961052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.77, Y:-21.20, Z:-3.09 [[ 8.51366076e-01 5.23997225e-01 2.45502193e-02 7.27673750e+01] [-5.23793239e-01 8.51719873e-01 -1.46253406e-02 -2.12026698e+01] [-2.85735476e-02 -4.07720100e-04 9.99591610e-01 -3.09334231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.80, Y:-21.22, Z:-3.09 [[ 8.50338419e-01 5.25680472e-01 2.41788089e-02 7.27960710e+01] [-5.25483137e-01 8.50681983e-01 -1.44095923e-02 -2.12174999e+01] [-2.81433184e-02 -4.52526406e-04 9.99603796e-01 -3.09390446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.83, Y:-21.23, Z:-3.10 [[ 8.48980181e-01 5.27876635e-01 2.40605704e-02 7.28250026e+01] [-5.27681888e-01 8.49320901e-01 -1.43468848e-02 -2.12309866e+01] [-2.80085306e-02 -5.16106353e-04 9.99607551e-01 -3.09512386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.051052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.85, Y:-21.25, Z:-3.10 [[ 8.48730600e-01 5.28312623e-01 2.32839123e-02 7.28519834e+01] [-5.28130206e-01 8.49049772e-01 -1.38913664e-02 -2.12461881e+01] [-2.71081847e-02 -5.06909635e-04 9.99632377e-01 -3.09740299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.081052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.88, Y:-21.27, Z:-3.10 [[ 8.48735628e-01 5.28318148e-01 2.29731950e-02 7.28789858e+01] [-5.28140406e-01 8.49046341e-01 -1.37121381e-02 -2.12652346e+01] [-2.67496786e-02 -4.95092398e-04 9.99642041e-01 -3.09765838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.90, Y:-21.28, Z:-3.10 [[ 8.49439257e-01 5.27132752e-01 2.41663229e-02 7.29048708e+01] [-5.26935295e-01 8.49782818e-01 -1.44345654e-02 -2.12834930e+01] [-2.81450581e-02 -4.72801930e-04 9.99603738e-01 -3.09767585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.93, Y:-21.30, Z:-3.10 [[ 8.49894247e-01 5.26345448e-01 2.53029410e-02 7.29310848e+01] [-5.26128361e-01 8.50270697e-01 -1.51224889e-02 -2.13000151e+01] [-2.94740025e-02 -4.60078525e-04 9.99565441e-01 -3.09806838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.96, Y:-21.32, Z:-3.10 [[ 8.49774331e-01 5.26468499e-01 2.67302250e-02 7.29582977e+01] [-5.26226021e-01 8.50194499e-01 -1.59840242e-02 -2.13173577e+01] [-3.11409755e-02 -4.83326520e-04 9.99514885e-01 -3.09781253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20105275399999 meters Centerline goodness [0,1] 0.9999766693108114 Centerline is valid? [True, True] Translation: X:72.98, Y:-21.33, Z:-3.10 [[ 8.49316285e-01 5.27219288e-01 2.64890369e-02 7.29847176e+01] [-5.26981263e-01 8.49729117e-01 -1.58485117e-02 -2.13331435e+01] [-3.08641469e-02 -4.98827040e-04 9.99523464e-01 -3.09821075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.01, Y:-21.35, Z:-3.10 [[ 8.48942103e-01 5.27881065e-01 2.52762134e-02 7.30114389e+01] [-5.27664431e-01 8.49318160e-01 -1.51297945e-02 -2.13506436e+01] [-2.94542791e-02 -4.93039228e-04 9.99566007e-01 -3.09846725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.04, Y:-21.37, Z:-3.10 [[ 8.48797068e-01 5.28114405e-01 2.52727554e-02 7.30391623e+01] [-5.27897702e-01 8.49173087e-01 -1.51355680e-02 -2.13673359e+01] [-2.94542552e-02 -4.94403685e-04 9.99566007e-01 -3.09972720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.07, Y:-21.38, Z:-3.10 [[ 8.48700922e-01 5.28332004e-01 2.39173245e-02 7.30661664e+01] [-5.28137763e-01 8.49037735e-01 -1.43327618e-02 -2.13824880e+01] [-2.78791678e-02 -4.67414059e-04 9.99611191e-01 -3.10320973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.09, Y:-21.40, Z:-3.11 [[ 8.48429216e-01 5.28772217e-01 2.38287361e-02 7.30946504e+01] [-5.28579405e-01 8.48763641e-01 -1.42861607e-02 -2.13983849e+01] [-2.77790897e-02 -4.74583018e-04 9.99613974e-01 -3.10603367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.351052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.12, Y:-21.41, Z:-3.11 [[ 8.48126875e-01 5.29275015e-01 2.34256722e-02 7.31226171e+01] [-5.29088626e-01 8.48450195e-01 -1.40532175e-02 -2.14126604e+01] [-2.73135330e-02 -4.75345280e-04 9.99626803e-01 -3.10927884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.15, Y:-21.43, Z:-3.11 [[ 8.47100595e-01 5.30933813e-01 2.30188621e-02 7.31504954e+01] [-5.30754243e-01 8.47413136e-01 -1.38170385e-02 -2.14285650e+01] [-2.68424190e-02 -5.12937219e-04 9.99639546e-01 -3.11095890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.18, Y:-21.45, Z:-3.11 [[ 8.47166497e-01 5.30827281e-01 2.30504779e-02 7.31783019e+01] [-5.30646987e-01 8.47479878e-01 -1.38431211e-02 -2.14454112e+01] [-2.68831226e-02 -5.04238218e-04 9.99638456e-01 -3.11082869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.441052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.21, Y:-21.46, Z:-3.11 [[ 8.47442992e-01 5.30350809e-01 2.38410479e-02 7.32057391e+01] [-5.30157471e-01 8.47778138e-01 -1.43277299e-02 -2.14622734e+01] [-2.78106424e-02 -4.97575352e-04 9.99613085e-01 -3.11157654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.23, Y:-21.48, Z:-3.11 [[ 8.47912015e-01 5.29540118e-01 2.51491277e-02 7.32325842e+01] [-5.29324352e-01 8.48284754e-01 -1.51230234e-02 -2.14784444e+01] [-2.93418692e-02 -4.89052452e-04 9.99569315e-01 -3.11262737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.501052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.26, Y:-21.49, Z:-3.11 [[ 8.48075100e-01 5.29244592e-01 2.58609159e-02 7.32603805e+01] [-5.29016057e-01 8.48469166e-01 -1.55591038e-02 -2.14949833e+01] [-3.01767613e-02 -4.85551228e-04 9.99544460e-01 -3.11428593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.29, Y:-21.51, Z:-3.12 [[ 8.48161788e-01 5.29061150e-01 2.67559277e-02 7.32882550e+01] [-5.28816136e-01 8.48583562e-01 -1.61069170e-02 -2.15094523e+01] [-3.12261845e-02 -4.87694741e-04 9.99512225e-01 -3.11794548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.32, Y:-21.53, Z:-3.12 [[ 8.48207774e-01 5.29006066e-01 2.63847330e-02 7.33152405e+01] [-5.28767549e-01 8.48617911e-01 -1.58908884e-02 -2.15277894e+01] [-3.07969334e-02 -4.72615479e-04 9.99525550e-01 -3.11803737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.34, Y:-21.55, Z:-3.12 [[ 8.48215797e-01 5.29012745e-01 2.59899581e-02 7.33431312e+01] [-5.28781035e-01 8.48613756e-01 -1.56624086e-02 -2.15461080e+01] [-3.03410497e-02 -4.57894583e-04 9.99539499e-01 -3.11769050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.37, Y:-21.56, Z:-3.12 [[ 8.47659103e-01 5.29892919e-01 2.62209846e-02 7.33719293e+01] [-5.29657197e-01 8.48064419e-01 -1.58112416e-02 -2.15626956e+01] [-3.06153491e-02 -4.85590379e-04 9.99531122e-01 -3.11800297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.40, Y:-21.58, Z:-3.12 [[ 8.47288047e-01 5.30473823e-01 2.64667283e-02 7.34004028e+01] [-5.30233638e-01 8.47701168e-01 -1.59693265e-02 -2.15781170e+01] [-3.09071862e-02 -5.02930134e-04 9.99522132e-01 -3.12059563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.43, Y:-21.59, Z:-3.12 [[ 8.47126696e-01 5.30758517e-01 2.59183074e-02 7.34282720e+01] [-5.30527987e-01 8.47522952e-01 -1.56493409e-02 -2.15923457e+01] [-3.02723814e-02 -4.93412970e-04 9.99541565e-01 -3.12431643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.711052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.45, Y:-21.61, Z:-3.13 [[ 8.47709958e-01 5.29821656e-01 2.60161576e-02 7.34548705e+01] [-5.29588826e-01 8.48108957e-01 -1.57121966e-02 -2.16087788e+01] [-3.03891983e-02 -4.58480865e-04 9.99538037e-01 -3.12758210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.48, Y:-21.63, Z:-3.13 [[ 8.48331495e-01 5.28793115e-01 2.66742487e-02 7.34806519e+01] [-5.28547579e-01 8.48750647e-01 -1.61181934e-02 -2.16284159e+01] [-3.11629756e-02 -4.25038410e-04 9.99514226e-01 -3.12659724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.50, Y:-21.65, Z:-3.12 [[ 8.49793847e-01 5.26363087e-01 2.81481403e-02 7.35049997e+01] [-5.26088001e-01 8.50259831e-01 -1.70186566e-02 -2.16510154e+01] [-3.28912257e-02 -3.46049233e-04 9.99458877e-01 -3.12142281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.801052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.53, Y:-21.67, Z:-3.12 [[ 8.50287805e-01 5.25546228e-01 2.84923073e-02 7.35311215e+01] [-5.25263566e-01 8.50764989e-01 -1.72371646e-02 -2.16692025e+01] [-3.32991844e-02 -3.09420061e-04 9.99445380e-01 -3.11987361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.56, Y:-21.68, Z:-3.12 [[ 8.50812220e-01 5.24629830e-01 2.97003072e-02 7.35587647e+01] [-5.24322021e-01 8.51330407e-01 -1.79709810e-02 -2.16846225e+01] [-3.47128873e-02 -2.82594850e-04 9.99397286e-01 -3.12002675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.59, Y:-21.70, Z:-3.12 [[ 8.50761117e-01 5.24678709e-01 3.02947880e-02 7.35873457e+01] [-5.24358111e-01 8.51300284e-01 -1.83411545e-02 -2.16993955e+01] [-3.54131749e-02 -2.81376700e-04 9.99372717e-01 -3.12282794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.62, Y:-21.71, Z:-3.13 [[ 8.51738294e-01 5.23101841e-01 3.01055263e-02 7.36150058e+01] [-5.22783878e-01 8.52270157e-01 -1.82372148e-02 -2.17145716e+01] [-3.51979623e-02 -2.05349613e-04 9.99380339e-01 -3.12627972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.64, Y:-21.73, Z:-3.13 [[ 8.52523795e-01 5.21805340e-01 3.03704983e-02 7.36417110e+01] [-5.21480570e-01 8.53064574e-01 -1.84078376e-02 -2.17311044e+01] [-3.55133042e-02 -1.44505230e-04 9.99369193e-01 -3.12765383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.67, Y:-21.75, Z:-3.13 [[ 8.54766252e-01 5.18137569e-01 3.01349283e-02 7.36677580e+01] [-5.17815224e-01 8.55297293e-01 -1.82738630e-02 -2.17518339e+01] [-3.52426975e-02 1.55566927e-05 9.99378783e-01 -3.12816458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.69, Y:-21.77, Z:-3.13 [[ 8.57896885e-01 5.13012659e-01 2.88261509e-02 7.36919629e+01] [-5.12714436e-01 8.58381012e-01 -1.74913190e-02 -2.17727863e+01] [-3.37170886e-02 2.26164380e-04 9.99431392e-01 -3.12772698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.72, Y:-21.79, Z:-3.13 [[ 8.58900589e-01 5.11365382e-01 2.81997300e-02 7.37188995e+01] [-5.11078960e-01 8.59363348e-01 -1.71152801e-02 -2.17893802e+01] [-3.29859761e-02 2.88035468e-04 9.99455773e-01 -3.12891768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.75, Y:-21.81, Z:-3.13 [[ 8.59809425e-01 5.09830382e-01 2.82972378e-02 7.37471001e+01] [-5.09540836e-01 8.60274871e-01 -1.71837857e-02 -2.18052785e+01] [-3.31042187e-02 3.56182696e-04 9.99451842e-01 -3.13139416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.78, Y:-21.82, Z:-3.13 [[ 8.60426114e-01 5.08767581e-01 2.86784045e-02 7.37757711e+01] [-5.08469268e-01 8.60903816e-01 -1.74248065e-02 -2.18197891e+01] [-3.35545245e-02 4.10671201e-04 9.99436804e-01 -3.13437803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.80, Y:-21.84, Z:-3.13 [[ 8.60116359e-01 5.09268636e-01 2.90741322e-02 7.38044032e+01] [-5.08961995e-01 8.60607514e-01 -1.76746886e-02 -2.18357762e+01] [-3.40225812e-02 4.04660516e-04 9.99420982e-01 -3.13474342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.83, Y:-21.85, Z:-3.14 [[ 8.58770643e-01 5.11577629e-01 2.83074398e-02 7.38319453e+01] [-5.11287845e-01 8.59237005e-01 -1.72194331e-02 -2.18509575e+01] [-3.31318766e-02 3.14293764e-04 9.99450939e-01 -3.13543758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.86, Y:-21.86, Z:-3.14 [[ 8.56586568e-01 5.15193058e-01 2.89061243e-02 7.38615573e+01] [-5.14892631e-01 8.57074138e-01 -1.75926217e-02 -2.18638397e+01] [-3.38382882e-02 1.86053058e-04 9.99427304e-01 -3.13792976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.191052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.89, Y:-21.88, Z:-3.14 [[ 8.54898773e-01 5.17969068e-01 2.92597428e-02 7.38906368e+01] [-5.17662538e-01 8.55399344e-01 -1.78173903e-02 -2.18785557e+01] [-3.42576219e-02 8.53923403e-05 9.99413032e-01 -3.13867553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.92, Y:-21.89, Z:-3.14 [[ 8.50820050e-01 5.24536240e-01 3.10962330e-02 7.39211121e+01] [-5.24193987e-01 8.51388102e-01 -1.89463397e-02 -2.18917720e+01] [-3.64130046e-02 -1.80532686e-04 9.99336810e-01 -3.13720264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.95, Y:-21.91, Z:-3.14 [[ 8.48647627e-01 5.28016880e-01 3.15496405e-02 7.39496262e+01] [-5.27666510e-01 8.49233813e-01 -1.92349877e-02 -2.19053628e+01] [-3.69494197e-02 -3.23962057e-04 9.99317085e-01 -3.13814070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.98, Y:-21.92, Z:-3.14 [[ 8.44970645e-01 5.33851158e-01 3.20554094e-02 7.39785465e+01] [-5.33493260e-01 8.45578267e-01 -1.95534348e-02 -2.19169739e+01] [-3.75439813e-02 -5.79266419e-04 9.99294808e-01 -3.14031232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.01, Y:-21.93, Z:-3.14 [[ 8.43327782e-01 5.36466924e-01 3.16463577e-02 7.40068739e+01] [-5.36119586e-01 8.43921074e-01 -1.93134692e-02 -2.19327947e+01] [-3.70680656e-02 -6.78647044e-04 9.99312513e-01 -3.14166572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.03, Y:-21.95, Z:-3.14 [[ 8.41037733e-01 5.40124632e-01 3.03465565e-02 7.40345081e+01] [-5.39807279e-01 8.41584664e-01 -1.85298472e-02 -2.19481052e+01] [-3.55476235e-02 -7.96991390e-04 9.99367666e-01 -3.14438974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.06, Y:-21.97, Z:-3.15 [[ 8.41040266e-01 5.40187202e-01 2.91385798e-02 7.40623914e+01] [-5.39894375e-01 8.41544537e-01 -1.78004492e-02 -2.19651897e+01] [-3.41369875e-02 -7.60860816e-04 9.99416874e-01 -3.14713771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.09, Y:-21.98, Z:-3.15 [[ 8.41416193e-01 5.39649232e-01 2.82399834e-02 7.40900487e+01] [-5.39373542e-01 8.41889664e-01 -1.72620029e-02 -2.19820245e+01] [-3.30903768e-02 -7.07371166e-04 9.99452113e-01 -3.14999076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.12, Y:-22.00, Z:-3.15 [[ 8.42469378e-01 5.37981591e-01 2.86558015e-02 7.41159264e+01] [-5.37696433e-01 8.42956342e-01 -1.75257518e-02 -2.20008889e+01] [-3.35841215e-02 -6.43213021e-04 9.99435687e-01 -3.15065614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.14, Y:-22.02, Z:-3.15 [[ 8.43470875e-01 5.36405841e-01 2.87342423e-02 7.41404765e+01] [-5.36117877e-01 8.43959978e-01 -1.75834430e-02 -2.20208629e+01] [-3.36824120e-02 -5.73818916e-04 9.99432422e-01 -3.14920306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.491052754 meters Centerline goodness [0,1] 0.9999768416664737 Centerline is valid? [True, True] Translation: X:74.17, Y:-22.04, Z:-3.15 [[ 8.43905469e-01 5.35709177e-01 2.89695983e-02 7.41670373e+01] [-5.35415760e-01 8.44402382e-01 -1.77364267e-02 -2.20384550e+01] [-3.39635643e-02 -5.42912024e-04 9.99422924e-01 -3.15083835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.19, Y:-22.06, Z:-3.15 [[ 8.44411152e-01 5.34892247e-01 2.93272913e-02 7.41935055e+01] [-5.34590710e-01 8.44920130e-01 -1.79651652e-02 -2.20558714e+01] [-3.43886464e-02 -5.08111623e-04 9.99408406e-01 -3.15204826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.551052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.22, Y:-22.08, Z:-3.15 [[ 8.45409583e-01 5.33325764e-01 2.90906499e-02 7.42193403e+01] [-5.33027826e-01 8.45909831e-01 -1.78296021e-02 -2.20754369e+01] [-3.41170529e-02 -4.32809358e-04 9.99417750e-01 -3.15322858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.581052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.24, Y:-22.09, Z:-3.16 [[ 8.45698213e-01 5.33006214e-01 2.64368781e-02 7.42447678e+01] [-5.32759764e-01 8.46111243e-01 -1.62110677e-02 -2.20925930e+01] [-3.10091396e-02 -3.74833941e-04 9.99519031e-01 -3.15644784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.27, Y:-22.11, Z:-3.16 [[ 8.45398200e-01 5.33538903e-01 2.52610865e-02 7.42717518e+01] [-5.33313919e-01 8.45775444e-01 -1.54971713e-02 -2.21092720e+01] [-2.96335504e-02 -3.70808354e-04 9.99560761e-01 -3.15962138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.30, Y:-22.12, Z:-3.16 [[ 8.44800334e-01 5.34573831e-01 2.33069671e-02 7.42992358e+01] [-5.34382518e-01 8.45121697e-01 -1.43053351e-02 -2.21242856e+01] [-2.73444814e-02 -3.69683921e-04 9.99626001e-01 -3.16488370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.33, Y:-22.14, Z:-3.17 [[ 8.44748955e-01 5.34681311e-01 2.26957890e-02 7.43268725e+01] [-5.34499787e-01 8.45053707e-01 -1.39359371e-02 -2.21420835e+01] [-2.66304458e-02 -3.58526109e-04 9.99645282e-01 -3.16592224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70105275399999 meters Centerline goodness [0,1] 0.999953652206155 Centerline is valid? [True, True] Translation: X:74.35, Y:-22.16, Z:-3.17 [[ 8.44682253e-01 5.34820673e-01 2.18801062e-02 7.43536510e+01] [-5.34651756e-01 8.44965521e-01 -1.34450283e-02 -2.21588634e+01] [-2.56786144e-02 -3.41460463e-04 9.99670192e-01 -3.16645181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.38, Y:-22.18, Z:-3.17 [[ 8.44570738e-01 5.35000363e-01 2.17917216e-02 7.43820734e+01] [-5.34832823e-01 8.44851758e-01 -1.33924878e-02 -2.21752380e+01] [-2.55757601e-02 -3.44024653e-04 9.99672828e-01 -3.16624360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.41, Y:-22.19, Z:-3.17 [[ 8.44350568e-01 5.35325216e-01 2.23389940e-02 7.44098794e+01] [-5.35149033e-01 8.44645954e-01 -1.37377500e-02 -2.21918243e+01] [-2.62227049e-02 -3.55214021e-04 9.99656063e-01 -3.16667263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.44, Y:-22.21, Z:-3.17 [[ 8.44001692e-01 5.35855976e-01 2.27929165e-02 7.44375289e+01] [-5.35672532e-01 8.44309324e-01 -1.40251271e-02 -2.22082169e+01] [-2.67597201e-02 -3.72308263e-04 9.99641825e-01 -3.16695300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.46, Y:-22.22, Z:-3.17 [[ 8.43903739e-01 5.36034218e-01 2.22215291e-02 7.44645995e+01] [-5.35859678e-01 8.44196178e-01 -1.36827913e-02 -2.22244425e+01] [-2.60937743e-02 -3.60662633e-04 9.99659434e-01 -3.16859551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.49, Y:-22.24, Z:-3.17 [[ 8.43563119e-01 5.36599943e-01 2.14887364e-02 7.44923263e+01] [-5.36436859e-01 8.43836695e-01 -1.32336006e-02 -2.22406644e+01] [-2.52341337e-02 -3.63972846e-04 9.99681502e-01 -3.17124334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:-22.26, Z:-3.17 [[ 8.43152260e-01 5.37256138e-01 2.12157518e-02 7.45192176e+01] [-5.37097216e-01 8.43419055e-01 -1.30720092e-02 -2.22586840e+01] [-2.49167865e-02 -3.73227110e-04 9.99689459e-01 -3.17281581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.55, Y:-22.28, Z:-3.17 [[ 8.43274047e-01 5.37053415e-01 2.15060721e-02 7.45457753e+01] [-5.36889862e-01 8.43548158e-01 -1.32582157e-02 -2.22765244e+01] [-2.52617776e-02 -3.66082888e-04 9.99680803e-01 -3.17303257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.941052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.57, Y:-22.30, Z:-3.17 [[ 8.44995599e-01 5.34299163e-01 2.25131442e-02 7.45710070e+01] [-5.34118741e-01 8.45295404e-01 -1.38870344e-02 -2.22972596e+01] [-2.64500882e-02 -2.90209274e-04 9.99650093e-01 -3.17069969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-22.31, Z:-3.17 [[ 8.45598931e-01 5.33301842e-01 2.34860262e-02 7.45968699e+01] [-5.33104862e-01 8.45924983e-01 -1.44958388e-02 -2.23141450e+01] [-2.75980738e-02 -2.62848995e-04 9.99619066e-01 -3.16997232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.62, Y:-22.33, Z:-3.17 [[ 8.45547908e-01 5.33278362e-01 2.57472899e-02 7.46231140e+01] [-5.33041305e-01 8.45939780e-01 -1.59014747e-02 -2.23308929e+01] [-3.02605691e-02 -2.78910293e-04 9.99542005e-01 -3.16662380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.65, Y:-22.35, Z:-3.17 [[ 8.44991085e-01 5.34170747e-01 2.55279953e-02 7.46511173e+01] [-5.33938017e-01 8.45376555e-01 -1.57694018e-02 -2.23475708e+01] [-3.00043219e-02 -3.05363239e-04 9.99549722e-01 -3.16723853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.68, Y:-22.36, Z:-3.17 [[ 8.44099784e-01 5.35653581e-01 2.38913274e-02 7.46797386e+01] [-5.35450081e-01 8.44437762e-01 -1.47674056e-02 -2.23600749e+01] [-2.80849527e-02 -3.27449311e-04 9.99605486e-01 -3.17347700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.71, Y:-22.38, Z:-3.18 [[ 8.44143813e-01 5.35623707e-01 2.29884384e-02 7.47080305e+01] [-5.35435130e-01 8.44456718e-01 -1.42152382e-02 -2.23764664e+01] [-2.70267598e-02 -3.09112175e-04 9.99634663e-01 -3.17749998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.73, Y:-22.39, Z:-3.18 [[ 8.44900315e-01 5.34450520e-01 2.24966504e-02 7.47334081e+01] [-5.34269242e-01 8.45199725e-01 -1.39212729e-02 -2.23942979e+01] [-2.64543942e-02 -2.57180504e-04 9.99649988e-01 -3.17947349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.76, Y:-22.41, Z:-3.18 [[ 8.45547904e-01 5.33406751e-01 2.29342715e-02 7.47586550e+01] [-5.33217849e-01 8.45858846e-01 -1.41964159e-02 -2.24125700e+01] [-2.69716205e-02 -2.25213216e-04 9.99636174e-01 -3.17957968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.79, Y:-22.43, Z:-3.18 [[ 8.45406316e-01 5.33631172e-01 2.29332081e-02 7.47861297e+01] [-5.33442306e-01 8.45717281e-01 -1.41981339e-02 -2.24296753e+01] [-2.69715772e-02 -2.30351335e-04 9.99636174e-01 -3.18083765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.81, Y:-22.45, Z:-3.18 [[ 8.45482407e-01 5.33495598e-01 2.32797553e-02 7.48137124e+01] [-5.33300689e-01 8.45802813e-01 -1.44214277e-02 -2.24467340e+01] [-2.73838507e-02 -2.22046121e-04 9.99624967e-01 -3.18157719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.84, Y:-22.46, Z:-3.18 [[ 8.45203674e-01 5.33926921e-01 2.35115484e-02 7.48416779e+01] [-5.33728037e-01 8.45530597e-01 -1.45737115e-02 -2.24630693e+01] [-2.76610304e-02 -2.31018004e-04 9.99617334e-01 -3.18266454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.87, Y:-22.48, Z:-3.19 [[ 8.44606206e-01 5.34868335e-01 2.35843453e-02 7.48712314e+01] [-5.34668339e-01 8.44935382e-01 -1.46276412e-02 -2.24785574e+01] [-2.77511099e-02 -2.55206153e-04 9.99614831e-01 -3.18532618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.301052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.90, Y:-22.50, Z:-3.19 [[ 8.44063605e-01 5.35714006e-01 2.38145860e-02 7.48997719e+01] [-5.35510167e-01 8.44399447e-01 -1.47795436e-02 -2.24954373e+01] [-2.80266318e-02 -2.78078098e-04 9.99607138e-01 -3.18702970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.331052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.93, Y:-22.51, Z:-3.19 [[ 8.43689937e-01 5.36312450e-01 2.35848823e-02 7.49285554e+01] [-5.36112517e-01 8.44019474e-01 -1.46456994e-02 -2.25118265e+01] [-2.77607709e-02 -2.87721375e-04 9.99614554e-01 -3.18862867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.96, Y:-22.53, Z:-3.19 [[ 8.43344675e-01 5.36884356e-01 2.29117224e-02 7.49550913e+01] [-5.36695644e-01 8.43655797e-01 -1.42366273e-02 -2.25275480e+01] [-2.69730299e-02 -2.90237755e-04 9.99636120e-01 -3.19080964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39105275399999 meters Centerline goodness [0,1] 0.999860853432282 Centerline is valid? [True, True] Translation: X:74.98, Y:-22.54, Z:-3.20 [[ 8.42904303e-01 5.37633636e-01 2.15037299e-02 7.49822593e+01] [-5.37467501e-01 8.43178504e-01 -1.33677062e-02 -2.25425454e+01] [-2.53184113e-02 -2.89858947e-04 9.99679396e-01 -3.19530458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42105275399999 meters Centerline goodness [0,1] 0.9999767959903472 Centerline is valid? [True, True] Translation: X:75.01, Y:-22.56, Z:-3.20 [[ 8.42510031e-01 5.38251942e-01 2.14870685e-02 7.50106609e+01] [-5.38086122e-01 8.42783931e-01 -1.33630441e-02 -2.25591324e+01] [-2.53016405e-02 -3.03394608e-04 9.99679816e-01 -3.19796922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.04, Y:-22.58, Z:-3.20 [[ 8.42253950e-01 5.38667920e-01 2.10987086e-02 7.50385569e+01] [-5.38507983e-01 8.42518118e-01 -1.31290779e-02 -2.25761835e+01] [-2.48482573e-02 -3.03805233e-04 9.99691188e-01 -3.19971250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.07, Y:-22.60, Z:-3.20 [[ 8.42295207e-01 5.38626692e-01 2.04956161e-02 7.50659123e+01] [-5.38475585e-01 8.42544482e-01 -1.27609022e-02 -2.25950631e+01] [-2.41418307e-02 -2.87942129e-04 9.99708502e-01 -3.19969799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.09, Y:-22.61, Z:-3.20 [[ 8.42322072e-01 5.38580482e-01 2.06056146e-02 7.50937780e+01] [-5.38427545e-01 8.42574023e-01 -1.28372011e-02 -2.26110330e+01] [-2.42756216e-02 -2.81572653e-04 9.99705264e-01 -3.20320339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54105275399999 meters Centerline goodness [0,1] 0.9999534331416331 Centerline is valid? [True, True] Translation: X:75.12, Y:-22.63, Z:-3.21 [[ 8.42066278e-01 5.38988502e-01 2.03906414e-02 7.51216937e+01] [-5.38838684e-01 8.42313074e-01 -1.27105878e-02 -2.26279724e+01] [-2.40261645e-02 -2.84109052e-04 9.99711290e-01 -3.20604115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.15, Y:-22.64, Z:-3.21 [[ 8.41540205e-01 5.39884415e-01 1.83003097e-02 7.51494261e+01] [-5.39763757e-01 8.41739119e-01 -1.14167087e-02 -2.26438711e+01] [-2.15677897e-02 -2.70224558e-04 9.99767352e-01 -3.21033858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.18, Y:-22.66, Z:-3.21 [[ 8.40896389e-01 5.40897532e-01 1.79755893e-02 7.51763897e+01] [-5.40781373e-01 8.41088446e-01 -1.12130358e-02 -2.26605216e+01] [-2.11841639e-02 -2.91862522e-04 9.99775548e-01 -3.21179380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.20, Y:-22.68, Z:-3.21 [[ 8.39974445e-01 5.42340626e-01 1.75948145e-02 7.52026067e+01] [-5.42229532e-01 8.40158643e-01 -1.09813442e-02 -2.26768840e+01] [-2.07380646e-02 -3.16379584e-04 9.99784893e-01 -3.21111875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.23, Y:-22.69, Z:-3.21 [[ 8.39457907e-01 5.43136863e-01 1.76853363e-02 7.52311532e+01] [-5.43024708e-01 8.39644113e-01 -1.10422040e-02 -2.26936486e+01] [-2.08468165e-02 -3.34109072e-04 9.99782626e-01 -3.21240453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.691052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.26, Y:-22.71, Z:-3.22 [[ 8.38708914e-01 5.44275261e-01 1.82153275e-02 7.52593215e+01] [-5.44156394e-01 8.38906613e-01 -1.13803735e-02 -2.27082451e+01] [-2.14750144e-02 -3.67166221e-04 9.99769318e-01 -3.21596669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.29, Y:-22.73, Z:-3.22 [[ 8.38447745e-01 5.44682480e-01 1.80658405e-02 7.52871577e+01] [-5.44565532e-01 8.38642271e-01 -1.12925859e-02 -2.27256971e+01] [-2.13016512e-02 -3.69790907e-04 9.99773026e-01 -3.21797489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.31, Y:-22.74, Z:-3.22 [[ 8.38266337e-01 5.44981298e-01 1.74623440e-02 7.53136360e+01] [-5.44871919e-01 8.38448124e-01 -1.09240672e-02 -2.27427095e+01] [-2.05946819e-02 -3.57463099e-04 9.99787843e-01 -3.22011466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.34, Y:-22.76, Z:-3.22 [[ 8.38170369e-01 5.45126816e-01 1.75267384e-02 7.53411479e+01] [-5.45016656e-01 8.38353519e-01 -1.09645213e-02 -2.27616422e+01] [-2.06706574e-02 -3.62227549e-04 9.99786274e-01 -3.22029337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.37, Y:-22.78, Z:-3.22 [[ 8.38658717e-01 5.44329763e-01 1.88855882e-02 7.53656042e+01] [-5.44201481e-01 8.38871252e-01 -1.18224912e-02 -2.27830179e+01] [-2.22779108e-02 -3.62529763e-04 9.99751751e-01 -3.21615480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.39, Y:-22.80, Z:-3.22 [[ 8.38858944e-01 5.43999084e-01 1.95107040e-02 7.53930087e+01] [-5.43861922e-01 8.39085733e-01 -1.22205814e-02 -2.27986173e+01] [-2.30191385e-02 -3.59784943e-04 9.99734960e-01 -3.21931600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.42, Y:-22.82, Z:-3.22 [[ 8.38840003e-01 5.44004381e-01 2.01663979e-02 7.54177007e+01] [-5.43857686e-01 8.39082296e-01 -1.26379722e-02 -2.28190854e+01] [-2.37963797e-02 -3.66413913e-04 9.99716759e-01 -3.21649739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.44, Y:-22.84, Z:-3.22 [[ 8.38577107e-01 5.44430745e-01 1.95857163e-02 7.54438075e+01] [-5.44292341e-01 8.38805718e-01 -1.22806720e-02 -2.28361701e+01] [-2.31145862e-02 -3.62064995e-04 9.99732757e-01 -3.21821802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.47, Y:-22.85, Z:-3.22 [[ 8.37906658e-01 5.45514515e-01 1.80650444e-02 7.54711347e+01] [-5.45396926e-01 8.38101298e-01 -1.13316890e-02 -2.28529382e+01] [-2.13219380e-02 -3.57722022e-04 9.99772598e-01 -3.22169381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.961052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.50, Y:-22.87, Z:-3.23 [[ 8.38481575e-01 5.44680614e-01 1.64826493e-02 7.54981957e+01] [-5.44582476e-01 8.38643510e-01 -1.03436123e-02 -2.28703106e+01] [-1.94570320e-02 -3.03233677e-04 9.99810648e-01 -3.22576471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.52, Y:-22.89, Z:-3.23 [[ 8.38587168e-01 5.44573844e-01 1.45220398e-02 7.55249376e+01] [-5.44497590e-01 8.38712859e-01 -9.11673642e-03 -2.28880323e+01] [-1.71445577e-02 -2.62037480e-04 9.99852987e-01 -3.22905991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.55, Y:-22.91, Z:-3.23 [[ 8.38642970e-01 5.44478420e-01 1.48734550e-02 7.55512960e+01] [-5.44398279e-01 8.38774810e-01 -9.34510072e-03 -2.29051681e+01] [-1.75636851e-02 -2.59880312e-04 9.99845713e-01 -3.23056181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.051052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.58, Y:-22.92, Z:-3.23 [[ 8.38364404e-01 5.44897470e-01 1.52273696e-02 7.55788229e+01] [-5.44813545e-01 8.38502636e-01 -9.56715404e-03 -2.29238271e+01] [-1.79813076e-02 -2.75315812e-04 9.99838285e-01 -3.22833812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.081052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.61, Y:-22.94, Z:-3.23 [[ 8.37419508e-01 5.46315944e-01 1.63540988e-02 7.56068147e+01] [-5.46219265e-01 8.37579122e-01 -1.02824586e-02 -2.29389724e+01] [-1.93153228e-02 -3.22192428e-04 9.99813390e-01 -3.22948510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.64, Y:-22.96, Z:-3.23 [[ 8.36947817e-01 5.47025953e-01 1.67618267e-02 7.56353997e+01] [-5.46924422e-01 8.37115577e-01 -1.05445481e-02 -2.29550055e+01] [-1.97997277e-02 -3.42215811e-04 9.99803908e-01 -3.23191679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.66, Y:-22.97, Z:-3.23 [[ 8.36644032e-01 5.47475962e-01 1.72289011e-02 7.56626199e+01] [-5.47368661e-01 8.36821333e-01 -1.08446296e-02 -2.29740543e+01] [-2.03546860e-02 -3.57465881e-04 9.99792758e-01 -3.23147986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.69, Y:-22.99, Z:-3.23 [[ 8.36915711e-01 5.47028094e-01 1.82306634e-02 7.56885324e+01] [-5.46907651e-01 8.37114171e-01 -1.14841929e-02 -2.29908652e+01] [-2.15433228e-02 -3.59187806e-04 9.99767851e-01 -3.23356500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.71, Y:-23.01, Z:-3.23 [[ 8.36919414e-01 5.47013861e-01 1.84859410e-02 7.57141920e+01] [-5.46889825e-01 8.37123473e-01 -1.16537788e-02 -2.30100402e+01] [-2.18497937e-02 -3.56499263e-04 9.99761201e-01 -3.23257923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.23105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.74, Y:-23.03, Z:-3.23 [[ 8.36390735e-01 5.47820954e-01 1.85132734e-02 7.57409135e+01] [-5.47696783e-01 8.36595517e-01 -1.16694181e-02 -2.30287222e+01] [-2.18808733e-02 -3.79467115e-04 9.99760513e-01 -3.23198842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.77, Y:-23.05, Z:-3.23 [[ 8.35620402e-01 5.49021653e-01 1.77135119e-02 7.57688519e+01] [-5.48908098e-01 8.35808037e-01 -1.11725456e-02 -2.30451771e+01] [-2.09390651e-02 -3.87083125e-04 9.99780679e-01 -3.23471179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.80, Y:-23.06, Z:-3.24 [[ 8.34579872e-01 5.50669656e-01 1.54714853e-02 7.57969384e+01] [-5.50583232e-01 8.34723183e-01 -9.76280247e-03 -2.30607178e+01] [-1.82904866e-02 -3.70501970e-04 9.99832646e-01 -3.24086011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.321052754 meters Centerline goodness [0,1] 0.9999055467661574 Centerline is valid? [True, True] Translation: X:75.82, Y:-23.08, Z:-3.25 [[ 8.34272883e-01 5.51159307e-01 1.45662303e-02 7.58239757e+01] [-5.51082714e-01 8.34399959e-01 -9.19511010e-03 -2.30757726e+01] [-1.72220325e-02 -3.55966703e-04 9.99851626e-01 -3.24546531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.351052754 meters Centerline goodness [0,1] 0.9999526873580621 Centerline is valid? [True, True] Translation: X:75.85, Y:-23.09, Z:-3.25 [[ 8.33868166e-01 5.51774089e-01 1.44650129e-02 7.58500215e+01] [-5.51698582e-01 8.33993539e-01 -9.13519418e-03 -2.30939531e+01] [-1.71042908e-02 -3.62779496e-04 9.99853645e-01 -3.24645439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.381052754 meters Centerline goodness [0,1] 0.9999763167866617 Centerline is valid? [True, True] Translation: X:75.88, Y:-23.11, Z:-3.25 [[ 8.33741510e-01 5.51947674e-01 1.51281280e-02 7.58767314e+01] [-5.51865005e-01 8.33878662e-01 -9.56000891e-03 -2.31106374e+01] [-1.78916478e-02 -3.78108174e-04 9.99839860e-01 -3.24689503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.90, Y:-23.13, Z:-3.24 [[ 8.33727459e-01 5.51905551e-01 1.72854326e-02 7.59018413e+01] [-5.51797483e-01 8.33906518e-01 -1.09296003e-02 -2.31307769e+01] [-2.04465420e-02 -4.25750282e-04 9.99790857e-01 -3.24240298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.441052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.93, Y:-23.15, Z:-3.24 [[ 8.33621169e-01 5.52045444e-01 1.79324955e-02 7.59283140e+01] [-5.51929019e-01 8.33813909e-01 -1.13456740e-02 -2.31478849e+01] [-2.12156918e-02 -4.39470645e-04 9.99774825e-01 -3.24335900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.471052754 meters Centerline goodness [0,1] 0.9999763145428707 Centerline is valid? [True, True] Translation: X:75.96, Y:-23.16, Z:-3.25 [[ 8.33760563e-01 5.51821812e-01 1.83306155e-02 7.59551353e+01] [-5.51699980e-01 8.33961927e-01 -1.16032803e-02 -2.31649279e+01] [-2.16899786e-02 -4.38642679e-04 9.99764649e-01 -3.24574338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.501052754 meters Centerline goodness [0,1] 0.999976343679031 Centerline is valid? [True, True] Translation: X:75.98, Y:-23.18, Z:-3.25 [[ 8.33788602e-01 5.51763962e-01 1.87908949e-02 7.59826357e+01] [-5.51635728e-01 8.34000201e-01 -1.19032888e-02 -2.31798420e+01] [-2.22394160e-02 -4.40902452e-04 9.99752576e-01 -3.25106644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.01, Y:-23.20, Z:-3.25 [[ 8.33565901e-01 5.52089531e-01 1.91059632e-02 7.60098303e+01] [-5.51957019e-01 8.33784710e-01 -1.21040392e-02 -2.31978749e+01] [-2.26127733e-02 -4.56156140e-04 9.99744194e-01 -3.25230108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56105275399999 meters Centerline goodness [0,1] 0.9999763078089462 Centerline is valid? [True, True] Translation: X:76.04, Y:-23.22, Z:-3.25 [[ 8.33152626e-01 5.52697696e-01 1.95437631e-02 7.60369880e+01] [-5.52559037e-01 8.33381682e-01 -1.23888017e-02 -2.32172142e+01] [-2.31346763e-02 -4.77320247e-04 9.99732244e-01 -3.25267292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.06, Y:-23.23, Z:-3.25 [[ 8.32828792e-01 5.53183722e-01 1.95952529e-02 7.60642749e+01] [-5.53044277e-01 8.33059142e-01 -1.24295453e-02 -2.32344113e+01] [-2.31998267e-02 -4.85359270e-04 9.99730730e-01 -3.25388644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62105275399999 meters Centerline goodness [0,1] 0.9999763682767747 Centerline is valid? [True, True] Translation: X:76.09, Y:-23.25, Z:-3.26 [[ 8.32408050e-01 5.53814782e-01 1.96475318e-02 7.60927366e+01] [-5.53674594e-01 8.32639742e-01 -1.24701321e-02 -2.32491617e+01] [-2.32654593e-02 -4.98100869e-04 9.99729198e-01 -3.25681944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65105275399999 meters Centerline goodness [0,1] 0.9999764111999623 Centerline is valid? [True, True] Translation: X:76.12, Y:-23.27, Z:-3.26 [[ 8.31501561e-01 5.55172501e-01 1.97141648e-02 7.61189345e+01] [-5.55031572e-01 8.31735061e-01 -1.25196758e-02 -2.32674960e+01] [-2.33475418e-02 -5.31853915e-04 9.99727268e-01 -3.25614244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68105275399999 meters Centerline goodness [0,1] 0.9999528868577889 Centerline is valid? [True, True] Translation: X:76.15, Y:-23.28, Z:-3.26 [[ 8.30937146e-01 5.56022097e-01 1.95674867e-02 7.61474917e+01] [-5.55883333e-01 8.31167330e-01 -1.24334360e-02 -2.32796828e+01] [-2.31771208e-02 -5.45835881e-04 9.99731225e-01 -3.26084210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.711052754 meters Centerline goodness [0,1] 0.9999764312144995 Centerline is valid? [True, True] Translation: X:76.17, Y:-23.30, Z:-3.26 [[ 8.30615935e-01 5.56496781e-01 1.97104226e-02 7.61733648e+01] [-5.56355994e-01 8.30849577e-01 -1.25294768e-02 -2.33011954e+01] [-2.33490098e-02 -5.58828630e-04 9.99727219e-01 -3.25829931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.20, Y:-23.32, Z:-3.26 [[ 8.30872793e-01 5.56111902e-01 1.97472600e-02 7.61998031e+01] [-5.55970285e-01 8.31107249e-01 -1.25611937e-02 -2.33197052e+01] [-2.33975203e-02 -5.42135646e-04 9.99726094e-01 -3.25924045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.771052754 meters Centerline goodness [0,1] 0.9999528702045433 Centerline is valid? [True, True] Translation: X:76.23, Y:-23.34, Z:-3.26 [[ 8.31080715e-01 5.55782339e-01 2.02691103e-02 7.62268156e+01] [-5.55632866e-01 8.31327673e-01 -1.29003320e-02 -2.33377182e+01] [-2.40200490e-02 -5.40966747e-04 9.99711331e-01 -3.26066138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.801052754 meters Centerline goodness [0,1] 0.9999528535395206 Centerline is valid? [True, True] Translation: X:76.25, Y:-23.36, Z:-3.26 [[ 8.31551901e-01 5.55060919e-01 2.07077735e-02 7.62526909e+01] [-5.54904457e-01 8.31809534e-01 -1.31886921e-02 -2.33550018e+01] [-2.45454510e-02 -5.23753871e-04 9.99698578e-01 -3.26177231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.28, Y:-23.37, Z:-3.26 [[ 8.32199472e-01 5.54085162e-01 2.08248016e-02 7.62786151e+01] [-5.53926517e-01 8.32459843e-01 -1.32674228e-02 -2.33721234e+01] [-2.46870931e-02 -4.94267526e-04 9.99695105e-01 -3.26365929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.31, Y:-23.39, Z:-3.26 [[ 8.32805058e-01 5.53135672e-01 2.18326249e-02 7.63052641e+01] [-5.52960894e-01 8.33091047e-01 -1.39124757e-02 -2.33892355e+01] [-2.58840509e-02 -4.86207640e-04 9.99664834e-01 -3.26451453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89105275399999 meters Centerline goodness [0,1] 0.9999529544599172 Centerline is valid? [True, True] Translation: X:76.33, Y:-23.41, Z:-3.27 [[ 8.33002818e-01 5.52811152e-01 2.24974618e-02 7.63322505e+01] [-5.52625235e-01 8.33306424e-01 -1.43441299e-02 -2.34065247e+01] [-2.66768744e-02 -4.83964454e-04 9.99643992e-01 -3.26590341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.36, Y:-23.42, Z:-3.27 [[ 8.33254846e-01 5.52416612e-01 2.28527526e-02 7.63587672e+01] [-5.52224412e-01 8.33568032e-01 -1.45785880e-02 -2.34241003e+01] [-2.71027782e-02 -4.72168739e-04 9.99632541e-01 -3.26672823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.39, Y:-23.44, Z:-3.27 [[ 8.33391418e-01 5.52200560e-01 2.30929782e-02 7.63858962e+01] [-5.52003937e-01 8.33711178e-01 -1.47419506e-02 -2.34404597e+01] [-2.73933874e-02 -4.61599736e-04 9.99624624e-01 -3.26816807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.41, Y:-23.46, Z:-3.27 [[ 8.33144883e-01 5.52589053e-01 2.26923625e-02 7.64128741e+01] [-5.52399331e-01 8.33453731e-01 -1.44864703e-02 -2.34569445e+01] [-2.69180991e-02 -4.65917222e-04 9.99637534e-01 -3.26948382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.44, Y:-23.47, Z:-3.27 [[ 8.33720564e-01 5.51712149e-01 2.28850460e-02 7.64403937e+01] [-5.51518623e-01 8.34034482e-01 -1.46181992e-02 -2.34729896e+01] [-2.71519556e-02 -4.34035759e-04 9.99631223e-01 -3.27207961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.47, Y:-23.49, Z:-3.27 [[ 8.34586439e-01 5.50407563e-01 2.27374078e-02 7.64676821e+01] [-5.50215839e-01 8.34896022e-01 -1.45314180e-02 -2.34903727e+01] [-2.69815737e-02 -3.82757466e-04 9.99635858e-01 -3.27360270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.49, Y:-23.51, Z:-3.27 [[ 8.34437745e-01 5.50633096e-01 2.27341773e-02 7.64949077e+01] [-5.50441319e-01 8.34747295e-01 -1.45364698e-02 -2.35078724e+01] [-2.69815543e-02 -3.84051423e-04 9.99635858e-01 -3.27486267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.52, Y:-23.53, Z:-3.28 [[ 8.37240764e-01 5.46354682e-01 2.29011896e-02 7.65216500e+01] [-5.46158218e-01 8.37553881e-01 -1.46525236e-02 -2.35251859e+01] [-2.71864551e-02 -2.39982836e-04 9.99630351e-01 -3.27653074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.55, Y:-23.54, Z:-3.28 [[ 8.37986844e-01 5.45175301e-01 2.37052756e-02 7.65480496e+01] [-5.44964090e-01 8.38322044e-01 -1.51753325e-02 -2.35427352e+01] [-2.81458716e-02 -2.01794983e-04 9.99603806e-01 -3.27713948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.57, Y:-23.56, Z:-3.28 [[ 8.39888980e-01 5.42246269e-01 2.35687180e-02 7.65739461e+01] [-5.42036112e-01 8.40219599e-01 -1.50956881e-02 -2.35618543e+01] [-2.79884794e-02 -9.63941409e-05 9.99608241e-01 -3.27838658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.191052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.60, Y:-23.58, Z:-3.28 [[ 8.40946429e-01 5.40640008e-01 2.27483246e-02 7.66004099e+01] [-5.40443454e-01 8.41254052e-01 -1.45771262e-02 -2.35803857e+01] [-2.70180979e-02 -3.56008755e-05 9.99634944e-01 -3.28061607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.63, Y:-23.60, Z:-3.28 [[ 8.41742122e-01 5.39441198e-01 2.17576177e-02 7.66268236e+01] [-5.39260800e-01 8.42023274e-01 -1.39497722e-02 -2.35979593e+01] [-2.58455023e-02 9.08055420e-06 9.99665949e-01 -3.28314092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.65, Y:-23.62, Z:-3.29 [[ 8.42715391e-01 5.37915870e-01 2.18468958e-02 7.66544542e+01] [-5.37733303e-01 8.42998525e-01 -1.40136360e-02 -2.36164288e+01] [-2.59550581e-02 6.17033522e-05 9.99663109e-01 -3.28503340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.68, Y:-23.64, Z:-3.28 [[ 8.42649548e-01 5.37968733e-01 2.30517166e-02 7.66799370e+01] [-5.37765221e-01 8.42964790e-01 -1.47963037e-02 -2.36355735e+01] [-2.73917342e-02 7.16871498e-05 9.99624773e-01 -3.28218399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.71, Y:-23.65, Z:-3.28 [[ 8.41963681e-01 5.39011684e-01 2.37394967e-02 7.67063344e+01] [-5.38796024e-01 8.42298286e-01 -1.52460501e-02 -2.36530504e+01] [-2.82135365e-02 4.58740085e-05 9.99601918e-01 -3.28154547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.73, Y:-23.67, Z:-3.28 [[ 8.40013016e-01 5.41941421e-01 2.60313322e-02 7.67339300e+01] [-5.41683191e-01 8.40416262e-01 -1.67280009e-02 -2.36669639e+01] [-3.09427515e-02 -4.89965823e-05 9.99521157e-01 -3.28287480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.76, Y:-23.68, Z:-3.28 [[ 8.38581707e-01 5.44091901e-01 2.72896141e-02 7.67628100e+01] [-5.43808953e-01 8.39025618e-01 -1.75452455e-02 -2.36833519e+01] [-3.24429113e-02 -1.27214560e-04 9.99473582e-01 -3.28431736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.79, Y:-23.70, Z:-3.29 [[ 8.37101692e-01 5.46335615e-01 2.78953853e-02 7.67905543e+01] [-5.46040828e-01 8.37566327e-01 -1.79460883e-02 -2.36987627e+01] [-3.31688226e-02 -2.09318456e-04 9.99449741e-01 -3.28508135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.82, Y:-23.72, Z:-3.28 [[ 8.36238018e-01 5.47593451e-01 2.91099556e-02 7.68185816e+01] [-5.47272804e-01 8.36744492e-01 -1.87385682e-02 -2.37160691e+01] [-3.46187123e-02 -2.61183932e-04 9.99400559e-01 -3.28348000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.85, Y:-23.73, Z:-3.29 [[ 8.34167084e-01 5.50781362e-01 2.83754795e-02 7.68471053e+01] [-5.50478163e-01 8.34649478e-01 -1.82767763e-02 -2.37311830e+01] [-3.37500869e-02 -3.74196700e-04 9.99430233e-01 -3.28508585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-23.75, Z:-3.29 [[ 8.33287854e-01 5.52151470e-01 2.75700500e-02 7.68743686e+01] [-5.51865690e-01 8.33743718e-01 -1.77672153e-02 -2.37463590e+01] [-3.27965500e-02 -4.09759989e-04 9.99461964e-01 -3.28792848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-23.76, Z:-3.29 [[ 8.32779048e-01 5.52997333e-01 2.59423681e-02 7.69014606e+01] [-5.52744491e-01 8.33182922e-01 -1.67256227e-02 -2.37628666e+01] [-3.08639628e-02 -4.10752860e-04 9.99523510e-01 -3.29267735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.551052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.93, Y:-23.78, Z:-3.30 [[ 8.32780301e-01 5.52996619e-01 2.59173555e-02 7.69281750e+01] [-5.52743966e-01 8.33183400e-01 -1.67191639e-02 -2.37795825e+01] [-3.08395515e-02 -4.02271475e-04 9.99524267e-01 -3.29526556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.581052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.96, Y:-23.80, Z:-3.30 [[ 8.32484250e-01 5.53450110e-01 2.57478043e-02 7.69558647e+01] [-5.53200774e-01 8.32882229e-01 -1.66161357e-02 -2.37951249e+01] [-3.06410908e-02 -4.11033974e-04 9.99530367e-01 -3.29755329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.98, Y:-23.81, Z:-3.30 [[ 8.32052507e-01 5.54063374e-01 2.65028795e-02 7.69832045e+01] [-5.53799326e-01 8.32474374e-01 -1.71091905e-02 -2.38141374e+01] [-3.15425438e-02 -4.41531908e-04 9.99502313e-01 -3.29663998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.01, Y:-23.83, Z:-3.29 [[ 8.31338508e-01 5.55122102e-01 2.67532718e-02 7.70102403e+01] [-5.54853238e-01 8.31768733e-01 -1.72817765e-02 -2.38317216e+01] [-3.18460311e-02 -4.77133190e-04 9.99492673e-01 -3.29419235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.04, Y:-23.85, Z:-3.30 [[ 8.30760083e-01 5.55987629e-01 2.67477279e-02 7.70380070e+01] [-5.55719028e-01 8.31190414e-01 -1.72874968e-02 -2.38462131e+01] [-3.18440894e-02 -5.02459053e-04 9.99492722e-01 -3.29595775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.06, Y:-23.87, Z:-3.30 [[ 8.30387029e-01 5.56567248e-01 2.62731945e-02 7.70649640e+01] [-5.56308146e-01 8.30802407e-01 -1.69884294e-02 -2.38655854e+01] [-3.12830366e-02 -5.09020703e-04 9.99510436e-01 -3.29773553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.09, Y:-23.88, Z:-3.30 [[ 8.30789796e-01 5.55949256e-01 2.66221615e-02 7.70913336e+01] [-5.55682570e-01 8.31216092e-01 -1.72246913e-02 -2.38835151e+01] [-3.17048233e-02 -4.83373304e-04 9.99497159e-01 -3.30008675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.12, Y:-23.90, Z:-3.30 [[ 8.31898892e-01 5.54294811e-01 2.64857666e-02 7.71174110e+01] [-5.54029689e-01 8.32320308e-01 -1.71466813e-02 -2.39031495e+01] [-3.15489579e-02 -4.09595838e-04 9.99502124e-01 -3.30201318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.14, Y:-23.92, Z:-3.30 [[ 8.32230260e-01 5.53811314e-01 2.61882076e-02 7.71426724e+01] [-5.53551828e-01 8.32642108e-01 -1.69556417e-02 -2.39219201e+01] [-3.11956306e-02 -3.85532076e-04 9.99513224e-01 -3.30335754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.821052754 meters Centerline goodness [0,1] 0.9999764755698793 Centerline is valid? [True, True] Translation: X:77.17, Y:-23.94, Z:-3.30 [[ 8.32531939e-01 5.53465438e-01 2.38029262e-02 7.71671377e+01] [-5.53250715e-01 8.32872078e-01 -1.54190704e-02 -2.39429443e+01] [-2.83587152e-02 -3.32117394e-04 9.99597756e-01 -3.30456772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.851052754 meters Centerline goodness [0,1] 0.9999054708732128 Centerline is valid? [True, True] Translation: X:77.19, Y:-23.96, Z:-3.31 [[ 8.32242635e-01 5.53993507e-01 2.15265067e-02 7.71928107e+01] [-5.53817911e-01 8.32520929e-01 -1.39507836e-02 -2.39614789e+01] [-2.56499109e-02 -3.11328067e-04 9.99670938e-01 -3.30736647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.22, Y:-23.98, Z:-3.31 [[ 8.31545904e-01 5.55069279e-01 2.07245147e-02 7.72192998e+01] [-5.54906683e-01 8.31804057e-01 -1.34381288e-02 -2.39776541e+01] [-2.46978279e-02 -3.25750716e-04 9.99694909e-01 -3.31046659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.25, Y:-23.99, Z:-3.31 [[ 8.30839620e-01 5.56139266e-01 2.03627645e-02 7.72463635e+01] [-5.55982465e-01 8.31089043e-01 -1.32099030e-02 -2.39921283e+01] [-2.42698162e-02 -3.46029187e-04 9.99705385e-01 -3.31407252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.941052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.27, Y:-24.01, Z:-3.31 [[ 8.29315988e-01 5.58400931e-01 2.05765172e-02 7.72741256e+01] [-5.58241359e-01 8.29571113e-01 -1.33549008e-02 -2.40087600e+01] [-2.45270733e-02 -4.11230157e-04 9.99699082e-01 -3.31418358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.30, Y:-24.03, Z:-3.31 [[ 8.28804067e-01 5.59153871e-01 2.07549202e-02 7.73004182e+01] [-5.58991586e-01 8.29063787e-01 -1.34775726e-02 -2.40262200e+01] [-2.47431896e-02 -4.31558725e-04 9.99693747e-01 -3.31352882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.33, Y:-24.04, Z:-3.31 [[ 8.28289899e-01 5.59916747e-01 2.07142545e-02 7.73269447e+01] [-5.59755143e-01 8.28548753e-01 -1.34589239e-02 -2.40449149e+01] [-2.46986467e-02 -4.47019809e-04 9.99694842e-01 -3.31325308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03105275399999 meters Centerline goodness [0,1] 0.999976468373494 Centerline is valid? [True, True] Translation: X:77.35, Y:-24.06, Z:-3.31 [[ 8.28029010e-01 5.60310091e-01 2.05075468e-02 7.73533697e+01] [-5.60151655e-01 8.28282802e-01 -1.33312811e-02 -2.40619779e+01] [-2.44556996e-02 -4.48648761e-04 9.99700814e-01 -3.31482726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.38, Y:-24.08, Z:-3.32 [[ 8.27405732e-01 5.61251562e-01 1.99107638e-02 7.73805139e+01] [-5.61102312e-01 8.27645139e-01 -1.29506462e-02 -2.40795297e+01] [-2.37476173e-02 -4.56536692e-04 9.99717881e-01 -3.31697047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.41, Y:-24.10, Z:-3.32 [[ 8.26539413e-01 5.62546486e-01 1.93403685e-02 7.74076730e+01] [-5.62405876e-01 8.26765521e-01 -1.25858756e-02 -2.40963910e+01] [-2.30700899e-02 -4.74414622e-04 9.99733737e-01 -3.31914477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.43, Y:-24.11, Z:-3.32 [[ 8.26140568e-01 5.63146902e-01 1.89031735e-02 7.74344925e+01] [-5.63012595e-01 8.26356667e-01 -1.23075596e-02 -2.41134071e+01] [-2.25517275e-02 -4.74950475e-04 9.99745565e-01 -3.32037691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.46, Y:-24.13, Z:-3.32 [[ 8.25361727e-01 5.64263046e-01 1.96273826e-02 7.74620181e+01] [-5.64118414e-01 8.25594904e-01 -1.27855208e-02 -2.41319102e+01] [-2.34186640e-02 -5.19488412e-04 9.99725611e-01 -3.31964994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.49, Y:-24.15, Z:-3.32 [[ 8.25067614e-01 5.64695244e-01 1.95630957e-02 7.74888655e+01] [-5.64551485e-01 8.25299345e-01 -1.27519740e-02 -2.41481788e+01] [-2.33463891e-02 -5.23134023e-04 9.99727299e-01 -3.32106005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.52, Y:-24.17, Z:-3.32 [[ 8.24526441e-01 5.65481673e-01 1.96627844e-02 7.75162307e+01] [-5.65336507e-01 8.24760682e-01 -1.28238429e-02 -2.41655547e+01] [-2.34687396e-02 -5.42492266e-04 9.99724424e-01 -3.32255052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.54, Y:-24.18, Z:-3.33 [[ 8.24030827e-01 5.66251292e-01 1.82392803e-02 7.75429335e+01] [-5.66126459e-01 8.24232495e-01 -1.19007038e-02 -2.41836709e+01] [-2.17721964e-02 -5.19192403e-04 9.99762823e-01 -3.32530760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.57, Y:-24.20, Z:-3.33 [[ 8.23919075e-01 5.66431101e-01 1.76964880e-02 7.75687706e+01] [-5.66313460e-01 8.24108947e-01 -1.15545905e-02 -2.42002399e+01] [-2.11287135e-02 -5.01711796e-04 9.99776638e-01 -3.32833728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.301052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.60, Y:-24.22, Z:-3.33 [[ 8.23922016e-01 5.66420997e-01 1.78819731e-02 7.75952351e+01] [-5.66300849e-01 8.24115889e-01 -1.16769252e-02 -2.42183580e+01] [-2.13508737e-02 -5.05700821e-04 9.99771916e-01 -3.32994280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.331052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.62, Y:-24.24, Z:-3.33 [[ 8.23602269e-01 5.66852613e-01 1.89055092e-02 7.76215933e+01] [-5.66718273e-01 8.23819047e-01 -1.23521602e-02 -2.42370222e+01] [-2.25765728e-02 -5.40830330e-04 9.99744970e-01 -3.32936102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.65, Y:-24.25, Z:-3.33 [[ 8.23029989e-01 5.67595262e-01 2.13835206e-02 7.76478574e+01] [-5.67423405e-01 8.23307491e-01 -1.39804821e-02 -2.42535127e+01] [-2.55404681e-02 -6.27154044e-04 9.99673592e-01 -3.32808393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39105275399999 meters Centerline goodness [0,1] 0.9999295046526929 Centerline is valid? [True, True] Translation: X:77.67, Y:-24.27, Z:-3.33 [[ 8.22678830e-01 5.68086562e-01 2.18449155e-02 7.76740285e+01] [-5.67907212e-01 8.22968550e-01 -1.42885876e-02 -2.42734458e+01] [-2.60948331e-02 -6.50966520e-04 9.99659260e-01 -3.32580352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42105275399999 meters Centerline goodness [0,1] 0.999976517553129 Centerline is valid? [True, True] Translation: X:77.70, Y:-24.29, Z:-3.33 [[ 8.22547359e-01 5.68307803e-01 2.10257868e-02 7.76996210e+01] [-5.68141504e-01 8.22815805e-01 -1.37615996e-02 -2.42907714e+01] [-2.51211741e-02 -6.26054715e-04 9.99684217e-01 -3.32680670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45105275399999 meters Centerline goodness [0,1] 0.9999765263726204 Centerline is valid? [True, True] Translation: X:77.73, Y:-24.31, Z:-3.33 [[ 8.22431690e-01 5.68498790e-01 2.03774776e-02 7.77270525e+01] [-5.68342517e-01 8.22683874e-01 -1.33426691e-02 -2.43079384e+01] [-2.43495135e-02 -6.07953024e-04 9.99703322e-01 -3.33009948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48105275399999 meters Centerline goodness [0,1] 0.9999063166030401 Centerline is valid? [True, True] Translation: X:77.75, Y:-24.32, Z:-3.34 [[ 8.22355331e-01 5.68666982e-01 1.86968646e-02 7.77536780e+01] [-5.68535306e-01 8.22567659e-01 -1.22495716e-02 -2.43229575e+01] [-2.23453631e-02 -5.56327158e-04 9.99750156e-01 -3.33729727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.78, Y:-24.34, Z:-3.34 [[ 8.22199562e-01 5.68917848e-01 1.78986756e-02 7.77795223e+01] [-5.68797124e-01 8.22394185e-01 -1.17318061e-02 -2.43410461e+01] [-2.13942007e-02 -5.34829363e-04 9.99770975e-01 -3.33890637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54105275399999 meters Centerline goodness [0,1] 0.999882763956951 Centerline is valid? [True, True] Translation: X:77.80, Y:-24.36, Z:-3.34 [[ 8.22649993e-01 5.68265860e-01 1.79137328e-02 7.78041986e+01] [-5.68144617e-01 8.22844852e-01 -1.17492281e-02 -2.43599129e+01] [-2.14169081e-02 -5.12088438e-04 9.99770501e-01 -3.33900162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.571052754 meters Centerline goodness [0,1] 0.9999765538908818 Centerline is valid? [True, True] Translation: X:77.83, Y:-24.38, Z:-3.34 [[ 8.24009213e-01 5.66275324e-01 1.84682050e-02 7.78289329e+01] [-5.66145910e-01 8.24216012e-01 -1.21150551e-02 -2.43796077e+01] [-2.20822470e-02 -4.72781713e-04 9.99756046e-01 -3.33751191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:-24.40, Z:-3.34 [[ 8.24935921e-01 5.64889405e-01 1.95111698e-02 7.78554281e+01] [-5.64744357e-01 8.25166501e-01 -1.28084511e-02 -2.43988855e+01] [-2.33353221e-02 -4.52671617e-04 9.99727592e-01 -3.33682507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.88, Y:-24.42, Z:-3.34 [[ 8.26896361e-01 5.61904029e-01 2.25004386e-02 7.78812916e+01] [-5.61709977e-01 8.27202323e-01 -1.47722464e-02 -2.44164520e+01] [-2.69129999e-02 -4.23604049e-04 9.99637690e-01 -3.33731726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.91, Y:-24.44, Z:-3.34 [[ 8.28010492e-01 5.60234009e-01 2.31620289e-02 7.79076942e+01] [-5.60027522e-01 8.28334301e-01 -1.52137931e-02 -2.44352702e+01] [-2.77091873e-02 -3.74193337e-04 9.99615957e-01 -3.33936885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.691052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.93, Y:-24.46, Z:-3.34 [[ 8.29867163e-01 5.57482500e-01 2.31031060e-02 7.79312454e+01] [-5.57275773e-01 8.30188645e-01 -1.51830874e-02 -2.44557178e+01] [-2.76442418e-02 -2.74855555e-04 9.99617787e-01 -3.33944186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.96, Y:-24.48, Z:-3.34 [[ 8.30539811e-01 5.56474091e-01 2.32423714e-02 7.79569144e+01] [-5.56264272e-01 8.30864929e-01 -1.52816858e-02 -2.44750674e+01] [-2.78151335e-02 -2.36852422e-04 9.99613056e-01 -3.34017493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.98, Y:-24.49, Z:-3.34 [[ 8.31156722e-01 5.55542730e-01 2.34686790e-02 7.79811739e+01] [-5.55328204e-01 8.31487964e-01 -1.54386322e-02 -2.44940025e+01] [-2.80907441e-02 -2.00896432e-04 9.99605357e-01 -3.33969850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.01, Y:-24.51, Z:-3.34 [[ 8.31014147e-01 5.55764406e-01 2.32682829e-02 7.80086098e+01] [-5.55553437e-01 8.31339813e-01 -1.53132233e-02 -2.45124970e+01] [-2.78543944e-02 -2.01269321e-04 9.99611971e-01 -3.34105976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.04, Y:-24.53, Z:-3.34 [[ 8.29871915e-01 5.57468483e-01 2.32700287e-02 7.80358831e+01] [-5.57257889e-01 8.30198065e-01 -1.53237544e-02 -2.45282071e+01] [-2.78612430e-02 -2.50653696e-04 9.99611769e-01 -3.34421559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.06, Y:-24.54, Z:-3.35 [[ 8.28632598e-01 5.59319034e-01 2.30268217e-02 7.80638909e+01] [-5.59113349e-01 8.28952426e-01 -1.51702815e-02 -2.45441262e+01] [-2.75731669e-02 -3.04013575e-04 9.99619742e-01 -3.34676421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.09, Y:-24.56, Z:-3.35 [[ 8.26831771e-01 5.62015443e-01 2.20876538e-02 7.80923183e+01] [-5.61826979e-01 8.27126655e-01 -1.45582588e-02 -2.45598011e+01] [-2.64512535e-02 -3.72208950e-04 9.99650035e-01 -3.34938163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.12, Y:-24.57, Z:-3.35 [[ 8.22887948e-01 5.67835971e-01 2.04385561e-02 7.81207136e+01] [-5.67676197e-01 8.23141573e-01 -1.34791078e-02 -2.45724633e+01] [-2.44777475e-02 -5.10686466e-04 9.99700245e-01 -3.35276766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.15, Y:-24.59, Z:-3.35 [[ 8.21067304e-01 5.70468310e-01 2.03565480e-02 7.81486097e+01] [-5.70310547e-01 8.21319406e-01 -1.34281196e-02 -2.45881418e+01] [-2.43795446e-02 -5.84164027e-04 9.99702604e-01 -3.35395581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.961052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.18, Y:-24.60, Z:-3.36 [[ 8.19450901e-01 5.72801960e-01 1.99533287e-02 7.81762761e+01] [-5.72651037e-01 8.19693544e-01 -1.31637502e-02 -2.46029215e+01] [-2.38958366e-02 -6.39247448e-04 9.99714249e-01 -3.35537886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.20, Y:-24.62, Z:-3.36 [[ 8.19307204e-01 5.73007559e-01 1.99510156e-02 7.82032457e+01] [-5.72856611e-01 8.19549831e-01 -1.31672546e-02 -2.46208484e+01] [-2.38957879e-02 -6.41044671e-04 9.99714249e-01 -3.35663894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.23, Y:-24.64, Z:-3.36 [[ 8.19185797e-01 5.73162334e-01 2.04833879e-02 7.82305774e+01] [-5.73003068e-01 8.19441583e-01 -1.35268611e-02 -2.46375461e+01] [-2.45380271e-02 -6.56031630e-04 9.99698682e-01 -3.35791887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.051052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.26, Y:-24.65, Z:-3.36 [[ 8.19018737e-01 5.73364113e-01 2.14919101e-02 7.82572928e+01] [-5.73188657e-01 8.19300384e-01 -1.42001296e-02 -2.46537238e+01] [-2.57501749e-02 -6.88746884e-04 9.99668172e-01 -3.35839902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.081052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.28, Y:-24.67, Z:-3.36 [[ 8.19294282e-01 5.72945083e-01 2.21542591e-02 7.82838733e+01] [-5.72758300e-01 8.19593470e-01 -1.46449626e-02 -2.46720864e+01] [-2.65482454e-02 -6.90501641e-04 9.99647295e-01 -3.35934060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.31, Y:-24.69, Z:-3.36 [[ 8.21589145e-01 5.69632705e-01 2.25800136e-02 7.83088870e+01] [-5.69437168e-01 8.21899164e-01 -1.49357096e-02 -2.46918532e+01] [-2.70663630e-02 -5.86882098e-04 9.99633467e-01 -3.36163933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.33, Y:-24.72, Z:-3.36 [[ 8.23634210e-01 5.66677746e-01 2.24280958e-02 7.83313592e+01] [-5.66483746e-01 8.23939376e-01 -1.48347771e-02 -2.47154658e+01] [-2.68859293e-02 -4.86721807e-04 9.99638390e-01 -3.36104276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.36, Y:-24.73, Z:-3.37 [[ 8.25766115e-01 5.63557285e-01 2.26607510e-02 7.83588846e+01] [-5.63357835e-01 8.26076897e-01 -1.49969974e-02 -2.47301683e+01] [-2.71711900e-02 -3.82099342e-04 9.99630722e-01 -3.36676507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.39, Y:-24.75, Z:-3.37 [[ 8.25961559e-01 5.63285153e-01 2.23011250e-02 7.83858414e+01] [-5.63091697e-01 8.26262492e-01 -1.47660078e-02 -2.47476691e+01] [-2.67440561e-02 -3.61423497e-04 9.99642248e-01 -3.36811837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.41, Y:-24.77, Z:-3.37 [[ 8.25612858e-01 5.63831288e-01 2.13936250e-02 7.84122868e+01] [-5.63653269e-01 8.25889915e-01 -1.41718476e-02 -2.47651984e+01] [-2.56593102e-02 -3.58127071e-04 9.99670682e-01 -3.36872884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.44, Y:-24.78, Z:-3.37 [[ 8.25563377e-01 5.63957523e-01 1.99254332e-02 7.84399127e+01] [-5.63803013e-01 8.25803731e-01 -1.32045542e-02 -2.47814235e+01] [-2.39013047e-02 -3.32822934e-04 9.99714268e-01 -3.37217356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.47, Y:-24.79, Z:-3.38 [[ 8.25025437e-01 5.64847755e-01 1.67344662e-02 7.84687111e+01] [-5.64738849e-01 8.25195083e-01 -1.10953743e-02 -2.47928050e+01] [-2.00763965e-02 -2.96637147e-04 9.99798405e-01 -3.38258287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.49, Y:-24.82, Z:-3.38 [[ 8.24794029e-01 5.65251315e-01 1.43443716e-02 7.84930878e+01] [-5.65171386e-01 8.24918712e-01 -9.50911224e-03 -2.48150009e+01] [-1.72079787e-02 -2.63969360e-04 9.99851897e-01 -3.37915351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.351052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.52, Y:-24.83, Z:-3.38 [[ 8.24885263e-01 5.65142584e-01 1.33477571e-02 7.85182680e+01] [-5.65073293e-01 8.24993213e-01 -8.85278745e-03 -2.48329806e+01] [-1.60148962e-02 -2.39927136e-04 9.99871725e-01 -3.38022860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.55, Y:-24.85, Z:-3.38 [[ 8.25070170e-01 5.64878910e-01 1.30779319e-02 7.85450577e+01] [-5.64812317e-01 8.25173779e-01 -8.67644851e-03 -2.48523524e+01] [-1.56927093e-02 -2.27898182e-04 9.99876836e-01 -3.38032951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.57, Y:-24.87, Z:-3.38 [[ 8.25797609e-01 5.63828698e-01 1.24702936e-02 7.85718330e+01] [-5.63767967e-01 8.25891737e-01 -8.27755124e-03 -2.48717109e+01] [-1.49662333e-02 -1.94770012e-04 9.99887981e-01 -3.38158493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.441052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.60, Y:-24.89, Z:-3.39 [[ 8.25554799e-01 5.64209876e-01 1.12467776e-02 7.85981303e+01] [-5.64160411e-01 8.25631386e-01 -7.47295080e-03 -2.48876470e+01] [-1.35020052e-02 -1.75656274e-04 9.99908828e-01 -3.38694012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.63, Y:-24.91, Z:-3.39 [[ 8.24868471e-01 5.65217240e-01 1.10216697e-02 7.86252773e+01] [-5.65169846e-01 8.24942080e-01 -7.32184466e-03 -2.49053310e+01] [-1.32306719e-02 -1.89556548e-04 9.99912453e-01 -3.38820734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.501052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.65, Y:-24.92, Z:-3.39 [[ 8.24205166e-01 5.66188441e-01 1.07932321e-02 7.86522575e+01] [-5.66143031e-01 8.24275810e-01 -7.17338394e-03 -2.49225432e+01] [-1.29580872e-02 -1.98173021e-04 9.99916021e-01 -3.38983999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.68, Y:-24.94, Z:-3.39 [[ 8.22919232e-01 5.68073396e-01 9.82621536e-03 7.86791760e+01] [-5.68035819e-01 8.22977871e-01 -6.53700925e-03 -2.49372917e+01] [-1.18002588e-02 -2.02211663e-04 9.99930354e-01 -3.39324020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.71, Y:-24.95, Z:-3.39 [[ 8.22364303e-01 5.68874010e-01 9.96562011e-03 7.87057402e+01] [-5.68835445e-01 8.22424655e-01 -6.62745533e-03 -2.49548772e+01] [-1.19661588e-02 -2.18615262e-04 9.99928379e-01 -3.39170774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.73, Y:-24.97, Z:-3.39 [[ 8.22217150e-01 5.69074213e-01 1.06535532e-02 7.87324456e+01] [-5.69030092e-01 8.22286134e-01 -7.09006179e-03 -2.49728578e+01] [-1.27950404e-02 -2.32621955e-04 9.99918113e-01 -3.39029312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.76, Y:-24.99, Z:-3.39 [[ 8.22295383e-01 5.68926805e-01 1.23528770e-02 7.87596386e+01] [-5.68867320e-01 8.22388122e-01 -8.23099070e-03 -2.49909258e+01] [-1.48416906e-02 -2.58842411e-04 9.99889823e-01 -3.38984096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65105275399999 meters Centerline goodness [0,1] 0.9999297028774955 Centerline is valid? [True, True] Translation: X:78.79, Y:-25.01, Z:-3.39 [[ 8.22809855e-01 5.68115237e-01 1.51333976e-02 7.87857217e+01] [-5.68025773e-01 8.22948959e-01 -1.00862318e-02 -2.50098747e+01] [-1.81841558e-02 -2.97108981e-04 9.99834610e-01 -3.38607605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.81, Y:-25.03, Z:-3.39 [[ 8.23008884e-01 5.67803264e-01 1.59946998e-02 7.88119020e+01] [-5.67703290e-01 8.23164236e-01 -1.06590653e-02 -2.50283793e+01] [-1.92185169e-02 -3.07738252e-04 9.99815260e-01 -3.38595526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.711052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.84, Y:-25.05, Z:-3.39 [[ 8.23737110e-01 5.66694651e-01 1.77298042e-02 7.88380435e+01] [-5.66571390e-01 8.23927836e-01 -1.18229220e-02 -2.50456781e+01] [-2.13080659e-02 -3.06220183e-04 9.99772910e-01 -3.38632210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.87, Y:-25.06, Z:-3.39 [[ 8.23497574e-01 5.66995841e-01 1.91693183e-02 7.88654358e+01] [-5.66851681e-01 8.23720587e-01 -1.27893259e-02 -2.50619591e+01] [-2.30416567e-02 -3.34181428e-04 9.99734450e-01 -3.38590972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.89, Y:-25.08, Z:-3.39 [[ 8.22647602e-01 5.68216767e-01 1.95097039e-02 7.88922862e+01] [-5.68067627e-01 8.22878830e-01 -1.30231106e-02 -2.50789549e+01] [-2.34540721e-02 -3.69400502e-04 9.99724847e-01 -3.38533553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.801052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.92, Y:-25.10, Z:-3.39 [[ 8.21512982e-01 5.69848506e-01 1.97256392e-02 7.89198452e+01] [-5.69696354e-01 8.21749663e-01 -1.31740475e-02 -2.50955306e+01] [-2.37167486e-02 -4.14973745e-04 9.99718632e-01 -3.38540055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.95, Y:-25.11, Z:-3.39 [[ 8.19041386e-01 5.73381736e-01 2.01144906e-02 7.89493056e+01] [-5.73224421e-01 8.19288174e-01 -1.34406246e-02 -2.51095628e+01] [-2.41861729e-02 -5.21689477e-04 9.99707336e-01 -3.38576557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.98, Y:-25.12, Z:-3.39 [[ 8.17643185e-01 5.75376060e-01 2.00502288e-02 7.89778546e+01] [-5.75220132e-01 8.17888784e-01 -1.34065747e-02 -2.51222986e+01] [-2.41126794e-02 -5.71500858e-04 9.99709084e-01 -3.38944831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.01, Y:-25.14, Z:-3.39 [[ 8.15507633e-01 5.78423873e-01 1.93164362e-02 7.90065530e+01] [-5.78279956e-01 8.15736121e-01 -1.29179518e-02 -2.51371882e+01] [-2.32291664e-02 -6.35619615e-04 9.99729964e-01 -3.39285944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.03, Y:-25.15, Z:-3.39 [[ 8.14557851e-01 5.79758913e-01 1.93677725e-02 7.90343943e+01] [-5.79614506e-01 8.14787795e-01 -1.29566025e-02 -2.51537949e+01] [-2.32923304e-02 -6.71939604e-04 9.99728471e-01 -3.39298008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.95105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.06, Y:-25.17, Z:-3.39 [[ 8.14499958e-01 5.79815816e-01 2.00857714e-02 7.90616300e+01] [-5.79660295e-01 8.14747287e-01 -1.34461993e-02 -2.51696859e+01] [-2.41611468e-02 -6.90995413e-04 9.99707838e-01 -3.39405373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.09, Y:-25.19, Z:-3.39 [[ 8.15332012e-01 5.78614700e-01 2.09461201e-02 7.90870774e+01] [-5.78445104e-01 8.15600739e-01 -1.40248604e-02 -2.51894060e+01] [-2.51986615e-02 -6.81262968e-04 9.99682231e-01 -3.39324655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.11, Y:-25.21, Z:-3.39 [[ 8.16153467e-01 5.77456329e-01 2.09214181e-02 7.91122781e+01] [-5.77286573e-01 8.16421325e-01 -1.40154428e-02 -2.52093532e+01] [-2.51739980e-02 -6.38901481e-04 9.99682881e-01 -3.39324850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.14, Y:-25.23, Z:-3.40 [[ 8.16980216e-01 5.76268162e-01 2.14086829e-02 7.91386179e+01] [-5.76089751e-01 8.17260445e-01 -1.43514297e-02 -2.52255722e+01] [-2.57667417e-02 -6.08488604e-04 9.99667797e-01 -3.39571944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.16, Y:-25.25, Z:-3.40 [[ 8.18320897e-01 5.74380823e-01 2.09183969e-02 7.91642719e+01] [-5.74209812e-01 8.18588043e-01 -1.40252553e-02 -2.52453359e+01] [-2.51793873e-02 -5.34389252e-04 9.99682806e-01 -3.39851499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.19, Y:-25.27, Z:-3.40 [[ 8.19365675e-01 5.72958096e-01 1.89449562e-02 7.91892241e+01] [-5.72817342e-01 8.19584545e-01 -1.27069269e-02 -2.52664764e+01] [-2.28075299e-02 -4.40379714e-04 9.99739777e-01 -3.40034537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.22, Y:-25.29, Z:-3.40 [[ 8.19553405e-01 5.72660075e-01 1.98154919e-02 7.92151363e+01] [-5.72505784e-01 8.19792803e-01 -1.32998970e-02 -2.52855007e+01] [-2.38609177e-02 -4.44507790e-04 9.99715189e-01 -3.40016190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.24, Y:-25.30, Z:-3.40 [[ 8.19773248e-01 5.72299764e-01 2.10903342e-02 7.92405083e+01] [-5.72124644e-01 8.20044373e-01 -1.41639729e-02 -2.53033313e+01] [-2.54010482e-02 -4.55053939e-04 9.99677238e-01 -3.39986519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.191052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.27, Y:-25.32, Z:-3.40 [[ 8.19114902e-01 5.73193849e-01 2.23514940e-02 7.92668991e+01] [-5.72997291e-01 8.19419646e-01 -1.50182896e-02 -2.53207721e+01] [-2.69236445e-02 -5.05640634e-04 9.99637365e-01 -3.39960019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.29, Y:-25.34, Z:-3.40 [[ 8.18152757e-01 5.74599171e-01 2.14909032e-02 7.92941053e+01] [-5.74417745e-01 8.18434797e-01 -1.44477483e-02 -2.53371002e+01] [-2.58905672e-02 -5.24291005e-04 9.99664646e-01 -3.40238032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.251052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.32, Y:-25.35, Z:-3.41 [[ 8.15847241e-01 5.77908605e-01 2.03696735e-02 7.93223985e+01] [-5.77746480e-01 8.16101277e-01 -1.37007445e-02 -2.53507972e+01] [-2.45414947e-02 -5.90792499e-04 9.99698638e-01 -3.40812910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-25.37, Z:-3.41 [[ 8.15210197e-01 5.78848109e-01 1.91625318e-02 7.93487412e+01] [-5.78704775e-01 8.15435180e-01 -1.28938338e-02 -2.53695428e+01] [-2.30893739e-02 -5.78263832e-04 9.99733238e-01 -3.41002856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31105275399999 meters Centerline goodness [0,1] 0.9999767474305911 Centerline is valid? [True, True] Translation: X:79.38, Y:-25.39, Z:-3.41 [[ 8.14388311e-01 5.80070237e-01 1.70352466e-02 7.93750473e+01] [-5.79957075e-01 8.14566283e-01 -1.14700254e-02 -2.53855212e+01] [-2.05297579e-02 -5.38657167e-04 9.99789097e-01 -3.41333481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.40, Y:-25.40, Z:-3.41 [[ 8.14403943e-01 5.80043805e-01 1.71872704e-02 7.94006175e+01] [-5.79928591e-01 8.14585104e-01 -1.15731580e-02 -2.54030992e+01] [-2.07134330e-02 -5.42164005e-04 9.99785307e-01 -3.41428718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.43, Y:-25.42, Z:-3.42 [[ 8.14371991e-01 5.80095489e-01 1.69553402e-02 7.94274792e+01] [-5.79983282e-01 8.14548304e-01 -1.14215806e-02 -2.54205021e+01] [-2.04365510e-02 -5.32398497e-04 9.99791010e-01 -3.41566842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.45, Y:-25.44, Z:-3.42 [[ 8.14243665e-01 5.80284730e-01 1.66399065e-02 7.94538528e+01] [-5.80176592e-01 8.14413506e-01 -1.12144175e-02 -2.54406254e+01] [-2.00593198e-02 -5.22815853e-04 9.99798655e-01 -3.41558556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.48, Y:-25.46, Z:-3.42 [[ 8.15268739e-01 5.78827785e-01 1.71836430e-02 7.94801501e+01] [-5.78711904e-01 8.15449662e-01 -1.15923028e-02 -2.54598857e+01] [-2.07223429e-02 -4.93536692e-04 9.99785147e-01 -3.41674752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.50, Y:-25.48, Z:-3.42 [[ 8.16248995e-01 5.77439232e-01 1.73640792e-02 7.95048616e+01] [-5.77320603e-01 8.16433536e-01 -1.17133265e-02 -2.54786558e+01] [-2.09403508e-02 -4.63649704e-04 9.99780619e-01 -3.41833241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.53, Y:-25.50, Z:-3.42 [[ 8.17444474e-01 5.75706618e-01 1.86123964e-02 7.95307347e+01] [-5.75569679e-01 8.17656220e-01 -1.25638738e-02 -2.54988198e+01] [-2.24516470e-02 -4.42461841e-04 9.99747832e-01 -3.41805333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.56, Y:-25.52, Z:-3.42 [[ 8.18452735e-01 5.74257183e-01 1.90737740e-02 7.95553843e+01] [-5.74112937e-01 8.18674855e-01 -1.28770141e-02 -2.55188072e+01] [-2.30099370e-02 -4.11273027e-04 9.99735152e-01 -3.41838599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.551052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.58, Y:-25.54, Z:-3.42 [[ 8.21187003e-01 5.70254305e-01 2.14926497e-02 7.95773253e+01] [-5.70069533e-01 8.21468149e-01 -1.45192374e-02 -2.55410298e+01] [-2.59351848e-02 -3.29295742e-04 9.99663572e-01 -3.41707741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.581052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.60, Y:-25.56, Z:-3.42 [[ 8.21715882e-01 5.69420584e-01 2.33068170e-02 7.96037148e+01] [-5.69202763e-01 8.22046285e-01 -1.57518321e-02 -2.55598515e+01] [-2.81286997e-02 -3.22773998e-04 9.99604258e-01 -3.41642292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.63, Y:-25.58, Z:-3.42 [[ 8.22471154e-01 5.68255408e-01 2.50398320e-02 7.96276611e+01] [-5.68003160e-01 8.22852176e-01 -1.69324020e-02 -2.55799683e+01] [-3.02260092e-02 -2.96291533e-04 9.99543046e-01 -3.41598015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.65, Y:-25.60, Z:-3.42 [[ 8.22699140e-01 5.67928975e-01 2.49560324e-02 7.96530139e+01] [-5.67678044e-01 8.23077519e-01 -1.68830187e-02 -2.55990187e+01] [-3.01291047e-02 -2.77346696e-04 9.99545977e-01 -3.41681838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.68, Y:-25.62, Z:-3.42 [[ 8.22239120e-01 5.68610934e-01 2.45852723e-02 7.96795298e+01] [-5.68367463e-01 8.22606541e-01 -1.66405113e-02 -2.56186736e+01] [-2.96859825e-02 -2.90989450e-04 9.99559232e-01 -3.41829592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.70, Y:-25.64, Z:-3.42 [[ 8.22010306e-01 5.68976043e-01 2.37764396e-02 7.97045029e+01] [-5.68748222e-01 8.22354048e-01 -1.61021545e-02 -2.56374337e+01] [-2.87143915e-02 -2.86670791e-04 9.99587616e-01 -3.42124846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.73105275399999 meters Centerline goodness [0,1] 0.9999765335335805 Centerline is valid? [True, True] Translation: X:79.73, Y:-25.66, Z:-3.42 [[ 8.22091468e-01 5.68875663e-01 2.33687598e-02 7.97306984e+01] [-5.68655373e-01 8.22423495e-01 -1.58322755e-02 -2.56570795e+01] [-2.82256133e-02 -2.73192252e-04 9.99601541e-01 -3.42289757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.76, Y:-25.68, Z:-3.43 [[ 8.22393976e-01 5.68468784e-01 2.26139185e-02 7.97561846e+01] [-5.68262116e-01 8.22704797e-01 -1.53292304e-02 -2.56760944e+01] [-2.73187682e-02 -2.43966456e-04 9.99626743e-01 -3.42503495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.78, Y:-25.70, Z:-3.43 [[ 8.22977601e-01 5.67728001e-01 1.98188227e-02 7.97799923e+01] [-5.67568908e-01 8.23216182e-01 -1.34407398e-02 -2.56957191e+01] [-2.39458599e-02 -1.87119707e-04 9.99713239e-01 -3.42826479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.81, Y:-25.71, Z:-3.43 [[ 8.23033843e-01 5.67676957e-01 1.89252867e-02 7.98063884e+01] [-5.67531762e-01 8.23251385e-01 -1.28396315e-02 -2.57146052e+01] [-2.28690314e-02 -1.73250118e-04 9.99738454e-01 -3.43060024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.83, Y:-25.73, Z:-3.43 [[ 8.22601176e-01 5.68331315e-01 1.80782231e-02 7.98336235e+01] [-5.68198864e-01 8.22799784e-01 -1.22705549e-02 -2.57305476e+01] [-2.18484987e-02 -1.78252919e-04 9.99761277e-01 -3.43386156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.86, Y:-25.75, Z:-3.44 [[ 8.22460708e-01 5.68534639e-01 1.80761914e-02 7.98603464e+01] [-5.68402171e-01 8.22659305e-01 -1.22735468e-02 -2.57488224e+01] [-2.18484836e-02 -1.80036417e-04 9.99761277e-01 -3.43512128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.89, Y:-25.76, Z:-3.44 [[ 8.21567834e-01 5.69854273e-01 1.70997715e-02 7.98901275e+01] [-5.69735888e-01 8.21745744e-01 -1.16167946e-02 -2.57616891e+01] [-2.06715445e-02 -1.98368689e-04 9.99786301e-01 -3.43899293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.941052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.92, Y:-25.78, Z:-3.44 [[ 8.20932425e-01 5.70793194e-01 1.62814018e-02 7.99185243e+01] [-5.70685963e-01 8.21093835e-01 -1.10655120e-02 -2.57772500e+01] [-1.96846776e-02 -2.07529836e-04 9.99806216e-01 -3.44183441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.95, Y:-25.79, Z:-3.45 [[ 8.20113342e-01 5.71996092e-01 1.53159145e-02 7.99463705e+01] [-5.71901287e-01 8.20256316e-01 -1.04160554e-02 -2.57921940e+01] [-1.85209186e-02 -2.16845187e-04 9.99828450e-01 -3.44530217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.001052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.97, Y:-25.81, Z:-3.44 [[ 8.19733289e-01 5.72539103e-01 1.53723717e-02 7.99723472e+01] [-5.72443716e-01 8.19877382e-01 -1.04532643e-02 -2.58122470e+01] [-1.85883624e-02 -2.30928815e-04 9.99827195e-01 -3.44209683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.00, Y:-25.83, Z:-3.44 [[ 8.19263062e-01 5.73189813e-01 1.61701535e-02 7.99988552e+01] [-5.73084242e-01 8.19422586e-01 -1.10034901e-02 -2.58298211e+01] [-1.95572774e-02 -2.52107211e-04 9.99808706e-01 -3.44138568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.03, Y:-25.84, Z:-3.45 [[ 8.18798769e-01 5.73813730e-01 1.75036739e-02 8.00264883e+01] [-5.73690013e-01 8.18985789e-01 -1.19183076e-02 -2.58444568e+01] [-2.11741487e-02 -2.82987301e-04 9.99775763e-01 -3.44581428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.05, Y:-25.86, Z:-3.44 [[ 8.17556589e-01 5.75469936e-01 2.08704583e-02 8.00528185e+01] [-5.75294368e-01 8.17822846e-01 -1.42191009e-02 -2.58638383e+01] [-2.52510027e-02 -3.81737491e-04 9.99681070e-01 -3.43865090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.08, Y:-25.88, Z:-3.44 [[ 8.16566551e-01 5.76806843e-01 2.26480410e-02 8.00799189e+01] [-5.76600335e-01 8.16880445e-01 -1.54399323e-02 -2.58811343e+01] [-2.74066004e-02 -4.51135770e-04 9.99624267e-01 -3.43724972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.11, Y:-25.90, Z:-3.44 [[ 8.15406475e-01 5.78329158e-01 2.54492594e-02 8.01068909e+01] [-5.78068944e-01 8.15803329e-01 -1.73558193e-02 -2.59004711e+01] [-3.07989669e-02 -5.59379066e-04 9.99525443e-01 -3.43597404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.13, Y:-25.92, Z:-3.44 [[ 8.15868771e-01 5.77662586e-01 2.57698615e-02 8.01323069e+01] [-5.77395101e-01 8.16275477e-01 -1.75853281e-02 -2.59199163e+01] [-3.11936921e-02 -5.32071780e-04 9.99513217e-01 -3.43715361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.16, Y:-25.94, Z:-3.44 [[ 8.16569601e-01 5.76645634e-01 2.63419803e-02 8.01574949e+01] [-5.76365293e-01 8.16994227e-01 -1.79855886e-02 -2.59378100e+01] [-3.18925569e-02 -4.96118279e-04 9.99491180e-01 -3.43881106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.18, Y:-25.96, Z:-3.44 [[ 8.17797842e-01 5.74886133e-01 2.66950161e-02 8.01815518e+01] [-5.74597003e-01 8.18233312e-01 -1.82354492e-02 -2.59593690e+01] [-3.23260583e-02 -4.25965246e-04 9.99477286e-01 -3.43940807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.21, Y:-25.98, Z:-3.44 [[ 8.18095583e-01 5.74521752e-01 2.53845174e-02 8.02067581e+01] [-5.74259904e-01 8.18489223e-01 -1.73480442e-02 -2.59803612e+01] [-3.07437827e-02 -3.84952244e-04 9.99527224e-01 -3.44025636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.301052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.23, Y:-26.00, Z:-3.44 [[ 8.17804629e-01 5.74968174e-01 2.46411768e-02 8.02332171e+01] [-5.74721355e-01 8.18175686e-01 -1.68496523e-02 -2.59980441e+01] [-2.98488256e-02 -3.82086886e-04 9.99554352e-01 -3.44215719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.331052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.26, Y:-26.01, Z:-3.45 [[ 8.16566144e-01 5.76778873e-01 2.33637481e-02 8.02612544e+01] [-5.76557491e-01 8.16900213e-01 -1.59844480e-02 -2.60141962e+01] [-2.83053427e-02 -4.18184915e-04 9.99599236e-01 -3.44663582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.29, Y:-26.03, Z:-3.45 [[ 8.15981123e-01 5.77635731e-01 2.26223043e-02 8.02886421e+01] [-5.77428303e-01 8.16294542e-01 -1.54846817e-02 -2.60309607e+01] [-2.74109690e-02 -4.27550841e-04 9.99624157e-01 -3.44986156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.32, Y:-26.05, Z:-3.45 [[ 8.15297501e-01 5.78602084e-01 2.25746000e-02 8.03164509e+01] [-5.78395689e-01 8.15609848e-01 -1.54597460e-02 -2.60474464e+01] [-2.73571073e-02 -4.52759059e-04 9.99625622e-01 -3.45341444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.34, Y:-26.07, Z:-3.45 [[ 8.15056044e-01 5.78936007e-01 2.27320113e-02 8.03432987e+01] [-5.78726651e-01 8.15372851e-01 -1.55748973e-02 -2.60657617e+01] [-2.75519337e-02 -4.61206591e-04 9.99620267e-01 -3.45410180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.45105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.37, Y:-26.08, Z:-3.45 [[ 8.14965749e-01 5.79070385e-01 2.25459144e-02 8.03703823e+01] [-5.78864204e-01 8.15277428e-01 -1.54579908e-02 -2.60848573e+01] [-2.73324398e-02 -4.53289789e-04 9.99626296e-01 -3.45468739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.40, Y:-26.10, Z:-3.46 [[ 8.14107353e-01 5.80331864e-01 2.10747551e-02 8.03966992e+01] [-5.80152096e-01 8.14379957e-01 -1.44509837e-02 -2.61008755e+01] [-2.55492244e-02 -4.61911208e-04 9.99673459e-01 -3.45678501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.42, Y:-26.12, Z:-3.46 [[ 8.13102961e-01 5.81804155e-01 1.91703184e-02 8.04240972e+01] [-5.81655700e-01 8.13328787e-01 -1.31503119e-02 -2.61156650e+01] [-2.32426779e-02 -4.57967452e-04 9.99729748e-01 -3.46192965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.45, Y:-26.13, Z:-3.46 [[ 8.12802042e-01 5.82246356e-01 1.84938077e-02 8.04509836e+01] [-5.82108196e-01 8.13012287e-01 -1.26913040e-02 -2.61331135e+01] [-2.24251584e-02 -4.49879264e-04 9.99748423e-01 -3.46489776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.48, Y:-26.15, Z:-3.47 [[ 8.12780113e-01 5.82306642e-01 1.75345862e-02 8.04756945e+01] [-5.82182339e-01 8.12969123e-01 -1.20386361e-02 -2.61526764e+01] [-2.12652549e-02 -4.23562447e-04 9.99773779e-01 -3.46598945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.50, Y:-26.17, Z:-3.47 [[ 8.13129562e-01 5.81807959e-01 1.78833761e-02 8.05009152e+01] [-5.81678427e-01 8.13326089e-01 -1.22833475e-02 -2.61731817e+01] [-2.16915657e-02 -4.14421110e-04 9.99764624e-01 -3.46528510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.53, Y:-26.19, Z:-3.47 [[ 8.13547170e-01 5.81202556e-01 1.85631658e-02 8.05266892e+01] [-5.81062640e-01 8.13758824e-01 -1.27587219e-02 -2.61913158e+01] [-2.25213417e-02 -4.06539973e-04 9.99746280e-01 -3.46600199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.55, Y:-26.21, Z:-3.47 [[ 8.14236861e-01 5.80193813e-01 1.98361835e-02 8.05519836e+01] [-5.80033678e-01 8.14478347e-01 -1.36365214e-02 -2.62091002e+01] [-2.40679673e-02 -4.02296060e-04 9.99710244e-01 -3.46639996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.691052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.58, Y:-26.23, Z:-3.47 [[ 8.14409730e-01 5.79935433e-01 2.02900121e-02 8.05780386e+01] [-5.79767658e-01 8.14662344e-01 -1.39545214e-02 -2.62286165e+01] [-2.46222302e-02 -3.98794775e-04 9.99696747e-01 -3.46702572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.60, Y:-26.25, Z:-3.47 [[ 8.14105388e-01 5.80379633e-01 1.97964379e-02 8.06034803e+01] [-5.80219898e-01 8.14345949e-01 -1.36215192e-02 -2.62462847e+01] [-2.40268013e-02 -3.96934971e-04 9.99711236e-01 -3.46779049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.751052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.63, Y:-26.26, Z:-3.47 [[ 8.13160140e-01 5.81710813e-01 1.95733573e-02 8.06310532e+01] [-5.81554913e-01 8.13395567e-01 -1.34734952e-02 -2.62634598e+01] [-2.37585599e-02 -4.26872855e-04 9.99717634e-01 -3.47008747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:-26.28, Z:-3.47 [[ 8.12653430e-01 5.82416812e-01 1.96229561e-02 8.06568562e+01] [-5.82260199e-01 8.12890189e-01 -1.35129715e-02 -2.62838328e+01] [-2.38214903e-02 -4.44303696e-04 9.99716129e-01 -3.46885691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:-26.30, Z:-3.47 [[ 8.12206506e-01 5.83047510e-01 1.93956883e-02 8.06830541e+01] [-5.82894496e-01 8.12437934e-01 -1.33644880e-02 -2.63027015e+01] [-2.35499244e-02 -4.50915834e-04 9.99722560e-01 -3.46931755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.71, Y:-26.32, Z:-3.47 [[ 8.11893764e-01 5.83479464e-01 1.94994897e-02 8.07103371e+01] [-5.83324786e-01 8.12127762e-01 -1.34421466e-02 -2.63211809e+01] [-2.36792934e-02 -4.60940644e-04 9.99719500e-01 -3.47076742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.74, Y:-26.34, Z:-3.47 [[ 8.11589876e-01 5.83890988e-01 1.98289271e-02 8.07373469e+01] [-5.83730974e-01 8.11831934e-01 -1.36770518e-02 -2.63405090e+01] [-2.40836635e-02 -4.74602132e-04 9.99709834e-01 -3.47171977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.76, Y:-26.36, Z:-3.47 [[ 8.11458625e-01 5.84050046e-01 2.05047286e-02 8.07637783e+01] [-5.83878746e-01 8.11717504e-01 -1.41528898e-02 -2.63573614e+01] [-2.49100431e-02 -4.87790718e-04 9.99689578e-01 -3.47378529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.79, Y:-26.38, Z:-3.47 [[ 8.11162080e-01 5.84446996e-01 2.09234135e-02 8.07905780e+01] [-5.84268599e-01 8.11431731e-01 -1.44481764e-02 -2.63765586e+01] [-2.54221149e-02 -5.05080664e-04 9.99676678e-01 -3.47473133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.961052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.82, Y:-26.39, Z:-3.48 [[ 8.11094526e-01 5.84531638e-01 2.11762644e-02 8.08161804e+01] [-5.84348701e-01 8.11370758e-01 -1.46317496e-02 -2.63948902e+01] [-2.57345222e-02 -5.06590545e-04 9.99668684e-01 -3.47573307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.84, Y:-26.41, Z:-3.48 [[ 8.11080444e-01 5.84554531e-01 2.10834879e-02 8.08421377e+01] [-5.84372998e-01 8.11354270e-01 -1.45755947e-02 -2.64141379e+01] [-2.56264078e-02 -4.98641237e-04 9.99671465e-01 -3.47621136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.87, Y:-26.43, Z:-3.48 [[ 8.11043236e-01 5.84589600e-01 2.15376392e-02 8.08675003e+01] [-5.84399948e-01 8.11329000e-01 -1.48981500e-02 -2.64313026e+01] [-2.61834148e-02 -5.03551436e-04 9.99657029e-01 -3.47674327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.051052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.89, Y:-26.45, Z:-3.47 [[ 8.10538338e-01 5.85234453e-01 2.29834372e-02 8.08936521e+01] [-5.85018495e-01 8.10863941e-01 -1.59069278e-02 -2.64498413e+01] [-2.79457226e-02 -5.52561003e-04 9.99609289e-01 -3.47479475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.081052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.92, Y:-26.47, Z:-3.47 [[ 8.10003267e-01 5.85943978e-01 2.37563205e-02 8.09202306e+01] [-5.85713315e-01 8.10351348e-01 -1.64500759e-02 -2.64687038e+01] [-2.88897892e-02 -5.89778026e-04 9.99582429e-01 -3.47464364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.95, Y:-26.49, Z:-3.48 [[ 8.09580440e-01 5.86511626e-01 2.41582861e-02 8.09481370e+01] [-5.86273043e-01 8.09940577e-01 -1.67386252e-02 -2.64858273e+01] [-2.93841745e-02 -6.12088325e-04 9.99568005e-01 -3.47633857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.98, Y:-26.50, Z:-3.48 [[ 8.09040921e-01 5.87268910e-01 2.38330628e-02 8.09758416e+01] [-5.87036739e-01 8.09391648e-01 -1.65235580e-02 -2.64995762e+01] [-2.89940538e-02 -6.22648872e-04 9.99579390e-01 -3.48093273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.00, Y:-26.52, Z:-3.48 [[ 8.08734458e-01 5.87696288e-01 2.36991319e-02 8.10020419e+01] [-5.87466695e-01 8.09081379e-01 -1.64378923e-02 -2.65197411e+01] [-2.88350146e-02 -6.28560803e-04 9.99583987e-01 -3.48233809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.03, Y:-26.54, Z:-3.49 [[ 8.09465044e-01 5.86734769e-01 2.25533466e-02 8.10275943e+01] [-5.86526160e-01 8.09778983e-01 -1.56544547e-02 -2.65391586e+01] [-2.74482389e-02 -5.56393909e-04 9.99623071e-01 -3.48517542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.05, Y:-26.56, Z:-3.49 [[ 8.10009358e-01 5.86014726e-01 2.17159042e-02 8.10512824e+01] [-5.85821060e-01 8.10300240e-01 -1.50733876e-02 -2.65604655e+01] [-2.64296295e-02 -5.12048960e-04 9.99650545e-01 -3.48624445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.08, Y:-26.58, Z:-3.49 [[ 8.09851141e-01 5.86265573e-01 2.08280502e-02 8.10776122e+01] [-5.86087322e-01 8.10118778e-01 -1.44643321e-02 -2.65792785e+01] [-2.53531345e-02 -4.93100366e-04 9.99678436e-01 -3.48755868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.10, Y:-26.60, Z:-3.49 [[ 8.09326129e-01 5.87035436e-01 1.95093152e-02 8.11042468e+01] [-5.86879069e-01 8.09561096e-01 -1.35569005e-02 -2.65957447e+01] [-2.37523636e-02 -4.77654953e-04 9.99717759e-01 -3.49098133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.13, Y:-26.61, Z:-3.49 [[ 8.08853758e-01 5.87724931e-01 1.83030994e-02 8.11309731e+01] [-5.87587461e-01 8.09060682e-01 -1.27195780e-02 -2.66136003e+01] [-2.22839312e-02 -4.66393251e-04 9.99751574e-01 -3.49349231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.351052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.16, Y:-26.63, Z:-3.50 [[ 8.08129891e-01 5.88730579e-01 1.79550664e-02 8.11575988e+01] [-5.88598392e-01 8.08329187e-01 -1.24843200e-02 -2.66301499e+01] [-2.18635052e-02 -4.79371025e-04 9.99760850e-01 -3.49677403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.18, Y:-26.65, Z:-3.50 [[ 8.07409863e-01 5.89714421e-01 1.80614038e-02 8.11848029e+01] [-5.89580777e-01 8.07611694e-01 -1.25642216e-02 -2.66462491e+01] [-2.19959036e-02 -5.04180002e-04 9.99757934e-01 -3.49954891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.21, Y:-26.67, Z:-3.50 [[ 8.07848371e-01 5.89057011e-01 1.98203762e-02 8.12103141e+01] [-5.88895692e-01 8.08091307e-01 -1.37950735e-02 -2.66656453e+01] [-2.41427584e-02 -5.27806512e-04 9.99708382e-01 -3.49818762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.441052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.24, Y:-26.69, Z:-3.50 [[ 8.07960576e-01 5.88870059e-01 2.07788727e-02 8.12354034e+01] [-5.88692497e-01 8.08227543e-01 -1.44700716e-02 -2.66863014e+01] [-2.53150491e-02 -5.41119077e-04 9.99679376e-01 -3.49659961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.26, Y:-26.71, Z:-3.49 [[ 8.09032700e-01 5.87331086e-01 2.25451735e-02 8.12596539e+01] [-5.87121197e-01 8.09346599e-01 -1.57093388e-02 -2.67058970e+01] [-2.74734425e-02 -5.27380487e-04 9.99622395e-01 -3.49364678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.28, Y:-26.73, Z:-3.49 [[ 8.09245443e-01 5.87001478e-01 2.34750678e-02 8.12847759e+01] [-5.86773552e-01 8.09585686e-01 -1.63650684e-02 -2.67260007e+01] [-2.86113982e-02 -5.31191884e-04 9.99590469e-01 -3.49343804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.31, Y:-26.74, Z:-3.50 [[ 8.09906325e-01 5.86059176e-01 2.42154104e-02 8.13110455e+01] [-5.85815954e-01 8.10268095e-01 -1.68903175e-02 -2.67442749e+01] [-2.95197000e-02 -5.06198724e-04 9.99564071e-01 -3.49631272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.34, Y:-26.76, Z:-3.50 [[ 8.10551666e-01 5.85169328e-01 2.41423748e-02 8.13357206e+01] [-5.84926889e-01 8.10910995e-01 -1.68491382e-02 -2.67630716e+01] [-2.94369160e-02 -4.64427178e-04 9.99566532e-01 -3.49798038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.59105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.36, Y:-26.78, Z:-3.50 [[ 8.12596446e-01 5.82331060e-01 2.40323186e-02 8.13597951e+01] [-5.82089474e-01 8.12951665e-01 -1.67760303e-02 -2.67835691e+01] [-2.93063169e-02 -3.56817029e-04 9.99570414e-01 -3.49961210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.39, Y:-26.80, Z:-3.50 [[ 8.12882176e-01 5.81908928e-01 2.45879471e-02 8.13853636e+01] [-5.81655568e-01 8.13253886e-01 -1.71731659e-02 -2.68015954e+01] [-2.99894621e-02 -3.41955905e-04 9.99550156e-01 -3.50043783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.41, Y:-26.82, Z:-3.50 [[ 8.13901859e-01 5.80437864e-01 2.56056643e-02 8.14106113e+01] [-5.80162105e-01 8.14304488e-01 -1.78922275e-02 -2.68191273e+01] [-3.12361337e-02 -2.92918921e-04 9.99511990e-01 -3.50110131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.44, Y:-26.84, Z:-3.50 [[ 8.14789282e-01 5.79174673e-01 2.59831362e-02 8.14361838e+01] [-5.78889835e-01 8.15203434e-01 -1.81636949e-02 -2.68385795e+01] [-3.17014939e-02 -2.41789447e-04 9.99497352e-01 -3.50105816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.711052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.46, Y:-26.86, Z:-3.50 [[ 8.16553527e-01 5.76602158e-01 2.77540621e-02 8.14629137e+01] [-5.76275313e-01 8.17025049e-01 -1.94121886e-02 -2.68561399e+01] [-3.38688738e-02 -1.42889751e-04 9.99426275e-01 -3.50159164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.49, Y:-26.87, Z:-3.50 [[ 8.17406599e-01 5.75345046e-01 2.87146250e-02 8.14882557e+01] [-5.74994021e-01 8.17910797e-01 -2.00948868e-02 -2.68739822e+01] [-3.50474953e-02 -8.50446118e-05 9.99385644e-01 -3.50258381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.51, Y:-26.89, Z:-3.50 [[ 8.18313163e-01 5.74063224e-01 2.85478930e-02 8.15143944e+01] [-5.73715165e-01 8.18810976e-01 -1.99873699e-02 -2.68934781e+01] [-3.48493422e-02 -2.24312281e-05 9.99392577e-01 -3.50305328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.801052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.54, Y:-26.91, Z:-3.50 [[ 8.18151655e-01 5.74293661e-01 2.85422597e-02 8.15408598e+01] [-5.73945462e-01 8.18649369e-01 -1.99954109e-02 -2.69120843e+01] [-3.48493406e-02 -2.24219440e-05 9.99392577e-01 -3.50431370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.57, Y:-26.93, Z:-3.50 [[ 8.19218949e-01 5.72818150e-01 2.75623115e-02 8.15660051e+01] [-5.72492243e-01 8.19682478e-01 -1.93201376e-02 -2.69312167e+01] [-3.36592693e-02 4.82132944e-05 9.99433365e-01 -3.50488278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.59, Y:-26.95, Z:-3.51 [[ 8.18354622e-01 5.74081241e-01 2.69525675e-02 8.15944111e+01] [-5.73769947e-01 8.18798345e-01 -1.89028812e-02 -2.69476801e+01] [-3.29205071e-02 4.68695165e-06 9.99457973e-01 -3.50827211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.62, Y:-26.97, Z:-3.51 [[ 8.17410081e-01 5.75442396e-01 2.65858841e-02 8.16219501e+01] [-5.75139885e-01 8.17842312e-01 -1.86565053e-02 -2.69657193e+01] [-3.24788050e-02 -4.05867914e-05 9.99472424e-01 -3.50972235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.65, Y:-26.98, Z:-3.51 [[ 8.14814721e-01 5.79136068e-01 2.60458259e-02 8.16490016e+01] [-5.78847255e-01 8.15230878e-01 -1.82885737e-02 -2.69816492e+01] [-3.18249342e-02 -1.74755739e-04 9.99493443e-01 -3.51083149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.95105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.68, Y:-27.00, Z:-3.51 [[ 8.12957928e-01 5.81750470e-01 2.58030446e-02 8.16767197e+01] [-5.81468066e-01 8.13367272e-01 -1.81265037e-02 -2.69985948e+01] [-3.15324541e-02 -2.67561515e-04 9.99502693e-01 -3.51207868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.71, Y:-27.01, Z:-3.52 [[ 8.08444035e-01 5.88007582e-01 2.57939030e-02 8.17060896e+01] [-5.87728254e-01 8.08855259e-01 -1.81292162e-02 -2.70120254e+01] [-3.15236507e-02 -5.03348943e-04 9.99502879e-01 -3.51516950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01105275399999 meters Centerline goodness [0,1] 0.9999768695209678 Centerline is valid? [True, True] Translation: X:81.74, Y:-27.02, Z:-3.52 [[ 8.03362133e-01 5.94952684e-01 2.53098243e-02 8.17357998e+01] [-5.94686882e-01 8.03760373e-01 -1.77981860e-02 -2.70247904e+01] [-3.09321123e-02 -7.53031785e-04 9.99521204e-01 -3.51929137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.76, Y:-27.04, Z:-3.52 [[ 8.01898362e-01 5.96954838e-01 2.45751802e-02 8.17625139e+01] [-5.96704944e-01 8.02274443e-01 -1.72895072e-02 -2.70414689e+01] [-3.00370940e-02 -7.99704064e-04 9.99548465e-01 -3.52226642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.79, Y:-27.06, Z:-3.52 [[ 8.01752633e-01 5.97177006e-01 2.39235984e-02 8.17882724e+01] [-5.96940073e-01 8.02109104e-01 -1.68385034e-02 -2.70593787e+01] [-2.92449031e-02 -7.80640091e-04 9.99571972e-01 -3.52487317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.81, Y:-27.08, Z:-3.52 [[ 8.02757080e-01 5.95776201e-01 2.51354117e-02 8.18119997e+01] [-5.95513632e-01 8.03150138e-01 -1.77022573e-02 -2.70801132e+01] [-3.07340929e-02 -7.57867949e-04 9.99527309e-01 -3.52211483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.84, Y:-27.10, Z:-3.52 [[ 8.03590137e-01 5.94614607e-01 2.60069293e-02 8.18352902e+01] [-5.94332623e-01 8.04010532e-01 -1.83247993e-02 -2.71032170e+01] [-3.18060384e-02 -7.31138571e-04 9.99493793e-01 -3.51938918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.161052754 meters Centerline goodness [0,1] 0.9999767149443487 Centerline is valid? [True, True] Translation: X:81.86, Y:-27.12, Z:-3.52 [[ 8.04538398e-01 5.93230473e-01 2.82058831e-02 8.18598888e+01] [-5.92897526e-01 8.05032348e-01 -1.98857408e-02 -2.71220647e+01] [-3.45034757e-02 -7.24356324e-04 9.99404315e-01 -3.51784831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.191052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.89, Y:-27.14, Z:-3.52 [[ 8.04529267e-01 5.93232484e-01 2.84232039e-02 8.18868204e+01] [-5.92894054e-01 8.05030868e-01 -2.00485043e-02 -2.71409318e+01] [-3.47749805e-02 -7.22340108e-04 9.99394906e-01 -3.51968233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.91, Y:-27.16, Z:-3.52 [[ 8.04494788e-01 5.93371540e-01 2.64263575e-02 8.19131165e+01] [-5.93078751e-01 8.04928424e-01 -1.86501366e-02 -2.71592744e+01] [-3.23377866e-02 -6.68973369e-04 9.99476773e-01 -3.52400998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.94, Y:-27.18, Z:-3.53 [[ 8.04962434e-01 5.92836033e-01 2.41022298e-02 8.19387587e+01] [-5.92592014e-01 8.05322977e-01 -1.70178682e-02 -2.71796788e+01] [-2.94988849e-02 -5.84044297e-04 9.99564643e-01 -3.52913805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.96, Y:-27.20, Z:-3.53 [[ 8.05244036e-01 5.92487190e-01 2.32588163e-02 8.19648963e+01] [-5.92259544e-01 8.05579688e-01 -1.64316097e-02 -2.71984907e+01] [-2.84723482e-02 -5.43800256e-04 9.99594433e-01 -3.53186584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.99, Y:-27.22, Z:-3.53 [[ 8.05529937e-01 5.92114921e-01 2.28350927e-02 8.19903893e+01] [-5.91895120e-01 8.05853371e-01 -1.61403598e-02 -2.72198284e+01] [-2.79586843e-02 -5.14436886e-04 9.99608947e-01 -3.53260513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:-27.24, Z:-3.53 [[ 8.05949555e-01 5.91559975e-01 2.24078276e-02 8.20145999e+01] [-5.91347836e-01 8.06260855e-01 -1.58483337e-02 -2.72392745e+01] [-2.74417942e-02 -4.77862859e-04 9.99623289e-01 -3.53274104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.04, Y:-27.26, Z:-3.53 [[ 8.05684328e-01 5.91939043e-01 2.19301652e-02 8.20405089e+01] [-5.91735810e-01 8.05982595e-01 -1.55173384e-02 -2.72576869e+01] [-2.68606499e-02 -4.74787660e-04 9.99639075e-01 -3.53323200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.07, Y:-27.27, Z:-3.53 [[ 8.04652244e-01 5.93370967e-01 2.11106983e-02 8.20679979e+01] [-5.93182879e-01 8.04928972e-01 -1.49472851e-02 -2.72745507e+01] [-2.58618978e-02 -4.95138275e-04 9.99665403e-01 -3.53410837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.10, Y:-27.29, Z:-3.54 [[ 8.03619637e-01 5.94776423e-01 2.08922378e-02 8.20961698e+01] [-5.94592630e-01 8.03890989e-01 -1.47946430e-02 -2.72906666e+01] [-2.55945866e-02 -5.33104996e-04 9.99672263e-01 -3.53895389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.12, Y:-27.31, Z:-3.54 [[ 8.03486485e-01 5.94968094e-01 2.05532607e-02 8.21231003e+01] [-5.94790098e-01 8.03749148e-01 -1.45618316e-02 -2.73067978e+01] [-2.51834910e-02 -5.24641060e-04 9.99682708e-01 -3.54259638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.15, Y:-27.33, Z:-3.54 [[ 8.04123574e-01 5.94094505e-01 2.09044755e-02 8.21474273e+01] [-5.93909791e-01 8.04395097e-01 -1.48219063e-02 -2.73291084e+01] [-2.56210707e-02 -4.96728395e-04 9.99671603e-01 -3.54053839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.17, Y:-27.35, Z:-3.54 [[ 8.04672282e-01 5.93339573e-01 2.12289645e-02 8.21722093e+01] [-5.93148807e-01 8.04952123e-01 -1.50522967e-02 -2.73502466e+01] [-2.60194234e-02 -4.79769025e-04 9.99661322e-01 -3.53887458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.551052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:-27.37, Z:-3.54 [[ 8.05891212e-01 5.91672292e-01 2.15233045e-02 8.21958018e+01] [-5.91475384e-01 8.06178465e-01 -1.52693190e-02 -2.73709741e+01] [-2.63860576e-02 -4.25094844e-04 9.99651737e-01 -3.53725052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.581052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.22, Y:-27.39, Z:-3.54 [[ 8.06450860e-01 5.90915738e-01 2.13448142e-02 8.22208939e+01] [-5.90721638e-01 8.06733189e-01 -1.51495627e-02 -2.73905850e+01] [-2.61716850e-02 -3.91465728e-04 9.99657386e-01 -3.53796833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.25, Y:-27.41, Z:-3.54 [[ 8.06576413e-01 5.90764034e-01 2.07929100e-02 8.22474993e+01] [-5.90579576e-01 8.06844297e-01 -1.47663630e-02 -2.74082441e+01] [-2.55000770e-02 -3.69667810e-04 9.99674752e-01 -3.54092848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.27, Y:-27.42, Z:-3.54 [[ 8.06101477e-01 5.91437157e-01 2.00623400e-02 8.22735648e+01] [-5.91265540e-01 8.06351009e-01 -1.42517240e-02 -2.74248033e+01] [-2.46062872e-02 -3.73834513e-04 9.99697150e-01 -3.54403861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.30, Y:-27.44, Z:-3.55 [[ 8.05302109e-01 5.92556632e-01 1.91089421e-02 8.23004558e+01] [-5.92401126e-01 8.05528702e-01 -1.35799607e-02 -2.74421774e+01] [-2.34396971e-02 -3.84187847e-04 9.99725179e-01 -3.54649743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.33, Y:-27.46, Z:-3.55 [[ 8.04892130e-01 5.93109633e-01 1.92255677e-02 8.23263051e+01] [-5.92952230e-01 8.05121609e-01 -1.36692389e-02 -2.74617900e+01] [-2.35862773e-02 -3.97580417e-04 9.99721726e-01 -3.54596945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.73105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.35, Y:-27.48, Z:-3.54 [[ 8.03925544e-01 5.94390803e-01 2.00821684e-02 8.23528325e+01] [-5.94219261e-01 8.04176207e-01 -1.42862748e-02 -2.74806343e+01] [-2.46412324e-02 -4.48110059e-04 9.99696258e-01 -3.54347456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.38, Y:-27.50, Z:-3.54 [[ 8.03459250e-01 5.94990556e-01 2.09636161e-02 8.23808635e+01] [-5.94803527e-01 8.03732549e-01 -1.49249469e-02 -2.74987023e+01] [-2.57293430e-02 -4.77646117e-04 9.99668832e-01 -3.54433377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.41, Y:-27.51, Z:-3.54 [[ 8.02137911e-01 5.96731033e-01 2.20645852e-02 8.24078754e+01] [-5.96524423e-01 8.02441126e-01 -1.57115183e-02 -2.75145582e+01] [-2.70810812e-02 -5.59259512e-04 9.99633084e-01 -3.54463591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.43, Y:-27.53, Z:-3.55 [[ 8.01430220e-01 5.97666811e-01 2.24495974e-02 8.24346791e+01] [-5.97453079e-01 8.01744366e-01 -1.59934242e-02 -2.75312693e+01] [-2.75575771e-02 -5.94967598e-04 9.99620041e-01 -3.54677090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.46, Y:-27.55, Z:-3.55 [[ 8.00377760e-01 5.99103428e-01 2.16915489e-02 8.24613042e+01] [-5.98904244e-01 8.00671406e-01 -1.54597916e-02 -2.75496830e+01] [-2.66298171e-02 -6.17487315e-04 9.99645173e-01 -3.54923336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.49, Y:-27.57, Z:-3.55 [[ 8.00814779e-01 5.98559110e-01 2.05592224e-02 8.24856439e+01] [-5.98379848e-01 8.01078445e-01 -1.46588799e-02 -2.75716404e+01] [-2.52437560e-02 -5.63176657e-04 9.99681167e-01 -3.54968187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.51, Y:-27.59, Z:-3.55 [[ 8.01494750e-01 5.97677165e-01 1.97020904e-02 8.25100772e+01] [-5.97512061e-01 8.01736709e-01 -1.40565418e-02 -2.75912863e+01] [-2.41971632e-02 -5.05992159e-04 9.99707078e-01 -3.55120625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.941052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.53, Y:-27.61, Z:-3.55 [[ 8.02995914e-01 5.95657994e-01 1.97260243e-02 8.25340868e+01] [-5.95491722e-01 8.03238047e-01 -1.40801059e-02 -2.76130301e+01] [-2.42316208e-02 -4.40416681e-04 9.99706274e-01 -3.55126831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.56, Y:-27.63, Z:-3.55 [[ 8.03477033e-01 5.94998112e-01 2.00475598e-02 8.25599890e+01] [-5.94825982e-01 8.03726987e-01 -1.43171726e-02 -2.76324595e+01] [-2.46314554e-02 -4.21290107e-04 9.99696511e-01 -3.55236058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.59, Y:-27.65, Z:-3.55 [[ 8.03675514e-01 5.94711230e-01 2.05966348e-02 8.25855069e+01] [-5.94529237e-01 8.03939288e-01 -1.47175891e-02 -2.76500816e+01] [-2.53111595e-02 -4.17135606e-04 9.99679534e-01 -3.55435321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.61, Y:-27.67, Z:-3.56 [[ 8.03763488e-01 5.94585152e-01 2.08027091e-02 8.26107964e+01] [-5.94399279e-01 8.04032541e-01 -1.48717934e-02 -2.76689966e+01] [-2.55686026e-02 -4.11710719e-04 9.99672985e-01 -3.55594903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.64, Y:-27.69, Z:-3.56 [[ 8.03560557e-01 5.94827513e-01 2.16947355e-02 8.26369725e+01] [-5.94625217e-01 8.03853248e-01 -1.55179728e-02 -2.76866250e+01] [-2.66699008e-02 -4.30605923e-04 9.99644202e-01 -3.55621362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.09105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.66, Y:-27.71, Z:-3.56 [[ 8.03172972e-01 5.95339921e-01 2.19899064e-02 8.26641029e+01] [-5.95132067e-01 8.03473819e-01 -1.57367068e-02 -2.77059520e+01] [-2.70370038e-02 -4.47600906e-04 9.99634333e-01 -3.55685192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.69, Y:-27.72, Z:-3.56 [[ 8.02674530e-01 5.96019848e-01 2.17701321e-02 8.26896952e+01] [-5.95816080e-01 8.02969571e-01 -1.55906079e-02 -2.77242964e+01] [-2.67730654e-02 -4.56810868e-04 9.99641433e-01 -3.55775389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.71, Y:-27.74, Z:-3.56 [[ 8.02928386e-01 5.95714328e-01 2.07471851e-02 8.27149779e+01] [-5.95529114e-01 8.03196277e-01 -1.48598735e-02 -2.77438208e+01] [-2.55163014e-02 -4.24138518e-04 9.99674316e-01 -3.55936055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.74, Y:-27.76, Z:-3.56 [[ 8.03979451e-01 5.94327054e-01 1.98089980e-02 8.27398432e+01] [-5.94157610e-01 8.04223368e-01 -1.41953631e-02 -2.77637848e+01] [-2.43675474e-02 -3.56886737e-04 9.99703004e-01 -3.56221616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.77, Y:-27.78, Z:-3.57 [[ 8.04387182e-01 5.93790821e-01 1.93319045e-02 8.27660619e+01] [-5.93629099e-01 8.04619385e-01 -1.38614000e-02 -2.77824766e+01] [-2.37855972e-02 -3.26048581e-04 9.99717029e-01 -3.56519667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.79, Y:-27.80, Z:-3.57 [[ 8.04784347e-01 5.93275360e-01 1.86145589e-02 8.27921227e+01] [-5.93125229e-01 8.04999539e-01 -1.33493318e-02 -2.78019929e+01] [-2.29045409e-02 -2.97431269e-04 9.99737612e-01 -3.56803856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.82, Y:-27.82, Z:-3.57 [[ 8.05049948e-01 5.92950288e-01 1.74510159e-02 8.28178066e+01] [-5.92818099e-01 8.05239025e-01 -1.25225883e-02 -2.78191640e+01] [-2.14775113e-02 -2.63969017e-04 9.99769297e-01 -3.57156062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.301052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.84, Y:-27.84, Z:-3.57 [[ 8.04607154e-01 5.93547984e-01 1.75532916e-02 8.28442609e+01] [-5.93414274e-01 8.04798554e-01 -1.26010307e-02 -2.78382765e+01] [-2.16061801e-02 -2.77494376e-04 9.99766521e-01 -3.57194350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.331052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.87, Y:-27.86, Z:-3.57 [[ 8.03361865e-01 5.95253964e-01 1.68057085e-02 8.28707013e+01] [-5.95131629e-01 8.03537570e-01 -1.20713616e-02 -2.78570488e+01] [-2.06895440e-02 -3.03937138e-04 9.99785902e-01 -3.56960386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.90, Y:-27.88, Z:-3.57 [[ 8.02741625e-01 5.96079826e-01 1.71675372e-02 8.28975120e+01] [-5.95952230e-01 8.02925111e-01 -1.23371621e-02 -2.78759275e+01] [-2.11381801e-02 -3.27478551e-04 9.99776510e-01 -3.56967535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.92, Y:-27.89, Z:-3.57 [[ 8.02431306e-01 5.96465767e-01 1.82369987e-02 8.29236099e+01] [-5.96321668e-01 8.02638440e-01 -1.31149912e-02 -2.78948514e+01] [-2.24603595e-02 -3.51237931e-04 9.99747673e-01 -3.56977818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.95, Y:-27.91, Z:-3.57 [[ 8.02054445e-01 5.96962843e-01 1.85480814e-02 8.29503367e+01] [-5.96813761e-01 8.02268802e-01 -1.33455725e-02 -2.79126204e+01] [-2.28473579e-02 -3.65874507e-04 9.99738898e-01 -3.57282408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.45105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.98, Y:-27.93, Z:-3.58 [[ 8.01800924e-01 5.97288748e-01 1.90113109e-02 8.29761857e+01] [-5.97132036e-01 8.02026190e-01 -1.36865967e-02 -2.79324358e+01] [-2.34224194e-02 -3.78336936e-04 9.99725586e-01 -3.57507811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.00, Y:-27.95, Z:-3.58 [[ 8.02157984e-01 5.96812842e-01 1.88944576e-02 8.30014518e+01] [-5.96657713e-01 8.02380399e-01 -1.36113091e-02 -2.79504610e+01] [-2.32839465e-02 -3.55103568e-04 9.99728829e-01 -3.57810634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.02, Y:-27.97, Z:-3.58 [[ 8.03633882e-01 5.94842549e-01 1.83009677e-02 8.30241401e+01] [-5.94696381e-01 8.03842187e-01 -1.31891326e-02 -2.79733498e+01] [-2.25565471e-02 -2.84285415e-04 9.99745528e-01 -3.57871456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:-27.99, Z:-3.58 [[ 8.04500729e-01 5.93654911e-01 1.87729818e-02 8.30481838e+01] [-5.93500565e-01 8.04719693e-01 -1.35386258e-02 -2.79926646e+01] [-2.31442598e-02 -2.49941012e-04 9.99732104e-01 -3.57984266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.571052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.07, Y:-28.01, Z:-3.58 [[ 8.05417802e-01 5.92374210e-01 1.98736012e-02 8.30723880e+01] [-5.92200765e-01 8.05662923e-01 -1.43355501e-02 -2.80115910e+01] [-2.45034338e-02 -2.23054530e-04 9.99699721e-01 -3.57966077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:-28.03, Z:-3.58 [[ 8.05348592e-01 5.92446009e-01 2.05273632e-02 8.30976603e+01] [-5.92260816e-01 8.05610126e-01 -1.48138545e-02 -2.80314412e+01] [-2.53134606e-02 -2.27236050e-04 9.99679537e-01 -3.57861083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:-28.05, Z:-3.58 [[ 8.05210112e-01 5.92621779e-01 2.08830690e-02 8.31239327e+01] [-5.92429936e-01 8.05480834e-01 -1.50796816e-02 -2.80499407e+01] [-2.57574596e-02 -2.29443106e-04 9.99668195e-01 -3.57924211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.661052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.15, Y:-28.07, Z:-3.58 [[ 8.04394365e-01 5.93720023e-01 2.11243735e-02 8.31522111e+01] [-5.93523926e-01 8.04671651e-01 -1.52605386e-02 -2.80668657e+01] [-2.60586718e-02 -2.62329833e-04 9.99660381e-01 -3.58045856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.691052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.18, Y:-28.09, Z:-3.58 [[ 8.04230158e-01 5.93942454e-01 2.11237815e-02 8.31783897e+01] [-5.93746412e-01 8.04507482e-01 -1.52613585e-02 -2.80858829e+01] [-2.60586090e-02 -2.68524705e-04 9.99660381e-01 -3.58171596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.721052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.21, Y:-28.10, Z:-3.59 [[ 8.03352123e-01 5.95082480e-01 2.24100039e-02 8.32081397e+01] [-5.94861992e-01 8.03664571e-01 -1.62008661e-02 -2.81013898e+01] [-2.76509777e-02 -3.15859413e-04 9.99617589e-01 -3.58537378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:-28.12, Z:-3.59 [[ 8.02758139e-01 5.95842330e-01 2.34795362e-02 8.32359425e+01] [-5.95600307e-01 8.03101361e-01 -1.69846470e-02 -2.81198166e+01] [-2.89766191e-02 -3.49855359e-04 9.99580028e-01 -3.58692609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.26, Y:-28.14, Z:-3.59 [[ 8.02476275e-01 5.96180161e-01 2.45161994e-02 8.32620361e+01] [-5.95916112e-01 8.02850596e-01 -1.77456487e-02 -2.81384531e+01] [-3.02624490e-02 -3.69136157e-04 9.99541919e-01 -3.58705055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.29, Y:-28.16, Z:-3.59 [[ 8.01968764e-01 5.96833200e-01 2.52236669e-02 8.32886689e+01] [-5.96553724e-01 8.02365237e-01 -1.82669585e-02 -2.81577971e+01] [-3.11409208e-02 -3.97742263e-04 9.99514925e-01 -3.58633256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.32, Y:-28.18, Z:-3.59 [[ 8.00862684e-01 5.98340771e-01 2.46431170e-02 8.33155839e+01] [-5.98074413e-01 8.01241618e-01 -1.78568196e-02 -2.81756106e+01] [-3.04295541e-02 -4.37557207e-04 9.99536818e-01 -3.58815877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.34, Y:-28.19, Z:-3.59 [[ 7.99942987e-01 5.99583349e-01 2.43109886e-02 8.33418435e+01] [-5.99324432e-01 8.00312180e-01 -1.76249936e-02 -2.81920493e+01] [-3.00240330e-02 -4.71179396e-04 9.99549066e-01 -3.59039051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.37, Y:-28.21, Z:-3.59 [[ 7.97929127e-01 6.02268103e-01 2.41296518e-02 8.33700907e+01] [-6.02014020e-01 7.98293691e-01 -1.75015216e-02 -2.82062289e+01] [-2.98031570e-02 -5.61414863e-04 9.99555630e-01 -3.59375510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.40, Y:-28.23, Z:-3.59 [[ 7.96712066e-01 6.03885270e-01 2.39262358e-02 8.33959985e+01] [-6.03635962e-01 7.97071018e-01 -1.73614029e-02 -2.82254808e+01] [-2.95552046e-02 -6.10697197e-04 9.99562963e-01 -3.59487855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.961052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.42, Y:-28.24, Z:-3.60 [[ 7.95584365e-01 6.05399270e-01 2.31784969e-02 8.34236859e+01] [-6.05165699e-01 7.95921677e-01 -1.68273966e-02 -2.82402703e+01] [-2.86355617e-02 -6.39217669e-04 9.99589714e-01 -3.59890466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.991052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.45, Y:-28.26, Z:-3.60 [[ 7.93901864e-01 6.07670513e-01 2.13630010e-02 8.34502473e+01] [-6.07472695e-01 7.94188967e-01 -1.55180417e-02 -2.82583660e+01] [-2.63961161e-02 -6.57637529e-04 9.99651346e-01 -3.60277127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.021052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.48, Y:-28.28, Z:-3.60 [[ 7.93623850e-01 6.08045591e-01 2.10176822e-02 8.34758491e+01] [-6.07854257e-01 7.93901835e-01 -1.52668835e-02 -2.82782385e+01] [-2.59689377e-02 -6.59524694e-04 9.99662533e-01 -3.60409002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.051052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.50, Y:-28.30, Z:-3.60 [[ 7.94699100e-01 6.06611665e-01 2.18089309e-02 8.35008042e+01] [-6.06404825e-01 7.94998047e-01 -1.58522481e-02 -2.82977373e+01] [-2.69542161e-02 -6.27273615e-04 9.99636472e-01 -3.60336013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.081052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.52, Y:-28.32, Z:-3.60 [[ 7.95846254e-01 6.05068801e-01 2.28141870e-02 8.35237723e+01] [-6.04841562e-01 7.96172967e-01 -1.65919023e-02 -2.83212206e+01] [-2.82032814e-02 -5.94365178e-04 9.99602032e-01 -3.60027374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.111052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.55, Y:-28.34, Z:-3.60 [[ 7.95958851e-01 6.04903569e-01 2.32632664e-02 8.35489871e+01] [-6.04666961e-01 7.96298513e-01 -1.69276656e-02 -2.83387742e+01] [-2.87641098e-02 -5.92803327e-04 9.99586052e-01 -3.60185690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.58, Y:-28.36, Z:-3.60 [[ 7.95757599e-01 6.05145145e-01 2.38578598e-02 8.35752211e+01] [-6.04896160e-01 7.96114930e-01 -1.73681917e-02 -2.83583157e+01] [-2.95038753e-02 -6.10657239e-04 9.99564479e-01 -3.60393246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.60, Y:-28.38, Z:-3.61 [[ 7.95346400e-01 6.05684598e-01 2.38803480e-02 8.36017027e+01] [-6.05435078e-01 7.95704580e-01 -1.73950175e-02 -2.83762098e+01] [-2.95375965e-02 -6.22935822e-04 9.99563476e-01 -3.60615843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.63, Y:-28.40, Z:-3.61 [[ 7.95320210e-01 6.05722605e-01 2.37884205e-02 8.36278593e+01] [-6.05474747e-01 7.95675655e-01 -1.73373140e-02 -2.83966518e+01] [-2.94294701e-02 -6.14571702e-04 9.99566670e-01 -3.60772466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.23105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.65, Y:-28.42, Z:-3.61 [[ 7.97412174e-01 6.02961033e-01 2.39127200e-02 8.36511246e+01] [-6.02708988e-01 7.97770479e-01 -1.74395875e-02 -2.84177625e+01] [-2.95922538e-02 -5.05871899e-04 9.99561925e-01 -3.60833109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.67, Y:-28.44, Z:-3.61 [[ 7.99649250e-01 5.99917861e-01 2.56833897e-02 8.36747747e+01] [-5.99625324e-01 8.00061489e-01 -1.87372648e-02 -2.84408040e+01] [-3.17891108e-02 -4.17171106e-04 9.99494511e-01 -3.60596550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.70, Y:-28.46, Z:-3.61 [[ 8.00609405e-01 5.98596748e-01 2.65803330e-02 8.36990464e+01] [-5.98282599e-01 8.01050431e-01 -1.93942943e-02 -2.84603836e+01] [-3.29015487e-02 -3.75296298e-04 9.99458527e-01 -3.60545424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.321052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.72, Y:-28.48, Z:-3.61 [[ 8.02061773e-01 5.96616297e-01 2.73112903e-02 8.37232617e+01] [-5.96283150e-01 8.02526578e-01 -1.99373373e-02 -2.84798019e+01] [-3.38129767e-02 -2.94286121e-04 9.99428134e-01 -3.60639464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.351052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.75, Y:-28.50, Z:-3.61 [[ 8.02369026e-01 5.96230693e-01 2.67003023e-02 8.37492177e+01] [-5.95911803e-01 8.02813110e-01 -1.94995428e-02 -2.84999717e+01] [-3.30615787e-02 -2.65196171e-04 9.99453281e-01 -3.60768923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.77, Y:-28.52, Z:-3.61 [[ 8.03265650e-01 5.95051926e-01 2.60288463e-02 8.37746323e+01] [-5.94747913e-01 8.03687230e-01 -1.90198760e-02 -2.85185890e+01] [-3.22368653e-02 -2.02588950e-04 9.99480237e-01 -3.60957636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.80, Y:-28.54, Z:-3.61 [[ 8.03629254e-01 5.94578577e-01 2.56190802e-02 8.38012177e+01] [-5.94283519e-01 8.04037490e-01 -1.87300118e-02 -2.85380435e+01] [-3.17351647e-02 -1.73011697e-04 9.99496298e-01 -3.61082985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.441052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.83, Y:-28.56, Z:-3.61 [[ 8.04910374e-01 5.92810582e-01 2.63610136e-02 8.38263416e+01] [-5.92496848e-01 8.05341918e-01 -1.92842181e-02 -2.85570907e+01] [-3.26615178e-02 -9.67502497e-05 9.99466466e-01 -3.61164237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.85, Y:-28.58, Z:-3.61 [[ 8.05620795e-01 5.91822613e-01 2.68538490e-02 8.38524813e+01] [-5.91496190e-01 8.06068230e-01 -1.96536483e-02 -2.85772225e+01] [-3.32775081e-02 -5.05615978e-05 9.99446149e-01 -3.61237105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.88, Y:-28.60, Z:-3.61 [[ 8.06964832e-01 5.89954963e-01 2.75844536e-02 8.38778237e+01] [-5.89609030e-01 8.07436153e-01 -2.02002639e-02 -2.85972687e+01] [-3.41899310e-02 3.68596568e-05 9.99415353e-01 -3.61287001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.90, Y:-28.62, Z:-3.61 [[ 8.07500587e-01 5.89207826e-01 2.78736300e-02 8.39033386e+01] [-5.88853782e-01 8.07981517e-01 -2.04228151e-02 -2.86173868e+01] [-3.45546604e-02 7.79427329e-05 9.99402806e-01 -3.61281579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.93, Y:-28.64, Z:-3.61 [[ 8.08278878e-01 5.88110245e-01 2.84884977e-02 8.39287161e+01] [-5.87739303e-01 8.08780762e-01 -2.08851885e-02 -2.86383218e+01] [-3.53237421e-02 1.37246948e-04 9.99375912e-01 -3.61244801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.59105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.96, Y:-28.66, Z:-3.61 [[ 8.08390941e-01 5.87954026e-01 2.85333087e-02 8.39552543e+01] [-5.87581410e-01 8.08894332e-01 -2.09295816e-02 -2.86573027e+01] [-3.53860634e-02 1.53642416e-04 9.99373705e-01 -3.61411120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.98, Y:-28.68, Z:-3.62 [[ 8.08441041e-01 5.87858135e-01 2.90842852e-02 8.39821566e+01] [-5.87470479e-01 8.08964019e-01 -2.13460109e-02 -2.86762315e+01] [-3.60765664e-02 1.70832293e-04 9.99349014e-01 -3.61619750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.01, Y:-28.70, Z:-3.62 [[ 8.08227227e-01 5.88120738e-01 2.97110629e-02 8.40068017e+01] [-5.87715875e-01 8.08773125e-01 -2.18193151e-02 -2.86966463e+01] [-3.68619009e-02 1.73301211e-04 9.99320354e-01 -3.61641741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.03, Y:-28.72, Z:-3.62 [[ 8.07414391e-01 5.89255213e-01 2.93308068e-02 8.40335691e+01] [-5.88861128e-01 8.07946953e-01 -2.15474653e-02 -2.87158790e+01] [-3.63946922e-02 1.25961625e-04 9.99337486e-01 -3.61792833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.711052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.06, Y:-28.73, Z:-3.62 [[ 8.06709439e-01 5.90240020e-01 2.89240423e-02 8.40595022e+01] [-5.89856974e-01 8.07227793e-01 -2.12612303e-02 -2.87340052e+01] [-3.58975199e-02 9.05870620e-05 9.99355472e-01 -3.62032231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.09, Y:-28.75, Z:-3.62 [[ 8.04780172e-01 5.92941197e-01 2.73790193e-02 8.40883567e+01] [-5.92599197e-01 8.05245761e-01 -2.01359175e-02 -2.87502939e+01] [-3.39862543e-02 -1.97976741e-05 9.99422300e-01 -3.62471086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.11, Y:-28.77, Z:-3.63 [[ 8.02715675e-01 5.95794244e-01 2.60147108e-02 8.41147642e+01] [-5.95486606e-01 8.03137102e-01 -1.91441338e-02 -2.87666852e+01] [-3.22993441e-02 -1.24115528e-04 9.99478232e-01 -3.62600397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.801052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:-28.79, Z:-3.63 [[ 8.01589985e-01 5.97345143e-01 2.51450822e-02 8.41412654e+01] [-5.97058376e-01 8.01984257e-01 -1.85080413e-02 -2.87852960e+01] [-3.12216486e-02 -1.77221400e-04 9.99512470e-01 -3.62639507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.17, Y:-28.80, Z:-3.63 [[ 8.00095668e-01 5.99395658e-01 2.39116623e-02 8.41694332e+01] [-5.99137009e-01 8.00452865e-01 -1.76084180e-02 -2.88015819e+01] [-2.96945679e-02 -2.37942849e-04 9.99558991e-01 -3.62916045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.861052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.20, Y:-28.82, Z:-3.63 [[ 7.99413538e-01 6.00307953e-01 2.38402408e-02 8.41956723e+01] [-6.00050957e-01 7.99768899e-01 -1.75657871e-02 -2.88176115e+01] [-2.96115649e-02 -2.63031333e-04 9.99561447e-01 -3.63221855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.22, Y:-28.84, Z:-3.63 [[ 7.98633309e-01 6.01315094e-01 2.45966494e-02 8.42229848e+01] [-6.01041889e-01 7.99011930e-01 -1.81268886e-02 -2.88354136e+01] [-3.05529880e-02 -3.06879562e-04 9.99533101e-01 -3.63320379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.25, Y:-28.85, Z:-3.63 [[ 7.98767028e-01 6.01125400e-01 2.48895183e-02 8.42488116e+01] [-6.00845220e-01 7.99154658e-01 -1.83536049e-02 -2.88543101e+01] [-3.09233926e-02 -2.94493688e-04 9.99521714e-01 -3.63427601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.95105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.27, Y:-28.87, Z:-3.63 [[ 7.99400929e-01 6.00279678e-01 2.49491905e-02 8.42738626e+01] [-5.99997431e-01 7.99790125e-01 -1.84075853e-02 -2.88744180e+01] [-3.10038156e-02 -2.54409473e-04 9.99519234e-01 -3.63368041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.30, Y:-28.89, Z:-3.63 [[ 7.99982565e-01 5.99502826e-01 2.49851452e-02 8.42985118e+01] [-5.99219060e-01 8.00372610e-01 -1.84445959e-02 -2.88933306e+01] [-3.10550133e-02 -2.16220076e-04 9.99517653e-01 -3.63447780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.32, Y:-28.91, Z:-3.63 [[ 7.99940188e-01 5.99537972e-01 2.54934240e-02 8.43248195e+01] [-5.99242419e-01 8.00346283e-01 -1.88242354e-02 -2.89134960e+01] [-3.16894111e-02 -2.18478653e-04 9.99497741e-01 -3.63421751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.35, Y:-28.93, Z:-3.64 [[ 7.99674651e-01 5.99874545e-01 2.59033324e-02 8.43517497e+01] [-5.99569237e-01 8.00094044e-01 -1.91376846e-02 -2.89328390e+01] [-3.22053118e-02 -2.26919948e-04 9.99481249e-01 -3.63500507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.38, Y:-28.95, Z:-3.64 [[ 7.99391897e-01 6.00301623e-01 2.47094428e-02 8.43782868e+01] [-6.00023674e-01 7.99773663e-01 -1.82668929e-02 -2.89489739e+01] [-3.07276070e-02 -2.23844489e-04 9.99527771e-01 -3.64055783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.40, Y:-28.97, Z:-3.64 [[ 7.99375464e-01 6.00390995e-01 2.30113231e-02 8.44046564e+01] [-6.00149898e-01 7.99706577e-01 -1.70144337e-02 -2.89677609e+01] [-2.86176192e-02 -2.09322352e-04 9.99590410e-01 -3.64499249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.43, Y:-28.99, Z:-3.65 [[ 7.99678063e-01 6.00120969e-01 1.92306840e-02 8.44292357e+01] [-5.99952396e-01 7.99909243e-01 -1.42241500e-02 -2.89888573e+01] [-2.39190126e-02 -1.62754261e-04 9.99713886e-01 -3.64802659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.45, Y:-29.01, Z:-3.65 [[ 8.00241757e-01 5.99384495e-01 1.87445185e-02 8.44537528e+01] [-5.99223952e-01 8.00461248e-01 -1.38724436e-02 -2.90093474e+01] [-2.33191883e-02 -1.30855829e-04 9.99728062e-01 -3.64782122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.191052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.48, Y:-29.03, Z:-3.65 [[ 8.01702246e-01 5.97407874e-01 1.94252883e-02 8.44783192e+01] [-5.97234775e-01 8.01937546e-01 -1.43804078e-02 -2.90300636e+01] [-2.41688369e-02 -7.26524853e-05 9.99707888e-01 -3.64648015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.50, Y:-29.05, Z:-3.65 [[ 8.02810443e-01 5.95909794e-01 1.96700080e-02 8.45047806e+01] [-5.95731695e-01 8.03051378e-01 -1.45681723e-02 -2.90501515e+01] [-2.44773436e-02 -2.25663658e-05 9.99700385e-01 -3.64703085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.53, Y:-29.07, Z:-3.65 [[ 8.04682983e-01 5.93384527e-01 1.94961426e-02 8.45294496e+01] [-5.93208616e-01 8.04919126e-01 -1.44477956e-02 -2.90699496e+01] [-2.42659164e-02 6.06155114e-05 9.99705537e-01 -3.65050335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.55, Y:-29.09, Z:-3.65 [[ 8.05957778e-01 5.91628225e-01 2.02015667e-02 8.45548916e+01] [-5.91438593e-01 8.06210908e-01 -1.49787375e-02 -2.90914081e+01] [-2.51485673e-02 1.24243805e-04 9.99683717e-01 -3.65063037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.58, Y:-29.11, Z:-3.65 [[ 8.05837817e-01 5.91767548e-01 2.08945552e-02 8.45802385e+01] [-5.91564478e-01 8.06108648e-01 -1.55021421e-02 -2.91118372e+01] [-2.60169462e-02 1.31735753e-04 9.99661493e-01 -3.64942661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.61, Y:-29.13, Z:-3.65 [[ 8.05616598e-01 5.92010835e-01 2.24737463e-02 8.46054541e+01] [-5.91775741e-01 8.05929992e-01 -1.66829193e-02 -2.91315743e+01] [-2.79887352e-02 1.40618769e-04 9.99608229e-01 -3.64569513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.63, Y:-29.15, Z:-3.65 [[ 8.04940118e-01 5.92897084e-01 2.33335347e-02 8.46309644e+01] [-5.92643761e-01 8.05278233e-01 -1.73303187e-02 -2.91489219e+01] [-2.90650830e-02 1.21395069e-04 9.99577514e-01 -3.64593484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.66, Y:-29.17, Z:-3.65 [[ 8.04197800e-01 5.93886500e-01 2.37639389e-02 8.46583409e+01] [-5.93623887e-01 8.04548828e-01 -1.76596948e-02 -2.91667524e+01] [-2.96071035e-02 9.50459216e-05 9.99561609e-01 -3.64673634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.69, Y:-29.18, Z:-3.65 [[ 8.02351703e-01 5.96426000e-01 2.25337795e-02 8.46852699e+01] [-5.96190817e-01 8.02668067e-01 -1.67476543e-02 -2.91828111e+01] [-2.80758817e-02 3.07653837e-06 9.99605795e-01 -3.65097315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.71, Y:-29.20, Z:-3.65 [[ 8.01350066e-01 5.97801661e-01 2.17081914e-02 8.47116026e+01] [-5.97583832e-01 8.01644044e-01 -1.61366469e-02 -2.92010908e+01] [-2.70487567e-02 -4.13611166e-05 9.99634115e-01 -3.65418984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.491052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.74, Y:-29.22, Z:-3.65 [[ 8.01487992e-01 5.97615189e-01 2.17505195e-02 8.47382036e+01] [-5.97396240e-01 8.01783066e-01 -1.61755175e-02 -2.92210823e+01] [-2.71059332e-02 -2.91955217e-05 9.99632566e-01 -3.65490926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.76, Y:-29.24, Z:-3.66 [[ 8.02542970e-01 5.96185005e-01 2.20957267e-02 8.47644147e+01] [-5.95958249e-01 8.02847083e-01 -1.64415850e-02 -2.92411775e+01] [-2.75417162e-02 2.69478941e-05 9.99620655e-01 -3.65528267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.551052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.79, Y:-29.26, Z:-3.66 [[ 8.03406454e-01 5.95027505e-01 2.19166380e-02 8.47892892e+01] [-5.94803715e-01 8.03705334e-01 -1.63180143e-02 -2.92606341e+01] [-2.73241862e-02 7.39003301e-05 9.99626622e-01 -3.65624066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.581052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.81, Y:-29.28, Z:-3.65 [[ 8.05607884e-01 5.92022572e-01 2.24769138e-02 8.48147827e+01] [-5.91785752e-01 8.05921360e-01 -1.67447147e-02 -2.92809482e+01] [-2.80278740e-02 1.88156851e-04 9.99607124e-01 -3.65441468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.611052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.84, Y:-29.30, Z:-3.66 [[ 8.05444236e-01 5.92245341e-01 2.24730738e-02 8.48406898e+01] [-5.92008463e-01 8.05757669e-01 -1.67498664e-02 -2.93003354e+01] [-2.80278819e-02 1.86833448e-04 9.99607124e-01 -3.65567452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.87, Y:-29.32, Z:-3.66 [[ 8.06543114e-01 5.90703535e-01 2.36122612e-02 8.48667439e+01] [-5.90441047e-01 8.06888633e-01 -1.76097809e-02 -2.93199808e+01] [-2.94546250e-02 2.61399263e-04 9.99566084e-01 -3.65556573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67105275399999 meters Centerline goodness [0,1] 0.9999771585198721 Centerline is valid? [True, True] Translation: X:84.89, Y:-29.34, Z:-3.66 [[ 8.07885705e-01 5.88823606e-01 2.46464998e-02 8.48920551e+01] [-5.88536378e-01 8.08261490e-01 -1.83928149e-02 -2.93388181e+01] [-3.07509402e-02 3.53930511e-04 9.99527015e-01 -3.65637445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.92, Y:-29.36, Z:-3.66 [[ 8.11260373e-01 5.84119348e-01 2.57137018e-02 8.49182586e+01] [-5.83804032e-01 8.11667586e-01 -1.91984794e-02 -2.93579174e+01] [-3.20851815e-02 5.63202740e-04 9.99484979e-01 -3.65640790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.73105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.94, Y:-29.37, Z:-3.66 [[ 8.14737398e-01 5.79222445e-01 2.65392529e-02 8.49444832e+01] [-5.78883597e-01 8.15169146e-01 -1.98253701e-02 -2.93735857e+01] [-3.31172795e-02 7.89332266e-04 9.99451161e-01 -3.65848345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.97, Y:-29.39, Z:-3.66 [[ 8.16332598e-01 5.76964425e-01 2.67047022e-02 8.49717401e+01] [-5.76619848e-01 8.16768788e-01 -1.99573681e-02 -2.93908585e+01] [-3.33262587e-02 8.93388808e-04 9.99444127e-01 -3.65970514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-29.41, Z:-3.66 [[ 8.20101098e-01 5.71591895e-01 2.67748973e-02 8.49988072e+01] [-5.71242288e-01 8.20537289e-01 -2.00201332e-02 -2.94085812e+01] [-3.34131476e-02 1.12357961e-03 9.99440993e-01 -3.66036515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.02, Y:-29.43, Z:-3.66 [[ 8.22199467e-01 5.68563779e-01 2.68936154e-02 8.50240329e+01] [-5.68209369e-01 8.22638230e-01 -2.01110931e-02 -2.94264895e+01] [-3.35581552e-02 1.25412581e-03 9.99435980e-01 -3.66166555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.06, Y:-29.44, Z:-3.67 [[ 8.25570227e-01 5.63577454e-01 2.85351316e-02 8.50555649e+01] [-5.63175083e-01 8.26061763e-01 -2.13492334e-02 -2.94380769e+01] [-3.56037277e-02 1.55501633e-03 9.99364776e-01 -3.66536241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.08, Y:-29.46, Z:-3.67 [[ 8.26381299e-01 5.62361754e-01 2.90380180e-02 8.50807085e+01] [-5.61944162e-01 8.26889696e-01 -2.17299133e-02 -2.94568588e+01] [-3.62313100e-02 1.63944928e-03 9.99342086e-01 -3.66786366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.11, Y:-29.47, Z:-3.67 [[ 8.26771990e-01 5.61779412e-01 2.91885000e-02 8.51123022e+01] [-5.61356747e-01 8.27285358e-01 -2.18526750e-02 -2.94684799e+01] [-3.64236016e-02 1.68201821e-03 9.99335025e-01 -3.66976813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.941052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.14, Y:-29.48, Z:-3.67 [[ 8.26239748e-01 5.62558698e-01 2.92504861e-02 8.51418759e+01] [-5.62134335e-01 8.26755681e-01 -2.19096629e-02 -2.94826973e+01] [-3.65084770e-02 1.65993184e-03 9.99331965e-01 -3.67078556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.971052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.17, Y:-29.49, Z:-3.67 [[ 8.24115790e-01 5.65675024e-01 2.90676955e-02 8.51732571e+01] [-5.65257484e-01 8.24626856e-01 -2.17836067e-02 -2.94911797e+01] [-3.62924446e-02 1.52148185e-03 9.99340054e-01 -3.67175894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.20, Y:-29.50, Z:-3.67 [[ 8.23007203e-01 5.67298467e-01 2.88373662e-02 8.52043020e+01] [-5.66888281e-01 8.23510999e-01 -2.16174117e-02 -2.95033509e+01] [-3.60114128e-02 1.44372062e-03 9.99350336e-01 -3.67380651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.24, Y:-29.51, Z:-3.68 [[ 8.21158082e-01 5.70050235e-01 2.72421394e-02 8.52377726e+01] [-5.69685363e-01 8.21608878e-01 -2.04313253e-02 -2.95107792e+01] [-3.40292654e-02 1.25789982e-03 9.99420045e-01 -3.67865512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.26, Y:-29.53, Z:-3.68 [[ 8.20324958e-01 5.71304971e-01 2.60306166e-02 8.52635872e+01] [-5.70972240e-01 8.20737040e-01 -1.95297760e-02 -2.95277269e+01] [-3.25217493e-02 1.15800326e-03 9.99470357e-01 -3.68262848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.30, Y:-29.53, Z:-3.68 [[ 8.19356298e-01 5.72728484e-01 2.52455976e-02 8.52992359e+01] [-5.72416024e-01 8.19744431e-01 -1.89463055e-02 -2.95344576e+01] [-3.15460269e-02 1.07279014e-03 9.99501725e-01 -3.68363253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.33, Y:-29.55, Z:-3.68 [[ 8.18954530e-01 5.73276286e-01 2.58413969e-02 8.53278895e+01] [-5.72949099e-01 8.19361420e-01 -1.93957217e-02 -2.95493096e+01] [-3.22925510e-02 1.07840910e-03 9.99477878e-01 -3.68407729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:-29.56, Z:-3.69 [[ 8.18593364e-01 5.73765953e-01 2.64108932e-02 8.53629760e+01] [-5.73424103e-01 8.19018585e-01 -1.98331991e-02 -2.95560350e+01] [-3.30106267e-02 1.09068244e-03 9.99454406e-01 -3.68667999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.39, Y:-29.57, Z:-3.69 [[ 8.17940529e-01 5.74758436e-01 2.50206129e-02 8.53934433e+01] [-5.74451823e-01 8.18322513e-01 -1.87981006e-02 -2.95671048e+01] [-3.12792977e-02 1.00259165e-03 9.99510180e-01 -3.69098777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.43, Y:-29.57, Z:-3.70 [[ 8.15722037e-01 5.77994365e-01 2.28050943e-02 8.54289551e+01] [-5.77740658e-01 8.16040355e-01 -1.71426594e-02 -2.95725520e+01] [-2.85182378e-02 8.08214832e-04 9.99592946e-01 -3.69655409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.46, Y:-29.59, Z:-3.70 [[ 8.14476788e-01 5.79746020e-01 2.28498179e-02 8.54581930e+01] [-5.79492019e-01 8.14796903e-01 -1.71757484e-02 -2.95864298e+01] [-2.85755326e-02 7.47961263e-04 9.99591356e-01 -3.69739825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.49, Y:-29.59, Z:-3.70 [[ 8.12904253e-01 5.81880894e-01 2.45214210e-02 8.54900589e+01] [-5.81588970e-01 8.13273687e-01 -1.84439909e-02 -2.95940244e+01] [-3.06748324e-02 7.31810717e-04 9.99529149e-01 -3.69625209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.301052754 meters Centerline goodness [0,1] 0.9999792160285987 Centerline is valid? [True, True] Translation: X:85.52, Y:-29.61, Z:-3.70 [[ 8.12024248e-01 5.83070787e-01 2.53983731e-02 8.55199149e+01] [-5.82758156e-01 8.12421042e-01 -1.91044743e-02 -2.96069574e+01] [-3.17734336e-02 7.12187307e-04 9.99494843e-01 -3.69662978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.331052754 meters Centerline goodness [0,1] 0.9999792255276716 Centerline is valid? [True, True] Translation: X:85.56, Y:-29.61, Z:-3.70 [[ 8.11923770e-01 5.83215484e-01 2.52881499e-02 8.55566215e+01] [-5.82905353e-01 8.12317176e-01 -1.90303889e-02 -2.96131414e+01] [-3.16408160e-02 7.10627200e-04 9.99499051e-01 -3.69903800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.361052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.59, Y:-29.62, Z:-3.70 [[ 8.11889889e-01 5.83269862e-01 2.51212184e-02 8.55917333e+01] [-5.82963513e-01 8.12278130e-01 -1.89151127e-02 -2.96202795e+01] [-3.14380314e-02 7.12235006e-04 9.99505449e-01 -3.70109815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39105275399999 meters Centerline goodness [0,1] 0.9999584035273809 Centerline is valid? [True, True] Translation: X:85.62, Y:-29.63, Z:-3.70 [[ 8.11236179e-01 5.84178596e-01 2.51243127e-02 8.56212568e+01] [-5.83872300e-01 8.11624851e-01 -1.89271733e-02 -2.96344234e+01] [-3.14483661e-02 6.85017466e-04 9.99505143e-01 -3.70213959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42105275399999 meters Centerline goodness [0,1] 0.9999792047912162 Centerline is valid? [True, True] Translation: X:85.66, Y:-29.64, Z:-3.70 [[ 8.09046109e-01 5.87281140e-01 2.33507162e-02 8.56554448e+01] [-5.87017643e-01 8.09382840e-01 -1.75984692e-02 -2.96427689e+01] [-2.92349181e-02 5.30690621e-04 9.99572428e-01 -3.70167411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.45105275399999 meters Centerline goodness [0,1] 0.9999791957059937 Centerline is valid? [True, True] Translation: X:85.68, Y:-29.66, Z:-3.70 [[ 8.07140087e-01 5.89951814e-01 2.19484853e-02 8.56846730e+01] [-5.89719767e-01 8.07438347e-01 -1.65502751e-02 -2.96553439e+01] [-2.74859135e-02 4.14934830e-04 9.99622105e-01 -3.70393325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48105275399999 meters Centerline goodness [0,1] 0.9998540997957397 Centerline is valid? [True, True] Translation: X:85.72, Y:-29.67, Z:-3.71 [[ 8.04955541e-01 5.92992568e-01 2.01591386e-02 8.57170289e+01] [-5.92797720e-01 8.05207881e-01 -1.52029918e-02 -2.96655622e+01] [-2.52475585e-02 2.87441125e-04 9.99681188e-01 -3.70628896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51105275399999 meters Centerline goodness [0,1] 0.9998545575432691 Centerline is valid? [True, True] Translation: X:85.76, Y:-29.66, Z:-3.71 [[ 8.00252396e-01 5.99374334e-01 1.86147837e-02 8.57565188e+01] [-5.99209737e-01 8.00468863e-01 -1.40460020e-02 -2.96647771e+01] [-2.33193678e-02 8.61871344e-05 9.99728063e-01 -3.71057812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54105275399999 meters Centerline goodness [0,1] 0.9999165832499166 Centerline is valid? [True, True] Translation: X:85.79, Y:-29.67, Z:-3.71 [[ 7.95994577e-01 6.05014621e-01 1.87067105e-02 8.57943529e+01] [-6.04849922e-01 7.96214357e-01 -1.41163176e-02 -2.96695478e+01] [-2.34351300e-02 -7.82400728e-05 9.99725357e-01 -3.70930234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.571052754 meters Centerline goodness [0,1] 0.9997706374194625 Centerline is valid? [True, True] Translation: X:85.82, Y:-29.68, Z:-3.71 [[ 7.94905065e-01 6.06456804e-01 1.83325709e-02 8.58230089e+01] [-6.06298807e-01 7.95116427e-01 -1.38428460e-02 -2.96832027e+01] [-2.29716164e-02 -1.11267505e-04 9.99736111e-01 -3.71010184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.601052754 meters Centerline goodness [0,1] 0.999854121079504 Centerline is valid? [True, True] Translation: X:85.85, Y:-29.70, Z:-3.71 [[ 7.94146822e-01 6.07444680e-01 1.84874515e-02 8.58521869e+01] [-6.07284137e-01 7.94361972e-01 -1.39654721e-02 -2.96986992e+01] [-2.31689802e-02 -1.36500693e-04 9.99731554e-01 -3.71053539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.631052754 meters Centerline goodness [0,1] 0.9997705656599366 Centerline is valid? [True, True] Translation: X:85.88, Y:-29.71, Z:-3.71 [[ 7.94499084e-01 6.06957468e-01 1.93348801e-02 8.58847486e+01] [-6.06781492e-01 7.94734306e-01 -1.46151931e-02 -2.97096020e+01] [-2.42368931e-02 -1.20289840e-04 9.99706236e-01 -3.70905490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.661052754 meters Centerline goodness [0,1] 0.9997496401076548 Centerline is valid? [True, True] Translation: X:85.92, Y:-29.72, Z:-3.71 [[ 7.94770762e-01 6.06552031e-01 2.08343590e-02 8.59198536e+01] [-6.06347327e-01 7.95043786e-01 -1.57574495e-02 -2.97163576e+01] [-2.61219407e-02 -1.09297768e-04 9.99658758e-01 -3.70822875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.691052754 meters Centerline goodness [0,1] 0.9998957290623958 Centerline is valid? [True, True] Translation: X:85.95, Y:-29.73, Z:-3.71 [[ 7.94484059e-01 6.06928952e-01 2.07925065e-02 8.59512670e+01] [-6.06725007e-01 7.94756085e-01 -1.57331496e-02 -2.97291407e+01] [-2.60738751e-02 -1.15597134e-04 9.99660012e-01 -3.70933648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.721052754 meters Centerline goodness [0,1] 0.9998538957650643 Centerline is valid? [True, True] Translation: X:85.99, Y:-29.74, Z:-3.71 [[ 7.93201966e-01 6.08689589e-01 1.81004037e-02 8.59862624e+01] [-6.08535346e-01 7.93408446e-01 -1.37029443e-02 -2.97365255e+01] [-2.27018527e-02 -1.45533056e-04 9.99742269e-01 -3.71337630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75105275399999 meters Centerline goodness [0,1] 0.9998120654012403 Centerline is valid? [True, True] Translation: X:86.01, Y:-29.75, Z:-3.72 [[ 7.92194705e-01 6.10053013e-01 1.62132817e-02 8.60145484e+01] [-6.09929314e-01 7.92360585e-01 -1.22855626e-02 -2.97487923e+01] [-2.03416099e-02 -1.56398141e-04 9.99793076e-01 -3.71606341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78105275399999 meters Centerline goodness [0,1] 0.999790733687691 Centerline is valid? [True, True] Translation: X:86.04, Y:-29.76, Z:-3.72 [[ 7.90722394e-01 6.11989751e-01 1.50546089e-02 8.60423284e+01] [-6.11883449e-01 7.90865670e-01 -1.14077365e-02 -2.97601156e+01] [-1.88875912e-02 -1.91313284e-04 9.99821595e-01 -3.71872061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81105275399999 meters Centerline goodness [0,1] 0.999497718806245 Centerline is valid? [True, True] Translation: X:86.07, Y:-29.76, Z:-3.72 [[ 7.87178323e-01 6.16539544e-01 1.51419338e-02 8.60740952e+01] [-6.16432859e-01 7.87323884e-01 -1.14730894e-02 -2.97632438e+01] [-1.89952194e-02 -3.02618287e-04 9.99819529e-01 -3.72125928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84105275399999 meters Centerline goodness [0,1] 0.9995813622472475 Centerline is valid? [True, True] Translation: X:86.10, Y:-29.77, Z:-3.72 [[ 7.85950225e-01 6.18096049e-01 1.54763929e-02 8.61014715e+01] [-6.17984965e-01 7.86102507e-01 -1.17231380e-02 -2.97744624e+01] [-1.94120565e-02 -3.50375156e-04 9.99811507e-01 -3.72066044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87105275399999 meters Centerline goodness [0,1] 0.9994352645889981 Centerline is valid? [True, True] Translation: X:86.13, Y:-29.78, Z:-3.72 [[ 7.84736205e-01 6.19592098e-01 1.71674377e-02 8.61320532e+01] [-6.19455791e-01 7.84923848e-01 -1.30029419e-02 -2.97783972e+01] [-2.15316513e-02 -4.30589421e-04 9.99768074e-01 -3.71962260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90105275399999 meters Centerline goodness [0,1] 0.9998953142665717 Centerline is valid? [True, True] Translation: X:86.16, Y:-29.79, Z:-3.72 [[ 7.84811320e-01 6.19467794e-01 1.81891053e-02 8.61606099e+01] [-6.19314776e-01 7.85021940e-01 -1.37754376e-02 -2.97892536e+01] [-2.28122867e-02 -4.53662317e-04 9.99739663e-01 -3.71781989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93105275399999 meters Centerline goodness [0,1] 0.9995616598480421 Centerline is valid? [True, True] Translation: X:86.19, Y:-29.80, Z:-3.72 [[ 7.85328985e-01 6.18808907e-01 1.82735178e-02 8.61860190e+01] [-6.18654521e-01 7.85541430e-01 -1.38291664e-02 -2.98019160e+01] [-2.29122166e-02 -4.44549133e-04 9.99737382e-01 -3.71956602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.961052754 meters Centerline goodness [0,1] 0.9997698841052676 Centerline is valid? [True, True] Translation: X:86.21, Y:-29.82, Z:-3.72 [[ 7.85010895e-01 6.19220775e-01 1.79868694e-02 8.62111756e+01] [-6.19071284e-01 7.85216805e-01 -1.36130154e-02 -2.98171468e+01] [-2.25530541e-02 -4.48788963e-04 9.99745547e-01 -3.71990182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.991052754 meters Centerline goodness [0,1] 0.9999371530323662 Centerline is valid? [True, True] Translation: X:86.24, Y:-29.83, Z:-3.72 [[ 7.84239283e-01 6.20228954e-01 1.68757478e-02 8.62394599e+01] [-6.20097716e-01 7.84420703e-01 -1.27664720e-02 -2.98269548e+01] [-2.11558216e-02 -4.52643828e-04 9.99776088e-01 -3.72118903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.021052754 meters Centerline goodness [0,1] 0.9999581230762788 Centerline is valid? [True, True] Translation: X:86.27, Y:-29.84, Z:-3.72 [[ 7.83675925e-01 6.20972361e-01 1.56643590e-02 8.62660130e+01] [-6.20859594e-01 7.83832335e-01 -1.18421149e-02 -2.98381287e+01] [-1.96318571e-02 -4.44987164e-04 9.99807177e-01 -3.72429940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.051052754 meters Centerline goodness [0,1] 0.9998954237429933 Centerline is valid? [True, True] Translation: X:86.30, Y:-29.85, Z:-3.73 [[ 7.82044595e-01 6.23080284e-01 1.33120891e-02 8.62953667e+01] [-6.22999214e-01 7.82157771e-01 -1.00598427e-02 -2.98465524e+01] [-1.66802436e-02 -4.26175434e-04 9.99860784e-01 -3.73066354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.081052754 meters Centerline goodness [0,1] 0.9999371372294281 Centerline is valid? [True, True] Translation: X:86.32, Y:-29.86, Z:-3.73 [[ 7.81862193e-01 6.23295231e-01 1.39486796e-02 8.63190969e+01] [-6.23206172e-01 7.81986480e-01 -1.05457363e-02 -2.98610247e+01] [-1.74807860e-02 -4.47590726e-04 9.99847099e-01 -3.73165671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.111052754 meters Centerline goodness [0,1] 0.9998743455497382 Centerline is valid? [True, True] Translation: X:86.34, Y:-29.88, Z:-3.73 [[ 7.81852767e-01 6.23271616e-01 1.54513146e-02 8.63433247e+01] [-6.23162579e-01 7.82005267e-01 -1.16689014e-02 -2.98753928e+01] [-1.93559045e-02 -5.05318159e-04 9.99812529e-01 -3.73218610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14105275399999 meters Centerline goodness [0,1] 0.9999371398638031 Centerline is valid? [True, True] Translation: X:86.37, Y:-29.89, Z:-3.73 [[ 7.82005524e-01 6.23047415e-01 1.67116617e-02 8.63688641e+01] [-6.22919795e-01 7.82183883e-01 -1.26214784e-02 -2.98898475e+01] [-2.09353719e-02 -5.39959050e-04 9.99780685e-01 -3.73209345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17105275399999 meters Centerline goodness [0,1] 0.9998744586027243 Centerline is valid? [True, True] Translation: X:86.40, Y:-29.90, Z:-3.73 [[ 7.81122774e-01 6.24105013e-01 1.84430020e-02 8.63958450e+01] [-6.23950081e-01 7.81340214e-01 -1.39199884e-02 -2.98993287e+01] [-2.30977936e-02 -6.34292611e-04 9.99733009e-01 -3.73248174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20105275399999 meters Centerline goodness [0,1] 0.9997486489883122 Centerline is valid? [True, True] Translation: X:86.42, Y:-29.92, Z:-3.73 [[ 7.80311220e-01 6.25090155e-01 1.94087005e-02 8.64189534e+01] [-6.24918996e-01 7.80552243e-01 -1.46438943e-02 -2.99164428e+01] [-2.43032589e-02 -7.02070597e-04 9.99704386e-01 -3.73279432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.23105275399999 meters Centerline goodness [0,1] 0.9992698902749385 Centerline is valid? [True, True] Translation: X:86.45, Y:-29.93, Z:-3.74 [[ 7.77797121e-01 6.28185834e-01 2.03517966e-02 8.64472039e+01] [-6.27998986e-01 7.78062877e-01 -1.53438076e-02 -2.99265506e+01] [-2.54737400e-02 -8.46538273e-04 9.99675133e-01 -3.73558967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26105275399999 meters Centerline goodness [0,1] 0.9992891936529175 Centerline is valid? [True, True] Translation: X:86.47, Y:-29.94, Z:-3.73 [[ 7.73508081e-01 6.33386551e-01 2.25105871e-02 8.64738639e+01] [-6.33160211e-01 7.73834741e-01 -1.69688121e-02 -2.99411159e+01] [-2.81672917e-02 -1.12729478e-03 9.99602587e-01 -3.73450555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29105275399999 meters Centerline goodness [0,1] 0.9989326971371171 Centerline is valid? [True, True] Translation: X:86.50, Y:-29.96, Z:-3.73 [[ 7.71401285e-01 6.35899800e-01 2.39061177e-02 8.64995191e+01] [-6.35645736e-01 7.71770541e-01 -1.80202685e-02 -2.99563199e+01] [-2.99091225e-02 -1.29496355e-03 9.99551783e-01 -3.73490054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.321052754 meters Centerline goodness [0,1] 0.9972843684067598 Centerline is valid? [True, True] Translation: X:86.53, Y:-29.97, Z:-3.74 [[ 7.68519347e-01 6.39342210e-01 2.48907999e-02 8.65269508e+01] [-6.39068619e-01 7.68920882e-01 -1.87610786e-02 -2.99685281e+01] [-3.11338053e-02 -1.48867719e-03 9.99514117e-01 -3.73685450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.351052754 meters Centerline goodness [0,1] 0.9963739423998667 Centerline is valid? [True, True] Translation: X:86.55, Y:-29.98, Z:-3.74 [[ 7.67920780e-01 6.40079255e-01 2.44176790e-02 8.65512171e+01] [-6.39816363e-01 7.68307443e-01 -1.84036838e-02 -2.99826024e+01] [-3.05401008e-02 -1.49025935e-03 9.99532431e-01 -3.73895147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.381052754 meters Centerline goodness [0,1] 0.9966870858857357 Centerline is valid? [True, True] Translation: X:86.58, Y:-30.00, Z:-3.74 [[ 7.67162899e-01 6.41005232e-01 2.39453386e-02 8.65770335e+01] [-6.40752906e-01 7.67535046e-01 -1.80462614e-02 -2.99965300e+01] [-2.99466346e-02 -1.49862310e-03 9.99550376e-01 -3.74244794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.411052754 meters Centerline goodness [0,1] 0.9968598224752973 Centerline is valid? [True, True] Translation: X:86.60, Y:-30.01, Z:-3.74 [[ 7.66950542e-01 6.41246280e-01 2.42914519e-02 8.66014245e+01] [-6.40987005e-01 7.67333595e-01 -1.82979141e-02 -3.00122933e+01] [-3.03731165e-02 -1.53690983e-03 9.99537449e-01 -3.74372740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.441052754 meters Centerline goodness [0,1] 0.9967165802241927 Centerline is valid? [True, True] Translation: X:86.63, Y:-30.03, Z:-3.74 [[ 7.67058645e-01 6.41071825e-01 2.54548650e-02 8.66257254e+01] [-6.40787337e-01 7.67479198e-01 -1.91642688e-02 -3.00286925e+01] [-3.18217522e-02 -1.61103713e-03 9.99492261e-01 -3.74387889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.471052754 meters Centerline goodness [0,1] 0.9968900669992278 Centerline is valid? [True, True] Translation: X:86.65, Y:-30.05, Z:-3.74 [[ 7.67317953e-01 6.40728683e-01 2.62662027e-02 8.66498939e+01] [-6.40425896e-01 7.67765598e-01 -1.97650601e-02 -3.00452470e+01] [-3.28303277e-02 -1.65547098e-03 9.99459568e-01 -3.74421722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50105275399999 meters Centerline goodness [0,1] 0.9968900669992278 Centerline is valid? [True, True] Translation: X:86.67, Y:-30.06, Z:-3.75 [[ 7.67489232e-01 6.40523324e-01 2.62707087e-02 8.66719244e+01] [-6.40220622e-01 7.67936934e-01 -1.97590688e-02 -3.00617077e+01] [-3.28303920e-02 -1.65417695e-03 9.99459568e-01 -3.74528386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53105275399999 meters Centerline goodness [0,1] 0.9971856824198961 Centerline is valid? [True, True] Translation: X:86.70, Y:-30.08, Z:-3.75 [[ 7.68214407e-01 6.39674548e-01 2.57506836e-02 8.66959374e+01] [-6.39383586e-01 7.68644216e-01 -1.93571502e-02 -3.00769641e+01] [-3.21753903e-02 -1.59412273e-03 9.99480967e-01 -3.74669881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56105275399999 meters Centerline goodness [0,1] 0.9982838366714802 Centerline is valid? [True, True] Translation: X:86.72, Y:-30.10, Z:-3.75 [[ 7.68284338e-01 6.39627839e-01 2.48073247e-02 8.67173292e+01] [-6.39358051e-01 7.68683195e-01 -1.86394181e-02 -3.00963310e+01] [-3.09912643e-02 -1.54038978e-03 9.99518468e-01 -3.74907364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.59105275399999 meters Centerline goodness [0,1] 0.9980525191606986 Centerline is valid? [True, True] Translation: X:86.74, Y:-30.11, Z:-3.75 [[ 7.68792827e-01 6.39084313e-01 2.29963174e-02 8.67424643e+01] [-6.38852528e-01 7.69135383e-01 -1.72687391e-02 -3.01094712e+01] [-2.87234617e-02 -1.41517274e-03 9.99586394e-01 -3.75308765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62105275399999 meters Centerline goodness [0,1] 0.9983468307280222 Centerline is valid? [True, True] Translation: X:86.77, Y:-30.13, Z:-3.75 [[ 7.68940218e-01 6.38918981e-01 2.26600160e-02 8.67657011e+01] [-6.38693870e-01 7.69272778e-01 -1.70156757e-02 -3.01252247e+01] [-2.83033717e-02 -1.38877590e-03 9.99598415e-01 -3.75449813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65105275399999 meters Centerline goodness [0,1] 0.9980581713402794 Centerline is valid? [True, True] Translation: X:86.79, Y:-30.14, Z:-3.76 [[ 7.69136651e-01 6.38686886e-01 2.25360426e-02 8.67907759e+01] [-6.38464479e-01 7.69465497e-01 -1.69102936e-02 -3.01384887e+01] [-2.81410900e-02 -1.38213608e-03 9.99603006e-01 -3.75664696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68105275399999 meters Centerline goodness [0,1] 0.9982841239615812 Centerline is valid? [True, True] Translation: X:86.81, Y:-30.15, Z:-3.76 [[ 7.68518394e-01 6.39427062e-01 2.26386936e-02 8.68149364e+01] [-6.39203031e-01 7.68850454e-01 -1.69842241e-02 -3.01521453e+01] [-2.82659424e-02 -1.41803294e-03 9.99599433e-01 -3.75763870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.711052754 meters Centerline goodness [0,1] 0.9989123614306631 Centerline is valid? [True, True] Translation: X:86.84, Y:-30.17, Z:-3.76 [[ 7.68793160e-01 6.39041849e-01 2.41369443e-02 8.68374187e+01] [-6.38787041e-01 7.69170508e-01 -1.81065151e-02 -3.01702419e+01] [-3.01362466e-02 -1.49820229e-03 9.99544677e-01 -3.75697012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.741052754 meters Centerline goodness [0,1] 0.9989947643979058 Centerline is valid? [True, True] Translation: X:86.86, Y:-30.19, Z:-3.76 [[ 7.69512699e-01 6.38126013e-01 2.54046603e-02 8.68611323e+01] [-6.37843555e-01 7.69930385e-01 -1.90473454e-02 -3.01872606e+01] [-3.17144265e-02 -1.54702469e-03 9.99495774e-01 -3.75616287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.771052754 meters Centerline goodness [0,1] 0.9992701947537429 Centerline is valid? [True, True] Translation: X:86.89, Y:-30.20, Z:-3.76 [[ 7.71911580e-01 6.35132835e-01 2.75462349e-02 8.68873302e+01] [-6.34799264e-01 7.72401365e-01 -2.06404115e-02 -3.02006193e+01] [-3.43861525e-02 -1.55375695e-03 9.99407414e-01 -3.75500931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.801052754 meters Centerline goodness [0,1] 0.9994994786235663 Centerline is valid? [True, True] Translation: X:86.91, Y:-30.22, Z:-3.76 [[ 7.72982677e-01 6.33810070e-01 2.79745680e-02 8.69113659e+01] [-6.33465225e-01 7.73487225e-01 -2.09599931e-02 -3.02166440e+01] [-3.49226256e-02 -1.51920445e-03 9.99388864e-01 -3.75584820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.831052754 meters Centerline goodness [0,1] 0.9996671797645297 Centerline is valid? [True, True] Translation: X:86.94, Y:-30.23, Z:-3.76 [[ 7.75993531e-01 6.30173600e-01 2.67445941e-02 8.69360065e+01] [-6.29856360e-01 7.76453186e-01 -2.00353819e-02 -3.02340305e+01] [-3.33916941e-02 -1.29792594e-03 9.99441499e-01 -3.75963169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.861052754 meters Centerline goodness [0,1] 0.9997284765445508 Centerline is valid? [True, True] Translation: X:86.96, Y:-30.25, Z:-3.76 [[ 7.77553545e-01 6.28299737e-01 2.54936268e-02 8.69598625e+01] [-6.28010487e-01 7.77970497e-01 -1.90980317e-02 -3.02494696e+01] [-3.18325778e-02 -1.16052278e-03 9.99492541e-01 -3.76152665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89105275399999 meters Centerline goodness [0,1] 0.9998745268617076 Centerline is valid? [True, True] Translation: X:86.99, Y:-30.26, Z:-3.76 [[ 7.80027898e-01 6.25321683e-01 2.30058745e-02 8.69860157e+01] [-6.25084905e-01 7.80366523e-01 -1.72322619e-02 -3.02628383e+01] [-2.87287214e-02 -9.38979862e-04 9.99586804e-01 -3.76479845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92105275399999 meters Centerline goodness [0,1] 0.9999582201796532 Centerline is valid? [True, True] Translation: X:87.01, Y:-30.28, Z:-3.77 [[ 7.81023948e-01 6.24097651e-01 2.24435784e-02 8.70104918e+01] [-6.23871803e-01 7.81345865e-01 -1.68110538e-02 -3.02783143e+01] [-2.80279364e-02 -8.72080072e-04 9.99606760e-01 -3.76621140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95105275399999 meters Centerline goodness [0,1] 0.9999791031052786 Centerline is valid? [True, True] Translation: X:87.04, Y:-30.29, Z:-3.76 [[ 7.81277684e-01 6.23718658e-01 2.40876972e-02 8.70368495e+01] [-6.23458617e-01 7.81648369e-01 -1.80327579e-02 -3.02911356e+01] [-3.00754768e-02 -9.29091056e-04 9.99547199e-01 -3.76340424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98105275399999 meters Centerline goodness [0,1] 0.9999372896590648 Centerline is valid? [True, True] Translation: X:87.06, Y:-30.30, Z:-3.76 [[ 7.81000993e-01 6.23998011e-01 2.57668683e-02 8.70630659e+01] [-6.23700964e-01 7.81425270e-01 -1.92783558e-02 -3.03010657e+01] [-3.21645377e-02 -1.01440560e-03 9.99482073e-01 -3.76220817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01105275399999 meters Centerline goodness [0,1] 0.9998956441884248 Centerline is valid? [True, True] Translation: X:87.09, Y:-30.31, Z:-3.76 [[ 7.80938909e-01 6.23970674e-01 2.81960701e-02 8.70940675e+01] [-6.23615145e-01 7.81446964e-01 -2.10901049e-02 -3.03088233e+01] [-3.51933403e-02 -1.11341287e-03 9.99379902e-01 -3.75897204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.12, Y:-30.32, Z:-3.76 [[ 7.81124476e-01 6.23694699e-01 2.91457692e-02 8.71210169e+01] [-6.23314850e-01 7.81667203e-01 -2.17940729e-02 -3.03189850e+01] [-3.63751396e-02 -1.14310705e-03 9.99337552e-01 -3.75924263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.071052754 meters Centerline goodness [0,1] 0.9999791536376902 Centerline is valid? [True, True] Translation: X:87.15, Y:-30.33, Z:-3.76 [[ 7.82145402e-01 6.22331492e-01 3.08558508e-02 8.71497548e+01] [-6.21904853e-01 7.82752962e-01 -2.30684907e-02 -3.03295040e+01] [-3.85087568e-02 -1.14648943e-03 9.99257605e-01 -3.75985697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.18, Y:-30.34, Z:-3.76 [[ 7.83569650e-01 6.20565289e-01 3.02873890e-02 8.71766972e+01] [-6.20153308e-01 7.84154082e-01 -2.26329511e-02 -3.03392875e+01] [-3.77952035e-02 -1.04833092e-03 9.99284956e-01 -3.76364377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.20, Y:-30.35, Z:-3.77 [[ 7.84533278e-01 6.19358597e-01 3.00410321e-02 8.72024319e+01] [-6.18952549e-01 7.85107609e-01 -2.24451297e-02 -3.03530875e+01] [-3.74870270e-02 -9.85022261e-04 9.99296629e-01 -3.76569241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.23, Y:-30.36, Z:-3.77 [[ 7.85221054e-01 6.18492778e-01 2.99095179e-02 8.72297639e+01] [-6.18090061e-01 7.85789911e-01 -2.23358887e-02 -3.03644830e+01] [-3.73171832e-02 -9.48165680e-04 9.99303022e-01 -3.76619675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.191052754 meters Centerline goodness [0,1] 0.9997909917441739 Centerline is valid? [True, True] Translation: X:87.27, Y:-30.36, Z:-3.77 [[ 7.84240406e-01 6.19686542e-01 3.09123861e-02 8.72652179e+01] [-6.19257736e-01 7.84848706e-01 -2.30730220e-02 -3.03645312e+01] [-3.85595874e-02 -1.04793813e-03 9.99255753e-01 -3.76568577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.221052754 meters Centerline goodness [0,1] 0.9997698648479015 Centerline is valid? [True, True] Translation: X:87.29, Y:-30.37, Z:-3.77 [[ 7.83113742e-01 6.21077509e-01 3.15530580e-02 8.72944185e+01] [-6.20632332e-01 7.83748306e-01 -2.35393414e-02 -3.03735824e+01] [-3.93494113e-02 -1.14886625e-03 9.99224852e-01 -3.76666270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25105275399999 meters Centerline goodness [0,1] 0.9994541484716157 Centerline is valid? [True, True] Translation: X:87.33, Y:-30.38, Z:-3.77 [[ 7.80360386e-01 6.24394465e-01 3.41938545e-02 8.73273796e+01] [-6.23875341e-01 7.81107860e-01 -2.54964680e-02 -3.03767543e+01] [-4.26289420e-02 -1.43626905e-03 9.99089941e-01 -3.76573553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28105275399999 meters Centerline goodness [0,1] 0.9992687156557531 Centerline is valid? [True, True] Translation: X:87.36, Y:-30.38, Z:-3.77 [[ 7.79213362e-01 6.25767291e-01 3.52396688e-02 8.73586537e+01] [-6.25217518e-01 7.80008244e-01 -2.62715618e-02 -3.03802997e+01] [-4.39271163e-02 -1.56130623e-03 9.99033518e-01 -3.76723928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31105275399999 meters Centerline goodness [0,1] 0.9991597521268775 Centerline is valid? [True, True] Translation: X:87.39, Y:-30.39, Z:-3.77 [[ 7.78934778e-01 6.26150722e-01 3.45815671e-02 8.73854007e+01] [-6.25621941e-01 7.79700484e-01 -2.57748271e-02 -3.03920265e+01] [-4.31021912e-02 -1.55807788e-03 9.99069454e-01 -3.76999444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34105275399999 meters Centerline goodness [0,1] 0.9987863823732502 Centerline is valid? [True, True] Translation: X:87.41, Y:-30.40, Z:-3.77 [[ 7.78575706e-01 6.26673516e-01 3.31688815e-02 8.74144289e+01] [-6.26188014e-01 7.79280412e-01 -2.47105414e-02 -3.04001208e+01] [-4.13333016e-02 -1.53092882e-03 9.99144241e-01 -3.77274001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37105275399999 meters Centerline goodness [0,1] 0.9982641430513437 Centerline is valid? [True, True] Translation: X:87.45, Y:-30.40, Z:-3.78 [[ 7.78115436e-01 6.27313586e-01 3.18438820e-02 8.74474393e+01] [-6.26866812e-01 7.78765304e-01 -2.37192288e-02 -3.04042967e+01] [-3.96783049e-02 -1.50557469e-03 9.99211372e-01 -3.77647177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40105275399999 meters Centerline goodness [0,1] 0.9983625141705504 Centerline is valid? [True, True] Translation: X:87.47, Y:-30.41, Z:-3.78 [[ 7.77847504e-01 6.27631150e-01 3.21309867e-02 8.74748594e+01] [-6.27177010e-01 7.78509315e-01 -2.39216115e-02 -3.04139924e+01] [-4.00282210e-02 -1.54445037e-03 9.99197356e-01 -3.77780106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43105275399999 meters Centerline goodness [0,1] 0.9980333905184318 Centerline is valid? [True, True] Translation: X:87.51, Y:-30.42, Z:-3.78 [[ 7.78028812e-01 6.27370018e-01 3.28333365e-02 8.75080024e+01] [-6.26895764e-01 7.78719719e-01 -2.44397283e-02 -3.04168239e+01] [-4.09007194e-02 -1.56826684e-03 9.99161985e-01 -3.77667589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.461052754 meters Centerline goodness [0,1] 0.9980095124353091 Centerline is valid? [True, True] Translation: X:87.54, Y:-30.42, Z:-3.78 [[ 7.78423614e-01 6.26894579e-01 3.25555395e-02 8.75425856e+01] [-6.26428443e-01 7.79102569e-01 -2.42196600e-02 -3.04191323e+01] [-4.05472780e-02 -1.54056069e-03 9.99176433e-01 -3.77766300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.491052754 meters Centerline goodness [0,1] 0.9980228928199791 Centerline is valid? [True, True] Translation: X:87.57, Y:-30.43, Z:-3.78 [[ 7.78645856e-01 6.26664107e-01 3.16658740e-02 8.75698841e+01] [-6.26223361e-01 7.79288047e-01 -2.35465826e-02 -3.04281097e+01] [-3.94326353e-02 -1.49546111e-03 9.99221112e-01 -3.78008785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.521052754 meters Centerline goodness [0,1] 0.9971269752045469 Centerline is valid? [True, True] Translation: X:87.60, Y:-30.44, Z:-3.78 [[ 7.79208008e-01 6.25998263e-01 3.10008806e-02 8.75979560e+01] [-6.25575467e-01 7.79823133e-01 -2.30481261e-02 -3.04372518e+01] [-3.86032907e-02 -1.43410597e-03 9.99253586e-01 -3.78306827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.551052754 meters Centerline goodness [0,1] 0.9966805152508403 Centerline is valid? [True, True] Translation: X:87.63, Y:-30.45, Z:-3.79 [[ 7.80779983e-01 6.24081974e-01 3.00716977e-02 8.76263334e+01] [-6.23682943e-01 7.81357786e-01 -2.23516344e-02 -3.04473203e+01] [-3.74460072e-02 -1.30349619e-03 9.99297802e-01 -3.78694945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.581052754 meters Centerline goodness [0,1] 0.9961065874029263 Centerline is valid? [True, True] Translation: X:87.66, Y:-30.45, Z:-3.78 [[ 7.83996131e-01 6.19924056e-01 3.23145693e-02 8.76598445e+01] [-6.19459875e-01 7.84660913e-01 -2.40148838e-02 -3.04519857e+01] [-4.02433836e-02 -1.19000310e-03 9.99189198e-01 -3.78468409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.611052754 meters Centerline goodness [0,1] 0.9956095419288746 Centerline is valid? [True, True] Translation: X:87.69, Y:-30.46, Z:-3.78 [[ 7.86126495e-01 6.17181119e-01 3.30544957e-02 8.76883331e+01] [-6.16693457e-01 7.86820370e-01 -2.45537047e-02 -3.04624937e+01] [-4.11620335e-02 -1.08217336e-03 9.99151898e-01 -3.78338074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64105275399999 meters Centerline goodness [0,1] 0.9944195731389901 Centerline is valid? [True, True] Translation: X:87.72, Y:-30.47, Z:-3.78 [[ 7.90873056e-01 6.11096285e-01 3.28806836e-02 8.77213065e+01] [-6.10608898e-01 7.91555897e-01 -2.44138339e-02 -3.04658830e+01] [-4.09461022e-02 -7.68994560e-04 9.99161061e-01 -3.78364753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67105275399999 meters Centerline goodness [0,1] 0.9942606699363457 Centerline is valid? [True, True] Translation: X:87.75, Y:-30.48, Z:-3.79 [[ 7.93377003e-01 6.07902712e-01 3.17368020e-02 8.77476030e+01] [-6.07446219e-01 7.94011304e-01 -2.35614122e-02 -3.04786358e+01] [-3.95224259e-02 -5.85317766e-04 9.99218512e-01 -3.78700694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70105275399999 meters Centerline goodness [0,1] 0.9943155694879833 Centerline is valid? [True, True] Translation: X:87.77, Y:-30.49, Z:-3.79 [[ 7.95838936e-01 6.04719194e-01 3.09044360e-02 8.77748438e+01] [-6.04284368e-01 7.96438646e-01 -2.29322270e-02 -3.04909342e+01] [-3.84810449e-02 -4.24708431e-04 9.99259240e-01 -3.79032662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.73105275399999 meters Centerline goodness [0,1] 0.9948836338678481 Centerline is valid? [True, True] Translation: X:87.81, Y:-30.49, Z:-3.79 [[ 7.99493589e-01 5.99928794e-01 2.99239576e-02 8.78075245e+01] [-5.99518131e-01 8.00053376e-01 -2.21947534e-02 -3.04947357e+01] [-3.72560349e-02 -1.95392079e-04 9.99305734e-01 -3.79324704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76105275399999 meters Centerline goodness [0,1] 0.9959372460778799 Centerline is valid? [True, True] Translation: X:87.84, Y:-30.50, Z:-3.79 [[ 8.00698755e-01 5.98348779e-01 2.93298819e-02 8.78360481e+01] [-5.97953600e-01 8.01235747e-01 -2.17432801e-02 -3.05017970e+01] [-3.65102149e-02 -1.28091094e-04 9.99333272e-01 -3.79362349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79105275399999 meters Centerline goodness [0,1] 0.9969781545757874 Centerline is valid? [True, True] Translation: X:87.87, Y:-30.50, Z:-3.79 [[ 8.02189551e-01 5.96424187e-01 2.77509033e-02 8.78719156e+01] [-5.96069544e-01 8.02669413e-01 -2.05648003e-02 -3.04985804e+01] [-3.45401456e-02 -4.46003501e-05 9.99403310e-01 -3.79247406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.821052754 meters Centerline goodness [0,1] 0.9967664898450874 Centerline is valid? [True, True] Translation: X:87.90, Y:-30.51, Z:-3.79 [[ 8.02911702e-01 5.95484976e-01 2.70266798e-02 8.79009039e+01] [-5.95148201e-01 8.03366444e-01 -2.00243877e-02 -3.05057955e+01] [-3.36365497e-02 -7.06462040e-06 9.99434131e-01 -3.79235654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.851052754 meters Centerline goodness [0,1] 0.9973378561154168 Centerline is valid? [True, True] Translation: X:87.94, Y:-30.50, Z:-3.79 [[ 8.03942623e-01 5.94131647e-01 2.61504318e-02 8.79369056e+01] [-5.93815992e-01 8.04367817e-01 -1.93644752e-02 -3.05044213e+01] [-3.25396133e-02 3.93823854e-05 9.99470446e-01 -3.79093920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.881052754 meters Centerline goodness [0,1] 0.9975038864925226 Centerline is valid? [True, True] Translation: X:87.98, Y:-30.50, Z:-3.79 [[ 8.01655641e-01 5.97214091e-01 2.61450523e-02 8.79754262e+01] [-5.96900566e-01 8.02081867e-01 -1.93492632e-02 -3.04994079e+01] [-3.25261250e-02 -9.45505155e-05 9.99470881e-01 -3.78910129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.911052754 meters Centerline goodness [0,1] 0.997406167557142 Centerline is valid? [True, True] Translation: X:88.01, Y:-30.50, Z:-3.79 [[ 7.98788045e-01 6.01044219e-01 2.61439459e-02 8.80078494e+01] [-6.00733134e-01 7.99215728e-01 -1.93370382e-02 -3.05036086e+01] [-3.25170678e-02 -2.59339561e-04 9.99471147e-01 -3.78821010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.941052754 meters Centerline goodness [0,1] 0.9973299542924379 Centerline is valid? [True, True] Translation: X:88.05, Y:-30.49, Z:-3.79 [[ 7.89682608e-01 6.13004107e-01 2.50468262e-02 8.80525406e+01] [-6.12724813e-01 7.90079388e-01 -1.85165825e-02 -3.04917404e+01] [-3.11397223e-02 -7.24588725e-04 9.99514779e-01 -3.78619004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.971052754 meters Centerline goodness [0,1] 0.9962156831265337 Centerline is valid? [True, True] Translation: X:88.09, Y:-30.49, Z:-3.79 [[ 7.83838883e-01 6.20513910e-01 2.36451522e-02 8.80881949e+01] [-6.20268677e-01 7.84194837e-01 -1.74706931e-02 -3.04913653e+01] [-2.93832144e-02 -9.72138665e-04 9.99567747e-01 -3.78837725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00105275399999 meters Centerline goodness [0,1] 0.9947148102242698 Centerline is valid? [True, True] Translation: X:88.13, Y:-30.48, Z:-3.80 [[ 7.73393208e-01 6.33584990e-01 2.08087956e-02 8.81332374e+01] [-6.33399773e-01 7.73672020e-01 -1.53731147e-02 -3.04771129e+01] [-2.58393577e-02 -1.29082394e-03 9.99665275e-01 -3.79502054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03105275399999 meters Centerline goodness [0,1] 0.9941621366107303 Centerline is valid? [True, True] Translation: X:88.16, Y:-30.49, Z:-3.80 [[ 7.71500618e-01 6.35909772e-01 2.01384717e-02 8.81626083e+01] [-6.35737080e-01 7.71762274e-01 -1.48781023e-02 -3.04851302e+01] [-2.50032434e-02 -1.32430807e-03 9.99686493e-01 -3.80211836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06105275399999 meters Centerline goodness [0,1] 0.994927948426242 Centerline is valid? [True, True] Translation: X:88.18, Y:-30.51, Z:-3.80 [[ 7.84258493e-01 6.20015098e-01 2.28011910e-02 8.81778845e+01] [-6.19787220e-01 7.84589328e-01 -1.68341353e-02 -3.05135870e+01] [-2.83269892e-02 -9.29573242e-04 9.99598278e-01 -3.79679718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.09105275399999 meters Centerline goodness [0,1] 0.9964163660527815 Centerline is valid? [True, True] Translation: X:88.20, Y:-30.53, Z:-3.80 [[ 7.89870852e-01 6.12899075e-01 2.14187198e-02 8.81993646e+01] [-6.12695473e-01 7.90160946e-01 -1.58093989e-02 -3.05323951e+01] [-2.66138019e-02 -6.35769226e-04 9.99645588e-01 -3.79733300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12105275399999 meters Centerline goodness [0,1] 0.9984407484407485 Centerline is valid? [True, True] Translation: X:88.22, Y:-30.56, Z:-3.80 [[ 7.97259276e-01 6.03335181e-01 1.90868424e-02 8.82175489e+01] [-6.03170772e-01 7.97487668e-01 -1.40868406e-02 -3.05553545e+01] [-2.37206079e-02 -2.81761135e-04 9.99718587e-01 -3.80400002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15105275399999 meters Centerline goodness [0,1] 0.9983784927032172 Centerline is valid? [True, True] Translation: X:88.24, Y:-30.57, Z:-3.81 [[ 7.99315885e-01 6.00622191e-01 1.86306072e-02 8.82374867e+01] [-6.00464868e-01 7.99532954e-01 -1.37476870e-02 -3.05742370e+01] [-2.31529503e-02 -1.98280493e-04 9.99731915e-01 -3.80805555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18105275399999 meters Centerline goodness [0,1] 0.9987528824885877 Centerline is valid? [True, True] Translation: X:88.26, Y:-30.59, Z:-3.81 [[ 7.98865631e-01 6.01226642e-01 1.84452713e-02 8.82602310e+01] [-6.01072623e-01 7.99078519e-01 -1.36096790e-02 -3.05921296e+01] [-2.29217217e-02 -2.14642749e-04 9.99737240e-01 -3.80988636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.211052754 meters Centerline goodness [0,1] 0.9987528237951807 Centerline is valid? [True, True] Translation: X:88.28, Y:-30.61, Z:-3.81 [[ 7.96718967e-01 6.04076170e-01 1.81897719e-02 8.82847299e+01] [-6.03927276e-01 7.96926529e-01 -1.34146712e-02 -3.06073359e+01] [-2.25993950e-02 -2.97576360e-04 9.99744557e-01 -3.81040452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.241052754 meters Centerline goodness [0,1] 0.9981089258698941 Centerline is valid? [True, True] Translation: X:88.31, Y:-30.61, Z:-3.81 [[ 7.89423571e-01 6.13574748e-01 1.83426885e-02 8.83135487e+01] [-6.13426105e-01 7.89636430e-01 -1.35175015e-02 -3.06149098e+01] [-2.27780526e-02 -5.80849679e-04 9.99740378e-01 -3.80854649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.271052754 meters Centerline goodness [0,1] 0.9969450101832994 Centerline is valid? [True, True] Translation: X:88.34, Y:-30.62, Z:-3.81 [[ 7.84262883e-01 6.20111200e-01 1.98451632e-02 8.83422612e+01] [-6.19939330e-01 7.84513481e-01 -1.46227513e-02 -3.06229695e+01] [-2.46365299e-02 -8.34716076e-04 9.99696126e-01 -3.80675738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.301052754 meters Centerline goodness [0,1] 0.9964834747071543 Centerline is valid? [True, True] Translation: X:88.37, Y:-30.64, Z:-3.81 [[ 7.83268028e-01 6.21395611e-01 1.89391318e-02 8.83661849e+01] [-6.21239486e-01 7.83496519e-01 -1.39536926e-02 -3.06393262e+01] [-2.35095072e-02 -8.36255223e-04 9.99723264e-01 -3.81053049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.331052754 meters Centerline goodness [0,1] 0.9976082786710554 Centerline is valid? [True, True] Translation: X:88.38, Y:-30.66, Z:-3.82 [[ 7.85246990e-01 6.18985456e-01 1.56259594e-02 8.83846777e+01] [-6.18878765e-01 7.85402193e-01 -1.15095248e-02 -3.06618374e+01] [-1.93968912e-02 -6.32754787e-04 9.99811662e-01 -3.81733276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.361052754 meters Centerline goodness [0,1] 0.9970147131992324 Centerline is valid? [True, True] Translation: X:88.41, Y:-30.68, Z:-3.82 [[ 7.85803669e-01 6.18280680e-01 1.55432887e-02 8.84087219e+01] [-6.18175155e-01 7.85957134e-01 -1.14394289e-02 -3.06763903e+01] [-1.92891365e-02 -6.19329640e-04 9.99813755e-01 -3.81847504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39105275399999 meters Centerline goodness [0,1] 0.9981545013604637 Centerline is valid? [True, True] Translation: X:88.43, Y:-30.69, Z:-3.82 [[ 7.86336972e-01 6.17554637e-01 1.73331300e-02 8.84330286e+01] [-6.17423220e-01 7.86527699e-01 -1.27572044e-02 -3.06915564e+01] [-2.15112575e-02 -6.70415467e-04 9.99768381e-01 -3.81534659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42105275399999 meters Centerline goodness [0,1] 0.9981545013604637 Centerline is valid? [True, True] Translation: X:88.46, Y:-30.71, Z:-3.82 [[ 7.86500627e-01 6.17346124e-01 1.73357418e-02 8.84550958e+01] [-6.17214735e-01 7.86691373e-01 -1.27536536e-02 -3.07076952e+01] [-2.15112971e-02 -6.69118706e-04 9.99768381e-01 -3.81641183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.45105275399999 meters Centerline goodness [0,1] 0.9985510344663768 Centerline is valid? [True, True] Translation: X:88.48, Y:-30.72, Z:-3.81 [[ 7.86529002e-01 6.17186765e-01 2.12750130e-02 8.84815552e+01] [-6.16989190e-01 7.86816251e-01 -1.56373276e-02 -3.07193443e+01] [-2.63906776e-02 -8.27241338e-04 9.99651363e-01 -3.81228900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48105275399999 meters Centerline goodness [0,1] 0.9992164125943866 Centerline is valid? [True, True] Translation: X:88.50, Y:-30.74, Z:-3.81 [[ 7.84831545e-01 6.19253135e-01 2.37697295e-02 8.85041334e+01] [-6.19007545e-01 7.85190770e-01 -1.74675224e-02 -3.07364389e+01] [-2.94805902e-02 -1.00457931e-03 9.99564848e-01 -3.81115862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51105275399999 meters Centerline goodness [0,1] 0.9990310764504313 Centerline is valid? [True, True] Translation: X:88.53, Y:-30.75, Z:-3.81 [[ 7.85094654e-01 6.18891316e-01 2.44933180e-02 8.85285327e+01] [-6.18630467e-01 7.85475965e-01 -1.79959620e-02 -3.07499686e+01] [-3.03764572e-02 -1.02377919e-03 9.99538005e-01 -3.81069365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54105275399999 meters Centerline goodness [0,1] 0.9994521853042754 Centerline is valid? [True, True] Translation: X:88.55, Y:-30.76, Z:-3.81 [[ 7.85285571e-01 6.18602758e-01 2.56359251e-02 8.85529938e+01] [-6.18316915e-01 7.85703189e-01 -1.88332565e-02 -3.07646686e+01] [-3.17925325e-02 -1.06164156e-03 9.99493926e-01 -3.80818079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.571052754 meters Centerline goodness [0,1] 0.9995473172591252 Centerline is valid? [True, True] Translation: X:88.58, Y:-30.78, Z:-3.81 [[ 7.86047254e-01 6.17637312e-01 2.55707828e-02 8.85761301e+01] [-6.17352697e-01 7.86462393e-01 -1.87763670e-02 -3.07815514e+01] [-3.17074439e-02 -1.02707999e-03 9.99496665e-01 -3.80931294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.601052754 meters Centerline goodness [0,1] 0.9999285459092533 Centerline is valid? [True, True] Translation: X:88.60, Y:-30.80, Z:-3.81 [[ 7.86225487e-01 6.17425231e-01 2.52104805e-02 8.85970146e+01] [-6.17148733e-01 7.86628923e-01 -1.85034874e-02 -3.07999128e+01] [-3.12558131e-02 -1.01070269e-03 9.99510907e-01 -3.81082140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.631052754 meters Centerline goodness [0,1] 0.9999761944437832 Centerline is valid? [True, True] Translation: X:88.62, Y:-30.82, Z:-3.81 [[ 7.85339564e-01 6.18572643e-01 2.46911864e-02 8.86197139e+01] [-6.18308301e-01 7.85726923e-01 -1.81120632e-02 -3.08171672e+01] [-3.06041568e-02 -1.04264571e-03 9.99531039e-01 -3.81373960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.661052754 meters Centerline goodness [0,1] 0.9999290478217682 Centerline is valid? [True, True] Translation: X:88.64, Y:-30.83, Z:-3.82 [[ 7.84417843e-01 6.19839791e-01 2.20744183e-02 8.86426781e+01] [-6.19629267e-01 7.84727766e-01 -1.61834750e-02 -3.08332001e+01] [-2.73535707e-02 -9.83349035e-04 9.99625337e-01 -3.81864633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.691052754 meters Centerline goodness [0,1] 0.9998812407961617 Centerline is valid? [True, True] Translation: X:88.67, Y:-30.85, Z:-3.82 [[ 7.83571014e-01 6.20965027e-01 2.04670988e-02 8.86661029e+01] [-6.20784421e-01 7.83837698e-01 -1.50055303e-02 -3.08498154e+01] [-2.53607932e-02 -9.47757499e-04 9.99677914e-01 -3.82096594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.721052754 meters Centerline goodness [0,1] 0.9999285629241577 Centerline is valid? [True, True] Translation: X:88.69, Y:-30.86, Z:-3.82 [[ 7.79841141e-01 6.25643329e-01 2.04504021e-02 8.86914977e+01] [-6.25464792e-01 7.80108458e-01 -1.49862743e-02 -3.08642031e+01] [-2.53295942e-02 -1.10409326e-03 9.99678545e-01 -3.82085246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75105275399999 meters Centerline goodness [0,1] 0.9998813647795758 Centerline is valid? [True, True] Translation: X:88.72, Y:-30.88, Z:-3.82 [[ 7.77582773e-01 6.28412205e-01 2.15204766e-02 8.87156292e+01] [-6.28215761e-01 7.77879493e-01 -1.57623926e-02 -3.08783891e+01] [-2.66456173e-02 -1.26293758e-03 9.99644145e-01 -3.82130987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78105275399999 meters Centerline goodness [0,1] 0.9992154811715481 Centerline is valid? [True, True] Translation: X:88.74, Y:-30.89, Z:-3.82 [[ 7.70520483e-01 6.36955788e-01 2.41972980e-02 8.87417641e+01] [-6.36711924e-01 7.70898325e-01 -1.77115243e-02 -3.08893986e+01] [-2.99351144e-02 -1.75961594e-03 9.99550295e-01 -3.82135149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81105275399999 meters Centerline goodness [0,1] 0.9987878787878788 Centerline is valid? [True, True] Translation: X:88.77, Y:-30.90, Z:-3.82 [[ 7.66548463e-01 6.41687651e-01 2.53063766e-02 8.87664948e+01] [-6.41423623e-01 7.66963369e-01 -1.85182617e-02 -3.09037429e+01] [-3.12920037e-02 -2.03696278e-03 9.99508210e-01 -3.82122550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84105275399999 meters Centerline goodness [0,1] 0.9984081351421987 Centerline is valid? [True, True] Translation: X:88.79, Y:-30.92, Z:-3.82 [[ 7.62966535e-01 6.45885486e-01 2.67208803e-02 8.87914744e+01] [-6.45593808e-01 7.63430732e-01 -1.95487089e-02 -3.09183919e+01] [-3.30257686e-02 -2.33582421e-03 9.99451771e-01 -3.82052406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87105275399999 meters Centerline goodness [0,1] 0.9954611691072837 Centerline is valid? [True, True] Translation: X:88.82, Y:-30.93, Z:-3.82 [[ 7.57027250e-01 6.52743041e-01 2.89182389e-02 8.88189807e+01] [-6.52406726e-01 7.57573988e-01 -2.11451145e-02 -3.09285703e+01] [-3.57100319e-02 -2.85902568e-03 9.99358104e-01 -3.81742826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90105275399999 meters Centerline goodness [0,1] 0.9863222608778535 Centerline is valid? [True, True] Translation: X:88.85, Y:-30.94, Z:-3.82 [[ 7.52524695e-01 6.57865354e-01 3.03275499e-02 8.88469712e+01] [-6.57499755e-01 7.53128521e-01 -2.21698817e-02 -3.09374610e+01] [-3.74253399e-02 -3.25697317e-03 9.99294119e-01 -3.81587525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93105275399999 meters Centerline goodness [0,1] 0.986220895522388 Centerline is valid? [True, True] Translation: X:88.87, Y:-30.96, Z:-3.82 [[ 7.50159751e-01 6.60516049e-01 3.12873186e-02 8.88688269e+01] [-6.60129445e-01 7.50803764e-01 -2.28653485e-02 -3.09553189e+01] [-3.85935662e-02 -3.50101609e-03 9.99248858e-01 -3.81594784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.961052754 meters Centerline goodness [0,1] 0.989591060276136 Centerline is valid? [True, True] Translation: X:88.89, Y:-30.97, Z:-3.82 [[ 7.46598876e-01 6.64525174e-01 3.15659841e-02 8.88903806e+01] [-6.64135405e-01 7.47256492e-01 -2.30629169e-02 -3.09748875e+01] [-3.89137754e-02 -3.74533987e-03 9.99235553e-01 -3.81708387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.991052754 meters Centerline goodness [0,1] 0.992131462156651 Centerline is valid? [True, True] Translation: X:88.91, Y:-30.99, Z:-3.82 [[ 7.45181061e-01 6.66123382e-01 3.13819242e-02 8.89122063e+01] [-6.65739964e-01 7.45831810e-01 -2.29174858e-02 -3.09937036e+01] [-3.86715105e-02 -3.81452468e-03 9.99244697e-01 -3.81847022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.021052754 meters Centerline goodness [0,1] 0.9840554343395593 Centerline is valid? [True, True] Translation: X:88.94, Y:-31.00, Z:-3.82 [[ 7.43934245e-01 6.67535275e-01 3.09595770e-02 8.89381268e+01] [-6.67163735e-01 7.44568252e-01 -2.25979795e-02 -3.10047416e+01] [-3.81364666e-02 -3.84369618e-03 9.99265148e-01 -3.81971844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.051052754 meters Centerline goodness [0,1] 0.9928804295713874 Centerline is valid? [True, True] Translation: X:88.96, Y:-31.03, Z:-3.82 [[ 7.43142818e-01 6.68430192e-01 3.06566531e-02 8.89557600e+01] [-6.68066789e-01 7.43764897e-01 -2.23728535e-02 -3.10283573e+01] [-3.77560332e-02 -3.85446635e-03 9.99279553e-01 -3.82250035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.081052754 meters Centerline goodness [0,1] 0.9912159259082446 Centerline is valid? [True, True] Translation: X:88.98, Y:-31.04, Z:-3.82 [[ 7.43311367e-01 6.68274907e-01 2.99476121e-02 8.89790737e+01] [-6.67928405e-01 7.43904878e-01 -2.18443886e-02 -3.10426544e+01] [-3.68762315e-02 -3.76567842e-03 9.99312745e-01 -3.82465278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.111052754 meters Centerline goodness [0,1] 0.993467480450124 Centerline is valid? [True, True] Translation: X:89.00, Y:-31.06, Z:-3.83 [[ 7.43290579e-01 6.68319331e-01 2.94684136e-02 8.90006578e+01] [-6.67984077e-01 7.43865240e-01 -2.14890129e-02 -3.10622058e+01] [-3.62820512e-02 -3.71185024e-03 9.99334696e-01 -3.82601897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14105275399999 meters Centerline goodness [0,1] 0.987949209391471 Centerline is valid? [True, True] Translation: X:89.03, Y:-31.07, Z:-3.83 [[ 7.41960761e-01 6.69864391e-01 2.78554669e-02 8.90276988e+01] [-6.69566258e-01 7.42474800e-01 -2.03026556e-02 -3.10719815e+01] [-3.42820083e-02 -3.58730694e-03 9.99405761e-01 -3.82623687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17105275399999 meters Centerline goodness [0,1] 0.992960453606266 Centerline is valid? [True, True] Translation: X:89.05, Y:-31.09, Z:-3.83 [[ 7.41307128e-01 6.70638475e-01 2.66040831e-02 8.90484206e+01] [-6.70367096e-01 7.41776281e-01 -1.93882579e-02 -3.10921580e+01] [-3.27367896e-02 -3.46184815e-03 9.99458012e-01 -3.82726016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20105275399999 meters Centerline goodness [0,1] 0.9898543059095062 Centerline is valid? [True, True] Translation: X:89.07, Y:-31.11, Z:-3.83 [[ 7.40097932e-01 6.72042007e-01 2.47909565e-02 8.90728918e+01] [-6.71807429e-01 7.40505714e-01 -1.80572840e-02 -3.11054849e+01] [-3.04930983e-02 -3.29059022e-03 9.99529561e-01 -3.82939801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.23105275399999 meters Centerline goodness [0,1] 0.9916748638468367 Centerline is valid? [True, True] Translation: X:89.09, Y:-31.12, Z:-3.83 [[ 7.39964994e-01 6.72195583e-01 2.45948243e-02 8.90945875e+01] [-6.71964840e-01 7.40366390e-01 -1.79126241e-02 -3.11242055e+01] [-3.02499681e-02 -3.27214237e-03 9.99537009e-01 -3.83090082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26105275399999 meters Centerline goodness [0,1] 0.9904058863133596 Centerline is valid? [True, True] Translation: X:89.12, Y:-31.14, Z:-3.83 [[ 7.41123763e-01 6.70945185e-01 2.38354306e-02 8.91166473e+01] [-6.70728070e-01 7.41500356e-01 -1.73515940e-02 -3.11404452e+01] [-2.93159487e-02 -3.12741372e-03 9.99565303e-01 -3.83495121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29105275399999 meters Centerline goodness [0,1] 0.990425353663499 Centerline is valid? [True, True] Translation: X:89.14, Y:-31.16, Z:-3.84 [[ 7.42721148e-01 6.69157051e-01 2.43749317e-02 8.91391663e+01] [-6.68929335e-01 7.43114409e-01 -1.77347284e-02 -3.11583254e+01] [-2.99806815e-02 -3.13314899e-03 9.99545568e-01 -3.83667469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.321052754 meters Centerline goodness [0,1] 0.9960510255367016 Centerline is valid? [True, True] Translation: X:89.16, Y:-31.18, Z:-3.84 [[ 7.43544134e-01 6.68225021e-01 2.48484057e-02 8.91576247e+01] [-6.67988133e-01 7.43952499e-01 -1.80702348e-02 -3.11821991e+01] [-3.05610165e-02 -3.16242302e-03 9.99527900e-01 -3.83605379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.351052754 meters Centerline goodness [0,1] 0.9953044894830148 Centerline is valid? [True, True] Translation: X:89.18, Y:-31.20, Z:-3.83 [[ 7.44997892e-01 6.66557257e-01 2.60684598e-02 8.91816929e+01] [-6.66295889e-01 7.45446733e-01 -1.89461500e-02 -3.11958771e+01] [-3.20613420e-02 -3.25446574e-03 9.99480605e-01 -3.83374504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.381052754 meters Centerline goodness [0,1] 0.989553202170639 Centerline is valid? [True, True] Translation: X:89.21, Y:-31.21, Z:-3.83 [[ 7.46259745e-01 6.65099845e-01 2.71769933e-02 8.92083502e+01] [-6.64814921e-01 7.46747017e-01 -1.97487666e-02 -3.12057758e+01] [-3.34292403e-02 -3.32996106e-03 9.99435539e-01 -3.83307221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.411052754 meters Centerline goodness [0,1] 0.9959821108267763 Centerline is valid? [True, True] Translation: X:89.23, Y:-31.23, Z:-3.83 [[ 7.49771221e-01 6.61054835e-01 2.91482677e-02 8.92275203e+01] [-6.60724378e-01 7.50329959e-01 -2.11719030e-02 -3.12288311e+01] [-3.58666074e-02 -3.38488754e-03 9.99350854e-01 -3.83128914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.441052754 meters Centerline goodness [0,1] 0.9978537702103305 Centerline is valid? [True, True] Translation: X:89.25, Y:-31.25, Z:-3.83 [[ 7.52638658e-01 6.57764784e-01 2.96738758e-02 8.92480441e+01] [-6.57420168e-01 7.53216195e-01 -2.15426691e-02 -3.12493496e+01] [-3.65208530e-02 -3.29435887e-03 9.99327461e-01 -3.83291069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.471052754 meters Centerline goodness [0,1] 0.9979234790080436 Centerline is valid? [True, True] Translation: X:89.27, Y:-31.27, Z:-3.84 [[ 7.58906939e-01 6.50500687e-01 3.01515227e-02 8.92693519e+01] [-6.50139592e-01 7.59499744e-01 -2.18780638e-02 -3.12665973e+01] [-3.71317693e-02 -2.99928424e-03 9.99305877e-01 -3.83540279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50105275399999 meters Centerline goodness [0,1] 0.9974950497411551 Centerline is valid? [True, True] Translation: X:89.29, Y:-31.28, Z:-3.84 [[ 7.63222443e-01 6.45435882e-01 3.00670058e-02 8.92934956e+01] [-6.45073040e-01 7.63809514e-01 -2.18128230e-02 -3.12808786e+01] [-3.70442437e-02 -2.74737881e-03 9.99309850e-01 -3.83720733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53105275399999 meters Centerline goodness [0,1] 0.9991670831251042 Centerline is valid? [True, True] Translation: X:89.31, Y:-31.30, Z:-3.84 [[ 7.72317935e-01 6.34581743e-01 2.88273998e-02 8.93119509e+01] [-6.34240767e-01 7.72852802e-01 -2.09092310e-02 -3.13044687e+01] [-3.55479529e-02 -2.13493803e-03 9.99365691e-01 -3.83903121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56105275399999 meters Centerline goodness [0,1] 0.9993098688750862 Centerline is valid? [True, True] Translation: X:89.33, Y:-31.32, Z:-3.84 [[ 7.76378910e-01 6.29640965e-01 2.80721162e-02 8.93346422e+01] [-6.29314569e-01 7.76884025e-01 -2.03564342e-02 -3.13203519e+01] [-3.46260234e-02 -1.86188554e-03 9.99398605e-01 -3.84117952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59105275399999 meters Centerline goodness [0,1] 0.999810511854852 Centerline is valid? [True, True] Translation: X:89.35, Y:-31.34, Z:-3.84 [[ 7.84932275e-01 6.18969486e-01 2.75335800e-02 8.93542413e+01] [-6.18649004e-01 7.85413848e-01 -1.99623888e-02 -3.13417595e+01] [-3.39813645e-02 -1.36449860e-03 9.99421535e-01 -3.84250894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62105275399999 meters Centerline goodness [0,1] 0.9999288104221542 Centerline is valid? [True, True] Translation: X:89.38, Y:-31.36, Z:-3.84 [[ 7.88846319e-01 6.13967067e-01 2.76753518e-02 8.93771304e+01] [-6.13640309e-01 7.89330793e-01 -2.00616361e-02 -3.13600757e+01] [-3.41621913e-02 -1.15716366e-03 9.99415632e-01 -3.84314318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.40, Y:-31.38, Z:-3.84 [[ 7.94651805e-01 6.06458094e-01 2.71493892e-02 8.93988490e+01] [-6.06139538e-01 7.95115023e-01 -1.96712945e-02 -3.13799944e+01] [-3.35167030e-02 -8.24488562e-04 9.99437817e-01 -3.84301353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68105275399999 meters Centerline goodness [0,1] 0.9999522661638702 Centerline is valid? [True, True] Translation: X:89.42, Y:-31.40, Z:-3.84 [[ 7.97793594e-01 6.02317177e-01 2.71919235e-02 8.94211477e+01] [-6.01995546e-01 7.98256590e-01 -1.96920827e-02 -3.13972787e+01] [-3.35670118e-02 -6.59199434e-04 9.99436252e-01 -3.84421043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.711052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.44, Y:-31.41, Z:-3.84 [[ 7.96095998e-01 6.04559462e-01 2.71849132e-02 8.94447041e+01] [-6.04239533e-01 7.96559653e-01 -1.96800730e-02 -3.14132554e+01] [-3.35521793e-02 -7.58971909e-04 9.99436679e-01 -3.84487507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.741052754 meters Centerline goodness [0,1] 0.9999042695768715 Centerline is valid? [True, True] Translation: X:89.47, Y:-31.42, Z:-3.84 [[ 7.91898052e-01 6.09909849e-01 3.01239263e-02 8.94707404e+01] [-6.09521284e-01 7.92470039e-01 -2.17954431e-02 -3.14246310e+01] [-3.71655645e-02 -1.10140528e-03 9.99308515e-01 -3.84189921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.771052754 meters Centerline goodness [0,1] 0.9999042443683719 Centerline is valid? [True, True] Translation: X:89.50, Y:-31.44, Z:-3.84 [[ 7.89607511e-01 6.12798096e-01 3.15986034e-02 8.94957825e+01] [-6.12372999e-01 7.90238446e-01 -2.28584607e-02 -3.14396099e+01] [-3.89780524e-02 -1.30091926e-03 9.99239220e-01 -3.84170379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.801052754 meters Centerline goodness [0,1] 0.9999521885682867 Centerline is valid? [True, True] Translation: X:89.52, Y:-31.46, Z:-3.84 [[ 7.86439466e-01 6.16789085e-01 3.29270540e-02 8.95195125e+01] [-6.16331394e-01 7.87126902e-01 -2.38086699e-02 -3.14561141e+01] [-4.06026977e-02 -1.56989951e-03 9.99174137e-01 -3.84234043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.831052754 meters Centerline goodness [0,1] 0.9997631229865453 Centerline is valid? [True, True] Translation: X:89.54, Y:-31.47, Z:-3.85 [[ 7.85927623e-01 6.17481819e-01 3.21554730e-02 8.95439246e+01] [-6.17046106e-01 7.86583583e-01 -2.32458672e-02 -3.14698379e+01] [-3.96468676e-02 -1.57184025e-03 9.99212518e-01 -3.84528259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.861052754 meters Centerline goodness [0,1] 0.9999048977650975 Centerline is valid? [True, True] Translation: X:89.57, Y:-31.49, Z:-3.85 [[ 7.83846151e-01 6.20267577e-01 2.92120630e-02 8.95651869e+01] [-6.19910092e-01 7.84388744e-01 -2.11134145e-02 -3.14882349e+01] [-3.60095798e-02 -1.55918398e-03 9.99350228e-01 -3.85272055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89105275399999 meters Centerline goodness [0,1] 0.9998811787072244 Centerline is valid? [True, True] Translation: X:89.59, Y:-31.51, Z:-3.86 [[ 7.83210483e-01 6.21118240e-01 2.81686259e-02 8.95876075e+01] [-6.20786725e-01 7.83715340e-01 -2.03496446e-02 -3.15066215e+01] [-3.47157196e-02 -1.54865399e-03 9.99396028e-01 -3.85550990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92105275399999 meters Centerline goodness [0,1] 0.9999762560547061 Centerline is valid? [True, True] Translation: X:89.61, Y:-31.52, Z:-3.86 [[ 7.81900468e-01 6.22743550e-01 2.86728024e-02 8.96102544e+01] [-6.22401508e-01 7.82424260e-01 -2.07036136e-02 -3.15234872e+01] [-3.53273381e-02 -1.65783029e-03 9.99374420e-01 -3.85589184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.95105275399999 meters Centerline goodness [0,1] 0.9999052289904519 Centerline is valid? [True, True] Translation: X:89.63, Y:-31.54, Z:-3.86 [[ 7.81759136e-01 6.22929274e-01 2.84916347e-02 8.96317133e+01] [-6.22591956e-01 7.82276394e-01 -2.05645060e-02 -3.15421258e+01] [-3.50985660e-02 -1.66217213e-03 9.99382473e-01 -3.85537663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98105275399999 meters Centerline goodness [0,1] 0.9999526873580621 Centerline is valid? [True, True] Translation: X:89.65, Y:-31.56, Z:-3.86 [[ 7.82443250e-01 6.22083531e-01 2.81893813e-02 8.96544467e+01] [-6.21753125e-01 7.82949215e-01 -2.03366212e-02 -3.15597091e+01] [-3.47219311e-02 -1.61458395e-03 9.99395708e-01 -3.85655843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.67, Y:-31.58, Z:-3.86 [[ 7.84794073e-01 6.19168908e-01 2.69838290e-02 8.96749075e+01] [-6.18864757e-01 7.85256532e-01 -1.94574395e-02 -3.15793540e+01] [-3.32366695e-02 -1.42925761e-03 9.99446487e-01 -3.86008904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.69, Y:-31.60, Z:-3.86 [[ 7.86583611e-01 6.16929344e-01 2.61611788e-02 8.96947934e+01] [-6.16642397e-01 7.87017471e-01 -1.88588101e-02 -3.16007502e+01] [-3.22238581e-02 -1.29806103e-03 9.99479834e-01 -3.86318178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.71, Y:-31.62, Z:-3.87 [[ 7.88530186e-01 6.14479429e-01 2.52027228e-02 8.97146028e+01] [-6.14212062e-01 7.88931992e-01 -1.81618879e-02 -3.16230710e+01] [-3.10433408e-02 -1.15861952e-03 9.99517368e-01 -3.86552143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.101052754 meters Centerline goodness [0,1] 0.9999530868830925 Centerline is valid? [True, True] Translation: X:89.74, Y:-31.64, Z:-3.87 [[ 7.91977569e-01 6.10010953e-01 2.56547793e-02 8.97359986e+01] [-6.09731873e-01 7.92392339e-01 -1.84776481e-02 -3.16406762e+01] [-3.16002183e-02 -1.00865380e-03 9.99500079e-01 -3.86735198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.76, Y:-31.66, Z:-3.87 [[ 7.93916178e-01 6.07464082e-01 2.61627826e-02 8.97564547e+01] [-6.07172545e-01 7.94346605e-01 -1.88406789e-02 -3.16617032e+01] [-3.22273532e-02 -9.27403534e-04 9.99480134e-01 -3.86713755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.78, Y:-31.68, Z:-3.87 [[ 7.98909875e-01 6.00935919e-01 2.48803775e-02 8.97754713e+01] [-6.00669281e-01 7.99296952e-01 -1.79108267e-02 -3.16841662e+01] [-3.06500690e-02 -6.35742091e-04 9.99529974e-01 -3.87037141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.191052754 meters Centerline goodness [0,1] 0.9999767013816081 Centerline is valid? [True, True] Translation: X:89.79, Y:-31.71, Z:-3.87 [[ 8.04569266e-01 5.93390267e-01 2.35857399e-02 8.97938484e+01] [-5.93147616e-01 8.04914827e-01 -1.69713412e-02 -3.17075109e+01] [-2.90551404e-02 -3.35205849e-04 9.99577754e-01 -3.87372302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.221052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.81, Y:-31.73, Z:-3.88 [[ 8.07389326e-01 5.89568954e-01 2.30418082e-02 8.98146684e+01] [-5.89336052e-01 8.07718026e-01 -1.65713202e-02 -3.17261093e+01] [-2.83812198e-02 -1.99861273e-04 9.99597152e-01 -3.87518371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25105275399999 meters Centerline goodness [0,1] 0.999721513112091 Centerline is valid? [True, True] Translation: X:89.83, Y:-31.75, Z:-3.87 [[ 8.11878772e-01 5.83361106e-01 2.32954899e-02 8.98348705e+01] [-5.83120509e-01 8.12212915e-01 -1.67526959e-02 -3.17470022e+01] [-2.86937690e-02 1.70802872e-05 9.99588249e-01 -3.87350023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28105275399999 meters Centerline goodness [0,1] 0.9997453055176087 Centerline is valid? [True, True] Translation: X:89.86, Y:-31.76, Z:-3.87 [[ 8.12722428e-01 5.82157112e-01 2.39864857e-02 8.98571982e+01] [-5.81901751e-01 8.13076315e-01 -1.72411779e-02 -3.17642597e+01] [-2.95399178e-02 5.45139058e-05 9.99563600e-01 -3.87337851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31105275399999 meters Centerline goodness [0,1] 0.9997453055176087 Centerline is valid? [True, True] Translation: X:89.88, Y:-31.78, Z:-3.87 [[ 8.12878765e-01 5.81938605e-01 2.39911104e-02 8.98794375e+01] [-5.81683339e-01 8.13232720e-01 -1.72347397e-02 -3.17801444e+01] [-2.95399163e-02 5.45247898e-05 9.99563600e-01 -3.87444380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34105275399999 meters Centerline goodness [0,1] 0.999606244499004 Centerline is valid? [True, True] Translation: X:89.90, Y:-31.80, Z:-3.87 [[ 8.12414158e-01 5.82485986e-01 2.63308160e-02 8.99017273e+01] [-5.82179212e-01 8.12840744e-01 -1.89021173e-02 -3.17964535e+01] [-3.24129785e-02 2.70940291e-05 9.99474561e-01 -3.87371019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37105275399999 meters Centerline goodness [0,1] 0.9996754751970329 Centerline is valid? [True, True] Translation: X:89.93, Y:-31.81, Z:-3.87 [[ 8.11769904e-01 5.83335422e-01 2.73753478e-02 8.99251143e+01] [-5.83004383e-01 8.12231362e-01 -1.96495136e-02 -3.18117161e+01] [-3.36973733e-02 -9.06404758e-06 9.99432082e-01 -3.87259154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40105275399999 meters Centerline goodness [0,1] 0.9996294237539374 Centerline is valid? [True, True] Translation: X:89.95, Y:-31.83, Z:-3.87 [[ 8.11341861e-01 5.83863874e-01 2.87638924e-02 8.99481645e+01] [-5.83499164e-01 8.11851572e-01 -2.06337443e-02 -3.18271743e+01] [-3.53993092e-02 -4.26866605e-05 9.99373247e-01 -3.87070697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43105275399999 meters Centerline goodness [0,1] 0.9997689624101841 Centerline is valid? [True, True] Translation: X:89.97, Y:-31.84, Z:-3.87 [[ 8.11103969e-01 5.84207684e-01 2.84909383e-02 8.99699865e+01] [-5.83850505e-01 8.11604200e-01 -2.04257466e-02 -3.18424672e+01] [-3.50562433e-02 -6.70446319e-05 9.99385339e-01 -3.87195840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.461052754 meters Centerline goodness [0,1] 0.9997685720897941 Centerline is valid? [True, True] Translation: X:89.99, Y:-31.86, Z:-3.88 [[ 8.09202937e-01 5.86882274e-01 2.75645281e-02 8.99935177e+01] [-5.86549635e-01 8.09672257e-01 -1.97575802e-02 -3.18587585e+01] [-3.39136073e-02 -1.80072014e-04 9.99424752e-01 -3.87517539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.491052754 meters Centerline goodness [0,1] 0.9996765922058721 Centerline is valid? [True, True] Translation: X:90.02, Y:-31.88, Z:-3.88 [[ 8.08486303e-01 5.87863334e-01 2.76875242e-02 9.00167234e+01] [-5.87528626e-01 8.08960226e-01 -1.98359822e-02 -3.18754608e+01] [-3.40589525e-02 -2.30093159e-04 9.99419799e-01 -3.87653864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.521052754 meters Centerline goodness [0,1] 0.999953726197913 Centerline is valid? [True, True] Translation: X:90.04, Y:-31.89, Z:-3.88 [[ 8.06100028e-01 5.91055757e-01 2.92546944e-02 9.00406612e+01] [-5.90684558e-01 8.06630607e-01 -2.09479370e-02 -3.18911849e+01] [-3.59791307e-02 -3.94163670e-04 9.99352464e-01 -3.87602991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.551052754 meters Centerline goodness [0,1] 0.9998147805149101 Centerline is valid? [True, True] Translation: X:90.07, Y:-31.90, Z:-3.88 [[ 8.03995693e-01 5.93892785e-01 2.97032819e-02 9.00660182e+01] [-5.93512456e-01 8.04544014e-01 -2.12578069e-02 -3.19038697e+01] [-3.65224558e-02 -5.38082625e-04 9.99332688e-01 -3.87669000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.581052754 meters Centerline goodness [0,1] 0.999906548606406 Centerline is valid? [True, True] Translation: X:90.10, Y:-31.91, Z:-3.88 [[ 7.97476291e-01 6.02592410e-01 3.02316534e-02 9.00954897e+01] [-6.02204833e-01 7.98048541e-01 -2.16301925e-02 -3.19122636e+01] [-3.71605168e-02 -9.56082127e-04 9.99308852e-01 -3.87772151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.611052754 meters Centerline goodness [0,1] 0.9999533266434856 Centerline is valid? [True, True] Translation: X:90.12, Y:-31.92, Z:-3.88 [[ 7.93377364e-01 6.07939950e-01 3.10060579e-02 9.01233544e+01] [-6.07536745e-01 7.93982031e-01 -2.21729205e-02 -3.19215343e+01] [-3.80980570e-02 -1.24582627e-03 9.99273229e-01 -3.87828813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.16, Y:-31.92, Z:-3.88 [[ 7.86725593e-01 6.16393396e-01 3.34966214e-02 9.01571073e+01] [-6.15930566e-01 7.87436332e-01 -2.39491362e-02 -3.19225993e+01] [-4.11385460e-02 -1.79019458e-03 9.99151848e-01 -3.87656288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.18, Y:-31.94, Z:-3.88 [[ 7.85598857e-01 6.17778239e-01 3.44163318e-02 9.01831238e+01] [-6.17291462e-01 7.86350017e-01 -2.45947652e-02 -3.19351335e+01] [-4.22573938e-02 -1.92328838e-03 9.99104906e-01 -3.87818924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.20, Y:-31.96, Z:-3.88 [[ 7.93459094e-01 6.07457260e-01 3.76609034e-02 9.02034457e+01] [-6.06862854e-01 7.94350939e-01 -2.69083979e-02 -3.19562104e+01] [-4.62616757e-02 -1.50429035e-03 9.98928223e-01 -3.87839092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.73105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.22, Y:-31.98, Z:-3.88 [[ 7.98901531e-01 6.00287563e-01 3.75657441e-02 9.02232868e+01] [-5.99688457e-01 7.99783505e-01 -2.68346890e-02 -3.19772780e+01] [-4.61529926e-02 -1.08946897e-03 9.98933789e-01 -3.88104612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76105275399999 meters Centerline goodness [0,1] 0.9999523321495817 Centerline is valid? [True, True] Translation: X:90.24, Y:-32.00, Z:-3.89 [[ 8.09995213e-01 5.85272579e-01 3.69291590e-02 9.02413052e+01] [-5.84678011e-01 8.10836578e-01 -2.63754969e-02 -3.20020166e+01] [-4.53803680e-02 -2.27640962e-04 9.98969754e-01 -3.88665977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79105275399999 meters Centerline goodness [0,1] 0.9995261786306563 Centerline is valid? [True, True] Translation: X:90.26, Y:-32.03, Z:-3.89 [[ 8.19516481e-01 5.71960621e-01 3.54088227e-02 9.02577620e+01] [-5.71401680e-01 8.20280933e-01 -2.52845910e-02 -3.20267567e+01] [-4.35069725e-02 4.88478268e-04 9.99053004e-01 -3.89291026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.821052754 meters Centerline goodness [0,1] 0.9996214899103404 Centerline is valid? [True, True] Translation: X:90.28, Y:-32.05, Z:-3.90 [[ 8.23102124e-01 5.66856484e-01 3.43018913e-02 9.02789709e+01] [-5.66327720e-01 8.23816237e-01 -2.44892127e-02 -3.20466861e+01] [-4.21403240e-02 7.31011165e-04 9.99111435e-01 -3.89612470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.851052754 meters Centerline goodness [0,1] 0.9992418139601005 Centerline is valid? [True, True] Translation: X:90.30, Y:-32.06, Z:-3.90 [[ 8.23191119e-01 5.66914801e-01 3.10481919e-02 9.03021363e+01] [-5.66482055e-01 8.23776175e-01 -2.21561673e-02 -3.20631885e+01] [-3.81374199e-02 6.50516643e-04 9.99272292e-01 -3.90046583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.881052754 meters Centerline goodness [0,1] 0.9995494534158545 Centerline is valid? [True, True] Translation: X:90.32, Y:-32.08, Z:-3.90 [[ 8.23161375e-01 5.66958742e-01 3.10344202e-02 9.03242889e+01] [-5.66526836e-01 8.23745942e-01 -2.21351980e-02 -3.20792741e+01] [-3.81142217e-02 6.39008111e-04 9.99273185e-01 -3.90119482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.911052754 meters Centerline goodness [0,1] 0.9995488114744366 Centerline is valid? [True, True] Translation: X:90.35, Y:-32.10, Z:-3.90 [[ 8.22825641e-01 5.67409909e-01 3.16853333e-02 9.03478262e+01] [-5.66960538e-01 8.23435250e-01 -2.25862385e-02 -3.20950602e+01] [-3.89064759e-02 6.20202510e-04 9.99242664e-01 -3.90136795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.941052754 meters Centerline goodness [0,1] 0.9995237074611226 Centerline is valid? [True, True] Translation: X:90.37, Y:-32.11, Z:-3.90 [[ 8.21455767e-01 5.69290108e-01 3.34543858e-02 9.03724680e+01] [-5.68791192e-01 8.22136527e-01 -2.38350594e-02 -3.21089402e+01] [-4.10731361e-02 5.50887032e-04 9.99155991e-01 -3.89918590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.971052754 meters Centerline goodness [0,1] 0.9995941945956268 Centerline is valid? [True, True] Translation: X:90.40, Y:-32.12, Z:-3.90 [[ 8.20699822e-01 5.70309672e-01 3.46219732e-02 9.03962270e+01] [-5.69776488e-01 8.21429617e-01 -2.46604345e-02 -3.21242825e+01] [-4.25035986e-02 5.12027878e-04 9.99096183e-01 -3.89907949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00105275399999 meters Centerline goodness [0,1] 0.999593213849872 Centerline is valid? [True, True] Translation: X:90.42, Y:-32.14, Z:-3.90 [[ 8.18599424e-01 5.73243888e-01 3.58667979e-02 9.04208525e+01] [-5.72674709e-01 8.19384714e-01 -2.55415238e-02 -3.21394075e+01] [-4.40302283e-02 3.68268603e-04 9.99030131e-01 -3.90010283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03105275399999 meters Centerline goodness [0,1] 0.9996185390043868 Centerline is valid? [True, True] Translation: X:90.45, Y:-32.15, Z:-3.90 [[ 8.16228202e-01 5.76498085e-01 3.77025268e-02 9.04459312e+01] [-5.75873208e-01 8.17098477e-01 -2.68351690e-02 -3.21537777e+01] [-4.62771008e-02 1.91746664e-04 9.98928623e-01 -3.90021417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06105275399999 meters Centerline goodness [0,1] 0.9994976196741705 Centerline is valid? [True, True] Translation: X:90.47, Y:-32.17, Z:-3.90 [[ 8.15078642e-01 5.78084492e-01 3.82769855e-02 9.04696460e+01] [-5.77442815e-01 8.15976906e-01 -2.72301989e-02 -3.21688267e+01] [-4.69744919e-02 9.19832628e-05 9.98896085e-01 -3.90068451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.09105275399999 meters Centerline goodness [0,1] 0.9997133232996488 Centerline is valid? [True, True] Translation: X:90.49, Y:-32.18, Z:-3.90 [[ 8.13919489e-01 5.79761906e-01 3.75659149e-02 9.04917356e+01] [-5.79146258e-01 8.14785943e-01 -2.67110354e-02 -3.21839662e+01] [-4.60942202e-02 -1.55267182e-05 9.98937096e-01 -3.90330289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12105275399999 meters Centerline goodness [0,1] 0.9996421243498592 Centerline is valid? [True, True] Translation: X:90.51, Y:-32.20, Z:-3.90 [[ 8.13999798e-01 5.79673189e-01 3.71930514e-02 9.05145820e+01] [-5.79069948e-01 8.14849062e-01 -2.64386489e-02 -3.22003141e+01] [-4.56324990e-02 -1.63234753e-05 9.98958295e-01 -3.90470617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15105275399999 meters Centerline goodness [0,1] 0.9997609085475194 Centerline is valid? [True, True] Translation: X:90.54, Y:-32.22, Z:-3.90 [[ 8.14441893e-01 5.79020622e-01 3.76765503e-02 9.05367648e+01] [-5.78401542e-01 8.15312897e-01 -2.67682031e-02 -3.22160610e+01] [-4.62175190e-02 8.97116107e-06 9.98931399e-01 -3.90485893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18105275399999 meters Centerline goodness [0,1] 0.9999283102731379 Centerline is valid? [True, True] Translation: X:90.56, Y:-32.23, Z:-3.91 [[ 8.15042428e-01 5.78162348e-01 3.78700402e-02 9.05592547e+01] [-5.77536471e-01 8.15921747e-01 -2.68947628e-02 -3.22328956e+01] [-4.64485286e-02 4.90433916e-05 9.98920683e-01 -3.90663311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.211052754 meters Centerline goodness [0,1] 0.99988058275615 Centerline is valid? [True, True] Translation: X:90.58, Y:-32.25, Z:-3.91 [[ 8.15632299e-01 5.77246359e-01 3.91228131e-02 9.05808252e+01] [-5.76577975e-01 8.16570041e-01 -2.77705960e-02 -3.22501377e+01] [-4.79769925e-02 9.32426556e-05 9.98848437e-01 -3.90763088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.241052754 meters Centerline goodness [0,1] 0.9997367161321207 Centerline is valid? [True, True] Translation: X:90.60, Y:-32.27, Z:-3.91 [[ 8.16910118e-01 5.75383326e-01 3.98984546e-02 9.06033762e+01] [-5.74686269e-01 8.17883847e-01 -2.83143910e-02 -3.22672384e+01] [-4.89239300e-02 2.01218476e-04 9.98802487e-01 -3.90880548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.271052754 meters Centerline goodness [0,1] 0.9995226046689263 Centerline is valid? [True, True] Translation: X:90.62, Y:-32.28, Z:-3.91 [[ 8.18128959e-01 5.73696840e-01 3.92038460e-02 9.06247328e+01] [-5.73022490e-01 8.19067673e-01 -2.78095908e-02 -3.22837061e+01] [-4.80648773e-02 2.87146181e-04 9.98844175e-01 -3.90976525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.301052754 meters Centerline goodness [0,1] 0.9996888165453849 Centerline is valid? [True, True] Translation: X:90.65, Y:-32.30, Z:-3.92 [[ 8.20490825e-01 5.70486497e-01 3.66055157e-02 9.06462042e+01] [-5.69895731e-01 8.21306864e-01 -2.59594003e-02 -3.23005929e+01] [-4.48738486e-02 4.38122622e-04 9.98992565e-01 -3.91513667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.331052754 meters Centerline goodness [0,1] 0.9997366720130227 Centerline is valid? [True, True] Translation: X:90.67, Y:-32.32, Z:-3.92 [[ 8.21227349e-01 5.69565916e-01 3.43556084e-02 9.06674216e+01] [-5.69045313e-01 8.21945538e-01 -2.43508870e-02 -3.23174086e+01] [-4.21078743e-02 4.47716440e-04 9.99112970e-01 -3.91927716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.361052754 meters Centerline goodness [0,1] 0.9997843381577686 Centerline is valid? [True, True] Translation: X:90.69, Y:-32.34, Z:-3.92 [[ 8.21900150e-01 5.68770758e-01 3.13044376e-02 9.06882257e+01] [-5.68338283e-01 8.22495977e-01 -2.21802519e-02 -3.23363483e+01] [-3.83632526e-02 4.38442060e-04 9.99263763e-01 -3.92477509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39105275399999 meters Centerline goodness [0,1] 0.9994961974905837 Centerline is valid? [True, True] Translation: X:90.71, Y:-32.35, Z:-3.93 [[ 8.22080207e-01 5.68551709e-01 3.05464632e-02 9.07121154e+01] [-5.68139919e-01 8.22647412e-01 -2.16395020e-02 -3.23507022e+01] [-3.74321448e-02 4.34741216e-04 9.99299077e-01 -3.92565603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42105275399999 meters Centerline goodness [0,1] 0.9997115661955581 Centerline is valid? [True, True] Translation: X:90.73, Y:-32.37, Z:-3.93 [[ 8.22300413e-01 5.68267130e-01 2.99081855e-02 9.07331949e+01] [-5.67872632e-01 8.22844022e-01 -2.11751794e-02 -3.23681814e+01] [-3.66429301e-02 4.28318709e-04 9.99328331e-01 -3.92780885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45105275399999 meters Centerline goodness [0,1] 0.999736798028378 Centerline is valid? [True, True] Translation: X:90.76, Y:-32.38, Z:-3.93 [[ 8.22601084e-01 5.67816683e-01 3.01939055e-02 9.07568037e+01] [-5.67414612e-01 8.23154916e-01 -2.13691882e-02 -3.23827057e+01] [-3.69880433e-02 4.45854223e-04 9.99315609e-01 -3.92803836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48105275399999 meters Centerline goodness [0,1] 0.9995919053220347 Centerline is valid? [True, True] Translation: X:90.78, Y:-32.40, Z:-3.93 [[ 8.22673910e-01 5.67596452e-01 3.22785597e-02 9.07800997e+01] [-5.67137301e-01 8.23306773e-01 -2.28306870e-02 -3.23979343e+01] [-3.95337737e-02 4.75835341e-04 9.99218121e-01 -3.92589785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51105275399999 meters Centerline goodness [0,1] 0.9996161596775741 Centerline is valid? [True, True] Translation: X:90.80, Y:-32.41, Z:-3.92 [[ 8.22971277e-01 5.66997675e-01 3.50986353e-02 9.08029416e+01] [-5.66454831e-01 8.23719217e-01 -2.48108005e-02 -3.24137839e+01] [-4.29790866e-02 5.36784590e-04 9.99075828e-01 -3.92272400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54105275399999 meters Centerline goodness [0,1] 0.9997117601844735 Centerline is valid? [True, True] Translation: X:90.83, Y:-32.43, Z:-3.92 [[ 8.23340101e-01 5.66410219e-01 3.59241067e-02 9.08260537e+01] [-5.65841217e-01 8.24123250e-01 -2.53886961e-02 -3.24300732e+01] [-4.39863085e-02 5.76191388e-04 9.99031968e-01 -3.92251728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.571052754 meters Centerline goodness [0,1] 0.9996881521817353 Centerline is valid? [True, True] Translation: X:90.85, Y:-32.45, Z:-3.92 [[ 8.23213695e-01 5.66571906e-01 3.62696504e-02 9.08491777e+01] [-5.65992644e-01 8.24012111e-01 -2.56196700e-02 -3.24455701e+01] [-4.44020165e-02 5.62107930e-04 9.99013586e-01 -3.92370238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.601052754 meters Centerline goodness [0,1] 0.9998078816550996 Centerline is valid? [True, True] Translation: X:90.87, Y:-32.46, Z:-3.93 [[ 8.23011635e-01 5.66884488e-01 3.59697950e-02 9.08710548e+01] [-5.66315677e-01 8.23797121e-01 -2.53940383e-02 -3.24623919e+01] [-4.40273000e-02 5.29330117e-04 9.99030188e-01 -3.92680860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.631052754 meters Centerline goodness [0,1] 0.9997605879958821 Centerline is valid? [True, True] Translation: X:90.89, Y:-32.48, Z:-3.93 [[ 8.23275307e-01 5.66580223e-01 3.47076279e-02 9.08918650e+01] [-5.66050639e-01 8.24006419e-01 -2.44968596e-02 -3.24791970e+01] [-4.24787444e-02 5.21384699e-04 9.99097235e-01 -3.92942270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.661052754 meters Centerline goodness [0,1] 0.9997604331368886 Centerline is valid? [True, True] Translation: X:90.91, Y:-32.50, Z:-3.93 [[ 8.23244612e-01 5.66621633e-01 3.47596515e-02 9.09144823e+01] [-5.66090789e-01 8.23977949e-01 -2.45266740e-02 -3.24954373e+01] [-4.25385304e-02 5.14333643e-04 9.99094695e-01 -3.93074488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.691052754 meters Centerline goodness [0,1] 0.9997366531003112 Centerline is valid? [True, True] Translation: X:90.94, Y:-32.51, Z:-3.93 [[ 8.22574088e-01 5.67630258e-01 3.41724978e-02 9.09371273e+01] [-5.67118620e-01 8.23283483e-01 -2.40993213e-02 -3.25115469e+01] [-4.18131570e-02 4.43617415e-04 9.99125349e-01 -3.93224168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.721052754 meters Centerline goodness [0,1] 0.9996654559357675 Centerline is valid? [True, True] Translation: X:90.96, Y:-32.53, Z:-3.93 [[ 8.22446284e-01 5.67854570e-01 3.35156360e-02 9.09591134e+01] [-5.67362858e-01 8.23128794e-01 -2.36299608e-02 -3.25272556e+01] [-4.10060663e-02 4.18846350e-04 9.99158810e-01 -3.93343354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75105275399999 meters Centerline goodness [0,1] 0.9997133232996488 Centerline is valid? [True, True] Translation: X:90.98, Y:-32.54, Z:-3.94 [[ 8.22478900e-01 5.67881808e-01 3.22290378e-02 9.09807386e+01] [-5.67427366e-01 8.23110014e-01 -2.27176063e-02 -3.25431881e+01] [-3.94289591e-02 3.97113817e-04 9.99222297e-01 -3.93572892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78105275399999 meters Centerline goodness [0,1] 0.9996417054819061 Centerline is valid? [True, True] Translation: X:91.00, Y:-32.56, Z:-3.94 [[ 8.22547879e-01 5.67849775e-01 3.10100055e-02 9.10027627e+01] [-5.67429239e-01 8.23132121e-01 -2.18533528e-02 -3.25597123e+01] [-3.79347531e-02 3.79445112e-04 9.99280146e-01 -3.93821834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81105275399999 meters Centerline goodness [0,1] 0.9994998094512195 Centerline is valid? [True, True] Translation: X:91.02, Y:-32.58, Z:-3.94 [[ 8.22335771e-01 5.68263447e-01 2.89919746e-02 9.10244858e+01] [-5.67896533e-01 8.22846612e-01 -2.04201056e-02 -3.25762655e+01] [-3.54599477e-02 3.27741483e-04 9.99371045e-01 -3.94156271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84105275399999 meters Centerline goodness [0,1] 0.9995944269491364 Centerline is valid? [True, True] Translation: X:91.05, Y:-32.59, Z:-3.94 [[ 8.22160550e-01 5.68543228e-01 2.84715380e-02 9.10476667e+01] [-5.68189680e-01 8.22653332e-01 -2.00495198e-02 -3.25924494e+01] [-3.48212243e-02 3.06690134e-04 9.99393510e-01 -3.94270850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87105275399999 meters Centerline goodness [0,1] 0.999618829807509 Centerline is valid? [True, True] Translation: X:91.07, Y:-32.61, Z:-3.94 [[ 8.20839341e-01 5.70484018e-01 2.77626015e-02 9.10709596e+01] [-5.70149350e-01 8.21308676e-01 -1.95391108e-02 -3.26080796e+01] [-3.39484159e-02 2.09641570e-04 9.99423564e-01 -3.94396046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90105275399999 meters Centerline goodness [0,1] 0.9996196995626545 Centerline is valid? [True, True] Translation: X:91.09, Y:-32.62, Z:-3.95 [[ 8.18869844e-01 5.73336382e-01 2.71582756e-02 9.10942374e+01] [-5.73017829e-01 8.19320075e-01 -1.91097649e-02 -3.26240704e+01] [-3.32076438e-02 8.62340721e-05 9.99448470e-01 -3.94704901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93105275399999 meters Centerline goodness [0,1] 0.9997386925123527 Centerline is valid? [True, True] Translation: X:91.12, Y:-32.64, Z:-3.95 [[ 8.17914742e-01 5.74706499e-01 2.69798964e-02 9.11177764e+01] [-5.74393144e-01 8.18359603e-01 -1.89756697e-02 -3.26397279e+01] [-3.29846980e-02 2.34124237e-05 9.99455857e-01 -3.94812364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.961052754 meters Centerline goodness [0,1] 0.9996913580246913 Centerline is valid? [True, True] Translation: X:91.14, Y:-32.66, Z:-3.95 [[ 8.17215462e-01 5.75695511e-01 2.70844710e-02 9.11414765e+01] [-5.75380610e-01 8.17664160e-01 -1.90387695e-02 -3.26553703e+01] [-3.31065353e-02 -2.51026516e-05 9.99451828e-01 -3.94799117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.991052754 meters Centerline goodness [0,1] 0.9995980232200705 Centerline is valid? [True, True] Translation: X:91.16, Y:-32.67, Z:-3.95 [[ 8.17599034e-01 5.75172943e-01 2.66065053e-02 9.11644307e+01] [-5.74869092e-01 8.18031837e-01 -1.86933484e-02 -3.26710301e+01] [-3.25168766e-02 -1.15939015e-05 9.99471186e-01 -3.94698409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.021052754 meters Centerline goodness [0,1] 0.9996927004538578 Centerline is valid? [True, True] Translation: X:91.19, Y:-32.69, Z:-3.95 [[ 8.17955889e-01 5.74682671e-01 2.62295932e-02 9.11867910e+01] [-5.74387444e-01 8.18376336e-01 -1.84183640e-02 -3.26873894e+01] [-3.20503930e-02 -5.39652944e-07 9.99486254e-01 -3.94822765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.051052754 meters Centerline goodness [0,1] 0.9995283130114856 Centerline is valid? [True, True] Translation: X:91.21, Y:-32.70, Z:-3.95 [[ 8.18254928e-01 5.74278987e-01 2.57394264e-02 9.12077712e+01] [-5.73994847e-01 8.18659664e-01 -1.80629321e-02 -3.27040054e+01] [-3.14449925e-02 5.78504666e-06 9.99505484e-01 -3.95169471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.081052754 meters Centerline goodness [0,1] 0.9994115570201247 Centerline is valid? [True, True] Translation: X:91.23, Y:-32.72, Z:-3.95 [[ 8.18735683e-01 5.73584235e-01 2.59423764e-02 9.12302208e+01] [-5.73295343e-01 8.19146583e-01 -1.82023390e-02 -3.27210136e+01] [-3.16911837e-02 3.02608656e-05 9.99497708e-01 -3.95262454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.111052754 meters Centerline goodness [0,1] 0.9993654524089307 Centerline is valid? [True, True] Translation: X:91.25, Y:-32.74, Z:-3.95 [[ 8.19187342e-01 5.72930071e-01 2.61387317e-02 9.12529109e+01] [-5.72636797e-01 8.19604253e-01 -1.83294014e-02 -3.27366711e+01] [-3.19248808e-02 4.72139988e-05 9.99490270e-01 -3.95237913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14105275399999 meters Centerline goodness [0,1] 0.9995065209728586 Centerline is valid? [True, True] Translation: X:91.28, Y:-32.75, Z:-3.95 [[ 8.20194249e-01 5.71518381e-01 2.54584845e-02 9.12755873e+01] [-5.71239871e-01 8.20589259e-01 -1.78403191e-02 -3.27520178e+01] [-3.10870293e-02 8.96257310e-05 9.99516677e-01 -3.95262169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17105275399999 meters Centerline goodness [0,1] 0.9996004418642912 Centerline is valid? [True, True] Translation: X:91.30, Y:-32.77, Z:-3.95 [[ 8.20362714e-01 5.71320776e-01 2.44456110e-02 9.12999615e+01] [-5.71063943e-01 8.20726850e-01 -1.71292269e-02 -3.27678692e+01] [-2.98494525e-02 9.21721320e-05 9.99554402e-01 -3.95420805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20105275399999 meters Centerline goodness [0,1] 0.9994131042092166 Centerline is valid? [True, True] Translation: X:91.32, Y:-32.78, Z:-3.96 [[ 8.21086671e-01 5.70368763e-01 2.22744839e-02 9.13223841e+01] [-5.70155417e-01 8.21388740e-01 -1.55993216e-02 -3.27837068e+01] [-2.71933760e-02 1.08477393e-04 9.99630186e-01 -3.95735082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23105275399999 meters Centerline goodness [0,1] 0.9994131042092166 Centerline is valid? [True, True] Translation: X:91.34, Y:-32.80, Z:-3.96 [[ 8.21241492e-01 5.70145782e-01 2.22755236e-02 9.13448088e+01] [-5.69932393e-01 8.21543532e-01 -1.55978371e-02 -3.27993214e+01] [-2.71933534e-02 1.14048565e-04 9.99630186e-01 -3.95841328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26105275399999 meters Centerline goodness [0,1] 0.99938774549051 Centerline is valid? [True, True] Translation: X:91.37, Y:-32.82, Z:-3.96 [[ 8.21680918e-01 5.69536492e-01 2.16484032e-02 9.13675542e+01] [-5.69335019e-01 8.21966039e-01 -1.51481292e-02 -3.28160280e+01] [-2.64216646e-02 1.21734633e-04 9.99650879e-01 -3.96037591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29105275399999 meters Centerline goodness [0,1] 0.9992046039395499 Centerline is valid? [True, True] Translation: X:91.39, Y:-32.83, Z:-3.96 [[ 8.22722867e-01 5.68026773e-01 2.17409683e-02 9.13894799e+01] [-5.67823098e-01 8.23010059e-01 -1.52109281e-02 -3.28333495e+01] [-2.65332500e-02 1.69354429e-04 9.99647917e-01 -3.96149175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.321052754 meters Centerline goodness [0,1] 0.9994379785963515 Centerline is valid? [True, True] Translation: X:91.41, Y:-32.85, Z:-3.96 [[ 8.23158204e-01 5.67409200e-01 2.13862319e-02 9.14123557e+01] [-5.67212205e-01 8.23435953e-01 -1.49514449e-02 -3.28492575e+01] [-2.60937796e-02 1.76872725e-04 9.99659484e-01 -3.96086068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.351052754 meters Centerline goodness [0,1] 0.9996242190802762 Centerline is valid? [True, True] Translation: X:91.44, Y:-32.86, Z:-3.96 [[ 8.21945954e-01 5.69080597e-01 2.34972984e-02 9.14391385e+01] [-5.68843507e-01 8.22281738e-01 -1.64258374e-02 -3.28618386e+01] [-2.86690248e-02 1.34864973e-04 9.99588950e-01 -3.95672572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.381052754 meters Centerline goodness [0,1] 0.9995074122724714 Centerline is valid? [True, True] Translation: X:91.46, Y:-32.88, Z:-3.96 [[ 8.21931249e-01 5.69017397e-01 2.54602482e-02 9.14633576e+01] [-5.68739302e-01 8.22325472e-01 -1.77882959e-02 -3.28770161e+01] [-3.10584604e-02 1.40512459e-04 9.99517560e-01 -3.95561899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.411052754 meters Centerline goodness [0,1] 0.9995300862291769 Centerline is valid? [True, True] Translation: X:91.49, Y:-32.89, Z:-3.95 [[ 8.22726896e-01 5.67761986e-01 2.76908307e-02 9.14878277e+01] [-5.67432656e-01 8.23192741e-01 -1.93362701e-02 -3.28918517e+01] [-3.37732900e-02 1.95787896e-04 9.99429501e-01 -3.95372320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.441052754 meters Centerline goodness [0,1] 0.9995761913731399 Centerline is valid? [True, True] Translation: X:91.51, Y:-32.91, Z:-3.95 [[ 8.23563345e-01 5.66560985e-01 2.74238584e-02 9.15123288e+01] [-5.66237621e-01 8.24019779e-01 -1.91405502e-02 -3.29074844e+01] [-3.34420907e-02 2.35035213e-04 9.99440629e-01 -3.95497348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.471052754 meters Centerline goodness [0,1] 0.9997177267595032 Centerline is valid? [True, True] Translation: X:91.53, Y:-32.93, Z:-3.96 [[ 8.28066853e-01 5.60000182e-01 2.65534036e-02 9.15347440e+01] [-5.59693920e-01 8.28492347e-01 -1.85242407e-02 -3.29261655e+01] [-3.23728698e-02 4.77531183e-04 9.99475747e-01 -3.95856488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50105275399999 meters Centerline goodness [0,1] 0.9994136823096227 Centerline is valid? [True, True] Translation: X:91.56, Y:-32.95, Z:-3.96 [[ 8.33806862e-01 5.51422664e-01 2.64416820e-02 9.15552264e+01] [-5.51114923e-01 8.34225632e-01 -1.84373928e-02 -3.29479555e+01] [-3.22251251e-02 8.00819123e-04 9.99480315e-01 -3.96223390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53105275399999 meters Centerline goodness [0,1] 0.9991798669041148 Centerline is valid? [True, True] Translation: X:91.58, Y:-32.97, Z:-3.96 [[ 8.36787482e-01 5.46914098e-01 2.59167631e-02 9.15776772e+01] [-5.46616580e-01 8.37188193e-01 -1.80622202e-02 -3.29671521e+01] [-3.15756909e-02 9.47707369e-04 9.99500914e-01 -3.96440111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56105275399999 meters Centerline goodness [0,1] 0.9989688305601125 Centerline is valid? [True, True] Translation: X:91.60, Y:-32.99, Z:-3.97 [[ 8.42489889e-01 5.38127828e-01 2.50844004e-02 9.15994638e+01] [-5.37845246e-01 8.42862334e-01 -1.74807899e-02 -3.29865662e+01] [-3.05495958e-02 1.23586325e-03 9.99532488e-01 -3.96563622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59105275399999 meters Centerline goodness [0,1] 0.9989000702082845 Centerline is valid? [True, True] Translation: X:91.62, Y:-33.00, Z:-3.97 [[ 8.44865148e-01 5.34402871e-01 2.48284738e-02 9.16205547e+01] [-5.34124530e-01 8.45228809e-01 -1.72987441e-02 -3.30048816e+01] [-3.02302398e-02 1.35360910e-03 9.99542045e-01 -3.96779144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62105275399999 meters Centerline goodness [0,1] 0.9988947417928699 Centerline is valid? [True, True] Translation: X:91.64, Y:-33.02, Z:-3.97 [[ 8.46356097e-01 5.32084572e-01 2.38194344e-02 9.16445601e+01] [-5.31827504e-01 8.46690091e-01 -1.65950477e-02 -3.30218745e+01] [-2.89976479e-02 1.37748944e-03 9.99578531e-01 -3.97037690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65105275399999 meters Centerline goodness [0,1] 0.9989688305601125 Centerline is valid? [True, True] Translation: X:91.67, Y:-33.04, Z:-3.97 [[ 8.48915609e-01 5.27987632e-01 2.39029005e-02 9.16663398e+01] [-5.27727339e-01 8.49250705e-01 -1.66462181e-02 -3.30408803e+01] [-2.90885524e-02 1.51702031e-03 9.99575687e-01 -3.97413407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68105275399999 meters Centerline goodness [0,1] 0.9988273921200751 Centerline is valid? [True, True] Translation: X:91.69, Y:-33.06, Z:-3.98 [[ 8.49517478e-01 5.27024577e-01 2.37728888e-02 9.16897995e+01] [-5.26766954e-01 8.49848656e-01 -1.65480422e-02 -3.30574097e+01] [-2.89245825e-02 1.53507892e-03 9.99580418e-01 -3.97512379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.711052754 meters Centerline goodness [0,1] 0.9976577505035836 Centerline is valid? [True, True] Translation: X:91.71, Y:-33.08, Z:-3.98 [[ 8.50811571e-01 5.24967055e-01 2.30056658e-02 9.17111234e+01] [-5.24725320e-01 8.51121145e-01 -1.60042014e-02 -3.30764655e+01] [-2.79822871e-02 1.54490442e-03 9.99607225e-01 -3.97601763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.741052754 meters Centerline goodness [0,1] 0.9984236035951249 Centerline is valid? [True, True] Translation: X:91.74, Y:-33.09, Z:-3.98 [[ 8.50450581e-01 5.25634847e-01 2.10194486e-02 9.17355465e+01] [-5.25433267e-01 8.50709159e-01 -1.46222289e-02 -3.30908788e+01] [-2.55673905e-02 1.39116553e-03 9.99672133e-01 -3.97786432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.771052754 meters Centerline goodness [0,1] 0.9975616046517081 Centerline is valid? [True, True] Translation: X:91.76, Y:-33.11, Z:-3.98 [[ 8.49156055e-01 5.27738938e-01 2.06302486e-02 9.17587440e+01] [-5.27545607e-01 8.49405636e-01 -1.43421501e-02 -3.31066277e+01] [-2.50923605e-02 1.29532655e-03 9.99684298e-01 -3.98008546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.801052754 meters Centerline goodness [0,1] 0.999223547681231 Centerline is valid? [True, True] Translation: X:91.79, Y:-33.12, Z:-3.98 [[ 8.44553413e-01 5.35102314e-01 1.98757770e-02 9.17885315e+01] [-5.34924906e-01 8.44786623e-01 -1.38168703e-02 -3.31150642e+01] [-2.41842298e-02 1.03703678e-03 9.99706981e-01 -3.98177918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.831052754 meters Centerline goodness [0,1] 0.9993898718730934 Centerline is valid? [True, True] Translation: X:91.81, Y:-33.13, Z:-3.98 [[ 8.42715549e-01 5.37978514e-01 2.02390890e-02 9.18139129e+01] [-5.37795552e-01 8.42957997e-01 -1.40627098e-02 -3.31299789e+01] [-2.46261377e-02 9.66372198e-04 9.99696264e-01 -3.98169722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.861052754 meters Centerline goodness [0,1] 0.9994328788487441 Centerline is valid? [True, True] Translation: X:91.84, Y:-33.14, Z:-3.98 [[ 8.37172998e-01 5.46535171e-01 2.09923520e-02 9.18407376e+01] [-5.46341197e-01 8.37435828e-01 -1.45784193e-02 -3.31410077e+01] [-2.55473665e-02 7.35672250e-04 9.99673342e-01 -3.97928244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89105275399999 meters Centerline goodness [0,1] 0.9996927222445459 Centerline is valid? [True, True] Translation: X:91.87, Y:-33.15, Z:-3.98 [[ 8.33859867e-01 5.51569138e-01 2.11945139e-02 9.18674836e+01] [-5.51373175e-01 8.34128975e-01 -1.47131065e-02 -3.31533634e+01] [-2.57942536e-02 5.82582660e-04 9.99667103e-01 -3.97901089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92105275399999 meters Centerline goodness [0,1] 0.9997867601762782 Centerline is valid? [True, True] Translation: X:91.89, Y:-33.16, Z:-3.98 [[ 8.27372759e-01 5.61227935e-01 2.18522723e-02 9.18947355e+01] [-5.61023209e-01 8.27661238e-01 -1.51603000e-02 -3.31641290e+01] [-2.65946626e-02 2.83587314e-04 9.99646259e-01 -3.97909505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.95105275399999 meters Centerline goodness [0,1] 0.9997862588168238 Centerline is valid? [True, True] Translation: X:91.92, Y:-33.18, Z:-3.98 [[ 8.24244782e-01 5.65801568e-01 2.21161845e-02 9.19187425e+01] [-5.65593551e-01 8.24541429e-01 -1.53416781e-02 -3.31779720e+01] [-2.69160559e-02 1.36526773e-04 9.99637688e-01 -3.98078068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98105275399999 meters Centerline goodness [0,1] 0.9999524239973357 Centerline is valid? [True, True] Translation: X:91.94, Y:-33.19, Z:-3.98 [[ 8.19515829e-01 5.72622146e-01 2.23088233e-02 9.19429016e+01] [-5.72413119e-01 8.19819413e-01 -1.54709966e-02 -3.31903638e+01] [-2.71482417e-02 -9.11364802e-05 9.99631414e-01 -3.98155153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01105275399999 meters Centerline goodness [0,1] 0.9999047278790044 Centerline is valid? [True, True] Translation: X:91.97, Y:-33.20, Z:-3.98 [[ 8.17253609e-01 5.75839007e-01 2.24939426e-02 9.19675916e+01] [-5.75627762e-01 8.17563085e-01 -1.55975059e-02 -3.32046621e+01] [-2.73718694e-02 -2.01019794e-04 9.99625300e-01 -3.98208840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04105275399999 meters Centerline goodness [0,1] 0.9998804571319275 Centerline is valid? [True, True] Translation: X:91.99, Y:-33.22, Z:-3.98 [[ 8.11946441e-01 5.83279939e-01 2.29671438e-02 9.19945588e+01] [-5.83062951e-01 8.12271071e-01 -1.59154526e-02 -3.32162939e+01] [-2.79387107e-02 -4.68795582e-04 9.99609528e-01 -3.98162349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.071052754 meters Centerline goodness [0,1] 0.99978572448931 Centerline is valid? [True, True] Translation: X:92.02, Y:-33.23, Z:-3.98 [[ 8.08800210e-01 5.87574415e-01 2.44648177e-02 9.20192361e+01] [-5.87330182e-01 8.09169867e-01 -1.69523946e-02 -3.32316679e+01] [-2.97569866e-02 -6.57825488e-04 9.99556946e-01 -3.98129702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.101052754 meters Centerline goodness [0,1] 0.9998334958730762 Centerline is valid? [True, True] Translation: X:92.04, Y:-33.25, Z:-3.98 [[ 8.07124747e-01 5.89836769e-01 2.53422379e-02 9.20434149e+01] [-5.89576120e-01 8.07522126e-01 -1.75503557e-02 -3.32461518e+01] [-3.08162629e-02 -7.75851938e-04 9.99524765e-01 -3.98230675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.131052754 meters Centerline goodness [0,1] 0.9998092240186961 Centerline is valid? [True, True] Translation: X:92.07, Y:-33.26, Z:-3.98 [[ 8.04615915e-01 5.93231468e-01 2.58776987e-02 9.20682037e+01] [-5.92961497e-01 8.05031408e-01 -1.79191347e-02 -3.32615131e+01] [-3.14625548e-02 -9.26458023e-04 9.99504502e-01 -3.98179237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.161052754 meters Centerline goodness [0,1] 0.9998566924620235 Centerline is valid? [True, True] Translation: X:92.09, Y:-33.28, Z:-3.98 [[ 8.03940714e-01 5.94127403e-01 2.63050767e-02 9.20925616e+01] [-5.93849222e-01 8.04370349e-01 -1.82055815e-02 -3.32758323e+01] [-3.19754586e-02 -9.85041070e-04 9.99488169e-01 -3.98179577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.191052754 meters Centerline goodness [0,1] 0.9998328597693464 Centerline is valid? [True, True] Translation: X:92.12, Y:-33.29, Z:-3.98 [[ 8.03144349e-01 5.95141262e-01 2.76773055e-02 9.21163288e+01] [-5.94833981e-01 8.03620376e-01 -1.91526982e-02 -3.32913727e+01] [-3.36406077e-02 -1.08102056e-03 9.99433410e-01 -3.98177824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.221052754 meters Centerline goodness [0,1] 0.9997853411882558 Centerline is valid? [True, True] Translation: X:92.14, Y:-33.31, Z:-3.98 [[ 8.03087834e-01 5.95186918e-01 2.83278029e-02 9.21387241e+01] [-5.94865385e-01 8.03586515e-01 -1.95930330e-02 -3.33072064e+01] [-3.44253573e-02 -1.11630290e-03 9.99406648e-01 -3.98375656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25105275399999 meters Centerline goodness [0,1] 0.9998096325909004 Centerline is valid? [True, True] Translation: X:92.16, Y:-33.32, Z:-3.99 [[ 8.03496645e-01 5.94547378e-01 3.01090764e-02 9.21615274e+01] [-5.94184150e-01 8.04059731e-01 -2.08121189e-02 -3.33235781e+01] [-3.65832866e-02 -1.16786830e-03 9.99329925e-01 -3.98543257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28105275399999 meters Centerline goodness [0,1] 0.9999524658348188 Centerline is valid? [True, True] Translation: X:92.18, Y:-33.34, Z:-3.99 [[ 8.05066980e-01 5.92361031e-01 3.12340507e-02 9.21844309e+01] [-5.91968716e-01 8.05671875e-01 -2.15840158e-02 -3.33414247e+01] [-3.79499261e-02 -1.11300246e-03 9.99279022e-01 -3.98607753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31105275399999 meters Centerline goodness [0,1] 0.9999047165316818 Centerline is valid? [True, True] Translation: X:92.21, Y:-33.36, Z:-3.99 [[ 8.06775926e-01 5.90006728e-01 3.16964756e-02 9.22073546e+01] [-5.89601277e-01 8.07397678e-01 -2.18934558e-02 -3.33587108e+01] [-3.85089471e-02 -1.02516941e-03 9.99257730e-01 -3.98593390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34105275399999 meters Centerline goodness [0,1] 0.9999524726123429 Centerline is valid? [True, True] Translation: X:92.23, Y:-33.38, Z:-3.99 [[ 8.12133854e-01 5.82569264e-01 3.24292439e-02 9.22299091e+01] [-5.82139305e-01 8.12780763e-01 -2.23888359e-02 -3.33772102e+01] [-3.94009133e-02 -6.95605922e-04 9.99223240e-01 -3.98516755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37105275399999 meters Centerline goodness [0,1] 0.9998579108153551 Centerline is valid? [True, True] Translation: X:92.25, Y:-33.40, Z:-3.99 [[ 8.17551919e-01 5.74842953e-01 3.41238777e-02 9.22513600e+01] [-5.74360569e-01 8.18263685e-01 -2.35473694e-02 -3.33961785e+01] [-4.14583693e-02 -3.48212772e-04 9.99140172e-01 -3.98508879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40105275399999 meters Centerline goodness [0,1] 0.9999762847724524 Centerline is valid? [True, True] Translation: X:92.27, Y:-33.41, Z:-3.99 [[ 8.19662140e-01 5.71822516e-01 3.42488717e-02 9.22745309e+01] [-5.71334234e-01 8.20377333e-01 -2.36267603e-02 -3.34138386e+01] [-4.16073116e-02 -2.01591966e-04 9.99134021e-01 -3.98670156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43105275399999 meters Centerline goodness [0,1] 0.9997414441519368 Centerline is valid? [True, True] Translation: X:92.29, Y:-33.44, Z:-3.99 [[ 8.25794191e-01 5.62949254e-01 3.39424801e-02 9.22917852e+01] [-5.62462580e-01 8.26491429e-01 -2.34043631e-02 -3.34353870e+01] [-4.12286377e-02 2.35812163e-04 9.99149710e-01 -3.99232105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.461052754 meters Centerline goodness [0,1] 0.9998355997087767 Centerline is valid? [True, True] Translation: X:92.31, Y:-33.46, Z:-3.99 [[ 8.29236389e-01 5.57900396e-01 3.33790280e-02 9.23127684e+01] [-5.57425880e-01 8.29907780e-01 -2.30101012e-02 -3.34553142e+01] [-4.05388596e-02 4.74479206e-04 9.99177850e-01 -3.99409104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.491052754 meters Centerline goodness [0,1] 0.9995990093171364 Centerline is valid? [True, True] Translation: X:92.33, Y:-33.48, Z:-4.00 [[ 8.35085114e-01 5.49230397e-01 3.12861648e-02 9.23320928e+01] [-5.48807794e-01 8.35670556e-01 -2.15575113e-02 -3.34762525e+01] [-3.79849673e-02 8.32265696e-04 9.99277964e-01 -3.99569429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.521052754 meters Centerline goodness [0,1] 0.9994589508350976 Centerline is valid? [True, True] Translation: X:92.35, Y:-33.49, Z:-4.00 [[ 8.36582928e-01 5.47052750e-01 2.93648440e-02 9.23545947e+01] [-5.46679282e-01 8.37097683e-01 -2.02294611e-02 -3.34937174e+01] [-3.56478253e-02 8.70469964e-04 9.99364035e-01 -3.99781850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.551052754 meters Centerline goodness [0,1] 0.9995752913972913 Centerline is valid? [True, True] Translation: X:92.38, Y:-33.51, Z:-4.00 [[ 8.35404969e-01 5.48874625e-01 2.88995524e-02 9.23786127e+01] [-5.48514316e-01 8.35904331e-01 -1.98996184e-02 -3.35084387e+01] [-3.50796566e-02 7.72421808e-04 9.99384221e-01 -3.99911925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.581052754 meters Centerline goodness [0,1] 0.999575511744175 Centerline is valid? [True, True] Translation: X:92.40, Y:-33.52, Z:-4.00 [[ 8.34678324e-01 5.49945070e-01 2.95383608e-02 9.24035057e+01] [-5.49569672e-01 8.35200502e-01 -2.03296961e-02 -3.35227131e+01] [-3.58506700e-02 7.35369424e-04 9.99356888e-01 -4.00033453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.611052754 meters Centerline goodness [0,1] 0.999435320690791 Centerline is valid? [True, True] Translation: X:92.43, Y:-33.54, Z:-4.00 [[ 8.33140622e-01 5.52206708e-01 3.07320064e-02 9.24252729e+01] [-5.51802293e-01 8.33706977e-01 -2.11401511e-02 -3.35393668e+01] [-3.72952214e-02 6.54727082e-04 9.99304077e-01 -4.00243821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64105275399999 meters Centerline goodness [0,1] 0.9995543985553133 Centerline is valid? [True, True] Translation: X:92.45, Y:-33.55, Z:-4.00 [[ 8.32665374e-01 5.52892902e-01 3.12700081e-02 9.24495165e+01] [-5.52474892e-01 8.33252088e-01 -2.15047187e-02 -3.35547618e+01] [-3.79456059e-02 6.30340286e-04 9.99279607e-01 -4.00233436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67105275399999 meters Centerline goodness [0,1] 0.9996949001384684 Centerline is valid? [True, True] Translation: X:92.48, Y:-33.57, Z:-4.00 [[ 8.31620777e-01 5.54433234e-01 3.17910669e-02 9.24756415e+01] [-5.54002697e-01 8.32228018e-01 -2.18526303e-02 -3.35683646e+01] [-3.85732411e-02 5.60764624e-04 9.99255618e-01 -3.99979559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70105275399999 meters Centerline goodness [0,1] 0.9994586579424295 Centerline is valid? [True, True] Translation: X:92.50, Y:-33.58, Z:-4.00 [[ 8.31025457e-01 5.55334135e-01 3.16336558e-02 9.25002096e+01] [-5.54908907e-01 8.31627165e-01 -2.17339361e-02 -3.35833250e+01] [-3.83770041e-02 5.07656786e-04 9.99263202e-01 -3.99979188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.73105275399999 meters Centerline goodness [0,1] 0.999552319690865 Centerline is valid? [True, True] Translation: X:92.53, Y:-33.60, Z:-4.00 [[ 8.29048129e-01 5.58230612e-01 3.25235889e-02 9.25257844e+01] [-5.57783779e-01 8.29685750e-01 -2.23341131e-02 -3.35968412e+01] [-3.94519439e-02 3.74924365e-04 9.99221399e-01 -3.99891691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76105275399999 meters Centerline goodness [0,1] 0.9995999811755847 Centerline is valid? [True, True] Translation: X:92.55, Y:-33.61, Z:-4.00 [[ 8.27808535e-01 5.59962247e-01 3.42828195e-02 9.25500185e+01] [-5.59467731e-01 8.28518070e-01 -2.35300826e-02 -3.36119769e+01] [-4.15798934e-02 2.98271980e-04 9.99135138e-01 -3.99858188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79105275399999 meters Centerline goodness [0,1] 0.9997641119996226 Centerline is valid? [True, True] Translation: X:92.57, Y:-33.63, Z:-4.00 [[ 8.27509398e-01 5.60388861e-01 3.45328974e-02 9.25731729e+01] [-5.59887967e-01 8.28229589e-01 -2.36899176e-02 -3.36274276e+01] [-4.18767333e-02 2.69075728e-04 9.99122749e-01 -3.99954888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.821052754 meters Centerline goodness [0,1] 0.9995993306464918 Centerline is valid? [True, True] Translation: X:92.60, Y:-33.64, Z:-4.00 [[ 8.27423817e-01 5.60576254e-01 3.35274476e-02 9.25959433e+01] [-5.60104779e-01 8.28102774e-01 -2.29876514e-02 -3.36431753e+01] [-4.06505039e-02 2.41646647e-04 9.99173397e-01 -4.00122127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.851052754 meters Centerline goodness [0,1] 0.9997876356772062 Centerline is valid? [True, True] Translation: X:92.62, Y:-33.66, Z:-4.01 [[ 8.27196162e-01 5.61057091e-01 3.10072670e-02 9.26186661e+01] [-5.60654607e-01 8.27777086e-01 -2.12487025e-02 -3.36595394e+01] [-3.75888403e-02 1.92478038e-04 9.99293271e-01 -4.00640792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.881052754 meters Centerline goodness [0,1] 0.9998584471654045 Centerline is valid? [True, True] Translation: X:92.64, Y:-33.68, Z:-4.01 [[ 8.27731863e-01 5.60330219e-01 2.98330075e-02 9.26410250e+01] [-5.59957579e-01 8.28269281e-01 -2.04329955e-02 -3.36760977e+01] [-3.61589885e-02 2.07822790e-04 9.99346028e-01 -4.00894966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.911052754 meters Centerline goodness [0,1] 0.99976401179941 Centerline is valid? [True, True] Translation: X:92.67, Y:-33.69, Z:-4.01 [[ 8.28005718e-01 5.60051607e-01 2.73628961e-02 9.26653114e+01] [-5.59738302e-01 8.28457699e-01 -1.87316312e-02 -3.36914923e+01] [-3.31596821e-02 1.93836769e-04 9.99450048e-01 -4.01063018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.941052754 meters Centerline goodness [0,1] 0.9998816680077626 Centerline is valid? [True, True] Translation: X:92.69, Y:-33.71, Z:-4.01 [[ 8.27964326e-01 5.60198111e-01 2.55568284e-02 9.26888523e+01] [-5.59925163e-01 8.28358647e-01 -1.74860983e-02 -3.37062728e+01] [-3.09658991e-02 1.67954281e-04 9.99520427e-01 -4.01303318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.971052754 meters Centerline goodness [0,1] 0.9998102826788086 Centerline is valid? [True, True] Translation: X:92.71, Y:-33.72, Z:-4.01 [[ 8.28551355e-01 5.59338888e-01 2.53507490e-02 9.27111646e+01] [-5.59070021e-01 8.28939063e-01 -1.73418864e-02 -3.37223113e+01] [-3.07142175e-02 1.95799715e-04 9.99528188e-01 -4.01406326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00105275399999 meters Centerline goodness [0,1] 0.9996691089576932 Centerline is valid? [True, True] Translation: X:92.73, Y:-33.74, Z:-4.02 [[ 8.30865518e-01 5.55881426e-01 2.56579713e-02 9.27318734e+01] [-5.55604717e-01 8.31261535e-01 -1.75402062e-02 -3.37416658e+01] [-3.10787594e-02 3.17862654e-04 9.99516888e-01 -4.01582380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03105275399999 meters Centerline goodness [0,1] 0.999834142874067 Centerline is valid? [True, True] Translation: X:92.76, Y:-33.76, Z:-4.02 [[ 8.32202421e-01 5.53881939e-01 2.55720048e-02 9.27551414e+01] [-5.53606189e-01 8.32595127e-01 -1.74797608e-02 -3.37580041e+01] [-3.09728504e-02 3.89879122e-04 9.99520150e-01 -4.01575782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06105275399999 meters Centerline goodness [0,1] 0.9997396880990131 Centerline is valid? [True, True] Translation: X:92.78, Y:-33.78, Z:-4.02 [[ 8.33574746e-01 5.51799684e-01 2.58892294e-02 9.27772573e+01] [-5.51516364e-01 8.33976554e-01 -1.76863664e-02 -3.37756711e+01] [-3.13503417e-02 4.64574680e-04 9.99508349e-01 -4.01635441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.09105275399999 meters Centerline goodness [0,1] 0.9997869469497905 Centerline is valid? [True, True] Translation: X:92.80, Y:-33.79, Z:-4.01 [[ 8.35076632e-01 5.49481019e-01 2.67885776e-02 9.28005522e+01] [-5.49176545e-01 8.35506006e-01 -1.82985388e-02 -3.37922532e+01] [-3.24367173e-02 5.69023703e-04 9.99473629e-01 -4.01497974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12105275399999 meters Centerline goodness [0,1] 0.9997869469497905 Centerline is valid? [True, True] Translation: X:92.82, Y:-33.81, Z:-4.02 [[ 8.35219800e-01 5.49263180e-01 2.67926312e-02 9.28231732e+01] [-5.48958784e-01 8.35649229e-01 -1.82926014e-02 -3.38075934e+01] [-3.24366940e-02 5.70292653e-04 9.99473629e-01 -4.01604451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15105275399999 meters Centerline goodness [0,1] 0.9997152416886168 Centerline is valid? [True, True] Translation: X:92.85, Y:-33.82, Z:-4.01 [[ 8.34406611e-01 5.50434230e-01 2.80671493e-02 9.28470551e+01] [-5.50101250e-01 8.34878355e-01 -1.91506503e-02 -3.38226600e+01] [-3.39738289e-02 5.39655315e-04 9.99422577e-01 -4.01398834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18105275399999 meters Centerline goodness [0,1] 0.9996428316308308 Centerline is valid? [True, True] Translation: X:92.87, Y:-33.84, Z:-4.01 [[ 8.33810612e-01 5.51328858e-01 2.82197460e-02 9.28722244e+01] [-5.50992907e-01 8.34287863e-01 -1.92504088e-02 -3.38372935e+01] [-3.41566975e-02 5.02315236e-04 9.99416364e-01 -4.01314431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.211052754 meters Centerline goodness [0,1] 0.9997135764750812 Centerline is valid? [True, True] Translation: X:92.90, Y:-33.85, Z:-4.01 [[ 8.32139603e-01 5.53838869e-01 2.83934558e-02 9.28976731e+01] [-5.53500556e-01 8.32623776e-01 -1.93592981e-02 -3.38503212e+01] [-3.43629981e-02 3.93845034e-04 9.99409340e-01 -4.01257286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.241052754 meters Centerline goodness [0,1] 0.9999521279142132 Centerline is valid? [True, True] Translation: X:92.92, Y:-33.87, Z:-4.01 [[ 8.31261085e-01 5.55185892e-01 2.78142659e-02 9.29223043e+01] [-5.54862303e-01 8.31726229e-01 -1.89553037e-02 -3.38651491e+01] [-3.36575718e-02 3.23718693e-04 9.99433371e-01 -4.01366106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.271052754 meters Centerline goodness [0,1] 0.9998810005473975 Centerline is valid? [True, True] Translation: X:92.95, Y:-33.88, Z:-4.02 [[ 8.29939937e-01 5.57199722e-01 2.69846513e-02 9.29455770e+01] [-5.56896535e-01 8.30378479e-01 -1.83801621e-02 -3.38797014e+01] [-3.26488950e-02 2.26771770e-04 9.99466857e-01 -4.01662949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.301052754 meters Centerline goodness [0,1] 0.9999040997362743 Centerline is valid? [True, True] Translation: X:92.97, Y:-33.89, Z:-4.02 [[ 8.29270723e-01 5.58205521e-01 2.67705983e-02 9.29682716e+01] [-5.57907745e-01 8.29702695e-01 -1.82314498e-02 -3.38947076e+01] [-3.23885335e-02 1.83283454e-04 9.99475337e-01 -4.01847274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.331052754 meters Centerline goodness [0,1] 0.9999042581201082 Centerline is valid? [True, True] Translation: X:92.99, Y:-33.91, Z:-4.02 [[ 8.27784093e-01 5.60322263e-01 2.85036302e-02 9.29931036e+01] [-5.59986071e-01 8.28274683e-01 -1.94074555e-02 -3.39093814e+01] [-3.44832647e-02 1.03547073e-04 9.99405270e-01 -4.01641016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.361052754 meters Centerline goodness [0,1] 0.9996876426632068 Centerline is valid? [True, True] Translation: X:93.02, Y:-33.92, Z:-4.02 [[ 8.27039729e-01 5.61377099e-01 2.93434697e-02 9.30171648e+01] [-5.61021803e-01 8.27560119e-01 -1.99696362e-02 -3.39237425e+01] [-3.54939816e-02 5.33562360e-05 9.99369889e-01 -4.01533712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39105275399999 meters Centerline goodness [0,1] 0.99939997599904 Centerline is valid? [True, True] Translation: X:93.04, Y:-33.94, Z:-4.01 [[ 8.24877946e-01 5.64488127e-01 3.04881803e-02 9.30410497e+01] [-5.64107126e-01 8.25441183e-01 -2.07365381e-02 -3.39371737e+01] [-3.68717291e-02 -9.34868535e-05 9.99320002e-01 -4.01431411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42105275399999 meters Centerline goodness [0,1] 0.9993282955499581 Centerline is valid? [True, True] Translation: X:93.06, Y:-33.95, Z:-4.02 [[ 8.24366595e-01 5.65231016e-01 3.05551063e-02 9.30636729e+01] [-5.64849020e-01 8.24932652e-01 -2.07774756e-02 -3.39532804e+01] [-3.69499786e-02 -1.30765013e-04 9.99317108e-01 -4.01533280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.45105275399999 meters Centerline goodness [0,1] 0.9989216907888431 Centerline is valid? [True, True] Translation: X:93.08, Y:-33.97, Z:-4.02 [[ 8.24545652e-01 5.65028827e-01 2.94430462e-02 9.30846555e+01] [-5.64674433e-01 8.25071154e-01 -2.00094083e-02 -3.39694035e+01] [-3.55985006e-02 -1.27064858e-04 9.99366164e-01 -4.01816038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48105275399999 meters Centerline goodness [0,1] 0.9989230069645549 Centerline is valid? [True, True] Translation: X:93.11, Y:-33.99, Z:-4.02 [[ 8.25223520e-01 5.64110264e-01 2.80312587e-02 9.31067376e+01] [-5.63788645e-01 8.25699463e-01 -1.90462896e-02 -3.39861699e+01] [-3.38896027e-02 -8.62592051e-05 9.99425579e-01 -4.02070050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51105275399999 meters Centerline goodness [0,1] 0.9984721525937597 Centerline is valid? [True, True] Translation: X:93.13, Y:-34.00, Z:-4.03 [[ 8.26532934e-01 5.62303561e-01 2.56517880e-02 9.31274488e+01] [-5.62033706e-01 8.26930895e-01 -1.74186461e-02 -3.40041987e+01] [-3.10068227e-02 -2.00848077e-05 9.99519173e-01 -4.02515768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54105275399999 meters Centerline goodness [0,1] 0.9984565702616707 Centerline is valid? [True, True] Translation: X:93.15, Y:-34.02, Z:-4.03 [[ 8.28086233e-01 5.60071111e-01 2.43626948e-02 9.31479659e+01] [-5.59826818e-01 8.28444535e-01 -1.65404659e-02 -3.40232594e+01] [-2.94469785e-02 5.80422252e-05 9.99566342e-01 -4.02938979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.571052754 meters Centerline goodness [0,1] 0.9980507749358182 Centerline is valid? [True, True] Translation: X:93.17, Y:-34.04, Z:-4.03 [[ 8.28716394e-01 5.59150009e-01 2.40916034e-02 9.31704495e+01] [-5.58910752e-01 8.29066499e-01 -1.63557924e-02 -3.40397517e+01] [-2.91188827e-02 8.92571685e-05 9.99575951e-01 -4.03063090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.601052754 meters Centerline goodness [0,1] 0.9979843968604017 Centerline is valid? [True, True] Translation: X:93.19, Y:-34.06, Z:-4.03 [[ 8.30877482e-01 5.55926858e-01 2.42474689e-02 9.31911935e+01] [-5.55683467e-01 8.31231190e-01 -1.64497104e-02 -3.40580413e+01] [-2.93000883e-02 1.93776379e-04 9.99570641e-01 -4.03168213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.631052754 meters Centerline goodness [0,1] 0.997966422322062 Centerline is valid? [True, True] Translation: X:93.21, Y:-34.08, Z:-4.03 [[ 8.32161996e-01 5.53994254e-01 2.44290520e-02 9.32139800e+01] [-5.53746410e-01 8.32520449e-01 -1.65715427e-02 -3.40753460e+01] [-2.95182247e-02 2.62708225e-04 9.99564208e-01 -4.03260162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.661052754 meters Centerline goodness [0,1] 0.9982501773468905 Centerline is valid? [True, True] Translation: X:93.24, Y:-34.09, Z:-4.03 [[ 8.33467995e-01 5.52035804e-01 2.42398824e-02 9.32361549e+01] [-5.51791248e-01 8.33820345e-01 -1.64332264e-02 -3.40928873e+01] [-2.92834365e-02 3.21213342e-04 9.99571097e-01 -4.03420203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.691052754 meters Centerline goodness [0,1] 0.9980456793030374 Centerline is valid? [True, True] Translation: X:93.26, Y:-34.11, Z:-4.04 [[ 8.35714478e-01 5.48617832e-01 2.44905163e-02 9.32577039e+01] [-5.48366810e-01 8.36073129e-01 -1.66001091e-02 -3.41109378e+01] [-2.95829784e-02 4.43165213e-04 9.99562230e-01 -4.03500620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.721052754 meters Centerline goodness [0,1] 0.998119417019276 Centerline is valid? [True, True] Translation: X:93.28, Y:-34.13, Z:-4.03 [[ 8.36890793e-01 5.46795219e-01 2.50756751e-02 9.32809985e+01] [-5.46531282e-01 8.37266218e-01 -1.69952305e-02 -3.41273456e+01] [-3.02879264e-02 5.18511102e-04 9.99541081e-01 -4.03452075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75105275399999 meters Centerline goodness [0,1] 0.9981239593837207 Centerline is valid? [True, True] Translation: X:93.30, Y:-34.14, Z:-4.04 [[ 8.37625040e-01 5.45666288e-01 2.51514338e-02 9.33037093e+01] [-5.45400558e-01 8.38002385e-01 -1.70362665e-02 -3.41440390e+01] [-3.03730778e-02 5.52397338e-04 9.99538479e-01 -4.03580275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78105275399999 meters Centerline goodness [0,1] 0.9984535357795585 Centerline is valid? [True, True] Translation: X:93.33, Y:-34.16, Z:-4.04 [[ 8.37747286e-01 5.45493001e-01 2.48368761e-02 9.33269209e+01] [-5.45233834e-01 8.38115197e-01 -1.68221200e-02 -3.41587705e+01] [-2.99925120e-02 5.50780211e-04 9.99549972e-01 -4.03660922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81105275399999 meters Centerline goodness [0,1] 0.9987365761212887 Centerline is valid? [True, True] Translation: X:93.35, Y:-34.17, Z:-4.04 [[ 8.36521303e-01 5.47336695e-01 2.55861451e-02 9.33518441e+01] [-5.47062884e-01 8.36912363e-01 -1.73175736e-02 -3.41720196e+01] [-3.08919047e-02 4.89288926e-04 9.99522611e-01 -4.03690031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84105275399999 meters Centerline goodness [0,1] 0.9986567375217985 Centerline is valid? [True, True] Translation: X:93.38, Y:-34.18, Z:-4.04 [[ 8.34377106e-01 5.50623181e-01 2.50790341e-02 9.33792000e+01] [-5.50361639e-01 8.34753846e-01 -1.69730081e-02 -3.41829757e+01] [-3.02805518e-02 3.59351060e-04 9.99541374e-01 -4.03818393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87105275399999 meters Centerline goodness [0,1] 0.9987251823697443 Centerline is valid? [True, True] Translation: X:93.40, Y:-34.20, Z:-4.04 [[ 8.33119916e-01 5.52527736e-01 2.49861378e-02 9.34030664e+01] [-5.52269292e-01 8.33494465e-01 -1.68999031e-02 -3.41972963e+01] [-3.01634727e-02 2.80569219e-04 9.99544940e-01 -4.04180275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90105275399999 meters Centerline goodness [0,1] 0.9988951574988246 Centerline is valid? [True, True] Translation: X:93.43, Y:-34.21, Z:-4.04 [[ 8.33600277e-01 5.51791741e-01 2.52280077e-02 9.34251147e+01] [-5.51527971e-01 8.33981882e-01 -1.70621943e-02 -3.42147186e+01] [-3.04544793e-02 3.09097981e-04 9.99536107e-01 -4.04375985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93105275399999 meters Centerline goodness [0,1] 0.9990353849049501 Centerline is valid? [True, True] Translation: X:93.45, Y:-34.23, Z:-4.04 [[ 8.34097706e-01 5.51066316e-01 2.46360021e-02 9.34491506e+01] [-5.50814802e-01 8.34461391e-01 -1.66505249e-02 -3.42296589e+01] [-2.97333360e-02 3.18289953e-04 9.99557816e-01 -4.04391805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.961052754 meters Centerline goodness [0,1] 0.9995759117896522 Centerline is valid? [True, True] Translation: X:93.47, Y:-34.24, Z:-4.04 [[ 8.35866476e-01 5.48384599e-01 2.45268205e-02 9.34736123e+01] [-5.48134193e-01 8.36226143e-01 -1.65753901e-02 -3.42447564e+01] [-2.95996571e-02 4.10823966e-04 9.99561750e-01 -4.04318449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.991052754 meters Centerline goodness [0,1] 0.9996684114540157 Centerline is valid? [True, True] Translation: X:93.50, Y:-34.26, Z:-4.05 [[ 8.36311788e-01 5.47739006e-01 2.37607754e-02 9.34973180e+01] [-5.47504005e-01 8.36649157e-01 -1.60484567e-02 -3.42595182e+01] [-2.86697984e-02 4.12393798e-04 9.99588852e-01 -4.04509392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.021052754 meters Centerline goodness [0,1] 0.9997629264360731 Centerline is valid? [True, True] Translation: X:93.52, Y:-34.27, Z:-4.05 [[ 8.36895690e-01 5.46872170e-01 2.31610365e-02 9.35231333e+01] [-5.46648629e-01 8.37216009e-01 -1.56406767e-02 -3.42727498e+01] [-2.79442414e-02 4.28666084e-04 9.99609392e-01 -4.04829299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.051052754 meters Centerline goodness [0,1] 0.9997863552200541 Centerline is valid? [True, True] Translation: X:93.55, Y:-34.29, Z:-4.05 [[ 8.37741440e-01 5.45589509e-01 2.28334806e-02 9.35471985e+01] [-5.45371976e-01 8.38052431e-01 -1.54120192e-02 -3.42880030e+01] [-2.75442899e-02 4.58546745e-04 9.99620479e-01 -4.05118319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.081052754 meters Centerline goodness [0,1] 0.9996440690031559 Centerline is valid? [True, True] Translation: X:93.57, Y:-34.31, Z:-4.05 [[ 8.42234485e-01 5.38612097e-01 2.31965745e-02 9.35685476e+01] [-5.38385229e-01 8.42553579e-01 -1.56464438e-02 -3.43071058e+01] [-2.79717208e-02 6.89281514e-04 9.99608477e-01 -4.05296952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.111052754 meters Centerline goodness [0,1] 0.9995965828191742 Centerline is valid? [True, True] Translation: X:93.59, Y:-34.32, Z:-4.05 [[ 8.44609006e-01 5.34856639e-01 2.37487427e-02 9.35925831e+01] [-5.34617429e-01 8.44942416e-01 -1.60162135e-02 -3.43234989e+01] [-2.86326981e-02 8.30946374e-04 9.99589655e-01 -4.05272503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14105275399999 meters Centerline goodness [0,1] 0.9992616762331198 Centerline is valid? [True, True] Translation: X:93.61, Y:-34.34, Z:-4.05 [[ 8.50018571e-01 5.26195967e-01 2.42122660e-02 9.36129752e+01] [-5.25943830e-01 8.50362566e-01 -1.63276986e-02 -3.43429701e+01] [-2.91807738e-02 1.14455511e-03 9.99573495e-01 -4.05191806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17105275399999 meters Centerline goodness [0,1] 0.9993785256716703 Centerline is valid? [True, True] Translation: X:93.64, Y:-34.36, Z:-4.05 [[ 8.51962750e-01 5.23060097e-01 2.38245154e-02 9.36389700e+01] [-5.22814879e-01 8.52294918e-01 -1.60616036e-02 -3.43569429e+01] [-2.87066973e-02 1.22807685e-03 9.99587123e-01 -4.05243786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20105275399999 meters Centerline goodness [0,1] 0.9984978182598536 Centerline is valid? [True, True] Translation: X:93.66, Y:-34.38, Z:-4.06 [[ 8.55067757e-01 5.17966276e-01 2.38760803e-02 9.36574926e+01] [-5.17718055e-01 8.55399891e-01 -1.60947747e-02 -3.43791100e+01] [-2.87601470e-02 1.40104509e-03 9.99585360e-01 -4.05647014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23105275399999 meters Centerline goodness [0,1] 0.9976886601377273 Centerline is valid? [True, True] Translation: X:93.68, Y:-34.40, Z:-4.06 [[ 8.56119429e-01 5.16179023e-01 2.48744973e-02 9.36801711e+01] [-5.15908883e-01 8.56479365e-01 -1.67667124e-02 -3.43967765e+01] [-2.99591189e-02 1.52133408e-03 9.99549967e-01 -4.05738569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26105275399999 meters Centerline goodness [0,1] 0.9988546886184682 Centerline is valid? [True, True] Translation: X:93.71, Y:-34.41, Z:-4.06 [[ 8.56549697e-01 5.15390645e-01 2.63647279e-02 9.37071682e+01] [-5.15087063e-01 8.56953798e-01 -1.77624714e-02 -3.44088745e+01] [-3.17479653e-02 1.63430921e-03 9.99494570e-01 -4.05585090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29105275399999 meters Centerline goodness [0,1] 0.9987575562086349 Centerline is valid? [True, True] Translation: X:93.73, Y:-34.42, Z:-4.05 [[ 8.56367819e-01 5.15646751e-01 2.72504243e-02 9.37319705e+01] [-5.15322874e-01 8.56799647e-01 -1.83493889e-02 -3.44243181e+01] [-3.28099567e-02 1.67105916e-03 9.99460211e-01 -4.05471190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.321052754 meters Centerline goodness [0,1] 0.9989742366412214 Centerline is valid? [True, True] Translation: X:93.76, Y:-34.44, Z:-4.06 [[ 8.54656487e-01 5.18458215e-01 2.76291284e-02 9.37578061e+01] [-5.18127025e-01 8.55101509e-01 -1.85955535e-02 -3.44379462e+01] [-3.32667268e-02 1.57741232e-03 9.99445264e-01 -4.05607926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.351052754 meters Centerline goodness [0,1] 0.9994281902220528 Centerline is valid? [True, True] Translation: X:93.78, Y:-34.45, Z:-4.06 [[ 8.53034502e-01 5.21129061e-01 2.75070990e-02 9.37826262e+01] [-5.20802494e-01 8.53476640e-01 -1.85037127e-02 -3.44525280e+01] [-3.31194888e-02 1.45853956e-03 9.99450335e-01 -4.05877848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.381052754 meters Centerline goodness [0,1] 0.999569254331387 Centerline is valid? [True, True] Translation: X:93.81, Y:-34.46, Z:-4.06 [[ 8.47875985e-01 5.29473420e-01 2.76443664e-02 9.38098831e+01] [-5.29148067e-01 8.48325766e-01 -1.85935195e-02 -3.44633593e+01] [-3.32962026e-02 1.13703567e-03 9.99444881e-01 -4.06018881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.411052754 meters Centerline goodness [0,1] 0.9998805856081775 Centerline is valid? [True, True] Translation: X:93.84, Y:-34.48, Z:-4.06 [[ 8.42791791e-01 5.37478292e-01 2.86196099e-02 9.38352517e+01] [-5.37134281e-01 8.43277159e-01 -1.92457099e-02 -3.44756121e+01] [-3.44784147e-02 8.47552733e-04 9.99405083e-01 -4.06011900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.441052754 meters Centerline goodness [0,1] 0.9998571224460637 Centerline is valid? [True, True] Translation: X:93.86, Y:-34.49, Z:-4.06 [[ 8.40655267e-01 5.40819457e-01 2.85137913e-02 9.38605592e+01] [-5.40479983e-01 8.41138405e-01 -1.91721660e-02 -3.44888350e+01] [-3.43527253e-02 7.06048876e-04 9.99409522e-01 -4.06046013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.471052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.89, Y:-34.50, Z:-4.06 [[ 8.35980495e-01 5.48084722e-01 2.71983433e-02 9.38866000e+01] [-5.47779945e-01 8.36422735e-01 -1.82795114e-02 -3.45006879e+01] [-3.27680336e-02 3.82608035e-04 9.99462911e-01 -4.06118403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50105275399999 meters Centerline goodness [0,1] 0.999928503336511 Centerline is valid? [True, True] Translation: X:93.91, Y:-34.52, Z:-4.06 [[ 8.33851309e-01 5.51350794e-01 2.65385849e-02 9.39110637e+01] [-5.51062329e-01 8.34273481e-01 -1.78344941e-02 -3.45150615e+01] [-3.19735001e-02 2.46901863e-04 9.99488686e-01 -4.06325223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53105275399999 meters Centerline goodness [0,1] 0.9999762993861541 Centerline is valid? [True, True] Translation: X:93.93, Y:-34.53, Z:-4.07 [[ 8.31409796e-01 5.55082060e-01 2.53309775e-02 9.39348607e+01] [-5.54821228e-01 8.31795587e-01 -1.70148948e-02 -3.45317018e+01] [-3.05148582e-02 9.21861237e-05 9.99534309e-01 -4.06550231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56105275399999 meters Centerline goodness [0,1] 0.9999525695449047 Centerline is valid? [True, True] Translation: X:93.96, Y:-34.55, Z:-4.07 [[ 8.29953827e-01 5.57269710e-01 2.50422876e-02 9.39580615e+01] [-5.57016028e-01 8.30331543e-01 -1.68129002e-02 -3.45464064e+01] [-3.01627213e-02 4.97528819e-06 9.99545002e-01 -4.06690365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.59105275399999 meters Centerline goodness [0,1] 0.9999524104126017 Centerline is valid? [True, True] Translation: X:93.98, Y:-34.56, Z:-4.07 [[ 8.26539177e-01 5.62394365e-01 2.33573627e-02 9.39849985e+01] [-5.62175960e-01 8.26869123e-01 -1.56729953e-02 -3.45576037e+01] [-2.81278862e-02 -1.76603163e-04 9.99604317e-01 -4.06691997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62105275399999 meters Centerline goodness [0,1] 0.999904463923189 Centerline is valid? [True, True] Translation: X:94.01, Y:-34.57, Z:-4.06 [[ 8.23718000e-01 5.66474786e-01 2.43920741e-02 9.40107381e+01] [-5.66238673e-01 8.24079003e-01 -1.63573351e-02 -3.45686759e+01] [-2.93670140e-02 -3.37904359e-04 9.99568639e-01 -4.06462350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65105275399999 meters Centerline goodness [0,1] 0.999976123964377 Centerline is valid? [True, True] Translation: X:94.03, Y:-34.58, Z:-4.06 [[ 8.23847879e-01 5.66251209e-01 2.51841364e-02 9.40337997e+01] [-5.65999503e-01 8.24232643e-01 -1.68852563e-02 -3.45849925e+01] [-3.03188841e-02 -3.43326110e-04 9.99540218e-01 -4.06398904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68105275399999 meters Centerline goodness [0,1] 0.9997610285331932 Centerline is valid? [True, True] Translation: X:94.06, Y:-34.60, Z:-4.07 [[ 8.22672586e-01 5.67966298e-01 2.49820089e-02 9.40577018e+01] [-5.67719733e-01 8.23051708e-01 -1.67388820e-02 -3.45981384e+01] [-3.00686060e-02 -4.12160121e-04 9.99547752e-01 -4.06516461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.711052754 meters Centerline goodness [0,1] 0.9995219313971555 Centerline is valid? [True, True] Translation: X:94.08, Y:-34.61, Z:-4.07 [[ 8.23092416e-01 5.67279441e-01 2.67003862e-02 9.40807139e+01] [-5.66997631e-01 8.23525264e-01 -1.78836838e-02 -3.46136199e+01] [-3.21334887e-02 -4.19131254e-04 9.99483498e-01 -4.06579058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.741052754 meters Centerline goodness [0,1] 0.9995453566557393 Centerline is valid? [True, True] Translation: X:94.10, Y:-34.63, Z:-4.07 [[ 8.23860316e-01 5.66100862e-01 2.79998694e-02 9.41044168e+01] [-5.65790354e-01 8.24335890e-01 -1.87514476e-02 -3.46292882e+01] [-3.36965079e-02 -3.93482487e-04 9.99432034e-01 -4.06538274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.771052754 meters Centerline goodness [0,1] 0.9996414571182713 Centerline is valid? [True, True] Translation: X:94.13, Y:-34.64, Z:-4.06 [[ 8.26365367e-01 5.62341474e-01 2.98721696e-02 9.41279943e+01] [-5.61985972e-01 8.26905071e-01 -1.99942706e-02 -3.46448544e+01] [-3.59450562e-02 -2.65167539e-04 9.99353732e-01 -4.06237713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.801052754 meters Centerline goodness [0,1] 0.9998327599388379 Centerline is valid? [True, True] Translation: X:94.15, Y:-34.66, Z:-4.06 [[ 8.27431479e-01 5.60719140e-01 3.08414207e-02 9.41507319e+01] [-5.60339185e-01 8.28006041e-01 -2.06395922e-02 -3.46622300e+01] [-3.71098970e-02 -2.03808252e-04 9.99311170e-01 -4.06285755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.831052754 meters Centerline goodness [0,1] 0.9997144896502498 Centerline is valid? [True, True] Translation: X:94.17, Y:-34.68, Z:-4.07 [[ 8.31127731e-01 5.55163418e-01 3.19417436e-02 9.41705499e+01] [-5.54752169e-01 8.31741293e-01 -2.13647409e-02 -3.46818341e+01] [-3.84281897e-02 3.70770872e-05 9.99261364e-01 -4.06505903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.861052754 meters Centerline goodness [0,1] 0.9998101791434334 Centerline is valid? [True, True] Translation: X:94.19, Y:-34.70, Z:-4.07 [[ 8.34036058e-01 5.50748982e-01 3.25486339e-02 9.41897525e+01] [-5.50318735e-01 8.34670893e-01 -2.17667157e-02 -3.47028281e+01] [-3.91553939e-02 2.42102703e-04 9.99233104e-01 -4.06856329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89105275399999 meters Centerline goodness [0,1] 0.9998579276378102 Centerline is valid? [True, True] Translation: X:94.21, Y:-34.72, Z:-4.07 [[ 8.35339381e-01 5.48738664e-01 3.30756328e-02 9.42122006e+01] [-5.48292947e-01 8.35993878e-01 -2.21151401e-02 -3.47206613e+01] [-3.97864590e-02 3.38511282e-04 9.99208148e-01 -4.06954094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92105275399999 meters Centerline goodness [0,1] 0.9998811024183768 Centerline is valid? [True, True] Translation: X:94.24, Y:-34.74, Z:-4.07 [[ 8.36525977e-01 5.46934725e-01 3.29650731e-02 9.42365529e+01] [-5.46490990e-01 8.37175152e-01 -2.20309705e-02 -3.47353395e+01] [-3.96470428e-02 4.14363681e-04 9.99213661e-01 -4.06670266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.95105275399999 meters Centerline goodness [0,1] 0.99985735343065 Centerline is valid? [True, True] Translation: X:94.26, Y:-34.75, Z:-4.07 [[ 8.36865862e-01 5.46422854e-01 3.28267196e-02 9.42606569e+01] [-5.45982599e-01 8.37509329e-01 -2.19345650e-02 -3.47491015e+01] [-3.94782315e-02 4.33471031e-04 9.99220337e-01 -4.06640850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98105275399999 meters Centerline goodness [0,1] 0.9999046870159888 Centerline is valid? [True, True] Translation: X:94.28, Y:-34.76, Z:-4.07 [[ 8.36073779e-01 5.47617946e-01 3.30941390e-02 9.42835027e+01] [-5.47171911e-01 8.36728420e-01 -2.21009463e-02 -3.47645746e+01] [-3.97936815e-02 3.69838433e-04 9.99207849e-01 -4.06936709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01105275399999 meters Centerline goodness [0,1] 0.9998814463544754 Centerline is valid? [True, True] Translation: X:94.30, Y:-34.78, Z:-4.07 [[ 8.36243545e-01 5.47342698e-01 3.33572288e-02 9.43042800e+01] [-5.46889483e-01 8.36908492e-01 -2.22726020e-02 -3.47815001e+01] [-4.01076942e-02 3.82601974e-04 9.99195289e-01 -4.07353040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04105275399999 meters Centerline goodness [0,1] 0.9998814463544754 Centerline is valid? [True, True] Translation: X:94.33, Y:-34.80, Z:-4.07 [[ 8.36380769e-01 5.47132749e-01 3.33611273e-02 9.43270660e+01] [-5.46679600e-01 8.37045761e-01 -2.22667611e-02 -3.47965891e+01] [-4.01076644e-02 3.85643069e-04 9.99195289e-01 -4.07459405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.071052754 meters Centerline goodness [0,1] 0.99985782327433 Centerline is valid? [True, True] Translation: X:94.35, Y:-34.81, Z:-4.08 [[ 8.34998068e-01 5.49271149e-01 3.28546957e-02 9.43506088e+01] [-5.48833774e-01 8.35644142e-01 -2.19170291e-02 -3.48133325e+01] [-3.94932258e-02 2.68910349e-04 9.99219802e-01 -4.07931370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.101052754 meters Centerline goodness [0,1] 0.9997867753322751 Centerline is valid? [True, True] Translation: X:94.37, Y:-34.83, Z:-4.08 [[ 8.34272667e-01 5.50401022e-01 3.23702395e-02 9.43742911e+01] [-5.49977713e-01 8.34900397e-01 -2.15833691e-02 -3.48281074e+01] [-3.89054343e-02 2.03504602e-04 9.99242876e-01 -4.08118049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.131052754 meters Centerline goodness [0,1] 0.999786699530739 Centerline is valid? [True, True] Translation: X:94.40, Y:-34.84, Z:-4.08 [[ 8.33642266e-01 5.51386016e-01 3.18438889e-02 9.43974272e+01] [-5.50977540e-01 8.34250226e-01 -2.12205144e-02 -3.48426400e+01] [-3.82664665e-02 1.45050129e-04 9.99267560e-01 -4.08068652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.161052754 meters Centerline goodness [0,1] 0.999714957599943 Centerline is valid? [True, True] Translation: X:94.42, Y:-34.86, Z:-4.08 [[ 8.32726530e-01 5.52777647e-01 3.16764579e-02 9.44213321e+01] [-5.52374768e-01 8.33328787e-01 -2.11009167e-02 -3.48571221e+01] [-3.80610193e-02 7.40170773e-05 9.99275414e-01 -4.08092646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.191052754 meters Centerline goodness [0,1] 0.9995724770206399 Centerline is valid? [True, True] Translation: X:94.45, Y:-34.87, Z:-4.08 [[ 8.30452642e-01 5.56268294e-01 3.02323465e-02 9.44455052e+01] [-5.55904018e-01 8.31002754e-01 -2.01282359e-02 -3.48711402e+01] [-3.63198626e-02 -9.07362105e-05 9.99340212e-01 -4.08416996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.221052754 meters Centerline goodness [0,1] 0.999572690152882 Centerline is valid? [True, True] Translation: X:94.47, Y:-34.89, Z:-4.09 [[ 8.29110644e-01 5.58325869e-01 2.91163904e-02 9.44690309e+01] [-5.57989657e-01 8.29621715e-01 -1.93740223e-02 -3.48855571e+01] [-3.49726076e-02 -1.83436643e-04 9.99388254e-01 -4.08707772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25105275399999 meters Centerline goodness [0,1] 0.9994778563630322 Centerline is valid? [True, True] Translation: X:94.49, Y:-34.90, Z:-4.09 [[ 8.27295848e-01 5.61100088e-01 2.73545367e-02 9.44924351e+01] [-5.60804953e-01 8.27747915e-01 -1.81987525e-02 -3.49000393e+01] [-3.28539823e-02 -2.84807284e-04 9.99460122e-01 -4.09263244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28105275399999 meters Centerline goodness [0,1] 0.9994300235115301 Centerline is valid? [True, True] Translation: X:94.52, Y:-34.91, Z:-4.09 [[ 8.26110177e-01 5.62857323e-01 2.70852409e-02 9.45164375e+01] [-5.62569014e-01 8.26553997e-01 -1.80165330e-02 -3.49139667e+01] [-3.25281516e-02 -3.53676046e-04 9.99470757e-01 -4.09383447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31105275399999 meters Centerline goodness [0,1] 0.9995256054460495 Centerline is valid? [True, True] Translation: X:94.54, Y:-34.93, Z:-4.09 [[ 8.25895799e-01 5.63177768e-01 2.69616650e-02 9.45405689e+01] [-5.62892317e-01 8.26335687e-01 -1.79324257e-02 -3.49303554e+01] [-3.23785295e-02 -3.66199065e-04 9.99475611e-01 -4.09410860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34105275399999 meters Centerline goodness [0,1] 0.9995489721312254 Centerline is valid? [True, True] Translation: X:94.56, Y:-34.94, Z:-4.09 [[ 8.25830903e-01 5.63253979e-01 2.73546066e-02 9.45636549e+01] [-5.62960510e-01 8.26283734e-01 -1.81839395e-02 -3.49449243e+01] [-3.28448428e-02 -3.82704107e-04 9.99460389e-01 -4.09277368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37105275399999 meters Centerline goodness [0,1] 0.999596458328388 Centerline is valid? [True, True] Translation: X:94.59, Y:-34.96, Z:-4.09 [[ 8.26440344e-01 5.62354312e-01 2.74587881e-02 9.45876037e+01] [-5.62058228e-01 8.26896308e-01 -1.82495075e-02 -3.49605368e+01] [-3.29682598e-02 -3.51308474e-04 9.99456337e-01 -4.09269849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40105275399999 meters Centerline goodness [0,1] 0.9995505830593467 Centerline is valid? [True, True] Translation: X:94.61, Y:-34.98, Z:-4.09 [[ 8.26995192e-01 5.61509600e-01 2.80342854e-02 9.46116676e+01] [-5.61200794e-01 8.27470156e-01 -1.86228367e-02 -3.49767768e+01] [-3.36544361e-02 -3.31866760e-04 9.99433474e-01 -4.09254547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43105275399999 meters Centerline goodness [0,1] 0.9995044598612488 Centerline is valid? [True, True] Translation: X:94.63, Y:-34.99, Z:-4.09 [[ 8.27844990e-01 5.60155120e-01 2.99818856e-02 9.46336524e+01] [-5.59801399e-01 8.28387680e-01 -1.99059038e-02 -3.49943100e+01] [-3.59870185e-02 -3.04898786e-04 9.99352211e-01 -4.09214410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.461052754 meters Centerline goodness [0,1] 0.9996934974300938 Centerline is valid? [True, True] Translation: X:94.66, Y:-35.01, Z:-4.09 [[ 8.28136874e-01 5.59646208e-01 3.13917204e-02 9.46556852e+01] [-5.59258199e-01 8.28731581e-01 -2.08382895e-02 -3.50105119e+01] [-3.76773798e-02 -2.99121108e-04 9.99289911e-01 -4.09196191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.491052754 meters Centerline goodness [0,1] 0.9995993400895593 Centerline is valid? [True, True] Translation: X:94.68, Y:-35.03, Z:-4.09 [[ 8.28587079e-01 5.58946208e-01 3.19779571e-02 9.46785585e+01] [-5.58543255e-01 8.29203871e-01 -2.12219568e-02 -3.50266164e+01] [-3.83781781e-02 -2.76833061e-04 9.99263248e-01 -4.09205546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.521052754 meters Centerline goodness [0,1] 0.9993415018461466 Centerline is valid? [True, True] Translation: X:94.70, Y:-35.04, Z:-4.09 [[ 8.29440924e-01 5.57628177e-01 3.28415671e-02 9.47005400e+01] [-5.57202595e-01 8.30090816e-01 -2.17831514e-02 -3.50433025e+01] [-3.94083823e-02 -2.31569146e-04 9.99223161e-01 -4.09103064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.551052754 meters Centerline goodness [0,1] 0.9995296331138288 Centerline is valid? [True, True] Translation: X:94.72, Y:-35.06, Z:-4.09 [[ 8.29909670e-01 5.56946748e-01 3.25616380e-02 9.47237472e+01] [-5.56528314e-01 8.30548179e-01 -2.15860891e-02 -3.50594760e+01] [-3.90663113e-02 -2.06969425e-04 9.99236599e-01 -4.09214086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.581052754 meters Centerline goodness [0,1] 0.9995533930376325 Centerline is valid? [True, True] Translation: X:94.74, Y:-35.08, Z:-4.10 [[ 8.30849197e-01 5.55677463e-01 3.02021247e-02 9.47447830e+01] [-5.55317026e-01 8.31397941e-01 -2.00116088e-02 -3.50764559e+01] [-3.62299843e-02 -1.45124990e-04 9.99343468e-01 -4.09702438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61105275399999 meters Centerline goodness [0,1] 0.999647481845315 Centerline is valid? [True, True] Translation: X:94.77, Y:-35.09, Z:-4.10 [[ 8.31563135e-01 5.54666759e-01 2.91125319e-02 9.47668308e+01] [-5.54331376e-01 8.32072579e-01 -1.92859950e-02 -3.50929955e+01] [-3.49210398e-02 -1.00467370e-04 9.99390069e-01 -4.09994816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64105275399999 meters Centerline goodness [0,1] 0.9995072388952765 Centerline is valid? [True, True] Translation: X:94.79, Y:-35.11, Z:-4.10 [[ 8.33815483e-01 5.51340434e-01 2.78472022e-02 9.47857673e+01] [-5.51032045e-01 8.34280363e-01 -1.84380156e-02 -3.51120117e+01] [-3.33979975e-02 2.92020976e-05 9.99442131e-01 -4.10403272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67105275399999 meters Centerline goodness [0,1] 0.9998121492474229 Centerline is valid? [True, True] Translation: X:94.81, Y:-35.13, Z:-4.11 [[ 8.34941578e-01 5.49697675e-01 2.65523490e-02 9.48078044e+01] [-5.49416653e-01 8.35363668e-01 -1.75750780e-02 -3.51297256e+01] [-3.18418471e-02 8.58606199e-05 9.99492916e-01 -4.10732144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70105275399999 meters Centerline goodness [0,1] 0.9994832162739893 Centerline is valid? [True, True] Translation: X:94.83, Y:-35.15, Z:-4.11 [[ 8.36812426e-01 5.46920305e-01 2.49628489e-02 9.48294360e+01] [-5.46670897e-01 8.37184657e-01 -1.65160842e-02 -3.51482987e+01] [-2.99314959e-02 1.74401496e-04 9.99551937e-01 -4.11118834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.73105275399999 meters Centerline goodness [0,1] 0.9994596880285661 Centerline is valid? [True, True] Translation: X:94.85, Y:-35.16, Z:-4.11 [[ 8.37393844e-01 5.46060634e-01 2.42762155e-02 9.48541048e+01] [-5.45824592e-01 8.37745634e-01 -1.60551633e-02 -3.51628954e+01] [-2.91043862e-02 1.93939502e-04 9.99576359e-01 -4.10990873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76105275399999 meters Centerline goodness [0,1] 0.9995315062075427 Centerline is valid? [True, True] Translation: X:94.88, Y:-35.18, Z:-4.11 [[ 8.37623459e-01 5.45682831e-01 2.48432980e-02 9.48760060e+01] [-5.45435761e-01 8.37991770e-01 -1.64202415e-02 -3.51788964e+01] [-2.97787231e-02 2.03556269e-04 9.99556495e-01 -4.11221897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79105275399999 meters Centerline goodness [0,1] 0.999459814927897 Centerline is valid? [True, True] Translation: X:94.90, Y:-35.19, Z:-4.11 [[ 8.37211402e-01 5.46281995e-01 2.55548402e-02 9.49005770e+01] [-5.46020948e-01 8.37601306e-01 -1.68871859e-02 -3.51939526e+01] [-3.06299331e-02 1.84666493e-04 9.99530776e-01 -4.11159847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.821052754 meters Centerline goodness [0,1] 0.9995532460203626 Centerline is valid? [True, True] Translation: X:94.93, Y:-35.21, Z:-4.11 [[ 8.36590935e-01 5.47198403e-01 2.62586252e-02 9.49252610e+01] [-5.46923508e-01 8.37002919e-01 -1.73433084e-02 -3.52080569e+01] [-3.14687766e-02 1.47795219e-04 9.99504724e-01 -4.11145665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.851052754 meters Centerline goodness [0,1] 0.9995761614354 Centerline is valid? [True, True] Translation: X:94.95, Y:-35.22, Z:-4.11 [[ 8.34755593e-01 5.49928337e-01 2.76029679e-02 9.49516715e+01] [-5.49626374e-01 8.35211843e-01 -1.82215772e-02 -3.52206242e+01] [-3.30748874e-02 3.92443422e-05 9.99452875e-01 -4.11041539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.881052754 meters Centerline goodness [0,1] 0.9994098902395846 Centerline is valid? [True, True] Translation: X:94.98, Y:-35.23, Z:-4.11 [[ 8.33931223e-01 5.51162789e-01 2.78979369e-02 9.49751597e+01] [-5.50855353e-01 8.34397735e-01 -1.84065367e-02 -3.52340841e+01] [-3.34229735e-02 -1.79422087e-05 9.99441296e-01 -4.11164752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.911052754 meters Centerline goodness [0,1] 0.9993861119637334 Centerline is valid? [True, True] Translation: X:95.00, Y:-35.25, Z:-4.11 [[ 8.32572344e-01 5.53188491e-01 2.83863574e-02 9.49994585e+01] [-5.52871637e-01 8.33056109e-01 -1.87208832e-02 -3.52457366e+01] [-3.40036056e-02 -1.07522250e-04 9.99421704e-01 -4.11300561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.941052754 meters Centerline goodness [0,1] 0.9996681599469056 Centerline is valid? [True, True] Translation: X:95.02, Y:-35.26, Z:-4.11 [[ 8.31098118e-01 5.55363307e-01 2.91121277e-02 9.50243874e+01] [-5.55031541e-01 8.31607813e-01 -1.91946151e-02 -3.52581245e+01] [-3.48698578e-02 -2.05540614e-04 9.99391840e-01 -4.11361158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.971052754 meters Centerline goodness [0,1] 0.9998100529477408 Centerline is valid? [True, True] Translation: X:95.05, Y:-35.27, Z:-4.11 [[ 8.30649323e-01 5.55937849e-01 3.08999988e-02 9.50483211e+01] [-5.55564653e-01 8.31223825e-01 -2.03683531e-02 -3.52732671e+01] [-3.70083536e-02 -2.47988327e-04 9.99314925e-01 -4.11238433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00105275399999 meters Centerline goodness [0,1] 0.9996446423917936 Centerline is valid? [True, True] Translation: X:95.07, Y:-35.29, Z:-4.11 [[ 8.30259112e-01 5.56465323e-01 3.18771296e-02 9.50720092e+01] [-5.56068996e-01 8.30870784e-01 -2.10002772e-02 -3.52880556e+01] [-3.81717017e-02 -2.90212008e-04 9.99271153e-01 -4.11208767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03105275399999 meters Centerline goodness [0,1] 0.9995257966616085 Centerline is valid? [True, True] Translation: X:95.10, Y:-35.30, Z:-4.11 [[ 8.28368636e-01 5.59210464e-01 3.30009042e-02 9.50971294e+01] [-5.58788367e-01 8.29025610e-01 -2.17278540e-02 -3.53006158e+01] [-3.95090380e-02 -4.41848607e-04 9.99219115e-01 -4.11260854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06105275399999 meters Centerline goodness [0,1] 0.9995264254593673 Centerline is valid? [True, True] Translation: X:95.12, Y:-35.31, Z:-4.11 [[ 8.27056041e-01 5.61177987e-01 3.25203368e-02 9.51218460e+01] [-5.60769762e-01 8.27694983e-01 -2.14076835e-02 -3.53126686e+01] [-3.89304404e-02 -5.31067503e-04 9.99241782e-01 -4.11364089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.09105275399999 meters Centerline goodness [0,1] 0.9991393736552714 Centerline is valid? [True, True] Translation: X:95.15, Y:-35.32, Z:-4.11 [[ 8.23432161e-01 5.66428234e-01 3.34444685e-02 9.51489345e+01] [-5.66001052e-01 8.24110676e-01 -2.20091598e-02 -3.53241616e+01] [-4.00285531e-02 -8.06554352e-04 9.99198211e-01 -4.11385673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12105275399999 meters Centerline goodness [0,1] 0.9991846718304117 Centerline is valid? [True, True] Translation: X:95.17, Y:-35.34, Z:-4.12 [[ 8.21299827e-01 5.69499862e-01 3.37120482e-02 9.51735725e+01] [-5.69068525e-01 8.21990860e-01 -2.21819889e-02 -3.53384681e+01] [-4.03436351e-02 -9.66401935e-04 9.99185397e-01 -4.11529357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15105275399999 meters Centerline goodness [0,1] 0.9990166686653076 Centerline is valid? [True, True] Translation: X:95.20, Y:-35.35, Z:-4.12 [[ 8.21219660e-01 5.69614491e-01 3.37283489e-02 9.51971062e+01] [-5.69183054e-01 8.21911417e-01 -2.21872546e-02 -3.53526775e+01] [-4.03598967e-02 -9.76994968e-04 9.99184730e-01 -4.11624222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18105275399999 meters Centerline goodness [0,1] 0.9993511954823981 Centerline is valid? [True, True] Translation: X:95.22, Y:-35.37, Z:-4.12 [[ 8.22274712e-01 5.68194167e-01 3.19325459e-02 9.52211740e+01] [-5.67806571e-01 8.22894066e-01 -2.10012811e-02 -3.53672372e+01] [-3.82099080e-02 -8.62686984e-04 9.99269362e-01 -4.11930013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.211052754 meters Centerline goodness [0,1] 0.9991833401388321 Centerline is valid? [True, True] Translation: X:95.24, Y:-35.38, Z:-4.12 [[ 8.23605345e-01 5.66343399e-01 3.04859149e-02 9.52442792e+01] [-5.65989217e-01 8.24169032e-01 -2.00402737e-02 -3.53838258e+01] [-3.64752237e-02 -7.49422557e-04 9.99334277e-01 -4.12218285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.241052754 meters Centerline goodness [0,1] 0.999326291475181 Centerline is valid? [True, True] Translation: X:95.27, Y:-35.40, Z:-4.13 [[ 8.25032429e-01 5.64343969e-01 2.89374524e-02 9.52678906e+01] [-5.64023945e-01 8.25539510e-01 -1.90133663e-02 -3.54007642e+01] [-3.46190889e-02 -6.34772291e-04 9.99400378e-01 -4.12609212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.271052754 meters Centerline goodness [0,1] 0.9996628699400391 Centerline is valid? [True, True] Translation: X:95.29, Y:-35.42, Z:-4.13 [[ 8.28505691e-01 5.59338485e-01 2.68100577e-02 9.52902346e+01] [-5.59061402e-01 8.28939262e-01 -1.76082175e-02 -3.54196941e+01] [-3.20728631e-02 -3.99960076e-04 9.99485453e-01 -4.12952026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.301052754 meters Centerline goodness [0,1] 0.9997350993377483 Centerline is valid? [True, True] Translation: X:95.31, Y:-35.44, Z:-4.13 [[ 8.30971358e-01 5.55612674e-01 2.79492174e-02 9.53139940e+01] [-5.55309722e-01 8.31441207e-01 -1.83475186e-02 -3.54369276e+01] [-3.34322449e-02 -2.74209665e-04 9.99440949e-01 -4.12911805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.331052754 meters Centerline goodness [0,1] 0.9994951437638234 Centerline is valid? [True, True] Translation: X:95.34, Y:-35.45, Z:-4.13 [[ 8.32465107e-01 5.53279672e-01 2.97229021e-02 9.53380641e+01] [-5.52935899e-01 8.32995537e-01 -1.95019835e-02 -3.54529709e+01] [-3.55490958e-02 -2.00138859e-04 9.99367911e-01 -4.12781485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36105275399999 meters Centerline goodness [0,1] 0.999447314670191 Centerline is valid? [True, True] Translation: X:95.36, Y:-35.47, Z:-4.12 [[ 8.34887444e-01 5.49365212e-01 3.40708210e-02 9.53623767e+01] [-5.48910714e-01 8.35582349e-01 -2.23420256e-02 -3.54671866e+01] [-4.07429082e-02 -4.87620619e-05 9.99169662e-01 -4.12347610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39105275399999 meters Centerline goodness [0,1] 0.9997354242832404 Centerline is valid? [True, True] Translation: X:95.38, Y:-35.48, Z:-4.12 [[ 8.36538777e-01 5.46734941e-01 3.58298544e-02 9.53849564e+01] [-5.46230056e-01 8.37305737e-01 -2.34910334e-02 -3.54830911e+01] [-4.28439114e-02 7.98170193e-05 9.99081775e-01 -4.12301670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42105275399999 meters Centerline goodness [0,1] 0.9997364006709801 Centerline is valid? [True, True] Translation: X:95.41, Y:-35.50, Z:-4.13 [[ 8.40076181e-01 5.41161922e-01 3.76269114e-02 9.54066323e+01] [-5.40599743e-01 8.40918326e-01 -2.46634555e-02 -3.55020021e+01] [-4.49880823e-02 3.78082894e-04 9.98987452e-01 -4.12556276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45105275399999 meters Centerline goodness [0,1] 0.9998075257434318 Centerline is valid? [True, True] Translation: X:95.43, Y:-35.52, Z:-4.13 [[ 8.42043745e-01 5.38076153e-01 3.78996635e-02 9.54293974e+01] [-5.37503235e-01 8.42896059e-01 -2.48295504e-02 -3.55195029e+01] [-4.53056660e-02 5.36375882e-04 9.98973027e-01 -4.12677148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48105275399999 meters Centerline goodness [0,1] 0.9997836174356262 Centerline is valid? [True, True] Translation: X:95.45, Y:-35.53, Z:-4.13 [[ 8.43338357e-01 5.36018968e-01 3.82633093e-02 9.54520470e+01] [-5.35433408e-01 8.44205693e-01 -2.50562231e-02 -3.55349066e+01] [-4.57327144e-02 6.43419882e-04 9.98953505e-01 -4.12746173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51105275399999 meters Centerline goodness [0,1] 0.999807521112528 Centerline is valid? [True, True] Translation: X:95.48, Y:-35.55, Z:-4.13 [[ 8.45776797e-01 5.32101634e-01 3.91083168e-02 9.54762821e+01] [-5.31485999e-01 8.46680043e-01 -2.56034554e-02 -3.55511150e+01] [-4.67358718e-02 8.69285714e-04 9.98906904e-01 -4.12568175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54105275399999 meters Centerline goodness [0,1] 0.9997598232298972 Centerline is valid? [True, True] Translation: X:95.50, Y:-35.57, Z:-4.13 [[ 8.47393533e-01 5.29560417e-01 3.86000604e-02 9.54987367e+01] [-5.28958633e-01 8.48271650e-01 -2.52581044e-02 -3.55686435e+01] [-4.61190293e-02 9.85719152e-04 9.98935465e-01 -4.12793384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.571052754 meters Centerline goodness [0,1] 0.9997595980479361 Centerline is valid? [True, True] Translation: X:95.52, Y:-35.58, Z:-4.13 [[ 8.47250325e-01 5.29872261e-01 3.74469479e-02 9.55231202e+01] [-5.29306762e-01 8.48076956e-01 -2.44914035e-02 -3.55829488e+01] [-4.47352089e-02 9.29426789e-04 9.98998447e-01 -4.13213907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.601052754 meters Centerline goodness [0,1] 0.999664598356532 Centerline is valid? [True, True] Translation: X:95.55, Y:-35.60, Z:-4.14 [[ 8.47412802e-01 5.29795959e-01 3.47532006e-02 9.55451255e+01] [-5.29309302e-01 8.48124700e-01 -2.27190581e-02 -3.55990895e+01] [-4.15115130e-02 8.57228324e-04 9.99137658e-01 -4.13660629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.631052754 meters Centerline goodness [0,1] 0.9997603010618663 Centerline is valid? [True, True] Translation: X:95.57, Y:-35.61, Z:-4.14 [[ 8.47154827e-01 5.30258810e-01 3.39748823e-02 9.55693775e+01] [-5.29794265e-01 8.47835441e-01 -2.22059116e-02 -3.56140628e+01] [-4.05799896e-02 8.12147404e-04 9.99175963e-01 -4.13844935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.661052754 meters Centerline goodness [0,1] 0.9997123612742396 Centerline is valid? [True, True] Translation: X:95.59, Y:-35.63, Z:-4.14 [[ 8.44655553e-01 5.34251918e-01 3.36434925e-02 9.55944787e+01] [-5.33799992e-01 8.45325099e-01 -2.19783232e-02 -3.56260150e+01] [-4.01816499e-02 6.05216671e-04 9.99192208e-01 -4.13888483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.691052754 meters Centerline goodness [0,1] 0.9997842554415572 Centerline is valid? [True, True] Translation: X:95.62, Y:-35.64, Z:-4.14 [[ 8.43250939e-01 5.36483190e-01 3.33712586e-02 9.56201521e+01] [-5.36040520e-01 8.43910864e-01 -2.17948248e-02 -3.56398271e+01] [-3.98549248e-02 4.90159613e-04 9.99205357e-01 -4.13941844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.721052754 meters Centerline goodness [0,1] 0.9998563080754862 Centerline is valid? [True, True] Translation: X:95.65, Y:-35.65, Z:-4.14 [[ 8.39255936e-01 5.42719699e-01 3.32385732e-02 9.56459652e+01] [-5.42285842e-01 8.39913861e-01 -2.16972550e-02 -3.56505963e+01] [-3.96930661e-02 1.84742362e-04 9.99211903e-01 -4.13939976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75105275399999 meters Centerline goodness [0,1] 0.999665799336373 Centerline is valid? [True, True] Translation: X:95.67, Y:-35.66, Z:-4.14 [[ 8.37784581e-01 5.44977604e-01 3.34126776e-02 9.56704212e+01] [-5.44541141e-01 8.38450598e-01 -2.18068717e-02 -3.56646552e+01] [-3.98991362e-02 7.48833017e-05 9.99203710e-01 -4.14138705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78105275399999 meters Centerline goodness [0,1] 0.9996397348448458 Centerline is valid? [True, True] Translation: X:95.69, Y:-35.68, Z:-4.14 [[ 8.35148502e-01 5.49098751e-01 3.18989149e-02 9.56944745e+01] [-5.48704149e-01 8.35757469e-01 -2.08136896e-02 -3.56777699e+01] [-3.80885274e-02 -1.20545281e-04 9.99274362e-01 -4.14488489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81105275399999 meters Centerline goodness [0,1] 0.9998077847188852 Centerline is valid? [True, True] Translation: X:95.72, Y:-35.69, Z:-4.15 [[ 8.34671027e-01 5.49885572e-01 3.08242367e-02 9.57178057e+01] [-5.49518064e-01 8.35239984e-01 -2.01014007e-02 -3.56928621e+01] [-3.67991052e-02 -1.60418092e-04 9.99322671e-01 -4.14796424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84105275399999 meters Centerline goodness [0,1] 0.9996639139619743 Centerline is valid? [True, True] Translation: X:95.74, Y:-35.71, Z:-4.15 [[ 8.33548537e-01 5.51690898e-01 2.88788843e-02 9.57412038e+01] [-5.51369785e-01 8.34048619e-01 -1.88218485e-02 -3.57071212e+01] [-3.44702361e-02 -2.34019943e-04 9.99405697e-01 -4.15151894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87105275399999 meters Centerline goodness [0,1] 0.9996409593565991 Centerline is valid? [True, True] Translation: X:95.77, Y:-35.72, Z:-4.15 [[ 8.33199541e-01 5.52230687e-01 2.86320382e-02 9.57658108e+01] [-5.51915445e-01 8.33691311e-01 -1.86584906e-02 -3.57222087e+01] [-3.41740726e-02 -2.56218353e-04 9.99415863e-01 -4.15241070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90105275399999 meters Centerline goodness [0,1] 0.9994238248427522 Centerline is valid? [True, True] Translation: X:95.79, Y:-35.73, Z:-4.15 [[ 8.30683287e-01 5.55941779e-01 2.99000839e-02 9.57919419e+01] [-5.55600743e-01 8.31221119e-01 -1.94747309e-02 -3.57346703e+01] [-3.56803978e-02 -4.35175348e-04 9.99363157e-01 -4.15038311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93105275399999 meters Centerline goodness [0,1] 0.9994238248427522 Centerline is valid? [True, True] Translation: X:95.81, Y:-35.75, Z:-4.15 [[ 8.30827560e-01 5.55725911e-01 2.99044710e-02 9.58148839e+01] [-5.55384978e-01 8.31365457e-01 -1.94679919e-02 -3.57495050e+01] [-3.56804117e-02 -4.33949811e-04 9.99363157e-01 -4.15144776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.961052754 meters Centerline goodness [0,1] 0.9994952772370034 Centerline is valid? [True, True] Translation: X:95.84, Y:-35.76, Z:-4.15 [[ 8.29870411e-01 5.57087549e-01 3.11217533e-02 9.58393428e+01] [-5.56719690e-01 8.30453605e-01 -2.02483926e-02 -3.57646169e+01] [-3.71252997e-02 -5.22550930e-04 9.99310482e-01 -4.15092304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.991052754 meters Centerline goodness [0,1] 0.9990595384504087 Centerline is valid? [True, True] Translation: X:95.87, Y:-35.78, Z:-4.15 [[ 8.26106500e-01 5.62559083e-01 3.27921895e-02 9.58667952e+01] [-5.62155384e-01 8.26756680e-01 -2.13240691e-02 -3.57756296e+01] [-3.91072105e-02 -8.18353771e-04 9.99234685e-01 -4.15007093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.021052754 meters Centerline goodness [0,1] 0.9989356812849229 Centerline is valid? [True, True] Translation: X:95.89, Y:-35.79, Z:-4.15 [[ 8.24199880e-01 5.65283346e-01 3.39012833e-02 9.58907289e+01] [-5.64854575e-01 8.24896213e-01 -2.20351110e-02 -3.57908010e+01] [-4.04211215e-02 -9.87959135e-04 9.99182244e-01 -4.15014424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.051052754 meters Centerline goodness [0,1] 0.9982038834951457 Centerline is valid? [True, True] Translation: X:95.92, Y:-35.80, Z:-4.15 [[ 8.21556013e-01 5.69016473e-01 3.55804750e-02 9.59165621e+01] [-5.68547835e-01 8.22325199e-01 -2.31219988e-02 -3.58021127e+01] [-4.24155194e-02 -1.23318493e-03 9.99099296e-01 -4.14822522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.081052754 meters Centerline goodness [0,1] 0.9979139884056565 Centerline is valid? [True, True] Translation: X:95.94, Y:-35.82, Z:-4.15 [[ 8.21314047e-01 5.69289586e-01 3.67777564e-02 9.59407002e+01] [-5.68789443e-01 8.22136053e-01 -2.38930775e-02 -3.58178170e+01] [-4.38383997e-02 -1.29507935e-03 9.99037796e-01 -4.14782610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11105275399999 meters Centerline goodness [0,1] 0.9961979948660823 Centerline is valid? [True, True] Translation: X:95.97, Y:-35.83, Z:-4.15 [[ 8.19848071e-01 5.71303618e-01 3.82271672e-02 9.59663758e+01] [-5.70765979e-01 8.20737487e-01 -2.48228929e-02 -3.58290101e+01] [-4.55558777e-02 -1.46776566e-03 9.98960714e-01 -4.14668846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14105275399999 meters Centerline goodness [0,1] 0.9968195391973586 Centerline is valid? [True, True] Translation: X:95.99, Y:-35.85, Z:-4.15 [[ 8.19529073e-01 5.71721643e-01 3.88131613e-02 9.59896041e+01] [-5.71168138e-01 8.20446254e-01 -2.51972871e-02 -3.58463727e+01] [-4.62499472e-02 -1.51893176e-03 9.98928744e-01 -4.14808462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17105275399999 meters Centerline goodness [0,1] 0.9974362695303052 Centerline is valid? [True, True] Translation: X:96.01, Y:-35.86, Z:-4.15 [[ 8.21105947e-01 5.69376220e-01 3.99467737e-02 9.60121550e+01] [-5.68787737e-01 8.22075819e-01 -2.59202040e-02 -3.58649730e+01] [-4.75976245e-02 -1.43800136e-03 9.98865556e-01 -4.14887445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20105275399999 meters Centerline goodness [0,1] 0.9977060897281113 Centerline is valid? [True, True] Translation: X:96.04, Y:-35.88, Z:-4.15 [[ 8.23820643e-01 5.65438561e-01 3.99847566e-02 9.60352244e+01] [-5.64844826e-01 8.24789515e-01 -2.59341041e-02 -3.58800583e+01] [-4.76431506e-02 -1.22013256e-03 9.98863675e-01 -4.14899992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.23105275399999 meters Centerline goodness [0,1] 0.9986018368970422 Centerline is valid? [True, True] Translation: X:96.06, Y:-35.90, Z:-4.15 [[ 8.26539441e-01 5.61479104e-01 3.96707556e-02 9.60574024e+01] [-5.60890350e-01 8.27490326e-01 -2.57250010e-02 -3.58987898e+01] [-4.72712170e-02 -9.88216061e-04 9.98881602e-01 -4.15050964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26105275399999 meters Centerline goodness [0,1] 0.9990647930554889 Centerline is valid? [True, True] Translation: X:96.08, Y:-35.92, Z:-4.15 [[ 8.31519574e-01 5.54128269e-01 3.89494404e-02 9.60789193e+01] [-5.53553072e-01 8.32431103e-01 -2.52478913e-02 -3.59187999e+01] [-4.64132959e-02 -5.66466600e-04 9.98922162e-01 -4.15261983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29105275399999 meters Centerline goodness [0,1] 0.9994970903082118 Centerline is valid? [True, True] Translation: X:96.10, Y:-35.94, Z:-4.16 [[ 8.34042463e-01 5.50346498e-01 3.86251532e-02 9.61012895e+01] [-5.49777288e-01 8.34936285e-01 -2.50266363e-02 -3.59375835e+01] [-4.60228636e-02 -3.61954622e-04 9.98940321e-01 -4.15551677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.321052754 meters Centerline goodness [0,1] 0.9995705184796354 Centerline is valid? [True, True] Translation: X:96.12, Y:-35.96, Z:-4.16 [[ 8.39899796e-01 5.41478775e-01 3.70009371e-02 9.61213825e+01] [-5.40948283e-01 8.40714413e-01 -2.39631243e-02 -3.59577949e+01] [-4.40827443e-02 1.11029798e-04 9.99027877e-01 -4.15866048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.351052754 meters Centerline goodness [0,1] 0.9997378955394587 Centerline is valid? [True, True] Translation: X:96.14, Y:-35.98, Z:-4.16 [[ 8.42924575e-01 5.36834693e-01 3.58702326e-02 9.61423653e+01] [-5.36332182e-01 8.43687382e-01 -2.32248302e-02 -3.59760378e+01] [-4.27311572e-02 3.38420033e-04 9.99086550e-01 -4.16131561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.381052754 meters Centerline goodness [0,1] 0.9995247148288974 Centerline is valid? [True, True] Translation: X:96.16, Y:-36.00, Z:-4.16 [[ 8.47739717e-01 5.29272131e-01 3.47618063e-02 9.61633612e+01] [-5.28794054e-01 8.48451843e-01 -2.25015339e-02 -3.59961155e+01] [-4.14031534e-02 6.93607559e-04 9.99142281e-01 -4.16439730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.411052754 meters Centerline goodness [0,1] 0.9993578767123288 Centerline is valid? [True, True] Translation: X:96.19, Y:-36.01, Z:-4.16 [[ 8.49260253e-01 5.26822862e-01 3.48524735e-02 9.61873962e+01] [-5.26340383e-01 8.49974713e-01 -2.25563384e-02 -3.60119725e+01] [-4.15069160e-02 8.11937359e-04 9.99137887e-01 -4.16489169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.441052754 meters Centerline goodness [0,1] 0.9997389343775959 Centerline is valid? [True, True] Translation: X:96.21, Y:-36.03, Z:-4.17 [[ 8.47813132e-01 5.29182378e-01 3.43351774e-02 9.62129295e+01] [-5.28716514e-01 8.48507839e-01 -2.22102299e-02 -3.60261696e+01] [-4.08869295e-02 6.76549254e-04 9.99163551e-01 -4.16601463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.471052754 meters Centerline goodness [0,1] 0.9996680812726713 Centerline is valid? [True, True] Translation: X:96.24, Y:-36.04, Z:-4.16 [[ 8.47454770e-01 5.29661195e-01 3.57691368e-02 9.62355328e+01] [-5.29156484e-01 8.48209036e-01 -2.31267612e-02 -3.60426456e+01] [-4.25890530e-02 6.71413425e-04 9.99092449e-01 -4.16483496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50105275399999 meters Centerline goodness [0,1] 0.999620682297717 Centerline is valid? [True, True] Translation: X:96.26, Y:-36.06, Z:-4.16 [[ 8.45520072e-01 5.32639130e-01 3.73009933e-02 9.62618955e+01] [-5.32093397e-01 8.46342287e-01 -2.41112168e-02 -3.60551414e+01] [-4.44119856e-02 5.38905553e-04 9.99013156e-01 -4.16398566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53105275399999 meters Centerline goodness [0,1] 0.9996442462764443 Centerline is valid? [True, True] Translation: X:96.29, Y:-36.07, Z:-4.17 [[ 8.44860621e-01 5.33677392e-01 3.74028361e-02 9.62864023e+01] [-5.33130226e-01 8.45688013e-01 -2.41649760e-02 -3.60695554e+01] [-4.45274315e-02 4.75454148e-04 9.99008049e-01 -4.16572933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56105275399999 meters Centerline goodness [0,1] 0.9997624477385024 Centerline is valid? [True, True] Translation: X:96.31, Y:-36.08, Z:-4.17 [[ 8.43554742e-01 5.35808052e-01 3.64023209e-02 9.63111777e+01] [-5.35292269e-01 8.44339750e-01 -2.35068813e-02 -3.60846815e+01] [-4.33311028e-02 3.43460182e-04 9.99060708e-01 -4.16782511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59105275399999 meters Centerline goodness [0,1] 0.9996211313963675 Centerline is valid? [True, True] Translation: X:96.33, Y:-36.10, Z:-4.17 [[ 8.41749649e-01 5.38636109e-01 3.64509394e-02 9.63348514e+01] [-5.38122074e-01 8.42538490e-01 -2.35271624e-02 -3.60997817e+01] [-4.33838986e-02 1.88925541e-04 9.99058458e-01 -4.17034745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62105275399999 meters Centerline goodness [0,1] 0.9998344253376541 Centerline is valid? [True, True] Translation: X:96.36, Y:-36.11, Z:-4.17 [[ 8.40392072e-01 5.40727343e-01 3.68117720e-02 9.63588176e+01] [-5.40205314e-01 8.41197916e-01 -2.37546695e-02 -3.61138297e+01] [-4.38107852e-02 7.73210872e-05 9.99039844e-01 -4.17060053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65105275399999 meters Centerline goodness [0,1] 0.9997401431574968 Centerline is valid? [True, True] Translation: X:96.38, Y:-36.13, Z:-4.17 [[ 8.37928661e-01 5.44469643e-01 3.77937485e-02 9.63833293e+01] [-5.43923751e-01 8.38780538e-01 -2.43754590e-02 -3.61266237e+01] [-4.49723581e-02 -1.32021729e-04 9.98988223e-01 -4.16936867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68105275399999 meters Centerline goodness [0,1] 0.9998105073665261 Centerline is valid? [True, True] Translation: X:96.41, Y:-36.14, Z:-4.17 [[ 8.36156714e-01 5.47235636e-01 3.70824545e-02 9.64086806e+01] [-5.46713045e-01 8.36978543e-01 -2.39116362e-02 -3.61394385e+01] [-4.41225182e-02 -2.79586476e-04 9.99026088e-01 -4.17089564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.711052754 meters Centerline goodness [0,1] 0.9996442125237192 Centerline is valid? [True, True] Translation: X:96.43, Y:-36.15, Z:-4.17 [[ 8.33866474e-01 5.50868498e-01 3.47936935e-02 9.64331962e+01] [-5.50412019e-01 8.34591933e-01 -2.24257528e-02 -3.61533876e+01] [-4.13921766e-02 -4.50783676e-04 9.99142875e-01 -4.17259315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.741052754 meters Centerline goodness [0,1] 0.9995494213621704 Centerline is valid? [True, True] Translation: X:96.46, Y:-36.17, Z:-4.18 [[ 8.32332571e-01 5.53325820e-01 3.24503890e-02 9.64568061e+01] [-5.52930837e-01 8.32964733e-01 -2.09103394e-02 -3.61685808e+01] [-3.86002604e-02 -5.38464222e-04 9.99254587e-01 -4.17558608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.771052754 meters Centerline goodness [0,1] 0.9994084800302858 Centerline is valid? [True, True] Translation: X:96.48, Y:-36.18, Z:-4.18 [[ 8.31733698e-01 5.54293752e-01 3.12648568e-02 9.64808348e+01] [-5.53927909e-01 8.32320922e-01 -2.01433369e-02 -3.61845503e+01] [-3.71877203e-02 -5.64584666e-04 9.99308138e-01 -4.17801511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.801052754 meters Centerline goodness [0,1] 0.9993109838675188 Centerline is valid? [True, True] Translation: X:96.50, Y:-36.20, Z:-4.18 [[ 8.30416119e-01 5.56322306e-01 3.02417090e-02 9.65045223e+01] [-5.55981704e-01 8.30966353e-01 -1.94747069e-02 -3.61997773e+01] [-3.59640565e-02 -6.41726423e-04 9.99352878e-01 -4.18019579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.831052754 meters Centerline goodness [0,1] 0.9985122210414453 Centerline is valid? [True, True] Translation: X:96.53, Y:-36.21, Z:-4.18 [[ 8.26968960e-01 5.61505521e-01 2.88771195e-02 9.65295266e+01] [-5.61198214e-01 8.27472574e-01 -1.85931098e-02 -3.62119060e+01] [-3.43351582e-02 -8.29863256e-04 9.99410030e-01 -4.18427201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86105275399999 meters Centerline goodness [0,1] 0.9985969751735946 Centerline is valid? [True, True] Translation: X:96.55, Y:-36.23, Z:-4.18 [[ 8.25229229e-01 5.64066740e-01 2.87303388e-02 9.65532718e+01] [-5.63764222e-01 8.25728672e-01 -1.84949188e-02 -3.62280839e+01] [-3.41558331e-02 -9.34589545e-04 9.99416082e-01 -4.18433419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89105275399999 meters Centerline goodness [0,1] 0.9969663672845405 Centerline is valid? [True, True] Translation: X:96.58, Y:-36.24, Z:-4.18 [[ 8.22815558e-01 5.67537942e-01 2.95844828e-02 9.65811410e+01] [-5.67219745e-01 8.23346484e-01 -1.90349130e-02 -3.62366525e+01] [-3.51613152e-02 -1.11868025e-03 9.99381024e-01 -4.18018498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92105275399999 meters Centerline goodness [0,1] 0.9968523464326593 Centerline is valid? [True, True] Translation: X:96.61, Y:-36.25, Z:-4.18 [[ 8.22427687e-01 5.68101681e-01 2.95496066e-02 9.66063647e+01] [-5.67784768e-01 8.22957574e-01 -1.90076286e-02 -3.62496829e+01] [-3.51163383e-02 -1.14541650e-03 9.99382575e-01 -4.17855413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95105275399999 meters Centerline goodness [0,1] 0.9961612741708591 Centerline is valid? [True, True] Translation: X:96.63, Y:-36.26, Z:-4.18 [[ 8.22076584e-01 5.68561396e-01 3.04635539e-02 9.66299078e+01] [-5.68225006e-01 8.22639951e-01 -1.95921839e-02 -3.62640269e+01] [-3.61998960e-02 -1.20387743e-03 9.99343844e-01 -4.17774110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98105275399999 meters Centerline goodness [0,1] 0.9976151296177053 Centerline is valid? [True, True] Translation: X:96.65, Y:-36.29, Z:-4.18 [[ 8.22801829e-01 5.67388475e-01 3.26721445e-02 9.66506112e+01] [-5.67000743e-01 8.23449320e-01 -2.10089018e-02 -3.62850880e+01] [-3.88240640e-02 -1.23896738e-03 9.99245294e-01 -4.17771373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01105275399999 meters Centerline goodness [0,1] 0.9979991424896384 Centerline is valid? [True, True] Translation: X:96.67, Y:-36.30, Z:-4.18 [[ 8.24175654e-01 5.65320265e-01 3.38746150e-02 9.66737609e+01] [-5.64902155e-01 8.24870641e-01 -2.17710848e-02 -3.63025976e+01] [-4.02498109e-02 -1.19264501e-03 9.99188936e-01 -4.17841525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04105275399999 meters Centerline goodness [0,1] 0.9984038498189441 Centerline is valid? [True, True] Translation: X:96.70, Y:-36.32, Z:-4.18 [[ 8.27461585e-01 5.60468164e-01 3.43912958e-02 9.66953237e+01] [-5.60033416e-01 8.28175391e-01 -2.20928767e-02 -3.63210825e+01] [-4.08643789e-02 -9.79268069e-04 9.99164223e-01 -4.17995354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.071052754 meters Centerline goodness [0,1] 0.9985009993337775 Centerline is valid? [True, True] Translation: X:96.72, Y:-36.34, Z:-4.18 [[ 8.29460508e-01 5.57509363e-01 3.43303940e-02 9.67180145e+01] [-5.57073876e-01 8.30170229e-01 -2.20473822e-02 -3.63381045e+01] [-4.07916931e-02 -8.37132844e-04 9.99167322e-01 -4.18131502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.101052754 meters Centerline goodness [0,1] 0.9990960344458453 Centerline is valid? [True, True] Translation: X:96.74, Y:-36.36, Z:-4.18 [[ 8.31713860e-01 5.54154666e-01 3.41271338e-02 9.67395641e+01] [-5.53721860e-01 8.32413449e-01 -2.19078238e-02 -3.63561939e+01] [-4.05482079e-02 -6.75899296e-04 9.99177355e-01 -4.18179718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.131052754 meters Centerline goodness [0,1] 0.9990488645820949 Centerline is valid? [True, True] Translation: X:96.76, Y:-36.37, Z:-4.18 [[ 8.32113359e-01 5.53584139e-01 3.36446010e-02 9.67632347e+01] [-5.53163177e-01 8.32793005e-01 -2.15942478e-02 -3.63708387e+01] [-3.99732215e-02 -6.42092356e-04 9.99200545e-01 -4.18232640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.161052754 meters Centerline goodness [0,1] 0.9994779183179477 Centerline is valid? [True, True] Translation: X:96.79, Y:-36.39, Z:-4.18 [[ 8.33686183e-01 5.51241858e-01 3.31626516e-02 9.67859730e+01] [-5.50831459e-01 8.34345331e-01 -2.12737543e-02 -3.63886742e+01] [-3.93960874e-02 -5.31396793e-04 9.99223532e-01 -4.18391546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.191052754 meters Centerline goodness [0,1] 0.9996201509899815 Centerline is valid? [True, True] Translation: X:96.81, Y:-36.40, Z:-4.19 [[ 8.34746400e-01 5.49668561e-01 3.26024813e-02 9.68083508e+01] [-5.49271090e-01 8.35382705e-01 -2.09046649e-02 -3.64046542e+01] [-3.87261861e-02 -4.57506694e-04 9.99249755e-01 -4.18611791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.221052754 meters Centerline goodness [0,1] 0.9997631903002747 Centerline is valid? [True, True] Translation: X:96.83, Y:-36.43, Z:-4.19 [[ 8.36549622e-01 5.47005388e-01 3.11421776e-02 9.68289131e+01] [-5.46640996e-01 8.37129024e-01 -1.99654551e-02 -3.64256124e+01] [-3.69912322e-02 -3.21497076e-04 9.99315538e-01 -4.19002694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25105275399999 meters Centerline goodness [0,1] 0.9998110132054523 Centerline is valid? [True, True] Translation: X:96.85, Y:-36.45, Z:-4.20 [[ 8.39697493e-01 5.42291747e-01 2.87711761e-02 9.68493249e+01] [-5.41978291e-01 8.40190245e-01 -1.84359270e-02 -3.64452720e+01] [-3.41709126e-02 -1.12751197e-04 9.99415997e-01 -4.19524860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28105275399999 meters Centerline goodness [0,1] 0.9996696165191741 Centerline is valid? [True, True] Translation: X:96.87, Y:-36.46, Z:-4.20 [[ 8.41220251e-01 5.40000798e-01 2.73427754e-02 9.68713327e+01] [-5.39716543e-01 8.41664504e-01 -1.75189977e-02 -3.64629078e+01] [-3.24737162e-02 -2.00125853e-05 9.99472590e-01 -4.19896402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31105275399999 meters Centerline goodness [0,1] 0.9996231925015308 Centerline is valid? [True, True] Translation: X:96.89, Y:-36.48, Z:-4.21 [[ 8.43710884e-01 5.36288444e-01 2.33805411e-02 9.68926815e+01] [-5.36079393e-01 8.44034771e-01 -1.49729425e-02 -3.64829205e+01] [-2.77638057e-02 9.90082747e-05 9.99614506e-01 -4.20655192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34105275399999 meters Centerline goodness [0,1] 0.9997416566852204 Centerline is valid? [True, True] Translation: X:96.92, Y:-36.50, Z:-4.21 [[ 8.44475650e-01 5.35144066e-01 2.19477578e-02 9.69154164e+01] [-5.34959698e-01 8.44760803e-01 -1.40466360e-02 -3.64987040e+01] [-2.60575794e-02 1.20876205e-04 9.99660436e-01 -4.21038163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37105275399999 meters Centerline goodness [0,1] 0.9995286353994814 Centerline is valid? [True, True] Translation: X:96.94, Y:-36.52, Z:-4.21 [[ 8.46384618e-01 5.32162716e-01 2.08787770e-02 9.69383531e+01] [-5.31995019e-01 8.46642076e-01 -1.33602387e-02 -3.65151188e+01] [-2.47866719e-02 2.00495141e-04 9.99692743e-01 -4.21198297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40105275399999 meters Centerline goodness [0,1] 0.9995519607611951 Centerline is valid? [True, True] Translation: X:96.96, Y:-36.53, Z:-4.21 [[ 8.47198707e-01 5.30864799e-01 2.09025217e-02 9.69629797e+01] [-5.30696325e-01 8.47456493e-01 -1.33754597e-02 -3.65293563e+01] [-2.48145385e-02 2.38780725e-04 9.99692043e-01 -4.21045443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43105275399999 meters Centerline goodness [0,1] 0.9995289351579245 Centerline is valid? [True, True] Translation: X:96.99, Y:-36.54, Z:-4.21 [[ 8.48504474e-01 5.28712940e-01 2.24228643e-02 9.69850226e+01] [-5.28518564e-01 8.48800640e-01 -1.43387746e-02 -3.65440156e+01] [-2.66136372e-02 3.15614327e-04 9.99645745e-01 -4.21034412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.461052754 meters Centerline goodness [0,1] 0.9996241396321267 Centerline is valid? [True, True] Translation: X:97.01, Y:-36.56, Z:-4.21 [[ 8.49273273e-01 5.27442960e-01 2.32127407e-02 9.70084105e+01] [-5.27234225e-01 8.49590366e-01 -1.48419066e-02 -3.65597477e+01] [-2.75495800e-02 3.66283201e-04 9.99620371e-01 -4.21199166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.491052754 meters Centerline goodness [0,1] 0.9994122072792251 Centerline is valid? [True, True] Translation: X:97.03, Y:-36.58, Z:-4.21 [[ 8.51473848e-01 5.23828415e-01 2.44147183e-02 9.70307288e+01] [-5.23596292e-01 8.51823656e-01 -1.56007053e-02 -3.65779317e+01] [-2.89691273e-02 5.00136614e-04 9.99580182e-01 -4.21358740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.521052754 meters Centerline goodness [0,1] 0.9995052770448549 Centerline is valid? [True, True] Translation: X:97.06, Y:-36.59, Z:-4.21 [[ 8.52710260e-01 5.21821228e-01 2.42449695e-02 9.70560929e+01] [-5.21591719e-01 8.53054684e-01 -1.54849648e-02 -3.65917583e+01] [-2.87626681e-02 5.58213091e-04 9.99586113e-01 -4.21302800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.551052754 meters Centerline goodness [0,1] 0.9994808994596636 Centerline is valid? [True, True] Translation: X:97.08, Y:-36.61, Z:-4.21 [[ 8.53090095e-01 5.21245277e-01 2.32519177e-02 9.70811407e+01] [-5.21034175e-01 8.53406739e-01 -1.48433941e-02 -3.66050089e+01] [-2.75803923e-02 5.47708700e-04 9.99619439e-01 -4.21417119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.581052754 meters Centerline goodness [0,1] 0.999622783855149 Centerline is valid? [True, True] Translation: X:97.10, Y:-36.62, Z:-4.22 [[ 8.52749708e-01 5.21752342e-01 2.43398772e-02 9.71032905e+01] [-5.21521512e-01 8.53096825e-01 -1.55280203e-02 -3.66213196e+01] [-2.88660529e-02 5.47745230e-04 9.99583139e-01 -4.21602955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61105275399999 meters Centerline goodness [0,1] 0.9994077232883203 Centerline is valid? [True, True] Translation: X:97.13, Y:-36.63, Z:-4.22 [[ 8.50233200e-01 5.25787510e-01 2.55147143e-02 9.71294514e+01] [-5.25535811e-01 8.50615843e-01 -1.62726543e-02 -3.66322842e+01] [-3.02591786e-02 4.26654861e-04 9.99541995e-01 -4.21735355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64105275399999 meters Centerline goodness [0,1] 0.9995746591365581 Centerline is valid? [True, True] Translation: X:97.16, Y:-36.64, Z:-4.22 [[ 8.48094610e-01 5.29187880e-01 2.63765116e-02 9.71564803e+01] [-5.28920624e-01 8.48504619e-01 -1.68191516e-02 -3.66428764e+01] [-3.12810831e-02 3.13150835e-04 9.99510578e-01 -4.21819640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67105275399999 meters Centerline goodness [0,1] 0.999479240638167 Centerline is valid? [True, True] Translation: X:97.18, Y:-36.66, Z:-4.22 [[ 8.47165925e-01 5.30670774e-01 2.64277452e-02 9.71803617e+01] [-5.30403514e-01 8.47578001e-01 -1.68417830e-02 -3.66565323e+01] [-3.13370174e-02 2.50415746e-04 9.99508844e-01 -4.22030915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70105275399999 meters Centerline goodness [0,1] 0.999548285863725 Centerline is valid? [True, True] Translation: X:97.21, Y:-36.67, Z:-4.22 [[ 8.45473284e-01 5.33383665e-01 2.60152312e-02 9.72053931e+01] [-5.33126047e-01 8.45873421e-01 -1.65763040e-02 -3.66689793e+01] [-3.08471224e-02 1.45424800e-04 9.99524104e-01 -4.22179118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73105275399999 meters Centerline goodness [0,1] 0.9996910646387833 Centerline is valid? [True, True] Translation: X:97.23, Y:-36.68, Z:-4.22 [[ 8.44285177e-01 5.35277375e-01 2.57035305e-02 9.72299074e+01] [-5.35026860e-01 8.44676345e-01 -1.63747252e-02 -3.66820283e+01] [-3.04761841e-02 7.28585229e-05 9.99535491e-01 -4.22277391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76105275399999 meters Centerline goodness [0,1] 0.9997857499940486 Centerline is valid? [True, True] Translation: X:97.25, Y:-36.69, Z:-4.22 [[ 8.42617470e-01 5.37905487e-01 2.55633914e-02 9.72545024e+01] [-5.37659189e-01 8.43005152e-01 -1.62760509e-02 -3.66949103e+01] [-3.03050477e-02 -2.99074133e-05 9.99540696e-01 -4.22453441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79105275399999 meters Centerline goodness [0,1] 0.9997375077554527 Centerline is valid? [True, True] Translation: X:97.28, Y:-36.71, Z:-4.23 [[ 8.39151842e-01 5.43292029e-01 2.56506637e-02 9.72801432e+01] [-5.43046900e-01 8.39543755e-01 -1.63201834e-02 -3.67056822e+01] [-3.04014801e-02 -2.34401411e-04 9.99537741e-01 -4.22664081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.821052754 meters Centerline goodness [0,1] 0.9997131519816417 Centerline is valid? [True, True] Translation: X:97.31, Y:-36.72, Z:-4.23 [[ 8.37398723e-01 5.45982483e-01 2.58167959e-02 9.73052151e+01] [-5.45735488e-01 8.37796524e-01 -1.64243921e-02 -3.67202075e+01] [-3.05966523e-02 -3.35376765e-04 9.99531757e-01 -4.22614519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.851052754 meters Centerline goodness [0,1] 0.9997131519816417 Centerline is valid? [True, True] Translation: X:97.33, Y:-36.73, Z:-4.23 [[ 8.37547590e-01 5.45753913e-01 2.58205679e-02 9.73283015e+01] [-5.45506993e-01 8.37945437e-01 -1.64184598e-02 -3.67348105e+01] [-3.05966657e-02 -3.34058934e-04 9.99531757e-01 -4.22720982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.881052754 meters Centerline goodness [0,1] 0.9993056386926853 Centerline is valid? [True, True] Translation: X:97.35, Y:-36.75, Z:-4.23 [[ 8.33881291e-01 5.51300878e-01 2.66333435e-02 9.73539032e+01] [-5.51041363e-01 8.34306313e-01 -1.69231269e-02 -3.67462621e+01] [-3.15501013e-02 -5.64195021e-04 9.99502012e-01 -4.22703445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.911052754 meters Centerline goodness [0,1] 0.9994017564430832 Centerline is valid? [True, True] Translation: X:97.38, Y:-36.76, Z:-4.23 [[ 8.30811281e-01 5.55847307e-01 2.80425743e-02 9.73795673e+01] [-5.55562304e-01 8.31284046e-01 -1.78146587e-02 -3.67597208e+01] [-3.32135747e-02 -7.78777698e-04 9.99447974e-01 -4.22647409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.941052754 meters Centerline goodness [0,1] 0.9992090693382547 Centerline is valid? [True, True] Translation: X:97.40, Y:-36.77, Z:-4.23 [[ 8.28622796e-01 5.59093514e-01 2.82613783e-02 9.74046606e+01] [-5.58806021e-01 8.29104095e-01 -1.79507921e-02 -3.67732593e+01] [-3.34677959e-02 -9.18192841e-04 9.99439375e-01 -4.22760960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.971052754 meters Centerline goodness [0,1] 0.9990157244028328 Centerline is valid? [True, True] Translation: X:97.43, Y:-36.79, Z:-4.23 [[ 8.24848905e-01 5.64569720e-01 2.97542484e-02 9.74312432e+01] [-5.64254676e-01 8.25384508e-01 -1.88964071e-02 -3.67861131e+01] [-3.52270350e-02 -1.20229311e-03 9.99378612e-01 -4.22951620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00105275399999 meters Centerline goodness [0,1] 0.9987290777420748 Centerline is valid? [True, True] Translation: X:97.46, Y:-36.80, Z:-4.23 [[ 8.22705407e-01 5.67626734e-01 3.09144589e-02 9.74578448e+01] [-5.67289153e-01 8.23284853e-01 -1.96231459e-02 -3.67961214e+01] [-3.65900279e-02 -1.39336898e-03 9.99329389e-01 -4.22974169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03105275399999 meters Centerline goodness [0,1] 0.9981716265306614 Centerline is valid? [True, True] Translation: X:97.48, Y:-36.81, Z:-4.23 [[ 8.20263142e-01 5.70997157e-01 3.36247690e-02 9.74819568e+01] [-5.70600751e-01 8.20950313e-01 -2.13393281e-02 -3.68114049e+01] [-3.97889603e-02 -1.68245409e-03 9.99206689e-01 -4.22973110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06105275399999 meters Centerline goodness [0,1] 0.998316336347893 Centerline is valid? [True, True] Translation: X:97.51, Y:-36.83, Z:-4.23 [[ 8.19286601e-01 5.72369434e-01 3.40983528e-02 9.75067163e+01] [-5.71963404e-01 8.19993935e-01 -2.16289430e-02 -3.68267708e+01] [-4.03401884e-02 -1.78270678e-03 9.99184413e-01 -4.22966959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.09105275399999 meters Centerline goodness [0,1] 0.9985588701542009 Centerline is valid? [True, True] Translation: X:97.53, Y:-36.84, Z:-4.23 [[ 8.16947239e-01 5.75675135e-01 3.45737896e-02 9.75325697e+01] [-5.75261099e-01 8.17676104e-01 -2.19193495e-02 -3.68397376e+01] [-4.08885860e-02 -1.98200417e-03 9.99161746e-01 -4.22922250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12105275399999 meters Centerline goodness [0,1] 0.9972599447181829 Centerline is valid? [True, True] Translation: X:97.56, Y:-36.85, Z:-4.23 [[ 8.16040920e-01 5.76958117e-01 3.45911667e-02 9.75600782e+01] [-5.76545255e-01 8.16771145e-01 -2.19195215e-02 -3.68485804e+01] [-4.08997127e-02 -2.05614649e-03 9.99161141e-01 -4.22978022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15105275399999 meters Centerline goodness [0,1] 0.9972572418439034 Centerline is valid? [True, True] Translation: X:97.58, Y:-36.86, Z:-4.23 [[ 8.14688982e-01 5.78842107e-01 3.49811103e-02 9.75846499e+01] [-5.78421773e-01 8.15436736e-01 -2.21626353e-02 -3.68637565e+01] [-4.13535489e-02 -2.17818107e-03 9.99142202e-01 -4.23113640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18105275399999 meters Centerline goodness [0,1] 0.9980190365753491 Centerline is valid? [True, True] Translation: X:97.61, Y:-36.88, Z:-4.23 [[ 8.14779707e-01 5.78748205e-01 3.44172032e-02 9.76061833e+01] [-5.78341421e-01 8.15503481e-01 -2.18007769e-02 -3.68819575e+01] [-4.06845095e-02 -2.14206355e-03 9.99169746e-01 -4.23411171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.211052754 meters Centerline goodness [0,1] 0.9979497322591538 Centerline is valid? [True, True] Translation: X:97.63, Y:-36.90, Z:-4.24 [[ 8.15769059e-01 5.77382773e-01 3.39112965e-02 9.76298467e+01] [-5.76987184e-01 8.16471014e-01 -2.14679504e-02 -3.68975903e+01] [-4.00828153e-02 -2.05349380e-03 9.99194251e-01 -4.23580185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.241052754 meters Centerline goodness [0,1] 0.9981580222976248 Centerline is valid? [True, True] Translation: X:97.65, Y:-36.91, Z:-4.24 [[ 8.18007299e-01 5.74264027e-01 3.29376111e-02 9.76537734e+01] [-5.73888684e-01 8.18668059e-01 -2.08419736e-02 -3.69116995e+01] [-3.89337658e-02 -1.85363576e-03 9.99240074e-01 -4.23687818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.271052754 meters Centerline goodness [0,1] 0.9983519945712762 Centerline is valid? [True, True] Translation: X:97.68, Y:-36.93, Z:-4.24 [[ 8.20228810e-01 5.71079435e-01 3.30602268e-02 9.76772386e+01] [-5.70698836e-01 8.20893020e-01 -2.09162005e-02 -3.69285625e+01] [-3.90837214e-02 -1.71136275e-03 9.99234474e-01 -4.23844293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.301052754 meters Centerline goodness [0,1] 0.9987448102732451 Centerline is valid? [True, True] Translation: X:97.70, Y:-36.95, Z:-4.24 [[ 8.24505824e-01 5.64930588e-01 3.23044346e-02 9.76992986e+01] [-5.64562833e-01 8.25137253e-01 -2.04284502e-02 -3.69481147e+01] [-3.81962488e-02 -1.39450692e-03 9.99269284e-01 -4.24163494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.331052754 meters Centerline goodness [0,1] 0.9989118080913114 Centerline is valid? [True, True] Translation: X:97.72, Y:-36.96, Z:-4.24 [[ 8.25771798e-01 5.63095446e-01 3.20071395e-02 9.77235839e+01] [-5.62733406e-01 8.26390837e-01 -2.02311268e-02 -3.69635407e+01] [-3.78424622e-02 -1.30519266e-03 9.99282865e-01 -4.24289418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36105275399999 meters Centerline goodness [0,1] 0.9991568703025631 Centerline is valid? [True, True] Translation: X:97.75, Y:-36.98, Z:-4.24 [[ 8.29330627e-01 5.57815188e-01 3.24488389e-02 9.77460894e+01] [-5.57439425e-01 8.29964478e-01 -2.05000753e-02 -3.69797470e+01] [-3.83666370e-02 -1.08692181e-03 9.99263138e-01 -4.24302927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39105275399999 meters Centerline goodness [0,1] 0.9993227717982828 Centerline is valid? [True, True] Translation: X:97.77, Y:-37.00, Z:-4.24 [[ 8.30829777e-01 5.55575634e-01 3.25207111e-02 9.77705081e+01] [-5.55196638e-01 8.31465415e-01 -2.05415781e-02 -3.69952498e+01] [-3.84522469e-02 -9.88834687e-04 9.99259950e-01 -4.24351269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42105275399999 meters Centerline goodness [0,1] 0.9994680207955507 Centerline is valid? [True, True] Translation: X:97.79, Y:-37.01, Z:-4.24 [[ 8.34209456e-01 5.50408023e-01 3.38465831e-02 9.77934150e+01] [-5.49993658e-01 8.34895433e-01 -2.13680308e-02 -3.70136794e+01] [-4.00194932e-02 -7.89992649e-04 9.99198587e-01 -4.24308756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.45105275399999 meters Centerline goodness [0,1] 0.9994193922972712 Centerline is valid? [True, True] Translation: X:97.82, Y:-37.03, Z:-4.24 [[ 8.34765807e-01 5.49576335e-01 3.36437228e-02 9.78175316e+01] [-5.49166641e-01 8.35443166e-01 -2.12300912e-02 -3.70266534e+01] [-3.97749740e-02 -7.53856036e-04 9.99208378e-01 -4.24400482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48105275399999 meters Centerline goodness [0,1] 0.9996848637641811 Centerline is valid? [True, True] Translation: X:97.84, Y:-37.04, Z:-4.25 [[ 8.36636541e-01 5.46731786e-01 3.35209429e-02 9.78401478e+01] [-5.46322949e-01 8.37307572e-01 -2.11486324e-02 -3.70446146e+01] [-3.96299689e-02 -6.19541726e-04 9.99214232e-01 -4.24692017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51105275399999 meters Centerline goodness [0,1] 0.9997102289191538 Centerline is valid? [True, True] Translation: X:97.86, Y:-37.06, Z:-4.25 [[ 8.39827692e-01 5.41843004e-01 3.30999555e-02 9.78619515e+01] [-5.41440987e-01 8.40479628e-01 -2.08722852e-02 -3.70613526e+01] [-3.91293400e-02 -3.92549467e-04 9.99234077e-01 -4.24864050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54105275399999 meters Centerline goodness [0,1] 0.9998792882837209 Centerline is valid? [True, True] Translation: X:97.89, Y:-37.08, Z:-4.25 [[ 8.40871186e-01 5.40237974e-01 3.28417616e-02 9.78852080e+01] [-5.39841130e-01 8.41512228e-01 -2.07056390e-02 -3.70779456e+01] [-3.88227165e-02 -3.18558481e-04 9.99246063e-01 -4.25016022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.571052754 meters Centerline goodness [0,1] 0.9997353224254091 Centerline is valid? [True, True] Translation: X:97.91, Y:-37.09, Z:-4.25 [[ 8.42077831e-01 5.38399595e-01 3.21060977e-02 9.79080868e+01] [-5.38019396e-01 8.42689634e-01 -2.02314024e-02 -3.70936945e+01] [-3.79480546e-02 -2.37287838e-04 9.99279685e-01 -4.25190513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.601052754 meters Centerline goodness [0,1] 0.999759053562393 Centerline is valid? [True, True] Translation: X:97.93, Y:-37.11, Z:-4.25 [[ 8.41764925e-01 5.38883420e-01 3.21942611e-02 9.79318857e+01] [-5.38501620e-01 8.42380312e-01 -2.02833664e-02 -3.71074842e+01] [-3.80501816e-02 -2.62835354e-04 9.99275795e-01 -4.25291741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.631052754 meters Centerline goodness [0,1] 0.9998789756499008 Centerline is valid? [True, True] Translation: X:97.96, Y:-37.12, Z:-4.25 [[ 8.39943734e-01 5.41708934e-01 3.23412270e-02 9.79579794e+01] [-5.41326188e-01 8.40566040e-01 -2.03639232e-02 -3.71200216e+01] [-3.82162563e-02 -4.02603457e-04 9.99269411e-01 -4.25273620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.661052754 meters Centerline goodness [0,1] 0.9999276271349995 Centerline is valid? [True, True] Translation: X:97.98, Y:-37.13, Z:-4.25 [[ 8.39317316e-01 5.42652500e-01 3.27827326e-02 9.79820847e+01] [-5.42260363e-01 8.39957173e-01 -2.06312135e-02 -3.71336930e+01] [-3.87316710e-02 -4.60641770e-04 9.99249541e-01 -4.25294742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.691052754 meters Centerline goodness [0,1] 0.9998790195746329 Centerline is valid? [True, True] Translation: X:98.01, Y:-37.15, Z:-4.25 [[ 8.38135902e-01 5.44464647e-01 3.29614570e-02 9.80068325e+01] [-5.44069767e-01 8.38783610e-01 -2.07399113e-02 -3.71470184e+01] [-3.89396784e-02 -5.50468003e-04 9.99241411e-01 -4.25329917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.721052754 meters Centerline goodness [0,1] 0.9999031453546091 Centerline is valid? [True, True] Translation: X:98.03, Y:-37.16, Z:-4.26 [[ 8.37456564e-01 5.45514548e-01 3.28691624e-02 9.80311202e+01] [-5.45122828e-01 8.38101138e-01 -2.06781240e-02 -3.71623286e+01] [-3.88278999e-02 -6.00700104e-04 9.99245732e-01 -4.25508385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.05, Y:-37.18, Z:-4.26 [[ 8.37917858e-01 5.44770046e-01 3.34553288e-02 9.80531260e+01] [-5.44364075e-01 8.38585269e-01 -2.10357017e-02 -3.71789969e+01] [-3.95147661e-02 -5.85688989e-04 9.99218815e-01 -4.25603209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78105275399999 meters Centerline goodness [0,1] 0.9999758902524291 Centerline is valid? [True, True] Translation: X:98.08, Y:-37.19, Z:-4.26 [[ 8.38461409e-01 5.43902011e-01 3.39568602e-02 9.80758944e+01] [-5.43483567e-01 8.39148547e-01 -2.13384179e-02 -3.71944268e+01] [-4.01008584e-02 -5.63555560e-04 9.99195478e-01 -4.25729419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.10, Y:-37.21, Z:-4.26 [[ 8.39656349e-01 5.42089942e-01 3.34022427e-02 9.80991372e+01] [-5.41683848e-01 8.40320338e-01 -2.09842505e-02 -3.72094958e+01] [-3.94439351e-02 -4.73896183e-04 9.99221673e-01 -4.25827259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84105275399999 meters Centerline goodness [0,1] 0.9999757939581719 Centerline is valid? [True, True] Translation: X:98.12, Y:-37.22, Z:-4.26 [[ 8.39948592e-01 5.41745810e-01 3.15886112e-02 9.81237722e+01] [-5.41382504e-01 8.40542258e-01 -1.98417907e-02 -3.72234075e+01] [-3.73007695e-02 -4.35437289e-04 9.99303989e-01 -4.26037681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87105275399999 meters Centerline goodness [0,1] 0.9998302742283539 Centerline is valid? [True, True] Translation: X:98.15, Y:-37.24, Z:-4.26 [[ 8.40211111e-01 5.41355534e-01 3.12965610e-02 9.81478646e+01] [-5.40999067e-01 8.40793677e-01 -1.96469517e-02 -3.72373108e+01] [-3.69499366e-02 -4.23823129e-04 9.99317028e-01 -4.26150464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90105275399999 meters Centerline goodness [0,1] 0.9998789815083745 Centerline is valid? [True, True] Translation: X:98.17, Y:-37.25, Z:-4.26 [[ 8.41126750e-01 5.39879004e-01 3.21939570e-02 9.81726848e+01] [-5.39501175e-01 8.41742548e-01 -2.01981438e-02 -3.72518482e+01] [-3.80035771e-02 -3.79478601e-04 9.99277531e-01 -4.26081272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93105275399999 meters Centerline goodness [0,1] 0.9999271455631648 Centerline is valid? [True, True] Translation: X:98.20, Y:-37.27, Z:-4.26 [[ 8.41186897e-01 5.39745068e-01 3.28613189e-02 9.81962088e+01] [-5.39351724e-01 8.41828432e-01 -2.06060299e-02 -3.72660219e+01] [-3.87855956e-02 -3.90286651e-04 9.99247479e-01 -4.26216115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.961052754 meters Centerline goodness [0,1] 0.9998552612534376 Centerline is valid? [True, True] Translation: X:98.22, Y:-37.28, Z:-4.26 [[ 8.42515051e-01 5.37548040e-01 3.47921576e-02 9.82200214e+01] [-5.37105771e-01 8.43233066e-01 -2.18033616e-02 -3.72828810e+01] [-4.10582520e-02 -3.17408291e-04 9.99156704e-01 -4.26251181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.991052754 meters Centerline goodness [0,1] 0.9999757880974287 Centerline is valid? [True, True] Translation: X:98.24, Y:-37.30, Z:-4.26 [[ 8.42700769e-01 5.37215790e-01 3.54204619e-02 9.82437251e+01] [-5.36757592e-01 8.43444779e-01 -2.21854024e-02 -3.72970461e+01] [-4.17935521e-02 -3.16546204e-04 9.99126218e-01 -4.26201800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.021052754 meters Centerline goodness [0,1] 0.9999758045003629 Centerline is valid? [True, True] Translation: X:98.27, Y:-37.31, Z:-4.26 [[ 8.42644043e-01 5.37277997e-01 3.58241653e-02 9.82676744e+01] [-5.36809892e-01 8.43405147e-01 -2.24253670e-02 -3.73098102e+01] [-4.22629416e-02 -3.34164399e-04 9.99106467e-01 -4.26101838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.051052754 meters Centerline goodness [0,1] 0.9999516756469423 Centerline is valid? [True, True] Translation: X:98.29, Y:-37.32, Z:-4.26 [[ 8.41170263e-01 5.39558833e-01 3.61780948e-02 9.82918721e+01] [-5.39083805e-01 8.41947775e-01 -2.26405667e-02 -3.73246942e+01] [-4.26759842e-02 -4.58453517e-04 9.99088860e-01 -4.26254024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.081052754 meters Centerline goodness [0,1] 0.9999275169731088 Centerline is valid? [True, True] Translation: X:98.32, Y:-37.34, Z:-4.26 [[ 8.39721670e-01 5.41784525e-01 3.65656419e-02 9.83163725e+01] [-5.41301878e-01 8.40517212e-01 -2.28712415e-02 -3.73399400e+01] [-4.31253361e-02 -5.87573489e-04 9.99069497e-01 -4.26375065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11105275399999 meters Centerline goodness [0,1] 0.9999517839922855 Centerline is valid? [True, True] Translation: X:98.34, Y:-37.35, Z:-4.26 [[ 8.37083668e-01 5.45697340e-01 3.87987823e-02 9.83407478e+01] [-5.45158670e-01 8.37981918e-01 -2.42555195e-02 -3.73531241e+01] [-4.57488505e-02 -8.47593300e-04 9.98952614e-01 -4.26350374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14105275399999 meters Centerline goodness [0,1] 0.9999516849861094 Centerline is valid? [True, True] Translation: X:98.37, Y:-37.37, Z:-4.26 [[ 8.36121413e-01 5.47159968e-01 3.89480745e-02 9.83651501e+01] [-5.46619082e-01 8.37027533e-01 -2.43411046e-02 -3.73683833e+01] [-4.59190887e-02 -9.37641958e-04 9.98944722e-01 -4.26400066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17105275399999 meters Centerline goodness [0,1] 0.9999277908823954 Centerline is valid? [True, True] Translation: X:98.39, Y:-37.38, Z:-4.26 [[ 8.35267394e-01 5.48491331e-01 3.85440104e-02 9.83897880e+01] [-5.47963536e-01 8.36155632e-01 -2.40774316e-02 -3.73818873e+01] [-4.54350539e-02 -1.00961870e-03 9.98966785e-01 -4.26393786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20105275399999 meters Centerline goodness [0,1] 0.9999516043168949 Centerline is valid? [True, True] Translation: X:98.42, Y:-37.39, Z:-4.27 [[ 8.31684377e-01 5.53993318e-01 3.73162333e-02 9.84177998e+01] [-5.53504355e-01 8.32520141e-01 -2.33054252e-02 -3.73916690e+01] [-4.39775656e-02 -1.27193957e-03 9.99031709e-01 -4.26596341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.23105275399999 meters Centerline goodness [0,1] 0.9998314512051238 Centerline is valid? [True, True] Translation: X:98.44, Y:-37.41, Z:-4.27 [[ 8.30859196e-01 5.55120733e-01 3.89097331e-02 9.84399377e+01] [-5.54590919e-01 8.31768606e-01 -2.42878446e-02 -3.74107845e+01] [-4.58465805e-02 -1.39920557e-03 9.98947513e-01 -4.26972392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26105275399999 meters Centerline goodness [0,1] 0.999494779386999 Centerline is valid? [True, True] Translation: X:98.46, Y:-37.42, Z:-4.27 [[ 8.30396018e-01 5.55815630e-01 3.88772172e-02 9.84646393e+01] [-5.55287990e-01 8.31304333e-01 -2.42560075e-02 -3.74229548e+01] [-4.58006673e-02 -1.44595973e-03 9.98949552e-01 -4.27081990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29105275399999 meters Centerline goodness [0,1] 0.9995192654375886 Centerline is valid? [True, True] Translation: X:98.49, Y:-37.44, Z:-4.27 [[ 8.30088465e-01 5.56304574e-01 3.84494712e-02 9.84896022e+01] [-5.55789208e-01 8.30977189e-01 -2.39847368e-02 -3.74350311e+01] [-4.52934523e-02 -1.46034779e-03 9.98972658e-01 -4.27233751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.321052754 meters Centerline goodness [0,1] 0.999975894320702 Centerline is valid? [True, True] Translation: X:98.51, Y:-37.45, Z:-4.27 [[ 8.31620489e-01 5.54066658e-01 3.76497072e-02 9.85119034e+01] [-5.53570448e-01 8.32471267e-01 -2.34808117e-02 -3.74543254e+01] [-4.43522343e-02 -1.31464121e-03 9.99015090e-01 -4.27414579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.351052754 meters Centerline goodness [0,1] 0.9998796340876264 Centerline is valid? [True, True] Translation: X:98.53, Y:-37.47, Z:-4.28 [[ 8.36224433e-01 5.47183348e-01 3.63191558e-02 9.85332804e+01] [-5.46715514e-01 8.37012265e-01 -2.26410270e-02 -3.74733773e+01] [-4.27883718e-02 -9.23266012e-04 9.99083732e-01 -4.27541749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.381052754 meters Centerline goodness [0,1] 0.9999520475688117 Centerline is valid? [True, True] Translation: X:98.56, Y:-37.49, Z:-4.28 [[ 8.38323176e-01 5.44046206e-01 3.50425255e-02 9.85569932e+01] [-5.43608109e-01 8.39054932e-01 -2.18413620e-02 -3.74894955e+01] [-4.12853140e-02 -7.39281073e-04 9.99147124e-01 -4.27697850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.411052754 meters Centerline goodness [0,1] 0.999855783097779 Centerline is valid? [True, True] Translation: X:98.58, Y:-37.50, Z:-4.28 [[ 8.40448742e-01 5.40907976e-01 3.26262620e-02 9.85803744e+01] [-5.40526217e-01 8.41081599e-01 -2.03261683e-02 -3.75046513e+01] [-3.84359352e-02 -5.52247417e-04 9.99260914e-01 -4.28326454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.441052754 meters Centerline goodness [0,1] 0.999975978861398 Centerline is valid? [True, True] Translation: X:98.60, Y:-37.52, Z:-4.28 [[ 8.42927609e-01 5.36935213e-01 3.42581774e-02 9.86027087e+01] [-5.36511469e-01 8.43623386e-01 -2.13313427e-02 -3.75234077e+01] [-4.03545487e-02 -3.99127348e-04 9.99185344e-01 -4.28402477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.471052754 meters Centerline goodness [0,1] 0.9999759990399616 Centerline is valid? [True, True] Translation: X:98.63, Y:-37.54, Z:-4.28 [[ 8.43372620e-01 5.36173167e-01 3.52272524e-02 9.86272742e+01] [-5.35724904e-01 8.44107925e-01 -2.19234737e-02 -3.75366870e+01] [-4.14903812e-02 -3.82458921e-04 9.99138830e-01 -4.28151928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.65, Y:-37.55, Z:-4.28 [[ 8.44054803e-01 5.35005823e-01 3.66095347e-02 9.86513463e+01] [-5.34520805e-01 8.44848301e-01 -2.27784285e-02 -3.75512935e+01] [-4.31160950e-02 -3.42315996e-04 9.99070010e-01 -4.27896281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.67, Y:-37.57, Z:-4.28 [[ 8.44432748e-01 5.34362715e-01 3.72803135e-02 9.86749763e+01] [-5.33859742e-01 8.45255217e-01 -2.31817775e-02 -3.75664428e+01] [-4.38988570e-02 -3.27006450e-04 9.99035927e-01 -4.27854870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56105275399999 meters Centerline goodness [0,1] 0.9999760456091602 Centerline is valid? [True, True] Translation: X:98.70, Y:-37.58, Z:-4.28 [[ 8.44541611e-01 5.34121473e-01 3.82585948e-02 9.86987939e+01] [-5.33592103e-01 8.45407677e-01 -2.37765954e-02 -3.75803962e+01] [-4.50437000e-02 -3.34159868e-04 9.98984962e-01 -4.27735616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.59105275399999 meters Centerline goodness [0,1] 0.9999760324041895 Centerline is valid? [True, True] Translation: X:98.72, Y:-37.60, Z:-4.28 [[ 8.43988330e-01 5.34920062e-01 3.92966416e-02 9.87234537e+01] [-5.34362789e-01 8.44902581e-01 -2.44138780e-02 -3.75955161e+01] [-4.62613071e-02 -3.93634886e-04 9.98929295e-01 -4.27643559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62105275399999 meters Centerline goodness [0,1] 0.9999521084265224 Centerline is valid? [True, True] Translation: X:98.75, Y:-37.61, Z:-4.28 [[ 8.42157440e-01 5.37774506e-01 3.96159949e-02 9.87474800e+01] [-5.37211891e-01 8.43088525e-01 -2.45992704e-02 -3.76111294e+01] [-4.66286512e-02 -5.65724890e-04 9.98912133e-01 -4.28007635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65105275399999 meters Centerline goodness [0,1] 0.9999521256223669 Centerline is valid? [True, True] Translation: X:98.77, Y:-37.63, Z:-4.28 [[ 8.41576949e-01 5.38703108e-01 3.93344725e-02 9.87712243e+01] [-5.38150072e-01 8.42495443e-01 -2.44116260e-02 -3.76268664e+01] [-4.62897326e-02 -6.23587488e-04 9.98927861e-01 -4.28131518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68105275399999 meters Centerline goodness [0,1] 0.9999520625104863 Centerline is valid? [True, True] Translation: X:98.80, Y:-37.64, Z:-4.28 [[ 8.40832856e-01 5.39891826e-01 3.89477060e-02 9.87955802e+01] [-5.39351480e-01 8.41734124e-01 -2.41587494e-02 -3.76411972e+01] [-4.58267246e-02 -6.93032645e-04 9.98949163e-01 -4.28262806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.711052754 meters Centerline goodness [0,1] 0.9999042374910223 Centerline is valid? [True, True] Translation: X:98.82, Y:-37.66, Z:-4.28 [[ 8.40074405e-01 5.41176038e-01 3.74631895e-02 9.88191940e+01] [-5.40677877e-01 8.40908998e-01 -2.32269257e-02 -3.76550411e+01] [-4.40729888e-02 -7.43172034e-04 9.99028037e-01 -4.28251889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.741052754 meters Centerline goodness [0,1] 0.9999042374910223 Centerline is valid? [True, True] Translation: X:98.84, Y:-37.67, Z:-4.28 [[ 8.40221219e-01 5.40947896e-01 3.74656749e-02 9.88424485e+01] [-5.40449686e-01 8.41055784e-01 -2.32229160e-02 -3.76693745e+01] [-4.40731101e-02 -7.35925414e-04 9.99028037e-01 -4.28358029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.771052754 meters Centerline goodness [0,1] 0.9998080245728547 Centerline is valid? [True, True] Translation: X:98.87, Y:-37.68, Z:-4.28 [[ 8.39200432e-01 5.42651432e-01 3.56659196e-02 9.88679026e+01] [-5.42202008e-01 8.39957612e-01 -2.20950864e-02 -3.76816261e+01] [-4.19477910e-02 -7.95927150e-04 9.99119487e-01 -4.28301031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.801052754 meters Centerline goodness [0,1] 0.9999278586028616 Centerline is valid? [True, True] Translation: X:98.89, Y:-37.70, Z:-4.29 [[ 8.40053074e-01 5.41400467e-01 3.45885310e-02 9.88916485e+01] [-5.40976984e-01 8.40764545e-01 -2.14215366e-02 -3.76983727e+01] [-4.06784405e-02 -7.16371471e-04 9.99172033e-01 -4.28577844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.831052754 meters Centerline goodness [0,1] 0.9999759626941013 Centerline is valid? [True, True] Translation: X:98.91, Y:-37.72, Z:-4.29 [[ 8.42489394e-01 5.37794852e-01 3.14375141e-02 9.89138532e+01] [-5.37442881e-01 8.43075587e-01 -1.94603000e-02 -3.77154168e+01] [-3.69698498e-02 -5.00771790e-04 9.99316256e-01 -4.29129976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86105275399999 meters Centerline goodness [0,1] 0.9999042833213687 Centerline is valid? [True, True] Translation: X:98.94, Y:-37.73, Z:-4.29 [[ 8.44999027e-01 5.33860307e-01 3.11418763e-02 9.89363722e+01] [-5.33512367e-01 8.45572626e-01 -1.92740554e-02 -3.77340773e+01] [-3.66223713e-02 -3.28018064e-04 9.99329122e-01 -4.29350796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89105275399999 meters Centerline goodness [0,1] 0.9998805570817706 Centerline is valid? [True, True] Translation: X:98.96, Y:-37.75, Z:-4.30 [[ 8.49832936e-01 5.26175728e-01 3.03823180e-02 9.89572731e+01] [-5.25839981e-01 8.50375860e-01 -1.87938897e-02 -3.77532567e+01] [-3.57252784e-02 -4.57105389e-06 9.99361648e-01 -4.29559403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92105275399999 meters Centerline goodness [0,1] 0.9998332062523828 Centerline is valid? [True, True] Translation: X:98.98, Y:-37.77, Z:-4.29 [[ 8.54526577e-01 5.18478786e-01 3.10495992e-02 9.89796282e+01] [-5.18123205e-01 8.55090431e-01 -1.92015300e-02 -3.77717651e+01] [-3.65058011e-02 3.20699872e-04 9.99333390e-01 -4.29470168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95105275399999 meters Centerline goodness [0,1] 0.9998098362214457 Centerline is valid? [True, True] Translation: X:99.00, Y:-37.79, Z:-4.29 [[ 8.55547206e-01 5.16772248e-01 3.13914290e-02 9.90018765e+01] [-5.16408038e-01 8.56122825e-01 -1.94022266e-02 -3.77882872e+01] [-3.69014512e-02 3.88734503e-04 9.99318834e-01 -4.29463150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98105275399999 meters Centerline goodness [0,1] 0.99995256729515 Centerline is valid? [True, True] Translation: X:99.03, Y:-37.80, Z:-4.29 [[ 8.54904886e-01 5.17828063e-01 3.14917757e-02 9.90272575e+01] [-5.17462359e-01 8.55484646e-01 -1.94608993e-02 -3.78023064e+01] [-3.70181304e-02 3.41409327e-04 9.99314536e-01 -4.29492168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01105275399999 meters Centerline goodness [0,1] 0.9999287190819017 Centerline is valid? [True, True] Translation: X:99.05, Y:-37.81, Z:-4.29 [[ 8.52555448e-01 5.21660973e-01 3.19223537e-02 9.90524491e+01] [-5.21288277e-01 8.53152859e-01 -1.97162733e-02 -3.78141061e+01] [-3.75198576e-02 1.68467493e-04 9.99295868e-01 -4.29374256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04105275399999 meters Centerline goodness [0,1] 0.99985770188545 Centerline is valid? [True, True] Translation: X:99.08, Y:-37.83, Z:-4.29 [[ 8.51241748e-01 5.23758176e-01 3.26321765e-02 9.90771843e+01] [-5.23370469e-01 8.51866989e-01 -2.01490596e-02 -3.78273863e+01] [-3.83515087e-02 7.30032375e-05 9.99264308e-01 -4.29395979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.071052754 meters Centerline goodness [0,1] 0.999952397953112 Centerline is valid? [True, True] Translation: X:99.10, Y:-37.84, Z:-4.29 [[ 8.48968388e-01 5.27498541e-01 3.15905746e-02 9.91023449e+01] [-5.27138199e-01 8.49555930e-01 -1.94946408e-02 -3.78398553e+01] [-3.71213546e-02 -1.02264794e-04 9.99310760e-01 -4.29449218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.101052754 meters Centerline goodness [0,1] 0.99992838557208 Centerline is valid? [True, True] Translation: X:99.13, Y:-37.85, Z:-4.30 [[ 8.48114778e-01 5.28945249e-01 3.03025961e-02 9.91268921e+01] [-5.28615007e-01 8.48655935e-01 -1.86890069e-02 -3.78548159e+01] [-3.56019394e-02 -1.67984097e-04 9.99366036e-01 -4.29646659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.131052754 meters Centerline goodness [0,1] 0.9999523241954708 Centerline is valid? [True, True] Translation: X:99.15, Y:-37.87, Z:-4.30 [[ 8.47870655e-01 5.29471958e-01 2.78351913e-02 9.91497096e+01] [-5.29193915e-01 8.48327420e-01 -1.71577494e-02 -3.78710633e+01] [-3.26979032e-02 -1.82661668e-04 9.99465264e-01 -4.30104262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.161052754 meters Centerline goodness [0,1] 0.9996442378388635 Centerline is valid? [True, True] Translation: X:99.17, Y:-37.89, Z:-4.30 [[ 8.50085549e-01 5.25956978e-01 2.69038419e-02 9.91715282e+01] [-5.25695566e-01 8.50511173e-01 -1.65806031e-02 -3.78888510e+01] [-3.16027020e-02 -4.82993224e-05 9.99500509e-01 -4.30253128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.191052754 meters Centerline goodness [0,1] 0.9995964008451841 Centerline is valid? [True, True] Translation: X:99.19, Y:-37.91, Z:-4.30 [[ 8.51783106e-01 5.23260226e-01 2.57735722e-02 9.91940593e+01] [-5.23019172e-01 8.52172948e-01 -1.58811852e-02 -3.79055896e+01] [-3.02735335e-02 4.72529025e-05 9.99541650e-01 -4.30466226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.221052754 meters Centerline goodness [0,1] 0.9997166135317038 Centerline is valid? [True, True] Translation: X:99.22, Y:-37.92, Z:-4.31 [[ 8.55792238e-01 5.16761061e-01 2.40343741e-02 9.92156888e+01] [-5.16548891e-01 8.56129627e-01 -1.48089208e-02 -3.79246921e+01] [-2.82292134e-02 2.58430170e-04 9.99601443e-01 -4.30580289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25105275399999 meters Centerline goodness [0,1] 0.9996452978315874 Centerline is valid? [True, True] Translation: X:99.24, Y:-37.94, Z:-4.31 [[ 8.57844079e-01 5.13352799e-01 2.39257276e-02 9.92390672e+01] [-5.13141433e-01 8.58177588e-01 -1.47342085e-02 -3.79415649e+01] [-2.80963704e-02 3.62371370e-04 9.99605153e-01 -4.30607252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28105275399999 meters Centerline goodness [0,1] 0.9997168475696083 Centerline is valid? [True, True] Translation: X:99.26, Y:-37.96, Z:-4.31 [[ 8.61777775e-01 5.06709188e-01 2.41839765e-02 9.92606591e+01] [-5.06490899e-01 8.62116852e-01 -1.48829862e-02 -3.79613544e+01] [-2.83907595e-02 5.76862769e-04 9.99596735e-01 -4.30674382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31105275399999 meters Centerline goodness [0,1] 0.9997406027448946 Centerline is valid? [True, True] Translation: X:99.29, Y:-37.98, Z:-4.31 [[ 8.63620424e-01 5.03587833e-01 2.36443934e-02 9.92853284e+01] [-5.03377981e-01 8.63943778e-01 -1.45518256e-02 -3.79763416e+01] [-2.77555489e-02 6.65186820e-04 9.99614519e-01 -4.30748880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34105275399999 meters Centerline goodness [0,1] 0.9996237330385909 Centerline is valid? [True, True] Translation: X:99.31, Y:-38.00, Z:-4.31 [[ 8.67084751e-01 4.97679682e-01 2.18853469e-02 9.93059551e+01] [-4.97498248e-01 8.67360549e-01 -1.34600358e-02 -3.79966238e+01] [-2.56812728e-02 7.83070110e-04 9.99669875e-01 -4.31238998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37105275399999 meters Centerline goodness [0,1] 0.9995543358431263 Centerline is valid? [True, True] Translation: X:99.33, Y:-38.02, Z:-4.32 [[ 8.68514359e-01 4.95231110e-01 2.07112501e-02 9.93277016e+01] [-4.95067979e-01 8.68760896e-01 -1.27358346e-02 -3.80161316e+01] [-2.43003057e-02 8.07778555e-04 9.99704378e-01 -4.31549966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40105275399999 meters Centerline goodness [0,1] 0.999389427705892 Centerline is valid? [True, True] Translation: X:99.35, Y:-38.03, Z:-4.31 [[ 8.70484220e-01 4.91811442e-01 1.94609481e-02 9.93533486e+01] [-4.91666575e-01 8.70701318e-01 -1.19663413e-02 -3.80301785e+01] [-2.28298567e-02 8.48213625e-04 9.99739005e-01 -4.31407131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43105275399999 meters Centerline goodness [0,1] 0.9995065093763218 Centerline is valid? [True, True] Translation: X:99.37, Y:-38.05, Z:-4.32 [[ 8.71140726e-01 4.90646990e-01 1.94773371e-02 9.93744249e+01] [-4.90501619e-01 8.71357997e-01 -1.19750586e-02 -3.80481096e+01] [-2.28472599e-02 8.78295819e-04 9.99738581e-01 -4.31550670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.461052754 meters Centerline goodness [0,1] 0.9994122625540719 Centerline is valid? [True, True] Translation: X:99.40, Y:-38.06, Z:-4.32 [[ 8.72089335e-01 4.88978103e-01 1.89896342e-02 9.94000457e+01] [-4.88839551e-01 8.72295597e-01 -1.16741277e-02 -3.80616237e+01] [-2.22729671e-02 8.97997968e-04 9.99751523e-01 -4.31629575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.491052754 meters Centerline goodness [0,1] 0.9994133658719729 Centerline is valid? [True, True] Translation: X:99.42, Y:-38.08, Z:-4.32 [[ 8.72390275e-01 4.88437288e-01 1.90846485e-02 9.94229935e+01] [-4.88297358e-01 8.72598525e-01 -1.17262215e-02 -3.80781109e+01] [-2.23807600e-02 9.10858181e-04 9.99749104e-01 -4.31878282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.521052754 meters Centerline goodness [0,1] 0.9992062195036537 Centerline is valid? [True, True] Translation: X:99.44, Y:-38.10, Z:-4.32 [[ 8.72379161e-01 4.88421737e-01 1.99701423e-02 9.94448092e+01] [-4.88268680e-01 8.72607191e-01 -1.22632448e-02 -3.80963771e+01] [-2.34157251e-02 9.47404154e-04 9.99725365e-01 -4.32098456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.551052754 meters Centerline goodness [0,1] 0.9993444465255665 Centerline is valid? [True, True] Translation: X:99.47, Y:-38.11, Z:-4.32 [[ 8.71099345e-01 4.90661220e-01 2.09164727e-02 9.94726386e+01] [-4.90494202e-01 8.71349941e-01 -1.28342618e-02 -3.81061072e+01] [-2.45228418e-02 9.20508438e-04 9.99698846e-01 -4.31698075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.581052754 meters Centerline goodness [0,1] 0.9995289129666706 Centerline is valid? [True, True] Translation: X:99.50, Y:-38.12, Z:-4.32 [[ 8.69873567e-01 4.92816534e-01 2.12565534e-02 9.94993258e+01] [-4.92644726e-01 8.70132808e-01 -1.30410998e-02 -3.81179065e+01] [-2.49228941e-02 8.72179098e-04 9.99688996e-01 -4.31672156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61105275399999 meters Centerline goodness [0,1] 0.9994822067407267 Centerline is valid? [True, True] Translation: X:99.52, Y:-38.13, Z:-4.32 [[ 8.69437942e-01 4.93554216e-01 2.19522251e-02 9.95231926e+01] [-4.93371201e-01 8.69714587e-01 -1.34683132e-02 -3.81328275e+01] [-2.57395131e-02 8.79266907e-04 9.99668297e-01 -4.31584803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64105275399999 meters Centerline goodness [0,1] 0.999577266322217 Centerline is valid? [True, True] Translation: X:99.55, Y:-38.15, Z:-4.32 [[ 8.67426894e-01 4.97066842e-01 2.22517217e-02 9.95491126e+01] [-4.96880207e-01 8.67711905e-01 -1.36421954e-02 -3.81457225e+01] [-2.60891668e-02 7.77167076e-04 9.99659318e-01 -4.31599572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67105275399999 meters Centerline goodness [0,1] 0.9996008921234887 Centerline is valid? [True, True] Translation: X:99.57, Y:-38.16, Z:-4.32 [[ 8.66171198e-01 4.99275353e-01 2.17158386e-02 9.95737378e+01] [-4.99098275e-01 8.66443097e-01 -1.33143455e-02 -3.81593721e+01] [-2.54630630e-02 6.94165033e-04 9.99675523e-01 -4.31841613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70105275399999 meters Centerline goodness [0,1] 0.9994820360691247 Centerline is valid? [True, True] Translation: X:99.60, Y:-38.17, Z:-4.32 [[ 8.64146325e-01 5.02792031e-01 2.12438768e-02 9.95988168e+01] [-5.02623796e-01 8.64407223e-01 -1.30181571e-02 -3.81743036e+01] [-2.49087862e-02 5.71914589e-04 9.99689564e-01 -4.32138532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.73105275399999 meters Centerline goodness [0,1] 0.9995754116148512 Centerline is valid? [True, True] Translation: X:99.62, Y:-38.19, Z:-4.32 [[ 8.62490041e-01 5.05649129e-01 2.07337171e-02 9.96247760e+01] [-5.05489839e-01 8.62739088e-01 -1.26999413e-02 -3.81870088e+01] [-2.43095024e-02 4.72889637e-04 9.99704369e-01 -4.32295979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76105275399999 meters Centerline goodness [0,1] 0.9995972995380789 Centerline is valid? [True, True] Translation: X:99.65, Y:-38.20, Z:-4.33 [[ 8.58666884e-01 5.12138409e-01 2.01353699e-02 9.96517602e+01] [-5.11990161e-01 8.58902891e-01 -1.23247509e-02 -3.81962721e+01] [-2.36063058e-02 2.73744188e-04 9.99721295e-01 -4.32685010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79105275399999 meters Centerline goodness [0,1] 0.9995503171447505 Centerline is valid? [True, True] Translation: X:99.68, Y:-38.21, Z:-4.33 [[ 8.56315859e-01 5.16036307e-01 2.07287209e-02 9.96777539e+01] [-5.15880330e-01 8.56566694e-01 -1.26879848e-02 -3.82082676e+01] [-2.43029927e-02 1.71383221e-04 9.99704624e-01 -4.32805202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.821052754 meters Centerline goodness [0,1] 0.9995729638679984 Centerline is valid? [True, True] Translation: X:99.70, Y:-38.22, Z:-4.33 [[ 8.55856365e-01 5.16788813e-01 2.09572106e-02 9.97024407e+01] [-5.16629808e-01 8.56112903e-01 -1.28194910e-02 -3.82219126e+01] [-2.45667080e-02 1.44523311e-04 9.99698182e-01 -4.32812789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.851052754 meters Centerline goodness [0,1] 0.9995954692556634 Centerline is valid? [True, True] Translation: X:99.73, Y:-38.23, Z:-4.33 [[ 8.56062026e-01 5.16491407e-01 1.98603527e-02 9.97288101e+01] [-5.16348559e-01 8.56292360e-01 -1.21474077e-02 -3.82340111e+01] [-2.32803000e-02 1.44069978e-04 9.99728967e-01 -4.32754183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.881052754 meters Centerline goodness [0,1] 0.9996425337209857 Centerline is valid? [True, True] Translation: X:99.75, Y:-38.25, Z:-4.33 [[ 8.56263946e-01 5.16162632e-01 1.97025766e-02 9.97537570e+01] [-5.16022156e-01 8.56490582e-01 -1.20423346e-02 -3.82472268e+01] [-2.30908744e-02 1.44450919e-04 9.99733360e-01 -4.32860140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.911052754 meters Centerline goodness [0,1] 0.9997144149075419 Centerline is valid? [True, True] Translation: X:99.78, Y:-38.26, Z:-4.33 [[ 8.58802432e-01 5.11890494e-01 2.06520207e-02 9.97755516e+01] [-5.11734971e-01 8.59050668e-01 -1.26202075e-02 -3.82642143e+01] [-2.42012964e-02 2.69903725e-04 9.99707069e-01 -4.33146774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.941052754 meters Centerline goodness [0,1] 0.9995231169078901 Centerline is valid? [True, True] Translation: X:99.80, Y:-38.28, Z:-4.33 [[ 8.59709648e-01 5.10338162e-01 2.13138696e-02 9.98003330e+01] [-5.10172036e-01 8.59973753e-01 -1.30245222e-02 -3.82795211e+01] [-2.49762791e-02 3.23567103e-04 9.99687992e-01 -4.33354705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.971052754 meters Centerline goodness [0,1] 0.9996683093252464 Centerline is valid? [True, True] Translation: X:99.82, Y:-38.30, Z:-4.33 [[ 8.63547334e-01 5.03710663e-01 2.36974806e-02 9.98225078e+01] [-5.03503025e-01 8.63872240e-01 -1.44726016e-02 -3.83000467e+01] [-2.77615994e-02 5.66023350e-04 9.99614412e-01 -4.33312884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00105275399999 meters Centerline goodness [0,1] 0.9995719381688466 Centerline is valid? [True, True] Translation: X:99.85, Y:-38.31, Z:-4.33 [[ 8.64347082e-01 5.02304481e-01 2.43789143e-02 9.98464811e+01] [-5.02084396e-01 8.64690593e-01 -1.48807804e-02 -3.83142419e+01] [-2.85549005e-02 6.21886650e-04 9.99592032e-01 -4.33244785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03105275399999 meters Centerline goodness [0,1] 0.9996191836248959 Centerline is valid? [True, True] Translation: X:99.87, Y:-38.33, Z:-4.33 [[ 8.66318901e-01 4.98846541e-01 2.53710487e-02 9.98715373e+01] [-4.98606780e-01 8.66689994e-01 -1.54833322e-02 -3.83285335e+01] [-2.97126407e-02 7.63326503e-04 9.99558191e-01 -4.32793652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06105275399999 meters Centerline goodness [0,1] 0.9995716121662145 Centerline is valid? [True, True] Translation: X:99.90, Y:-38.34, Z:-4.33 [[ 8.67350401e-01 4.96990798e-01 2.65222051e-02 9.98955176e+01] [-4.96727934e-01 8.67755380e-01 -1.61851612e-02 -3.83444549e+01] [-3.10586623e-02 8.63885950e-04 9.99517190e-01 -4.32736620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.09105275399999 meters Centerline goodness [0,1] 0.9990982011486069 Centerline is valid? [True, True] Translation: X:99.92, Y:-38.36, Z:-4.33 [[ 8.69388556e-01 4.93356834e-01 2.76147470e-02 9.99186906e+01] [-4.93070302e-01 8.69826408e-01 -1.68433288e-02 -3.83627450e+01] [-3.23298075e-02 1.02738567e-03 9.99476727e-01 -4.32880681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12105275399999 meters Centerline goodness [0,1] 0.999262642119785 Centerline is valid? [True, True] Translation: X:99.94, Y:-38.38, Z:-4.33 [[ 8.70151044e-01 4.92040881e-01 2.70727127e-02 9.99424272e+01] [-4.91765053e-01 8.70571461e-01 -1.65064628e-02 -3.83794994e+01] [-3.16905856e-02 1.04970189e-03 9.99497176e-01 -4.33125800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15105275399999 meters Centerline goodness [0,1] 0.9985248631929574 Centerline is valid? [True, True] Translation: X:99.97, Y:-38.39, Z:-4.34 [[ 8.70696843e-01 4.91150535e-01 2.56546319e-02 9.99661813e+01] [-4.90902713e-01 8.71074116e-01 -1.56336363e-02 -3.83947835e+01] [-3.00255546e-02 1.01822936e-03 9.99548613e-01 -4.33559044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18105275399999 meters Centerline goodness [0,1] 0.9995237868469927 Centerline is valid? [True, True] Translation: X:100.00, Y:-38.40, Z:-4.34 [[ 8.69972992e-01 4.92404600e-01 2.61668505e-02 9.99952314e+01] [-4.92147385e-01 8.70365856e-01 -1.59445362e-02 -3.84023670e+01] [-3.06258962e-02 9.93368882e-04 9.99530424e-01 -4.33541039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.211052754 meters Centerline goodness [0,1] 0.9995712652439024 Centerline is valid? [True, True] Translation: X:100.02, Y:-38.42, Z:-4.34 [[ 8.69279720e-01 4.93611230e-01 2.64711564e-02 1.00021650e+02] [-4.93348822e-01 8.69682150e-01 -1.61213399e-02 -3.84150144e+01] [-3.09791666e-02 9.54440008e-04 9.99519575e-01 -4.33553411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.241052754 meters Centerline goodness [0,1] 0.9996902623239856 Centerline is valid? [True, True] Translation: X:100.04, Y:-38.43, Z:-4.34 [[ 8.66470647e-01 4.98524427e-01 2.64955430e-02 1.00043902e+02] [-4.98264114e-01 8.66875308e-01 -1.61267602e-02 -3.84322783e+01] [-3.10079159e-02 7.71586098e-04 9.99518841e-01 -4.33947405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.271052754 meters Centerline goodness [0,1] 0.9997857193876336 Centerline is valid? [True, True] Translation: X:100.07, Y:-38.44, Z:-4.34 [[ 8.65298073e-01 5.00502792e-01 2.74990829e-02 1.00072437e+02] [-5.00223421e-01 8.65734617e-01 -1.67362326e-02 -3.84406606e+01] [-3.21834392e-02 7.26144482e-04 9.99481715e-01 -4.33749650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.301052754 meters Centerline goodness [0,1] 0.9998089552238806 Centerline is valid? [True, True] Translation: X:100.10, Y:-38.46, Z:-4.34 [[ 8.62195822e-01 5.05839446e-01 2.72913955e-02 1.00096553e+02] [-5.05567261e-01 8.62627492e-01 -1.65998244e-02 -3.84550526e+01] [-3.19391540e-02 5.14663140e-04 9.99489683e-01 -4.33945218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.331052754 meters Centerline goodness [0,1] 0.9998806027174821 Centerline is valid? [True, True] Translation: X:100.12, Y:-38.46, Z:-4.34 [[ 8.60619234e-01 5.08555775e-01 2.65623163e-02 1.00124889e+02] [-5.08299254e-01 8.61028955e-01 -1.61557096e-02 -3.84635622e+01] [-3.10870029e-02 4.02308868e-04 9.99516601e-01 -4.33862653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36105275399999 meters Centerline goodness [0,1] 0.999809009955356 Centerline is valid? [True, True] Translation: X:100.15, Y:-38.48, Z:-4.34 [[ 8.57608320e-01 5.13664626e-01 2.56246143e-02 1.00148832e+02] [-5.13428445e-01 8.57991032e-01 -1.55762779e-02 -3.84766461e+01] [-2.99866723e-02 2.01939670e-04 9.99550278e-01 -4.34188722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39105275399999 meters Centerline goodness [0,1] 0.9998329913632676 Centerline is valid? [True, True] Translation: X:100.17, Y:-38.49, Z:-4.34 [[ 8.55835998e-01 5.16641252e-01 2.50311877e-02 1.00173953e+02] [-5.16417289e-01 8.56201967e-01 -1.52110147e-02 -3.84893903e+01] [-2.92903899e-02 9.15958566e-05 9.99570940e-01 -4.34363692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42105275399999 meters Centerline goodness [0,1] 0.9995932430492415 Centerline is valid? [True, True] Translation: X:100.20, Y:-38.50, Z:-4.35 [[ 8.51822672e-01 5.23290230e-01 2.37796079e-02 1.00199757e+02] [-5.23090701e-01 8.52154515e-01 -1.44499341e-02 -3.85015638e+01] [-2.78254096e-02 -1.30110286e-04 9.99612790e-01 -4.34513545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.45105275399999 meters Centerline goodness [0,1] 0.9995446047648723 Centerline is valid? [True, True] Translation: X:100.23, Y:-38.51, Z:-4.35 [[ 8.49690313e-01 5.26740144e-01 2.38996388e-02 1.00225349e+02] [-5.26540177e-01 8.50026328e-01 -1.45149475e-02 -3.85145582e+01] [-2.79609277e-02 -2.50909761e-04 9.99608985e-01 -4.34587601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48105275399999 meters Centerline goodness [0,1] 0.9989924191536321 Centerline is valid? [True, True] Translation: X:100.25, Y:-38.53, Z:-4.34 [[ 8.46094617e-01 5.32440832e-01 2.51129368e-02 1.00251530e+02] [-5.32222833e-01 8.46467093e-01 -1.52419303e-02 -3.85253647e+01] [-2.93727006e-02 -4.69563169e-04 9.99568419e-01 -4.34358277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51105275399999 meters Centerline goodness [0,1] 0.9989220524122071 Centerline is valid? [True, True] Translation: X:100.28, Y:-38.54, Z:-4.34 [[ 8.45299506e-01 5.33658393e-01 2.60281707e-02 1.00276386e+02] [-5.33424899e-01 8.45699968e-01 -1.57937219e-02 -3.85398807e+01] [-3.04404753e-02 -5.33649002e-04 9.99536439e-01 -4.34444631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54105275399999 meters Centerline goodness [0,1] 0.9986176652843319 Centerline is valid? [True, True] Translation: X:100.30, Y:-38.55, Z:-4.35 [[ 8.43713064e-01 5.36135376e-01 2.65918248e-02 1.00300151e+02] [-5.35893184e-01 8.44131769e-01 -1.61261426e-02 -3.85538210e+01] [-3.10927996e-02 -6.44540497e-04 9.99516294e-01 -4.34634506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.571052754 meters Centerline goodness [0,1] 0.9987813037660104 Centerline is valid? [True, True] Translation: X:100.32, Y:-38.57, Z:-4.35 [[ 8.43471540e-01 5.36502544e-01 2.68473783e-02 1.00324999e+02] [-5.36255974e-01 8.43898438e-01 -1.62774578e-02 -3.85688839e+01] [-3.13893582e-02 -6.67494645e-04 9.99507010e-01 -4.34637337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.601052754 meters Centerline goodness [0,1] 0.9987325425674383 Centerline is valid? [True, True] Translation: X:100.35, Y:-38.58, Z:-4.34 [[ 8.43176263e-01 5.36905266e-01 2.80450314e-02 1.00350070e+02] [-5.36636718e-01 8.43642232e-01 -1.69946247e-02 -3.85814205e+01] [-3.27844764e-02 -7.20529439e-04 9.99462185e-01 -4.34301340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.631052754 meters Centerline goodness [0,1] 0.998893166506256 Centerline is valid? [True, True] Translation: X:100.38, Y:-38.59, Z:-4.34 [[ 8.42359493e-01 5.38083415e-01 2.99453495e-02 1.00375552e+02] [-5.37778404e-01 8.42891186e-01 -1.81338373e-02 -3.85942469e+01] [-3.49981882e-02 -8.28752264e-04 9.99387032e-01 -4.34047475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.661052754 meters Centerline goodness [0,1] 0.998893166506256 Centerline is valid? [True, True] Translation: X:100.40, Y:-38.61, Z:-4.34 [[ 8.42504697e-01 5.37855968e-01 2.99465161e-02 1.00398957e+02] [-5.37550882e-01 8.43036348e-01 -1.81319107e-02 -3.86083375e+01] [-3.49983579e-02 -8.21556226e-04 9.99387032e-01 -4.34153625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.691052754 meters Centerline goodness [0,1] 0.9987022038501285 Centerline is valid? [True, True] Translation: X:100.42, Y:-38.62, Z:-4.34 [[ 8.43969943e-01 5.35507920e-01 3.07571503e-02 1.00422311e+02] [-5.35184971e-01 8.44529868e-01 -1.86104380e-02 -3.86230720e+01] [-3.59413690e-02 -7.54114276e-04 9.99353616e-01 -4.34222480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.721052754 meters Centerline goodness [0,1] 0.9991130288864917 Centerline is valid? [True, True] Translation: X:100.45, Y:-38.64, Z:-4.35 [[ 8.46685485e-01 5.31207279e-01 3.07004276e-02 1.00445416e+02] [-5.30882796e-01 8.47241700e-01 -1.85730618e-02 -3.86413727e+01] [-3.58768281e-02 -5.72787002e-04 9.99356055e-01 -4.34500071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75105275399999 meters Centerline goodness [0,1] 0.9990886853086479 Centerline is valid? [True, True] Translation: X:100.47, Y:-38.66, Z:-4.35 [[ 8.48226051e-01 5.28742344e-01 3.07262183e-02 1.00468584e+02] [-5.28416038e-01 8.48782249e-01 -1.85791395e-02 -3.86568187e+01] [-3.59034465e-02 -4.76916376e-04 9.99355150e-01 -4.34671986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78105275399999 meters Centerline goodness [0,1] 0.9992552910370673 Centerline is valid? [True, True] Translation: X:100.49, Y:-38.67, Z:-4.35 [[ 8.49399270e-01 5.26866065e-01 3.05455312e-02 1.00492815e+02] [-5.26542476e-01 8.49948229e-01 -1.84669896e-02 -3.86720336e+01] [-3.56917502e-02 -3.97672145e-04 9.99362767e-01 -4.34851373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81105275399999 meters Centerline goodness [0,1] 0.9997599212541713 Centerline is valid? [True, True] Translation: X:100.52, Y:-38.69, Z:-4.35 [[ 8.53317165e-01 5.20512205e-01 3.02796893e-02 1.00515518e+02] [-5.20190544e-01 8.53854218e-01 -1.82968056e-02 -3.86896920e+01] [-3.53781510e-02 -1.38229708e-04 9.99373988e-01 -4.34856436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84105275399999 meters Centerline goodness [0,1] 0.9998318601076095 Centerline is valid? [True, True] Translation: X:100.54, Y:-38.71, Z:-4.35 [[ 8.55863268e-01 5.16333466e-01 2.99636234e-02 1.00538254e+02] [-5.16016237e-01 8.56387617e-01 -1.80967266e-02 -3.87054114e+01] [-3.50044217e-02 2.66073209e-05 9.99387157e-01 -4.34949123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87105275399999 meters Centerline goodness [0,1] 0.9998320094074732 Centerline is valid? [True, True] Translation: X:100.56, Y:-38.72, Z:-4.35 [[ 8.57055728e-01 5.14329367e-01 3.03443747e-02 1.00561450e+02] [-5.14003160e-01 8.57592731e-01 -1.83155365e-02 -3.87209907e+01] [-3.54433335e-02 1.00331003e-04 9.99371683e-01 -4.35054737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90105275399999 meters Centerline goodness [0,1] 0.9998566068398538 Centerline is valid? [True, True] Translation: X:100.58, Y:-38.74, Z:-4.35 [[ 8.59026831e-01 5.10969426e-01 3.13552105e-02 1.00583957e+02] [-5.10619316e-01 8.59598854e-01 -1.89136054e-02 -3.87384427e+01] [-3.66171771e-02 2.36718348e-04 9.99329338e-01 -4.35125657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93105275399999 meters Centerline goodness [0,1] 0.9996650317023568 Centerline is valid? [True, True] Translation: X:100.61, Y:-38.75, Z:-4.35 [[ 8.59786693e-01 5.09677581e-01 3.15532123e-02 1.00607050e+02] [-5.09322549e-01 8.60365435e-01 -1.90225976e-02 -3.87541077e+01] [-3.68426848e-02 2.84613743e-04 9.99321037e-01 -4.35175412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.961052754 meters Centerline goodness [0,1] 0.9995696765401993 Centerline is valid? [True, True] Translation: X:100.63, Y:-38.77, Z:-4.35 [[ 8.60084588e-01 5.09195594e-01 3.12145407e-02 1.00629874e+02] [-5.08848023e-01 8.60650776e-01 -1.88130413e-02 -3.87695156e+01] [-3.64443365e-02 2.97349567e-04 9.99335640e-01 -4.35397700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.991052754 meters Centerline goodness [0,1] 0.9997851772287862 Centerline is valid? [True, True] Translation: X:100.65, Y:-38.78, Z:-4.35 [[ 8.60569412e-01 5.08319249e-01 3.21220781e-02 1.00653355e+02] [-5.07950684e-01 8.61168639e-01 -1.93566069e-02 -3.87841168e+01] [-3.75018622e-02 3.41272318e-04 9.99296499e-01 -4.35406087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.021052754 meters Centerline goodness [0,1] 0.9996187571483035 Centerline is valid? [True, True] Translation: X:100.68, Y:-38.80, Z:-4.35 [[ 8.58968134e-01 5.10906187e-01 3.38911932e-02 1.00679834e+02] [-5.10498408e-01 8.59636444e-01 -2.04098051e-02 -3.87971143e+01] [-3.95616005e-02 2.29972072e-04 9.99217107e-01 -4.35159100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.051052754 meters Centerline goodness [0,1] 0.999569943853781 Centerline is valid? [True, True] Translation: X:100.71, Y:-38.81, Z:-4.35 [[ 8.57269017e-01 5.13727349e-01 3.42643263e-02 1.00705588e+02] [-5.13313032e-01 8.57953496e-01 -2.06283612e-02 -3.88102540e+01] [-3.99945519e-02 9.57296958e-05 9.99199893e-01 -4.35233554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.081052754 meters Centerline goodness [0,1] 0.9995226616387026 Centerline is valid? [True, True] Translation: X:100.73, Y:-38.82, Z:-4.35 [[ 8.53693600e-01 5.19643245e-01 3.43239878e-02 1.00730874e+02] [-5.19232686e-01 8.54383322e-01 -2.06532352e-02 -3.88225381e+01] [-4.00581569e-02 -1.90601658e-04 9.99197332e-01 -4.35463764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11105275399999 meters Centerline goodness [0,1] 0.99978484855729 Centerline is valid? [True, True] Translation: X:100.76, Y:-38.84, Z:-4.36 [[ 8.52362497e-01 5.21829775e-01 3.42324299e-02 1.00755853e+02] [-5.21423408e-01 8.53049587e-01 -2.05920402e-02 -3.88364638e+01] [-3.99474999e-02 -2.97707478e-04 9.99201736e-01 -4.35557307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14105275399999 meters Centerline goodness [0,1] 0.9995458891013385 Centerline is valid? [True, True] Translation: X:100.78, Y:-38.85, Z:-4.36 [[ 8.49273001e-01 5.26874657e-01 3.37411511e-02 1.00782000e+02] [-5.26484256e-01 8.49942827e-01 -2.02859363e-02 -3.88473016e+01] [-3.93661951e-02 -5.35886852e-04 9.99224707e-01 -4.35514567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17105275399999 meters Centerline goodness [0,1] 0.9995683556749239 Centerline is valid? [True, True] Translation: X:100.81, Y:-38.86, Z:-4.36 [[ 8.47235860e-01 5.30187128e-01 3.30606674e-02 1.00807305e+02] [-5.29814976e-01 8.47880386e-01 -1.98731605e-02 -3.88609640e+01] [-3.85679853e-02 -6.78782513e-04 9.99255748e-01 -4.35618494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20105275399999 meters Centerline goodness [0,1] 0.9993520518358532 Centerline is valid? [True, True] Translation: X:100.83, Y:-38.87, Z:-4.36 [[ 8.45021401e-01 5.33747240e-01 3.24455726e-02 1.00832538e+02] [-5.33391819e-01 8.45643653e-01 -1.94930655e-02 -3.88734551e+01] [-3.78417624e-02 -8.34145454e-04 9.99283396e-01 -4.35791156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.23105275399999 meters Centerline goodness [0,1] 0.998898678414097 Centerline is valid? [True, True] Translation: X:100.86, Y:-38.89, Z:-4.36 [[ 8.43562076e-01 5.36104972e-01 3.15354314e-02 1.00856802e+02] [-5.35770976e-01 8.44150828e-01 -1.89431078e-02 -3.88881226e+01] [-3.67761548e-02 -9.16081488e-04 9.99323109e-01 -4.36076997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26105275399999 meters Centerline goodness [0,1] 0.9988031692079374 Centerline is valid? [True, True] Translation: X:100.88, Y:-38.90, Z:-4.36 [[ 8.43098953e-01 5.36826972e-01 3.16379061e-02 1.00880657e+02] [-5.36491437e-01 8.43691823e-01 -1.90011914e-02 -3.89018276e+01] [-3.68929947e-02 -9.53581080e-04 9.99318767e-01 -4.36203486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29105275399999 meters Centerline goodness [0,1] 0.9988484237800489 Centerline is valid? [True, True] Translation: X:100.91, Y:-38.92, Z:-4.36 [[ 8.43073528e-01 5.36875948e-01 3.14840163e-02 1.00905820e+02] [-5.36543886e-01 8.43660657e-01 -1.89038113e-02 -3.89161016e+01] [-3.67108275e-02 -9.55253534e-04 9.99325474e-01 -4.36268184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.321052754 meters Centerline goodness [0,1] 0.9992568620400336 Centerline is valid? [True, True] Translation: X:100.93, Y:-38.93, Z:-4.36 [[ 8.44869910e-01 5.34063753e-01 3.11567578e-02 1.00930296e+02] [-5.33736995e-01 8.45443798e-01 -1.86977233e-02 -3.89317447e+01] [-3.63270639e-02 -8.32370464e-04 9.99339608e-01 -4.36209465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.351052754 meters Centerline goodness [0,1] 0.9994714333765797 Centerline is valid? [True, True] Translation: X:100.95, Y:-38.95, Z:-4.36 [[ 8.46137847e-01 5.32064519e-01 3.09530527e-02 1.00954503e+02] [-5.31741001e-01 8.46703482e-01 -1.85666686e-02 -3.89480989e+01] [-3.60867231e-02 -7.49046213e-04 9.99348381e-01 -4.36340390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.381052754 meters Centerline goodness [0,1] 0.9997363690832834 Centerline is valid? [True, True] Translation: X:100.98, Y:-38.97, Z:-4.37 [[ 8.49871390e-01 5.26093476e-01 3.07290465e-02 1.00977045e+02] [-5.25771029e-01 8.50426602e-01 -1.84233592e-02 -3.89668729e+01] [-3.58252077e-02 -4.98956471e-04 9.99357947e-01 -4.36666732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.411052754 meters Centerline goodness [0,1] 0.999831997311957 Centerline is valid? [True, True] Translation: X:101.00, Y:-38.98, Z:-4.37 [[ 8.53362259e-01 5.20521275e-01 2.88176568e-02 1.01001104e+02] [-5.20234771e-01 8.53848662e-01 -1.72697743e-02 -3.89816628e+01] [-3.35952027e-02 -2.54573514e-04 9.99435489e-01 -4.36851092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.441052754 meters Centerline goodness [0,1] 0.9999278932820574 Centerline is valid? [True, True] Translation: X:101.02, Y:-39.00, Z:-4.37 [[ 8.56226851e-01 5.15822589e-01 2.83308354e-02 1.01024603e+02] [-5.15543391e-01 8.56695425e-01 -1.69694177e-02 -3.89979927e+01] [-3.30241061e-02 -7.61038632e-05 9.99454553e-01 -4.36977748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.471052754 meters Centerline goodness [0,1] 0.9998564215463399 Centerline is valid? [True, True] Translation: X:101.05, Y:-39.02, Z:-4.37 [[ 8.62522918e-01 5.05216217e-01 2.84743723e-02 1.01045282e+02] [-5.04928664e-01 8.62992739e-01 -1.70462845e-02 -3.90188861e+01] [-3.31852359e-02 3.25284248e-04 9.99449165e-01 -4.37067044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50105275399999 meters Centerline goodness [0,1] 0.9999761319426211 Centerline is valid? [True, True] Translation: X:101.07, Y:-39.04, Z:-4.37 [[ 8.63139450e-01 5.04239154e-01 2.70770289e-02 1.01067426e+02] [-5.03978954e-01 8.63563988e-01 -1.62003754e-02 -3.90350801e+01] [-3.15516107e-02 3.36930408e-04 9.99502067e-01 -4.37374386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53105275399999 meters Centerline goodness [0,1] 0.9998562943092546 Centerline is valid? [True, True] Translation: X:101.09, Y:-39.05, Z:-4.38 [[ 8.61815553e-01 5.06548086e-01 2.61340468e-02 1.01093001e+02] [-5.06306799e-01 8.62211678e-01 -1.56348137e-02 -3.90486205e+01] [-3.04528652e-02 2.42480027e-04 9.99536175e-01 -4.37528171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56105275399999 meters Centerline goodness [0,1] 0.9999281815570239 Centerline is valid? [True, True] Translation: X:101.12, Y:-39.06, Z:-4.37 [[ 8.59141768e-01 5.10879413e-01 2.96251143e-02 1.01119617e+02] [-5.10572302e-01 8.59652381e-01 -1.77117903e-02 -3.90593462e+01] [-3.45158891e-02 9.11759704e-05 9.99404145e-01 -4.37019916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.59105275399999 meters Centerline goodness [0,1] 0.9998087542731467 Centerline is valid? [True, True] Translation: X:101.15, Y:-39.07, Z:-4.36 [[ 8.55875443e-01 5.16077422e-01 3.37834429e-02 1.01146283e+02] [-5.15682217e-01 8.56541929e-01 -2.01934529e-02 -3.90700392e+01] [-3.93583204e-02 -1.38440312e-04 9.99225152e-01 -4.36497420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62105275399999 meters Centerline goodness [0,1] 0.999760047990402 Centerline is valid? [True, True] Translation: X:101.17, Y:-39.08, Z:-4.36 [[ 8.54337073e-01 5.18498565e-01 3.56006212e-02 1.01172090e+02] [-5.18062329e-01 8.55078454e-01 -2.12664069e-02 -3.90832664e+01] [-4.14679256e-02 -2.74660905e-04 9.99139798e-01 -4.36318317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65105275399999 meters Centerline goodness [0,1] 0.9997375390708884 Centerline is valid? [True, True] Translation: X:101.20, Y:-39.10, Z:-4.37 [[ 8.51543181e-01 5.23088129e-01 3.53980261e-02 1.01196149e+02] [-5.22661238e-01 8.52278450e-01 -2.11346802e-02 -3.90958128e+01] [-4.12242751e-02 -5.04083306e-04 9.99149791e-01 -4.36835704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68105275399999 meters Centerline goodness [0,1] 0.9998804885627555 Centerline is valid? [True, True] Translation: X:101.22, Y:-39.11, Z:-4.37 [[ 8.50814701e-01 5.24310161e-01 3.48310183e-02 1.01219333e+02] [-5.23898062e-01 8.51527183e-01 -2.07912876e-02 -3.91125462e+01] [-4.05606422e-02 -5.58369855e-04 9.99176923e-01 -4.37291561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.711052754 meters Centerline goodness [0,1] 0.999475890985325 Centerline is valid? [True, True] Translation: X:101.24, Y:-39.13, Z:-4.37 [[ 8.49355362e-01 5.26675427e-01 3.47629673e-02 1.01243493e+02] [-5.26267340e-01 8.50066194e-01 -2.07401434e-02 -3.91254227e+01] [-4.04741472e-02 -6.78862325e-04 9.99180355e-01 -4.37356478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.741052754 meters Centerline goodness [0,1] 0.9995230941650571 Centerline is valid? [True, True] Translation: X:101.27, Y:-39.14, Z:-4.37 [[ 8.49165849e-01 5.26998996e-01 3.44879524e-02 1.01268395e+02] [-5.26597878e-01 8.49865622e-01 -2.05693707e-02 -3.91393955e+01] [-4.01501629e-02 -6.94475390e-04 9.99193416e-01 -4.37332728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.771052754 meters Centerline goodness [0,1] 0.9996431714917811 Centerline is valid? [True, True] Translation: X:101.29, Y:-39.15, Z:-4.37 [[ 8.48771459e-01 5.27678766e-01 3.37954180e-02 1.01292102e+02] [-5.27294531e-01 8.49443701e-01 -2.01463911e-02 -3.91528702e+01] [-3.93381277e-02 -7.20457276e-04 9.99225697e-01 -4.37402568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.801052754 meters Centerline goodness [0,1] 0.9997143469256587 Centerline is valid? [True, True] Translation: X:101.32, Y:-39.17, Z:-4.38 [[ 8.48758930e-01 5.27739953e-01 3.31484564e-02 1.01315929e+02] [-5.27370500e-01 8.49405694e-01 -1.97565733e-02 -3.91670230e+01] [-3.85828207e-02 -7.12950014e-04 9.99255151e-01 -4.37580790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.831052754 meters Centerline goodness [0,1] 0.9996902549440077 Centerline is valid? [True, True] Translation: X:101.34, Y:-39.19, Z:-4.38 [[ 8.49675476e-01 5.26449604e-01 3.00399571e-02 1.01337913e+02] [-5.26145730e-01 8.50206124e-01 -1.78946149e-02 -3.91852843e+01] [-3.49607684e-02 -6.00779732e-04 9.99388505e-01 -4.38355207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86105275399999 meters Centerline goodness [0,1] 0.9995249180483633 Centerline is valid? [True, True] Translation: X:101.36, Y:-39.20, Z:-4.39 [[ 8.50259497e-01 5.25616671e-01 2.80339554e-02 1.01359116e+02] [-5.25351862e-01 8.50721357e-01 -1.66911086e-02 -3.92012316e+01] [-3.26222095e-02 -5.35917083e-04 9.99467610e-01 -4.38895166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89105275399999 meters Centerline goodness [0,1] 0.9992652635570725 Centerline is valid? [True, True] Translation: X:101.38, Y:-39.22, Z:-4.39 [[ 8.52044495e-01 5.22811017e-01 2.62453624e-02 1.01380469e+02] [-5.22577714e-01 8.52448519e-01 -1.56222971e-02 -3.92196054e+01] [-3.05403293e-02 -4.04349238e-04 9.99533454e-01 -4.39329747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92105275399999 meters Centerline goodness [0,1] 0.9995753114382786 Centerline is valid? [True, True] Translation: X:101.40, Y:-39.24, Z:-4.39 [[ 8.53368372e-01 5.20669840e-01 2.57941843e-02 1.01404140e+02] [-5.20443554e-01 8.53758053e-01 -1.53523250e-02 -3.92368044e+01] [-3.00154851e-02 -3.23228360e-04 9.99549382e-01 -4.39465165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.95105275399999 meters Centerline goodness [0,1] 0.9998109953457603 Centerline is valid? [True, True] Translation: X:101.43, Y:-39.26, Z:-4.39 [[ 8.56148879e-01 5.16137339e-01 2.47253593e-02 1.01425343e+02] [-5.15927696e-01 8.56505821e-01 -1.47102791e-02 -3.92567253e+01] [-2.87699385e-02 -1.62308690e-04 9.99586046e-01 -4.39398490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98105275399999 meters Centerline goodness [0,1] 0.9997413347128815 Centerline is valid? [True, True] Translation: X:101.45, Y:-39.28, Z:-4.39 [[ 8.60154400e-01 5.09404103e-01 2.53351174e-02 1.01446505e+02] [-5.09181300e-01 8.60527429e-01 -1.50647766e-02 -3.92762553e+01] [-2.94756225e-02 5.78658580e-05 9.99565498e-01 -4.39479188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01105275399999 meters Centerline goodness [0,1] 0.9997887075947881 Centerline is valid? [True, True] Translation: X:101.47, Y:-39.29, Z:-4.40 [[ 8.62850812e-01 5.04824806e-01 2.53059591e-02 1.01468895e+02] [-5.04600822e-01 8.63221798e-01 -1.50378858e-02 -3.92939688e+01] [-2.94361533e-02 2.06044248e-04 9.99566641e-01 -4.39616862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04105275399999 meters Centerline goodness [0,1] 0.9995784444600576 Centerline is valid? [True, True] Translation: X:101.49, Y:-39.31, Z:-4.40 [[ 8.68239407e-01 4.95502489e-01 2.52510695e-02 1.01489999e+02] [-4.95275603e-01 8.68606363e-01 -1.50021119e-02 -3.93149341e+01] [-2.93668234e-02 5.19186076e-04 9.99568567e-01 -4.39892223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.071052754 meters Centerline goodness [0,1] 0.9993929205192864 Centerline is valid? [True, True] Translation: X:101.51, Y:-39.33, Z:-4.40 [[ 8.71137977e-01 4.90355554e-01 2.58854143e-02 1.01513203e+02] [-4.90114854e-01 8.71522189e-01 -1.53786813e-02 -3.93338767e+01] [-3.01007347e-02 7.10127231e-04 9.99546618e-01 -4.39979691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.101052754 meters Centerline goodness [0,1] 0.999438136486012 Centerline is valid? [True, True] Translation: X:101.54, Y:-39.35, Z:-4.40 [[ 8.73352911e-01 4.86371777e-01 2.64042999e-02 1.01537557e+02] [-4.86119730e-01 8.73751543e-01 -1.56796078e-02 -3.93506467e+01] [-3.06969165e-02 8.58179997e-04 9.99528370e-01 -4.40034697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.131052754 meters Centerline goodness [0,1] 0.9991856866987738 Centerline is valid? [True, True] Translation: X:101.56, Y:-39.38, Z:-4.40 [[ 8.76636846e-01 4.80356000e-01 2.76758627e-02 1.01555787e+02] [-4.80076369e-01 8.77072901e-01 -1.64257454e-02 -3.93754104e+01] [-3.21639546e-02 1.11288600e-03 9.99481987e-01 -4.40098951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.161052754 meters Centerline goodness [0,1] 0.9992507784879774 Centerline is valid? [True, True] Translation: X:101.59, Y:-39.38, Z:-4.40 [[ 8.77081777e-01 4.79472720e-01 2.88698211e-02 1.01585759e+02] [-4.79168057e-01 8.77555975e-01 -1.71313765e-02 -3.93816925e+01] [-3.35489117e-02 1.19212213e-03 9.99436366e-01 -4.39783135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.191052754 meters Centerline goodness [0,1] 0.9990622435822295 Centerline is valid? [True, True] Translation: X:101.61, Y:-39.40, Z:-4.39 [[ 8.77853745e-01 4.77915199e-01 3.11426560e-02 1.01611737e+02] [-4.77560076e-01 8.78404955e-01 -1.84691140e-02 -3.93950034e+01] [-3.61825336e-02 1.34069169e-03 9.99344298e-01 -4.39442793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.221052754 meters Centerline goodness [0,1] 0.9991311698680317 Centerline is valid? [True, True] Translation: X:101.64, Y:-39.41, Z:-4.40 [[ 8.77073277e-01 4.79266601e-01 3.23418086e-02 1.01637869e+02] [-4.78884923e-01 8.77668371e-01 -1.91692571e-02 -3.94082194e+01] [-3.75725672e-02 1.32483859e-03 9.99293024e-01 -4.39681348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25105275399999 meters Centerline goodness [0,1] 0.9991313126570094 Centerline is valid? [True, True] Translation: X:101.66, Y:-39.42, Z:-4.40 [[ 8.76163832e-01 4.80922510e-01 3.24110876e-02 1.01661293e+02] [-4.80540706e-01 8.76762215e-01 -1.92001891e-02 -3.94224480e+01] [-3.76506201e-02 1.24766435e-03 9.99290185e-01 -4.39943928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28105275399999 meters Centerline goodness [0,1] 0.9990626391395028 Centerline is valid? [True, True] Translation: X:101.69, Y:-39.44, Z:-4.40 [[ 8.73858854e-01 4.85057833e-01 3.30091287e-02 1.01686518e+02] [-4.84664892e-01 8.74481400e-01 -1.95505310e-02 -3.94358066e+01] [-3.83490073e-02 1.08603885e-03 9.99263816e-01 -4.40247641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31105275399999 meters Centerline goodness [0,1] 0.9994115293176093 Centerline is valid? [True, True] Translation: X:101.71, Y:-39.45, Z:-4.40 [[ 8.72269975e-01 4.87917915e-01 3.28815959e-02 1.01713701e+02] [-4.87530133e-01 8.72888995e-01 -1.94723385e-02 -3.94470191e+01] [-3.82028860e-02 9.54367367e-04 9.99269548e-01 -4.40364832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34105275399999 meters Centerline goodness [0,1] 0.9992736985145964 Centerline is valid? [True, True] Translation: X:101.74, Y:-39.46, Z:-4.40 [[ 8.70565520e-01 4.90975126e-01 3.25438293e-02 1.01739844e+02] [-4.90597783e-01 8.71173221e-01 -1.92622603e-02 -3.94593474e+01] [-3.78086033e-02 8.03129136e-04 9.99284676e-01 -4.40491986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37105275399999 meters Centerline goodness [0,1] 0.9994344424545197 Centerline is valid? [True, True] Translation: X:101.77, Y:-39.47, Z:-4.41 [[ 8.66430254e-01 4.98304097e-01 3.14903340e-02 1.01766065e+02] [-4.97955722e-01 8.67002197e-01 -1.86356933e-02 -3.94695516e+01] [-3.65884311e-02 4.65736410e-04 9.99330311e-01 -4.40673150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40105275399999 meters Centerline goodness [0,1] 0.9995985168740996 Centerline is valid? [True, True] Translation: X:101.79, Y:-39.48, Z:-4.41 [[ 8.62517763e-01 5.05173628e-01 2.93720041e-02 1.01793216e+02] [-5.04874597e-01 8.63017717e-01 -1.73799075e-02 -3.94790962e+01] [-3.41284309e-02 1.61300200e-04 9.99417442e-01 -4.41027143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43105275399999 meters Centerline goodness [0,1] 0.9995741560008516 Centerline is valid? [True, True] Translation: X:101.82, Y:-39.49, Z:-4.41 [[ 8.60711736e-01 5.08301857e-01 2.83642267e-02 1.01817703e+02] [-5.08025008e-01 8.61178972e-01 -1.67740964e-02 -3.94904765e+01] [-3.29529799e-02 2.79251344e-05 9.99456903e-01 -4.41306576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.461052754 meters Centerline goodness [0,1] 0.9996451887595799 Centerline is valid? [True, True] Translation: X:101.84, Y:-39.50, Z:-4.42 [[ 8.57128085e-01 5.14422599e-01 2.64733126e-02 1.01844800e+02] [-5.14184474e-01 8.57536793e-01 -1.56517030e-02 -3.95000072e+01] [-3.07534293e-02 -1.96652061e-04 9.99526982e-01 -4.41527246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.491052754 meters Centerline goodness [0,1] 0.9995955654945996 Centerline is valid? [True, True] Translation: X:101.87, Y:-39.51, Z:-4.42 [[ 8.55391405e-01 5.17308231e-01 2.64147168e-02 1.01870415e+02] [-5.17072579e-01 8.55799102e-01 -1.56155360e-02 -3.95134167e+01] [-3.06837362e-02 -3.00930453e-04 9.99529098e-01 -4.41560883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.521052754 meters Centerline goodness [0,1] 0.9994994159853162 Centerline is valid? [True, True] Translation: X:101.90, Y:-39.52, Z:-4.42 [[ 8.52594610e-01 5.21886366e-01 2.67778276e-02 1.01896106e+02] [-5.21646751e-01 8.53014883e-01 -1.58201606e-02 -3.95233134e+01] [-3.10982116e-02 -4.80383124e-04 9.99516218e-01 -4.41778957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.551052754 meters Centerline goodness [0,1] 0.9994994159853162 Centerline is valid? [True, True] Translation: X:101.92, Y:-39.54, Z:-4.42 [[ 8.52734806e-01 5.21657212e-01 2.67787901e-02 1.01919668e+02] [-5.21417534e-01 8.53155044e-01 -1.58185315e-02 -3.95371446e+01] [-3.10983109e-02 -4.73918322e-04 9.99516218e-01 -4.41885145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.581052754 meters Centerline goodness [0,1] 0.9994756286497438 Centerline is valid? [True, True] Translation: X:101.94, Y:-39.55, Z:-4.42 [[ 8.51705494e-01 5.23304132e-01 2.73959188e-02 1.01944593e+02] [-5.23054461e-01 8.52145807e-01 -1.61726441e-02 -3.95519984e+01] [-3.18085289e-02 -5.55227681e-04 9.99493827e-01 -4.42046855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61105275399999 meters Centerline goodness [0,1] 0.9991884860491205 Centerline is valid? [True, True] Translation: X:101.97, Y:-39.56, Z:-4.42 [[ 8.50224548e-01 5.25681416e-01 2.78795144e-02 1.01969527e+02] [-5.25424447e-01 8.50681261e-01 -1.64481762e-02 -3.95632488e+01] [-3.23630811e-02 -6.63935277e-04 9.99475958e-01 -4.42225854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64105275399999 meters Centerline goodness [0,1] 0.9986136673279633 Centerline is valid? [True, True] Translation: X:102.00, Y:-39.57, Z:-4.42 [[ 8.47343585e-01 5.30152059e-01 3.07838088e-02 1.01996560e+02] [-5.29841937e-01 8.47902078e-01 -1.81545515e-02 -3.95738779e+01] [-3.57263283e-02 -9.27410139e-04 9.99361181e-01 -4.42040760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67105275399999 meters Centerline goodness [0,1] 0.9987344492466391 Centerline is valid? [True, True] Translation: X:102.02, Y:-39.59, Z:-4.42 [[ 8.45614325e-01 5.32728535e-01 3.37152969e-02 1.02022483e+02] [-5.32358753e-01 8.46285419e-01 -1.98783121e-02 -3.95868281e+01] [-3.91225082e-02 -1.13924796e-03 9.99233772e-01 -4.41778948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70105275399999 meters Centerline goodness [0,1] 0.9984163927346018 Centerline is valid? [True, True] Translation: X:102.05, Y:-39.60, Z:-4.42 [[ 8.43943115e-01 5.35321023e-01 3.45169658e-02 1.02048231e+02] [-5.34936034e-01 8.44647688e-01 -2.03401891e-02 -3.96007570e+01] [-4.00432062e-02 -1.29840620e-03 9.99197106e-01 -4.41845202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.73105275399999 meters Centerline goodness [0,1] 0.998105969791417 Centerline is valid? [True, True] Translation: X:102.07, Y:-39.61, Z:-4.42 [[ 8.42901378e-01 5.36886064e-01 3.56457757e-02 1.02073287e+02] [-5.36477272e-01 8.43653555e-01 -2.09956198e-02 -3.96128547e+01] [-4.13449410e-02 -1.42591161e-03 9.99143915e-01 -4.41903706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76105275399999 meters Centerline goodness [0,1] 0.9980793239220206 Centerline is valid? [True, True] Translation: X:102.10, Y:-39.63, Z:-4.42 [[ 8.42748942e-01 5.37144444e-01 3.53562875e-02 1.02096610e+02] [-5.36742673e-01 8.43489063e-01 -2.08207494e-02 -3.96291497e+01] [-4.10063917e-02 -1.43056371e-03 9.99157860e-01 -4.42123127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79105275399999 meters Centerline goodness [0,1] 0.9979839677434839 Centerline is valid? [True, True] Translation: X:102.12, Y:-39.64, Z:-4.42 [[ 8.42062874e-01 5.38243649e-01 3.49841497e-02 1.02122128e+02] [-5.37851686e-01 8.42787987e-01 -2.05906103e-02 -3.96394284e+01] [-4.05669863e-02 -1.47769539e-03 9.99175728e-01 -4.42399169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.821052754 meters Centerline goodness [0,1] 0.9980093536395251 Centerline is valid? [True, True] Translation: X:102.15, Y:-39.65, Z:-4.43 [[ 8.41825133e-01 5.38609497e-01 3.50750070e-02 1.02146312e+02] [-5.38216105e-01 8.42554179e-01 -2.06368612e-02 -3.96540440e+01] [-4.06678031e-02 -1.50530523e-03 9.99171589e-01 -4.42662246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.851052754 meters Centerline goodness [0,1] 0.9978885236461358 Centerline is valid? [True, True] Translation: X:102.17, Y:-39.67, Z:-4.43 [[ 8.41608376e-01 5.38918719e-01 3.55240154e-02 1.02171100e+02] [-5.38515923e-01 8.42356346e-01 -2.08898773e-02 -3.96691526e+01] [-4.11818258e-02 -1.54915223e-03 9.99150468e-01 -4.42884813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.881052754 meters Centerline goodness [0,1] 0.9979119665914654 Centerline is valid? [True, True] Translation: X:102.20, Y:-39.68, Z:-4.43 [[ 8.41376334e-01 5.39292757e-01 3.53438457e-02 1.02196628e+02] [-5.38894816e-01 8.42116893e-01 -2.07729533e-02 -3.96822943e+01] [-4.09663528e-02 -1.56874394e-03 9.99159295e-01 -4.43018325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.911052754 meters Centerline goodness [0,1] 0.9982000575981569 Centerline is valid? [True, True] Translation: X:102.22, Y:-39.70, Z:-4.43 [[ 8.41778796e-01 5.38628690e-01 3.58830396e-02 1.02221009e+02] [-5.38218379e-01 8.42541792e-01 -2.10785514e-02 -3.96964515e+01] [-4.15864730e-02 -1.56943379e-03 9.99133676e-01 -4.43223863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.941052754 meters Centerline goodness [0,1] 0.9981737354319355 Centerline is valid? [True, True] Translation: X:102.24, Y:-39.71, Z:-4.43 [[ 8.42480761e-01 5.37527982e-01 3.59142879e-02 1.02244326e+02] [-5.37116427e-01 8.43244532e-01 -2.10856315e-02 -3.97128075e+01] [-4.16186439e-02 -1.52591512e-03 9.99132404e-01 -4.43371741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.971052754 meters Centerline goodness [0,1] 0.9979625101874491 Centerline is valid? [True, True] Translation: X:102.27, Y:-39.72, Z:-4.44 [[ 8.44497429e-01 5.34378772e-01 3.55446089e-02 1.02269340e+02] [-5.33973312e-01 8.45244025e-01 -2.08575923e-02 -3.97245488e+01] [-4.11897229e-02 -1.36568948e-03 9.99150410e-01 -4.43543907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00105275399999 meters Centerline goodness [0,1] 0.9989191266543367 Centerline is valid? [True, True] Translation: X:102.29, Y:-39.74, Z:-4.44 [[ 8.45402846e-01 5.32983136e-01 3.49714771e-02 1.02292720e+02] [-5.32589686e-01 8.46124893e-01 -2.05156484e-02 -3.97409505e+01] [-4.05247320e-02 -1.28146048e-03 9.99177714e-01 -4.43757653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03105275399999 meters Centerline goodness [0,1] 0.9984171143514965 Centerline is valid? [True, True] Translation: X:102.32, Y:-39.75, Z:-4.44 [[ 8.47114549e-01 5.30256025e-01 3.50069756e-02 1.02317727e+02] [-5.29859881e-01 8.47836776e-01 -2.05257580e-02 -3.97529686e+01] [-4.05641082e-02 -1.16112372e-03 9.99176263e-01 -4.43865355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06105275399999 meters Centerline goodness [0,1] 0.9988266283524905 Centerline is valid? [True, True] Translation: X:102.34, Y:-39.77, Z:-4.44 [[ 8.49211986e-01 5.26771424e-01 3.67541714e-02 1.02340240e+02] [-5.26331669e-01 8.50006334e-01 -2.15454430e-02 -3.97707409e+01] [-4.25908022e-02 -1.04823593e-03 9.99092050e-01 -4.43998015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.09105275399999 meters Centerline goodness [0,1] 0.9990890348564031 Centerline is valid? [True, True] Translation: X:102.36, Y:-39.78, Z:-4.44 [[ 8.49629219e-01 5.26029409e-01 3.77259858e-02 1.02364904e+02] [-5.25565790e-01 8.50465734e-01 -2.21050981e-02 -3.97848913e+01] [-4.37125899e-02 -1.04635029e-03 9.99043600e-01 -4.44087118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12105275399999 meters Centerline goodness [0,1] 0.9990171872378167 Centerline is valid? [True, True] Translation: X:102.39, Y:-39.80, Z:-4.44 [[ 8.50376828e-01 5.24726851e-01 3.89997812e-02 1.02389904e+02] [-5.24230531e-01 8.51270044e-01 -2.28399513e-02 -3.97974408e+01] [-4.51840811e-02 -1.02231066e-03 9.98978155e-01 -4.44121113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15105275399999 meters Centerline goodness [0,1] 0.9992565055762082 Centerline is valid? [True, True] Translation: X:102.42, Y:-39.81, Z:-4.44 [[ 8.51055243e-01 5.23595361e-01 3.94064896e-02 1.02415182e+02] [-5.23087674e-01 8.51966515e-01 -2.30725437e-02 -3.98114873e+01] [-4.56536865e-02 -9.77039715e-04 9.98956849e-01 -4.44130175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18105275399999 meters Centerline goodness [0,1] 0.9992807997506773 Centerline is valid? [True, True] Translation: X:102.44, Y:-39.83, Z:-4.44 [[ 8.53100931e-01 5.20139988e-01 4.09047045e-02 1.02440079e+02] [-5.19589572e-01 8.54080616e-01 -2.39369492e-02 -3.98268534e+01] [-4.73864797e-02 -8.33024227e-04 9.98876282e-01 -4.43930862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.211052754 meters Centerline goodness [0,1] 0.9993774691727523 Centerline is valid? [True, True] Translation: X:102.46, Y:-39.84, Z:-4.44 [[ 8.54319227e-01 5.18099258e-01 4.13741130e-02 1.02464217e+02] [-5.17534327e-01 8.55320182e-01 -2.41993168e-02 -3.98425764e+01] [-4.79257619e-02 -7.38582128e-04 9.98850627e-01 -4.44048984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.241052754 meters Centerline goodness [0,1] 0.9994489962148435 Centerline is valid? [True, True] Translation: X:102.49, Y:-39.86, Z:-4.44 [[ 8.54853365e-01 5.17240183e-01 4.10891380e-02 1.02488006e+02] [-5.16682564e-01 8.55840002e-01 -2.40212036e-02 -3.98560205e+01] [-4.75904597e-02 -6.95434483e-04 9.98866690e-01 -4.44259002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.271052754 meters Centerline goodness [0,1] 0.999521428058673 Centerline is valid? [True, True] Translation: X:102.51, Y:-39.87, Z:-4.45 [[ 8.55993319e-01 5.15312644e-01 4.15730323e-02 1.02511790e+02] [-5.14739842e-01 8.57002052e-01 -2.42976705e-02 -3.98720540e+01] [-4.81490709e-02 -6.00652514e-04 9.98839980e-01 -4.44580122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.301052754 meters Centerline goodness [0,1] 0.9996889059060017 Centerline is valid? [True, True] Translation: X:102.54, Y:-39.88, Z:-4.44 [[ 8.56445725e-01 5.14513714e-01 4.21468727e-02 1.02536115e+02] [-5.13924650e-01 8.57481958e-01 -2.46200201e-02 -3.98838747e+01] [-4.88075209e-02 -5.74605829e-04 9.98808037e-01 -4.44443807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.331052754 meters Centerline goodness [0,1] 0.999808254637841 Centerline is valid? [True, True] Translation: X:102.56, Y:-39.90, Z:-4.44 [[ 8.57225706e-01 5.13239928e-01 4.18194273e-02 1.02561244e+02] [-5.12658990e-01 8.58245022e-01 -2.44180480e-02 -3.98987970e+01] [-4.84236326e-02 -5.07326910e-04 9.98826759e-01 -4.44496323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36105275399999 meters Centerline goodness [0,1] 0.9999520049914808 Centerline is valid? [True, True] Translation: X:102.59, Y:-39.91, Z:-4.45 [[ 8.57392236e-01 5.13118710e-01 3.98465050e-02 1.02585430e+02] [-5.12591709e-01 8.58317513e-01 -2.32548249e-02 -3.99138594e+01] [-4.61334388e-02 -4.86481813e-04 9.98935168e-01 -4.44942614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39105275399999 meters Centerline goodness [0,1] 0.9997595633670746 Centerline is valid? [True, True] Translation: X:102.61, Y:-39.93, Z:-4.45 [[ 8.57327455e-01 5.13302980e-01 3.88546774e-02 1.02609446e+02] [-5.12802638e-01 8.58207321e-01 -2.26638094e-02 -3.99283180e+01] [-4.49787695e-02 -4.94475084e-04 9.98987821e-01 -4.45296372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42105275399999 meters Centerline goodness [0,1] 0.9997363438076748 Centerline is valid? [True, True] Translation: X:102.63, Y:-39.94, Z:-4.46 [[ 8.58395769e-01 5.11643692e-01 3.71138259e-02 1.02632614e+02] [-5.11186162e-01 8.59197633e-01 -2.16364261e-02 -3.99433666e+01] [-4.29582523e-02 -3.99457648e-04 9.99076788e-01 -4.45633503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.45105275399999 meters Centerline goodness [0,1] 0.9998801131731645 Centerline is valid? [True, True] Translation: X:102.66, Y:-39.96, Z:-4.46 [[ 8.58968880e-01 5.10742962e-01 3.62503729e-02 1.02657077e+02] [-5.10305869e-01 8.59733392e-01 -2.11285489e-02 -3.99584088e+01] [-4.19569136e-02 -3.50012053e-04 9.99119360e-01 -4.45731178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48105275399999 meters Centerline goodness [0,1] 0.999952080887462 Centerline is valid? [True, True] Translation: X:102.68, Y:-39.97, Z:-4.46 [[ 8.58710716e-01 5.11175185e-01 3.62744542e-02 1.02681596e+02] [-5.10738374e-01 8.59476460e-01 -2.11312211e-02 -3.99720765e+01] [-4.19787954e-02 -3.81149765e-04 9.99118429e-01 -4.45801216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51105275399999 meters Centerline goodness [0,1] 0.999904468486542 Centerline is valid? [True, True] Translation: X:102.71, Y:-39.99, Z:-4.46 [[ 8.58187035e-01 5.12033778e-01 3.65571354e-02 1.02706781e+02] [-5.11591452e-01 8.58965203e-01 -2.12830092e-02 -3.99859732e+01] [-4.22989268e-02 -4.37515461e-04 9.99104904e-01 -4.45924548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54105275399999 meters Centerline goodness [0,1] 0.9998806511672316 Centerline is valid? [True, True] Translation: X:102.73, Y:-40.00, Z:-4.46 [[ 8.57301688e-01 5.13376726e-01 3.84467541e-02 1.02731348e+02] [-5.12889375e-01 8.58163181e-01 -2.23705906e-02 -4.00013841e+01] [-4.44781294e-02 -5.40586626e-04 9.99010212e-01 -4.46039328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.571052754 meters Centerline goodness [0,1] 0.999809060098334 Centerline is valid? [True, True] Translation: X:102.76, Y:-40.02, Z:-4.46 [[ 8.56394821e-01 5.14793059e-01 3.96990837e-02 1.02755804e+02] [-5.14275469e-01 8.57314232e-01 -2.30878671e-02 -4.00155204e+01] [-4.59200632e-02 -6.43935105e-04 9.98944910e-01 -4.46111241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.601052754 meters Centerline goodness [0,1] 0.9995704774858616 Centerline is valid? [True, True] Translation: X:102.78, Y:-40.03, Z:-4.46 [[ 8.54495188e-01 5.17899082e-01 4.02307610e-02 1.02782865e+02] [-5.17371234e-01 8.55441323e-01 -2.33912142e-02 -4.00266496e+01] [-4.65293438e-02 -8.26558520e-04 9.98916582e-01 -4.45874313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.631052754 meters Centerline goodness [0,1] 0.9996892479801118 Centerline is valid? [True, True] Translation: X:102.81, Y:-40.04, Z:-4.46 [[ 8.53955855e-01 5.18827628e-01 3.97151202e-02 1.02808318e+02] [-5.18314795e-01 8.54878427e-01 -2.30791735e-02 -4.00393612e+01] [-4.59257124e-02 -8.76339038e-04 9.98944473e-01 -4.45845235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.661052754 meters Centerline goodness [0,1] 0.9993282310885055 Centerline is valid? [True, True] Translation: X:102.84, Y:-40.05, Z:-4.46 [[ 8.50987667e-01 5.23645011e-01 4.01981735e-02 1.02835465e+02] [-5.23125504e-01 8.51935771e-01 -2.33484313e-02 -4.00489965e+01] [-4.64725515e-02 -1.15946273e-03 9.98918894e-01 -4.45823842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.691052754 meters Centerline goodness [0,1] 0.9984612055492775 Centerline is valid? [True, True] Translation: X:102.86, Y:-40.06, Z:-4.46 [[ 8.46817464e-01 5.30260920e-01 4.15155300e-02 1.02862260e+02] [-5.29715001e-01 8.47833043e-01 -2.41070182e-02 -4.00599510e+01] [-4.79812477e-02 -1.57715500e-03 9.98846992e-01 -4.45976574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.721052754 meters Centerline goodness [0,1] 0.9987489173323068 Centerline is valid? [True, True] Translation: X:102.89, Y:-40.08, Z:-4.46 [[ 8.45240184e-01 5.32748348e-01 4.18118395e-02 1.02887457e+02] [-5.32198227e-01 8.46271923e-01 -2.42668441e-02 -4.00757590e+01] [-4.83123069e-02 -1.74087508e-03 9.98830762e-01 -4.46131365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75105275399999 meters Centerline goodness [0,1] 0.9978354457779167 Centerline is valid? [True, True] Translation: X:102.91, Y:-40.09, Z:-4.46 [[ 8.43278615e-01 5.35857757e-01 4.16850205e-02 1.02913712e+02] [-5.35315244e-01 8.44306089e-01 -2.41830081e-02 -4.00867263e+01] [-4.81535691e-02 -1.92161330e-03 9.98838096e-01 -4.46216725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78105275399999 meters Centerline goodness [0,1] 0.9972755985244834 Centerline is valid? [True, True] Translation: X:102.94, Y:-40.10, Z:-4.46 [[ 8.42612852e-01 5.36919277e-01 4.14882162e-02 1.02938317e+02] [-5.36383402e-01 8.43631306e-01 -2.40637718e-02 -4.00995815e+01] [-4.79210610e-02 -1.97714720e-03 9.98849169e-01 -4.46329389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81105275399999 meters Centerline goodness [0,1] 0.996995408984929 Centerline is valid? [True, True] Translation: X:102.96, Y:-40.11, Z:-4.46 [[ 8.42644915e-01 5.36885397e-01 4.12749031e-02 1.02962005e+02] [-5.36355213e-01 8.43652886e-01 -2.39351739e-02 -4.01119371e+01] [-4.76721365e-02 -1.96915683e-03 9.98861096e-01 -4.46388971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84105275399999 meters Centerline goodness [0,1] 0.9975900710929028 Centerline is valid? [True, True] Translation: X:102.99, Y:-40.13, Z:-4.47 [[ 8.43156644e-01 5.36074639e-01 4.13624897e-02 1.02985366e+02] [-5.35541592e-01 8.44168373e-01 -2.39783641e-02 -4.01292375e+01] [-4.77710985e-02 -1.93381660e-03 9.98856437e-01 -4.46594968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87105275399999 meters Centerline goodness [0,1] 0.9973762125989938 Centerline is valid? [True, True] Translation: X:103.01, Y:-40.14, Z:-4.47 [[ 8.43881820e-01 5.34843532e-01 4.24955283e-02 1.03009808e+02] [-5.34279975e-01 8.44948924e-01 -2.46216377e-02 -4.01431050e+01] [-4.90752746e-02 -1.92675732e-03 9.98793224e-01 -4.46731069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90105275399999 meters Centerline goodness [0,1] 0.9976929731808132 Centerline is valid? [True, True] Translation: X:103.03, Y:-40.16, Z:-4.47 [[ 8.44979829e-01 5.33038293e-01 4.33505023e-02 1.03033488e+02] [-5.32450131e-01 8.46089050e-01 -2.51033391e-02 -4.01588886e+01] [-5.00594264e-02 -1.87016543e-03 9.98744490e-01 -4.46792524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93105275399999 meters Centerline goodness [0,1] 0.9992073595465136 Centerline is valid? [True, True] Translation: X:103.06, Y:-40.18, Z:-4.47 [[ 8.48629719e-01 5.27277006e-01 4.25036486e-02 1.03056854e+02] [-5.26704999e-01 8.49692108e-01 -2.46001191e-02 -4.01762445e+01] [-4.90860919e-02 -1.51049203e-03 9.98793409e-01 -4.46875343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.961052754 meters Centerline goodness [0,1] 0.9994721689059501 Centerline is valid? [True, True] Translation: X:103.08, Y:-40.19, Z:-4.47 [[ 8.51438205e-01 5.22826162e-01 4.13011673e-02 1.03079789e+02] [-5.22281333e-01 8.52438443e-01 -2.38937354e-02 -4.01915654e+01] [-4.76989727e-02 -1.22678954e-03 9.98861003e-01 -4.47203711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.991052754 meters Centerline goodness [0,1] 0.9997373447946514 Centerline is valid? [True, True] Translation: X:103.10, Y:-40.21, Z:-4.48 [[ 8.57547043e-01 5.12969865e-01 3.84055637e-02 1.03101097e+02] [-5.12489013e-01 8.58406383e-01 -2.22147115e-02 -4.02111306e+01] [-4.43630586e-02 -6.32269348e-04 9.99015275e-01 -4.47804051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.021052754 meters Centerline goodness [0,1] 0.9999522159837534 Centerline is valid? [True, True] Translation: X:103.12, Y:-40.23, Z:-4.48 [[ 8.60716141e-01 5.07718895e-01 3.72726267e-02 1.03123891e+02] [-5.07261230e-01 8.61522721e-01 -2.15556600e-02 -4.02282958e+01] [-4.30554307e-02 -3.53653936e-04 9.99072622e-01 -4.48080740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.051052754 meters Centerline goodness [0,1] 0.9999523071420054 Centerline is valid? [True, True] Translation: X:103.14, Y:-40.25, Z:-4.48 [[ 8.66635688e-01 4.97579794e-01 3.68365714e-02 1.03144452e+02] [-4.97123851e-01 8.67418197e-01 -2.12966841e-02 -4.02474513e+01] [-4.25495120e-02 1.44128216e-04 9.99094349e-01 -4.48231486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.081052754 meters Centerline goodness [0,1] 0.9999761955771382 Centerline is valid? [True, True] Translation: X:103.17, Y:-40.26, Z:-4.48 [[ 8.69180185e-01 4.93102569e-01 3.70899116e-02 1.03168331e+02] [-4.92636529e-01 8.69971107e-01 -2.14365124e-02 -4.02641591e+01] [-4.28375508e-02 3.60346532e-04 9.99081986e-01 -4.48334396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11105275399999 meters Centerline goodness [0,1] 0.9999761927435482 Centerline is valid? [True, True] Translation: X:103.19, Y:-40.28, Z:-4.48 [[ 8.71857465e-01 4.88232186e-01 3.86509166e-02 1.03191998e+02] [-4.87721826e-01 8.72713559e-01 -2.23263243e-02 -4.02810469e+01] [-4.46316090e-02 6.14476893e-04 9.99003324e-01 -4.48270980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14105275399999 meters Centerline goodness [0,1] 0.9999762052063008 Centerline is valid? [True, True] Translation: X:103.22, Y:-40.30, Z:-4.48 [[ 8.72737319e-01 4.86540760e-01 4.00956360e-02 1.03215043e+02] [-4.85990257e-01 8.73657584e-01 -2.31494359e-02 -4.02960936e+01] [-4.62930006e-02 7.17288163e-04 9.98927647e-01 -4.48184749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17105275399999 meters Centerline goodness [0,1] 0.9999285459092533 Centerline is valid? [True, True] Translation: X:103.24, Y:-40.31, Z:-4.48 [[ 8.72947799e-01 4.85949013e-01 4.26109924e-02 1.03240744e+02] [-4.85326854e-01 8.73986803e-01 -2.45949648e-02 -4.03087266e+01] [-4.91933439e-02 7.89861500e-04 9.98788962e-01 -4.47959302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.27, Y:-40.32, Z:-4.48 [[ 8.72572242e-01 4.86507924e-01 4.39058355e-02 1.03265164e+02] [-4.85848797e-01 8.73675826e-01 -2.53278096e-02 -4.03213003e+01] [-5.06816472e-02 7.68746298e-04 9.98714564e-01 -4.47922450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.23105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.29, Y:-40.33, Z:-4.48 [[ 8.70917776e-01 4.89320559e-01 4.54710655e-02 1.03291720e+02] [-4.88618219e-01 8.72103787e-01 -2.62149100e-02 -4.03337017e+01] [-5.24829829e-02 6.13040053e-04 9.98621630e-01 -4.47980669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.32, Y:-40.35, Z:-4.48 [[ 8.70028154e-01 4.90920379e-01 4.52569720e-02 1.03317148e+02] [-4.90227496e-01 8.71204298e-01 -2.60782180e-02 -4.03473177e+01] [-5.22303972e-02 5.02571828e-04 9.98634935e-01 -4.48191021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29105275399999 meters Centerline goodness [0,1] 0.9999285254806661 Centerline is valid? [True, True] Translation: X:103.34, Y:-40.36, Z:-4.49 [[ 8.68424980e-01 4.93794128e-01 4.47818307e-02 1.03342998e+02] [-4.93120245e-01 8.69578783e-01 -2.57907624e-02 -4.03605979e+01] [-5.16766569e-02 3.14514958e-04 9.98663819e-01 -4.48545077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.321052754 meters Centerline goodness [0,1] 0.9999285901311561 Centerline is valid? [True, True] Translation: X:103.37, Y:-40.37, Z:-4.49 [[ 8.67766078e-01 4.95003451e-01 4.41997430e-02 1.03368576e+02] [-4.94349224e-01 8.68890978e-01 -2.54423622e-02 -4.03743947e+01] [-5.09988150e-02 2.27910189e-04 9.98698688e-01 -4.48772145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.351052754 meters Centerline goodness [0,1] 0.9999522900763359 Centerline is valid? [True, True] Translation: X:103.39, Y:-40.39, Z:-4.49 [[ 8.66959761e-01 4.96594073e-01 4.21319381e-02 1.03392581e+02] [-4.96002078e-01 8.67982899e-01 -2.42409860e-02 -4.03884628e+01] [-4.86077317e-02 1.18430613e-04 9.98817939e-01 -4.49004683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.381052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.42, Y:-40.40, Z:-4.49 [[ 8.66490710e-01 4.97539201e-01 4.06028672e-02 1.03417785e+02] [-4.96990730e-01 8.67441491e-01 -2.33554040e-02 -4.04019067e+01] [-4.68408408e-02 5.79920046e-05 9.98902364e-01 -4.49143535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.411052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.44, Y:-40.41, Z:-4.49 [[ 8.64986289e-01 5.00339838e-01 3.81938119e-02 1.03442948e+02] [-4.99857731e-01 8.65829104e-01 -2.19593053e-02 -4.04141214e+01] [-4.40564292e-02 -9.69741230e-05 9.99029039e-01 -4.49371141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.441052754 meters Centerline goodness [0,1] 0.9999761819697511 Centerline is valid? [True, True] Translation: X:103.47, Y:-40.43, Z:-4.50 [[ 8.63907249e-01 5.02256482e-01 3.74525259e-02 1.03467570e+02] [-5.01794932e-01 8.64718676e-01 -2.15280951e-02 -4.04277634e+01] [-4.31985240e-02 -1.95210244e-04 9.99066489e-01 -4.49643961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.471052754 meters Centerline goodness [0,1] 0.9999761819697511 Centerline is valid? [True, True] Translation: X:103.49, Y:-40.44, Z:-4.50 [[ 8.64040890e-01 5.02026114e-01 3.74582570e-02 1.03491294e+02] [-5.01564780e-01 8.64852440e-01 -2.15181189e-02 -4.04413050e+01] [-4.31985226e-02 -1.95207834e-04 9.99066489e-01 -4.49750487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.52, Y:-40.45, Z:-4.50 [[ 8.62454446e-01 5.04793078e-01 3.68276766e-02 1.03516415e+02] [-5.04350208e-01 8.63240310e-01 -2.11431835e-02 -4.04546402e+01] [-4.24640676e-02 -3.39013769e-04 9.99097937e-01 -4.49880003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53105275399999 meters Centerline goodness [0,1] 0.9999762436451751 Centerline is valid? [True, True] Translation: X:103.54, Y:-40.47, Z:-4.50 [[ 8.60918479e-01 5.07324363e-01 3.79652791e-02 1.03542358e+02] [-5.06856679e-01 8.61755042e-01 -2.17842851e-02 -4.04678842e+01] [-4.37684693e-02 -4.88461708e-04 9.99041582e-01 -4.49833061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.57, Y:-40.48, Z:-4.50 [[ 8.60178205e-01 5.08557415e-01 3.82467204e-02 1.03566394e+02] [-5.08084470e-01 8.61027895e-01 -2.19347829e-02 -4.04828481e+01] [-4.40865897e-02 -5.64742517e-04 9.99027554e-01 -4.49925484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.59105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.59, Y:-40.49, Z:-4.50 [[ 8.58403004e-01 5.11603742e-01 3.74952574e-02 1.03592027e+02] [-5.11152289e-01 8.59221221e-01 -2.14995574e-02 -4.04934040e+01] [-4.32159748e-02 -7.10502012e-04 9.99065501e-01 -4.49972096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62105275399999 meters Centerline goodness [0,1] 0.9999761370686775 Centerline is valid? [True, True] Translation: X:103.62, Y:-40.51, Z:-4.50 [[ 8.56788206e-01 5.14373406e-01 3.65235411e-02 1.03617360e+02] [-5.13947767e-01 8.57565920e-01 -2.09376704e-02 -4.05064623e+01] [-4.20911250e-02 -8.32043373e-04 9.99113429e-01 -4.50221845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65105275399999 meters Centerline goodness [0,1] 0.9999283736032852 Centerline is valid? [True, True] Translation: X:103.64, Y:-40.52, Z:-4.50 [[ 8.56149082e-01 5.15328758e-01 3.80134180e-02 1.03641767e+02] [-5.14869176e-01 8.56992073e-01 -2.17788440e-02 -4.05213140e+01] [-4.38004626e-02 -9.25999943e-04 9.99039870e-01 -4.50297224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68105275399999 meters Centerline goodness [0,1] 0.999904454795175 Centerline is valid? [True, True] Translation: X:103.67, Y:-40.53, Z:-4.50 [[ 8.55681802e-01 5.16061247e-01 3.85932902e-02 1.03667042e+02] [-5.15588801e-01 8.56551115e-01 -2.20992466e-02 -4.05329782e+01] [-4.44616905e-02 -9.88345022e-04 9.99010601e-01 -4.50193921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.711052754 meters Centerline goodness [0,1] 0.9998565794191466 Centerline is valid? [True, True] Translation: X:103.69, Y:-40.55, Z:-4.50 [[ 8.54795384e-01 5.17545510e-01 3.83601055e-02 1.03692225e+02] [-5.17080456e-01 8.55655021e-01 -2.19610241e-02 -4.05457743e+01] [-4.41888463e-02 -1.06307883e-03 9.99022630e-01 -4.50208333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.741052754 meters Centerline goodness [0,1] 0.9998802309147963 Centerline is valid? [True, True] Translation: X:103.72, Y:-40.56, Z:-4.50 [[ 8.55073372e-01 5.17077934e-01 3.84699815e-02 1.03715249e+02] [-5.16610075e-01 8.55937679e-01 -2.20163524e-02 -4.05607277e+01] [-4.43120767e-02 -1.04838336e-03 9.99017187e-01 -4.50430392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.771052754 meters Centerline goodness [0,1] 0.9999523094165057 Centerline is valid? [True, True] Translation: X:103.74, Y:-40.58, Z:-4.51 [[ 8.57528550e-01 5.12958036e-01 3.89722838e-02 1.03737909e+02] [-5.12474201e-01 8.58413256e-01 -2.22906988e-02 -4.05777688e+01] [-4.48885180e-02 -8.57379386e-04 9.98991635e-01 -4.50571808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.801052754 meters Centerline goodness [0,1] 0.9999521359339476 Centerline is valid? [True, True] Translation: X:103.76, Y:-40.59, Z:-4.51 [[ 8.58605389e-01 5.11206133e-01 3.82762997e-02 1.03762460e+02] [-5.10737891e-01 8.59457805e-01 -2.18881020e-02 -4.05930446e+01] [-4.40861965e-02 -7.55914194e-04 9.99027445e-01 -4.50766820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.831052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.79, Y:-40.61, Z:-4.51 [[ 8.60054216e-01 5.08829481e-01 3.74072811e-02 1.03787092e+02] [-5.08380501e-01 8.60867100e-01 -2.13799668e-02 -4.06063831e+01] [-4.30814550e-02 -6.29201739e-04 9.99071365e-01 -4.50985800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86105275399999 meters Centerline goodness [0,1] 0.9999760266583559 Centerline is valid? [True, True] Translation: X:103.81, Y:-40.62, Z:-4.51 [[ 8.61433636e-01 5.06430735e-01 3.82099684e-02 1.03811352e+02] [-5.05960225e-01 8.62280484e-01 -2.18315545e-02 -4.06220762e+01] [-4.40038802e-02 -5.26288851e-04 9.99031222e-01 -4.51007761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89105275399999 meters Centerline goodness [0,1] 0.9999760811327976 Centerline is valid? [True, True] Translation: X:103.83, Y:-40.64, Z:-4.51 [[ 8.64189550e-01 5.01648436e-01 3.90546937e-02 1.03834414e+02] [-5.01152545e-01 8.65071533e-01 -2.23017789e-02 -4.06402093e+01] [-4.49727563e-02 -2.99394836e-04 9.98988169e-01 -4.51139970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92105275399999 meters Centerline goodness [0,1] 0.9999044022752258 Centerline is valid? [True, True] Translation: X:103.86, Y:-40.66, Z:-4.51 [[ 8.65258938e-01 4.99849514e-01 3.84374049e-02 1.03858464e+02] [-4.99367928e-01 8.66112243e-01 -2.19375193e-02 -4.06562668e+01] [-4.42565653e-02 -2.12772555e-04 9.99020176e-01 -4.51363547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.95105275399999 meters Centerline goodness [0,1] 0.9999286020277024 Centerline is valid? [True, True] Translation: X:103.88, Y:-40.67, Z:-4.51 [[ 8.67734227e-01 4.95500215e-01 3.89467411e-02 1.03881195e+02] [-4.95001944e-01 8.68607816e-01 -2.22157149e-02 -4.06734618e+01] [-4.48373352e-02 -1.37639212e-06 9.98994301e-01 -4.51367861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98105275399999 meters Centerline goodness [0,1] 0.9999762204836754 Centerline is valid? [True, True] Translation: X:103.90, Y:-40.69, Z:-4.51 [[ 8.69061481e-01 4.93159033e-01 3.90680077e-02 1.03904445e+02] [-4.92655912e-01 8.69939168e-01 -2.22709714e-02 -4.06885522e+01] [-4.49699208e-02 1.07758440e-04 9.98988336e-01 -4.51428253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01105275399999 meters Centerline goodness [0,1] 0.9999525549176828 Centerline is valid? [True, True] Translation: X:103.93, Y:-40.71, Z:-4.52 [[ 8.71197986e-01 4.89448983e-01 3.81282395e-02 1.03927467e+02] [-4.88966803e-01 8.72031888e-01 -2.17221271e-02 -4.07062143e+01] [-4.38809137e-02 2.80829984e-04 9.99036729e-01 -4.51764060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04105275399999 meters Centerline goodness [0,1] 0.9998110979929161 Centerline is valid? [True, True] Translation: X:103.95, Y:-40.72, Z:-4.52 [[ 8.72184844e-01 4.87727351e-01 3.76248409e-02 1.03950057e+02] [-4.87256704e-01 8.72995937e-01 -2.14242437e-02 -4.07216075e+01] [-4.32955229e-02 3.52944717e-04 9.99062247e-01 -4.51969940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.071052754 meters Centerline goodness [0,1] 0.999811138128851 Centerline is valid? [True, True] Translation: X:103.97, Y:-40.74, Z:-4.52 [[ 8.73053592e-01 4.86258366e-01 3.64722734e-02 1.03974011e+02] [-4.85815107e-01 8.73814990e-01 -2.07616367e-02 -4.07380698e+01] [-4.19655387e-02 4.07240032e-04 9.99118976e-01 -4.52279990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.101052754 meters Centerline goodness [0,1] 0.9997636324958045 Centerline is valid? [True, True] Translation: X:104.00, Y:-40.75, Z:-4.52 [[ 8.72830491e-01 4.86690477e-01 3.60459971e-02 1.03998136e+02] [-4.86258352e-01 8.73574405e-01 -2.05078856e-02 -4.07521427e+01] [-4.14698531e-02 3.72240700e-04 9.99139686e-01 -4.52416724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.131052754 meters Centerline goodness [0,1] 0.9997400571874188 Centerline is valid? [True, True] Translation: X:104.02, Y:-40.77, Z:-4.52 [[ 8.71614196e-01 4.88822094e-01 3.66285835e-02 1.04022955e+02] [-4.88378287e-01 8.72383454e-01 -2.08268646e-02 -4.07650124e+01] [-4.21348017e-02 2.64385972e-04 9.99111900e-01 -4.52298726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.161052754 meters Centerline goodness [0,1] 0.9997632968021398 Centerline is valid? [True, True] Translation: X:104.05, Y:-40.78, Z:-4.52 [[ 8.70450679e-01 4.90783892e-01 3.80366564e-02 1.04048593e+02] [-4.90307474e-01 8.71281322e-01 -2.16203191e-02 -4.07773269e+01] [-4.37515326e-02 1.69764471e-04 9.99042429e-01 -4.52270480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.191052754 meters Centerline goodness [0,1] 0.9999054261733066 Centerline is valid? [True, True] Translation: X:104.07, Y:-40.79, Z:-4.52 [[ 8.69598362e-01 4.92310387e-01 3.78043877e-02 1.04073221e+02] [-4.91841782e-01 8.70419713e-01 -2.14752159e-02 -4.07908199e+01] [-4.34781561e-02 8.10351804e-05 9.99054375e-01 -4.52441422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.221052754 meters Centerline goodness [0,1] 0.9998817100002366 Centerline is valid? [True, True] Translation: X:104.10, Y:-40.80, Z:-4.53 [[ 8.68480274e-01 4.94345330e-01 3.69419737e-02 1.04096853e+02] [-4.93900249e-01 8.69265606e-01 -2.09726025e-02 -4.08032362e+01] [-4.24800953e-02 -3.13584557e-05 9.99097313e-01 -4.52595829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25105275399999 meters Centerline goodness [0,1] 0.9998583034196108 Centerline is valid? [True, True] Translation: X:104.12, Y:-40.82, Z:-4.53 [[ 8.67339218e-01 4.96417975e-01 3.59426481e-02 1.04120567e+02] [-4.95998684e-01 8.68083623e-01 -2.03992513e-02 -4.08183290e+01] [-4.13277792e-02 -1.34435479e-04 9.99145633e-01 -4.53008182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28105275399999 meters Centerline goodness [0,1] 0.999717281187419 Centerline is valid? [True, True] Translation: X:104.14, Y:-40.83, Z:-4.53 [[ 8.66975401e-01 4.97200754e-01 3.38388096e-02 1.04144156e+02] [-4.96830148e-01 8.67635512e-01 -1.91943483e-02 -4.08330885e+01] [-3.89031974e-02 -1.71112963e-04 9.99242969e-01 -4.53302164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31105275399999 meters Centerline goodness [0,1] 0.9996698346815084 Centerline is valid? [True, True] Translation: X:104.17, Y:-40.85, Z:-4.53 [[ 8.67114770e-01 4.97036841e-01 3.26550679e-02 1.04167817e+02] [-4.96692031e-01 8.67729422e-01 -1.85115208e-02 -4.08469255e+01] [-3.75366710e-02 -1.67898933e-04 9.99295237e-01 -4.53494577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34105275399999 meters Centerline goodness [0,1] 0.9994837861936271 Centerline is valid? [True, True] Translation: X:104.19, Y:-40.86, Z:-4.54 [[ 8.67034180e-01 4.97364107e-01 2.96761763e-02 1.04191697e+02] [-4.97079904e-01 8.67541881e-01 -1.68123145e-02 -4.08612120e+01] [-3.41071676e-02 -1.74579543e-04 9.99418166e-01 -4.53970619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37105275399999 meters Centerline goodness [0,1] 0.999693475749216 Centerline is valid? [True, True] Translation: X:104.22, Y:-40.88, Z:-4.54 [[ 8.66928340e-01 4.97598022e-01 2.88350795e-02 1.04215669e+02] [-4.97329929e-01 8.67407733e-01 -1.63329890e-02 -4.08755394e+01] [-3.31390340e-02 -1.81017001e-04 9.99450735e-01 -4.54208990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40105275399999 meters Centerline goodness [0,1] 0.9993875291512567 Centerline is valid? [True, True] Translation: X:104.24, Y:-40.89, Z:-4.54 [[ 8.67334163e-01 4.96864356e-01 2.92790281e-02 1.04239359e+02] [-4.96587663e-01 8.67828201e-01 -1.65803320e-02 -4.08903224e+01] [-3.36473423e-02 -1.58915734e-04 9.99433755e-01 -4.54343722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43105275399999 meters Centerline goodness [0,1] 0.9992691264882707 Centerline is valid? [True, True] Translation: X:104.26, Y:-40.90, Z:-4.54 [[ 8.67911634e-01 4.95868255e-01 2.90528645e-02 1.04263144e+02] [-4.95595630e-01 8.68397753e-01 -1.64412331e-02 -4.09033350e+01] [-3.33821278e-02 -1.28935194e-04 9.99442653e-01 -4.54408435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.461052754 meters Centerline goodness [0,1] 0.9994813889347257 Centerline is valid? [True, True] Translation: X:104.29, Y:-40.92, Z:-4.55 [[ 8.69173164e-01 4.93732393e-01 2.76827662e-02 1.04286046e+02] [-4.93483924e-01 8.69613892e-01 -1.56618994e-02 -4.09170388e+01] [-3.18061051e-02 -4.80974404e-05 9.99494057e-01 -4.54772243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.491052754 meters Centerline goodness [0,1] 0.9996704564178612 Centerline is valid? [True, True] Translation: X:104.31, Y:-40.93, Z:-4.55 [[ 8.69870680e-01 4.92539766e-01 2.70107447e-02 1.04310048e+02] [-4.92302771e-01 8.70289940e-01 -1.52775213e-02 -4.09303971e+01] [-3.10319661e-02 -7.99657194e-06 9.99518393e-01 -4.55039232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.521052754 meters Centerline goodness [0,1] 0.9995983461311282 Centerline is valid? [True, True] Translation: X:104.33, Y:-40.94, Z:-4.55 [[ 8.71452799e-01 4.89724101e-01 2.72089038e-02 1.04333572e+02] [-4.89482284e-01 8.71877455e-01 -1.53882107e-02 -4.09444218e+01] [-3.12588074e-02 9.18229328e-05 9.99511320e-01 -4.55128733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.551052754 meters Centerline goodness [0,1] 0.9996925623743644 Centerline is valid? [True, True] Translation: X:104.36, Y:-40.96, Z:-4.55 [[ 8.72267216e-01 4.88245945e-01 2.76731309e-02 1.04357080e+02] [-4.87995387e-01 8.72706067e-01 -1.56404628e-02 -4.09580656e+01] [-3.17869017e-02 1.38302724e-04 9.99494659e-01 -4.55178899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.581052754 meters Centerline goodness [0,1] 0.9995503597122302 Centerline is valid? [True, True] Translation: X:104.38, Y:-40.97, Z:-4.55 [[ 8.73867074e-01 4.85287801e-01 2.91905362e-02 1.04381386e+02] [-4.85007612e-01 8.74354440e-01 -1.64903024e-02 -4.09718379e+01] [-3.35254175e-02 2.52700069e-04 9.99437833e-01 -4.54996666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61105275399999 meters Centerline goodness [0,1] 0.9997631173753405 Centerline is valid? [True, True] Translation: X:104.41, Y:-40.98, Z:-4.55 [[ 8.74215790e-01 4.84621379e-01 2.98139451e-02 1.04406563e+02] [-4.84328779e-01 8.74723979e-01 -1.68402469e-02 -4.09838750e+01] [-3.42401163e-02 2.82258103e-04 9.99413595e-01 -4.54952770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64105275399999 meters Centerline goodness [0,1] 0.9995516329998112 Centerline is valid? [True, True] Translation: X:104.43, Y:-41.00, Z:-4.55 [[ 8.74181148e-01 4.84653176e-01 3.03087465e-02 1.04430950e+02] [-4.84351191e-01 8.74706364e-01 -1.71084962e-02 -4.09950281e+01] [-3.48029405e-02 2.75847368e-04 9.99394156e-01 -4.55003781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67105275399999 meters Centerline goodness [0,1] 0.9996202411468718 Centerline is valid? [True, True] Translation: X:104.46, Y:-41.01, Z:-4.55 [[ 8.73646447e-01 4.85596798e-01 3.06208303e-02 1.04455839e+02] [-4.85289306e-01 8.74182872e-01 -1.72799159e-02 -4.10083781e+01] [-3.51592772e-02 2.36575645e-04 9.99381693e-01 -4.55079149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70105275399999 meters Centerline goodness [0,1] 0.9996918701114008 Centerline is valid? [True, True] Translation: X:104.48, Y:-41.02, Z:-4.55 [[ 8.72929261e-01 4.86832824e-01 3.14373439e-02 1.04481599e+02] [-4.86509615e-01 8.73495144e-01 -1.77377743e-02 -4.10206778e+01] [-3.60956980e-02 1.89252102e-04 9.99348320e-01 -4.55073430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.73105275399999 meters Centerline goodness [0,1] 0.9997864869994306 Centerline is valid? [True, True] Translation: X:104.51, Y:-41.03, Z:-4.55 [[ 8.71024580e-01 4.90117906e-01 3.31756023e-02 1.04508165e+02] [-4.89760739e-01 8.71656146e-01 -1.87078177e-02 -4.10305181e+01] [-3.80867541e-02 4.68615836e-05 9.99274435e-01 -4.54823763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76105275399999 meters Centerline goodness [0,1] 0.9998337844897184 Centerline is valid? [True, True] Translation: X:104.53, Y:-41.04, Z:-4.55 [[ 8.70400889e-01 4.91183342e-01 3.37819097e-02 1.04533083e+02] [-4.90813941e-01 8.71056212e-01 -1.90460146e-02 -4.10425344e+01] [-3.87810274e-02 -2.96421216e-06 9.99247733e-01 -4.54826887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79105275399999 meters Centerline goodness [0,1] 0.9999048864582095 Centerline is valid? [True, True] Translation: X:104.56, Y:-41.06, Z:-4.55 [[ 8.69946106e-01 4.91983161e-01 3.38576591e-02 1.04558211e+02] [-4.91613160e-01 8.70604713e-01 -1.90770722e-02 -4.10553232e+01] [-3.88622359e-02 -4.88460835e-05 9.99244577e-01 -4.54925754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.821052754 meters Centerline goodness [0,1] 0.99980980909588 Centerline is valid? [True, True] Translation: X:104.58, Y:-41.07, Z:-4.55 [[ 8.68672759e-01 4.94210318e-01 3.41145149e-02 1.04582906e+02] [-4.93836852e-01 8.69342358e-01 -1.92100796e-02 -4.10671577e+01] [-3.91510124e-02 -1.59731765e-04 9.99233292e-01 -4.55233277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.851052754 meters Centerline goodness [0,1] 0.9997861572457053 Centerline is valid? [True, True] Translation: X:104.61, Y:-41.08, Z:-4.55 [[ 8.68736820e-01 4.94107711e-01 3.39692070e-02 1.04606733e+02] [-4.93737485e-01 8.69400681e-01 -1.91246152e-02 -4.10810242e+01] [-3.89824716e-02 -1.57613425e-04 9.99239882e-01 -4.55454146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.881052754 meters Centerline goodness [0,1] 0.9998814069875003 Centerline is valid? [True, True] Translation: X:104.63, Y:-41.10, Z:-4.56 [[ 8.69099032e-01 4.93501473e-01 3.35137034e-02 1.04630914e+02] [-4.93141091e-01 8.69744949e-01 -1.88570390e-02 -4.10950843e+01] [-3.84543508e-02 -1.38349899e-04 9.99260348e-01 -4.55694951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.911052754 meters Centerline goodness [0,1] 0.9997636436691957 Centerline is valid? [True, True] Translation: X:104.65, Y:-41.11, Z:-4.56 [[ 8.70078131e-01 4.91837428e-01 3.25574873e-02 1.04654246e+02] [-4.91496565e-01 8.70687050e-01 -1.83081318e-02 -4.11087292e+01] [-3.73520071e-02 -7.23880439e-05 9.99302168e-01 -4.55939827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.941052754 meters Centerline goodness [0,1] 0.999692932728647 Centerline is valid? [True, True] Translation: X:104.68, Y:-41.13, Z:-4.56 [[ 8.72298817e-01 4.87960683e-01 3.14506937e-02 1.04677297e+02] [-4.87640228e-01 8.72865605e-01 -1.76817576e-02 -4.11250147e+01] [-3.60802313e-02 8.71528301e-05 9.99348893e-01 -4.56095881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.971052754 meters Centerline goodness [0,1] 0.9998819139388787 Centerline is valid? [True, True] Translation: X:104.70, Y:-41.14, Z:-4.56 [[ 8.74544292e-01 4.83893082e-01 3.19337970e-02 1.04701090e+02] [-4.83560389e-01 8.75127090e-01 -1.79423296e-02 -4.11395752e+01] [-3.66283000e-02 2.49442624e-04 9.99328928e-01 -4.56051053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00105275399999 meters Centerline goodness [0,1] 0.9997409936425712 Centerline is valid? [True, True] Translation: X:104.73, Y:-41.16, Z:-4.56 [[ 8.76470833e-01 4.80355555e-01 3.25179851e-02 1.04725047e+02] [-4.80008318e-01 8.77073760e-01 -1.82656709e-02 -4.11552550e+01] [-3.72946879e-02 4.00424463e-04 9.99304231e-01 -4.56077493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03105275399999 meters Centerline goodness [0,1] 0.9997398481659295 Centerline is valid? [True, True] Translation: X:104.75, Y:-41.17, Z:-4.56 [[ 8.78530746e-01 4.76536775e-01 3.31123907e-02 1.04748946e+02] [-4.76174372e-01 8.79154357e-01 -1.85898887e-02 -4.11704312e+01] [-3.79696681e-02 5.64516977e-04 9.99278733e-01 -4.56201031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06105275399999 meters Centerline goodness [0,1] 0.9997632351548442 Centerline is valid? [True, True] Translation: X:104.77, Y:-41.18, Z:-4.56 [[ 8.79029346e-01 4.75633617e-01 3.28644344e-02 1.04772878e+02] [-4.75276182e-01 8.79643285e-01 -1.84456414e-02 -4.11840479e+01] [-3.76823462e-02 5.94577181e-04 9.99289591e-01 -4.56381631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.09105275399999 meters Centerline goodness [0,1] 0.999669093315685 Centerline is valid? [True, True] Translation: X:104.80, Y:-41.20, Z:-4.56 [[ 8.81430090e-01 4.71081097e-01 3.41115137e-02 1.04795997e+02] [-4.70692737e-01 8.82089527e-01 -1.91419502e-02 -4.12025664e+01] [-3.91068199e-02 8.16249172e-04 9.99234702e-01 -4.56443706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12105275399999 meters Centerline goodness [0,1] 0.9996932732463488 Centerline is valid? [True, True] Translation: X:104.82, Y:-41.22, Z:-4.56 [[ 8.81896799e-01 4.70179481e-01 3.44861122e-02 1.04821255e+02] [-4.69782193e-01 8.82570405e-01 -1.93435246e-02 -4.12168239e+01] [-3.95313504e-02 8.58030963e-04 9.99217962e-01 -4.56399820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15105275399999 meters Centerline goodness [0,1] 0.9996463098325866 Centerline is valid? [True, True] Translation: X:104.85, Y:-41.23, Z:-4.56 [[ 8.81575567e-01 4.70606509e-01 3.67971804e-02 1.04846128e+02] [-4.70154979e-01 8.82342750e-01 -2.06292661e-02 -4.12296276e+01] [-4.21759922e-02 8.85879353e-04 9.99109804e-01 -4.56186118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18105275399999 meters Centerline goodness [0,1] 0.9997647280255976 Centerline is valid? [True, True] Translation: X:104.87, Y:-41.24, Z:-4.56 [[ 8.81334149e-01 4.70955666e-01 3.80904032e-02 1.04869425e+02] [-4.70472410e-01 8.82156427e-01 -2.13483114e-02 -4.12431539e+01] [-4.36558021e-02 8.94512057e-04 9.99046231e-01 -4.56121713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.211052754 meters Centerline goodness [0,1] 0.9999763593380615 Centerline is valid? [True, True] Translation: X:104.90, Y:-41.25, Z:-4.56 [[ 8.78473271e-01 4.76091634e-01 4.02674456e-02 1.04898905e+02] [-4.75557282e-01 8.79395422e-01 -2.25602303e-02 -4.12491056e+01] [-4.61517442e-02 6.69082310e-04 9.98934216e-01 -4.56228490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.241052754 meters Centerline goodness [0,1] 0.9997178793934407 Centerline is valid? [True, True] Translation: X:104.92, Y:-41.27, Z:-4.56 [[ 8.77702658e-01 4.77433692e-01 4.11717571e-02 1.04921280e+02] [-4.76876733e-01 8.78667571e-01 -2.30625564e-02 -4.12661431e+01] [-4.71871292e-02 6.08214029e-04 9.98885882e-01 -4.56070989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.271052754 meters Centerline goodness [0,1] 0.9997403946002077 Centerline is valid? [True, True] Translation: X:104.95, Y:-41.28, Z:-4.56 [[ 8.75571638e-01 4.81275787e-01 4.18081777e-02 1.04946852e+02] [-4.80706210e-01 8.76569139e-01 -2.34111933e-02 -4.12786063e+01] [-4.79149989e-02 4.00726196e-04 9.98851336e-01 -4.56178618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.301052754 meters Centerline goodness [0,1] 0.9998115563093303 Centerline is valid? [True, True] Translation: X:104.97, Y:-41.29, Z:-4.56 [[ 8.73522724e-01 4.85097413e-01 4.04790199e-02 1.04974342e+02] [-4.84568088e-01 8.74460101e-01 -2.26561168e-02 -4.12872868e+01] [-4.63877115e-02 1.75791542e-04 9.98923495e-01 -4.56329877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.331052754 meters Centerline goodness [0,1] 0.9998345935727788 Centerline is valid? [True, True] Translation: X:105.00, Y:-41.30, Z:-4.57 [[ 8.72535649e-01 4.86962786e-01 3.93546267e-02 1.05000370e+02] [-4.86464860e-01 8.73422716e-01 -2.20158925e-02 -4.13005730e+01] [-4.50941452e-02 6.50080886e-05 9.98982740e-01 -4.56512771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36105275399999 meters Centerline goodness [0,1] 0.9998345935727788 Centerline is valid? [True, True] Translation: X:105.02, Y:-41.31, Z:-4.57 [[ 8.72665059e-01 4.86730577e-01 3.93578599e-02 1.05024250e+02] [-4.86232675e-01 8.73552140e-01 -2.20101110e-02 -4.13138422e+01] [-4.50941367e-02 7.03773086e-05 9.98982740e-01 -4.56619007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39105275399999 meters Centerline goodness [0,1] 0.9998819557570178 Centerline is valid? [True, True] Translation: X:105.05, Y:-41.33, Z:-4.57 [[ 8.71550902e-01 4.88884521e-01 3.72954527e-02 1.05049172e+02] [-4.88439950e-01 8.72348510e-01 -2.08444900e-02 -4.13283488e+01] [-4.27251811e-02 -4.95549724e-05 9.99086861e-01 -4.56989651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42105275399999 meters Centerline goodness [0,1] 0.9999292836433067 Centerline is valid? [True, True] Translation: X:105.07, Y:-41.34, Z:-4.57 [[ 8.71019608e-01 4.89884292e-01 3.65817404e-02 1.05073399e+02] [-4.89457930e-01 8.71787457e-01 -2.04344098e-02 -4.13416698e+01] [-4.19019988e-02 -1.06451360e-04 9.99121720e-01 -4.57187266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.45105275399999 meters Centerline goodness [0,1] 0.9996453062189643 Centerline is valid? [True, True] Translation: X:105.10, Y:-41.35, Z:-4.57 [[ 8.69417180e-01 4.92829301e-01 3.51147676e-02 1.05098562e+02] [-4.92439326e-01 8.70125978e-01 -1.96033787e-02 -4.13538943e+01] [-4.02153910e-02 -2.48378264e-04 9.99191003e-01 -4.57442610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48105275399999 meters Centerline goodness [0,1] 0.999763492739227 Centerline is valid? [True, True] Translation: X:105.12, Y:-41.37, Z:-4.58 [[ 8.69042521e-01 4.93555609e-01 3.41753858e-02 1.05122617e+02] [-4.93186930e-01 8.69714197e-01 -1.90753230e-02 -4.13673922e+01] [-3.91375508e-02 -2.77586821e-04 9.99233794e-01 -4.57707039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51105275399999 meters Centerline goodness [0,1] 0.9997638446097532 Centerline is valid? [True, True] Translation: X:105.15, Y:-41.38, Z:-4.58 [[ 8.68855483e-01 4.93910418e-01 3.38030777e-02 1.05146404e+02] [-4.93550138e-01 8.69512745e-01 -1.88639275e-02 -4.13810020e+01] [-3.87092972e-02 -2.93486821e-04 9.99250471e-01 -4.57857439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54105275399999 meters Centerline goodness [0,1] 0.9996686939441985 Centerline is valid? [True, True] Translation: X:105.17, Y:-41.39, Z:-4.58 [[ 8.68452872e-01 4.94650083e-01 3.33302303e-02 1.05172216e+02] [-4.94300797e-01 8.69092162e-01 -1.85886288e-02 -4.13942968e+01] [-3.81619087e-02 -3.31811310e-04 9.99271514e-01 -4.57810436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.571052754 meters Centerline goodness [0,1] 0.9995501893939394 Centerline is valid? [True, True] Translation: X:105.20, Y:-41.41, Z:-4.58 [[ 8.68271799e-01 4.94983347e-01 3.30993835e-02 1.05196685e+02] [-4.94639511e-01 8.68902389e-01 -1.84497186e-02 -4.14068234e+01] [-3.78924369e-02 -3.52892455e-04 9.99281761e-01 -4.57848056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.601052754 meters Centerline goodness [0,1] 0.9994313335228888 Centerline is valid? [True, True] Translation: X:105.22, Y:-41.42, Z:-4.58 [[ 8.66473138e-01 4.98056493e-01 3.41179011e-02 1.05222604e+02] [-4.97693690e-01 8.67144437e-01 -1.90135969e-02 -4.14194728e+01] [-3.90549935e-02 -5.05493076e-04 9.99236935e-01 -4.57907627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.631052754 meters Centerline goodness [0,1] 0.9989568515884305 Centerline is valid? [True, True] Translation: X:105.25, Y:-41.43, Z:-4.58 [[ 8.64844375e-01 5.00720664e-01 3.63734015e-02 1.05247616e+02] [-5.00311110e-01 8.65608663e-01 -2.02592062e-02 -4.14328755e+01] [-4.16293347e-02 -6.76956365e-04 9.99132894e-01 -4.57792636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.661052754 meters Centerline goodness [0,1] 0.9986782477341389 Centerline is valid? [True, True] Translation: X:105.27, Y:-41.45, Z:-4.58 [[ 8.64313242e-01 5.01596849e-01 3.69218258e-02 1.05273067e+02] [-5.01175927e-01 8.65101185e-01 -2.05579789e-02 -4.14467851e+01] [-4.22529327e-02 -7.35796893e-04 9.99106675e-01 -4.57802604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.691052754 meters Centerline goodness [0,1] 0.9978916946984413 Centerline is valid? [True, True] Translation: X:105.30, Y:-41.46, Z:-4.58 [[ 8.63514144e-01 5.02961272e-01 3.70578274e-02 1.05298764e+02] [-5.02538965e-01 8.64308565e-01 -2.06226595e-02 -4.14572080e+01] [-4.24017966e-02 -8.15044078e-04 9.99100307e-01 -4.57845682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.721052754 meters Centerline goodness [0,1] 0.9986481679117751 Centerline is valid? [True, True] Translation: X:105.32, Y:-41.47, Z:-4.58 [[ 8.63634177e-01 5.02751532e-01 3.71066601e-02 1.05321310e+02] [-5.02328127e-01 8.64430587e-01 -2.06449031e-02 -4.14734294e+01] [-4.24553887e-02 -8.10075226e-04 9.99098035e-01 -4.57984838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75105275399999 meters Centerline goodness [0,1] 0.9975924090072228 Centerline is valid? [True, True] Translation: X:105.35, Y:-41.49, Z:-4.58 [[ 8.65119999e-01 5.00141170e-01 3.77650269e-02 1.05345772e+02] [-4.99700666e-01 8.65943597e-01 -2.09983710e-02 -4.14866724e+01] [-4.32045331e-02 -7.05098420e-04 9.99065999e-01 -4.57825085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78105275399999 meters Centerline goodness [0,1] 0.9984178336127707 Centerline is valid? [True, True] Translation: X:105.37, Y:-41.50, Z:-4.58 [[ 8.66052724e-01 4.98425170e-01 3.90516225e-02 1.05370061e+02] [-4.97952624e-01 8.66932485e-01 -2.17083173e-02 -4.15029431e+01] [-4.46750918e-02 -6.45310586e-04 9.99001361e-01 -4.57676182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81105275399999 meters Centerline goodness [0,1] 0.998562507364204 Centerline is valid? [True, True] Translation: X:105.39, Y:-41.52, Z:-4.58 [[ 8.66663023e-01 4.97336808e-01 3.93865880e-02 1.05394175e+02] [-4.96855491e-01 8.67557338e-01 -2.18834826e-02 -4.15171198e+01] [-4.50535848e-02 -6.03837280e-04 9.98984389e-01 -4.57797249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84105275399999 meters Centerline goodness [0,1] 0.9992958077085583 Centerline is valid? [True, True] Translation: X:105.42, Y:-41.53, Z:-4.58 [[ 8.68376878e-01 4.94344152e-01 3.93123162e-02 1.05417311e+02] [-4.93861894e-01 8.69266158e-01 -2.18351964e-02 -4.15349476e+01] [-4.49669677e-02 -4.53675261e-04 9.98988371e-01 -4.58180910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87105275399999 meters Centerline goodness [0,1] 0.9993428926802939 Centerline is valid? [True, True] Translation: X:105.44, Y:-41.55, Z:-4.58 [[ 8.69090920e-01 4.93103746e-01 3.91109709e-02 1.05441119e+02] [-4.92625650e-01 8.69970424e-01 -2.17124533e-02 -4.15492685e+01] [-4.47318800e-02 -3.96971465e-04 9.98998950e-01 -4.58319429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90105275399999 meters Centerline goodness [0,1] 0.9995077817363586 Centerline is valid? [True, True] Translation: X:105.46, Y:-41.57, Z:-4.58 [[ 8.71434147e-01 4.89000775e-01 3.84807654e-02 1.05464146e+02] [-4.88534143e-01 8.72283329e-01 -2.13584757e-02 -4.15652678e+01] [-4.40104414e-02 -1.86662701e-04 9.99031054e-01 -4.58471049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93105275399999 meters Centerline goodness [0,1] 0.9996491638404865 Centerline is valid? [True, True] Translation: X:105.49, Y:-41.58, Z:-4.59 [[ 8.73137318e-01 4.86060714e-01 3.70972380e-02 1.05487743e+02] [-4.85624580e-01 8.73925043e-01 -2.05860822e-02 -4.15820178e+01] [-4.24262911e-02 -4.08539985e-05 9.99099599e-01 -4.58804195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.961052754 meters Centerline goodness [0,1] 0.9996960130948205 Centerline is valid? [True, True] Translation: X:105.51, Y:-41.60, Z:-4.59 [[ 8.74234131e-01 4.84244901e-01 3.49508339e-02 1.05511023e+02] [-4.83856740e-01 8.74932497e-01 -1.93850558e-02 -4.15976136e+01] [-3.99667348e-02 3.58808455e-05 9.99201010e-01 -4.59166010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.991052754 meters Centerline goodness [0,1] 0.9996498599439776 Centerline is valid? [True, True] Translation: X:105.53, Y:-41.61, Z:-4.60 [[ 8.75456422e-01 4.82262047e-01 3.16128359e-02 1.05533460e+02] [-4.81943584e-01 8.76027001e-01 -1.75235486e-02 -4.16139496e+01] [-3.61446402e-02 1.05499750e-04 9.99346563e-01 -4.59603325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.021052754 meters Centerline goodness [0,1] 0.9997431886629468 Centerline is valid? [True, True] Translation: X:105.56, Y:-41.63, Z:-4.60 [[ 8.74395511e-01 4.84262077e-01 3.03764943e-02 1.05557594e+02] [-4.83969390e-01 8.74922991e-01 -1.68341769e-02 -4.16281862e+01] [-3.47292467e-02 1.84352857e-05 9.99396758e-01 -4.59857392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.051052754 meters Centerline goodness [0,1] 0.9996035909991838 Centerline is valid? [True, True] Translation: X:105.58, Y:-41.64, Z:-4.60 [[ 8.73866962e-01 4.85227982e-01 3.01718255e-02 1.05581510e+02] [-4.84940174e-01 8.74387674e-01 -1.67099599e-02 -4.16413094e+01] [-3.44900124e-02 -2.92484377e-05 9.99405042e-01 -4.59999762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.081052754 meters Centerline goodness [0,1] 0.999510078387458 Centerline is valid? [True, True] Translation: X:105.61, Y:-41.65, Z:-4.60 [[ 8.71431765e-01 4.89582328e-01 3.02625698e-02 1.05607737e+02] [-4.89295539e-01 8.71957053e-01 -1.67563054e-02 -4.16534717e+01] [-3.45912522e-02 -2.05363572e-04 9.99401522e-01 -4.60027064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11105275399999 meters Centerline goodness [0,1] 0.9994186587294205 Centerline is valid? [True, True] Translation: X:105.63, Y:-41.67, Z:-4.60 [[ 8.70048771e-01 4.92011175e-01 3.06617060e-02 1.05633480e+02] [-4.91718589e-01 8.70588827e-01 -1.69683297e-02 -4.16668328e+01] [-3.50423465e-02 -3.13656424e-04 9.99385779e-01 -4.60200259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14105275399999 meters Centerline goodness [0,1] 0.9990436648628476 Centerline is valid? [True, True] Translation: X:105.66, Y:-41.68, Z:-4.60 [[ 8.65531611e-01 4.99862002e-01 3.15120644e-02 1.05661117e+02] [-4.99558468e-01 8.66104814e-01 -1.74295336e-02 -4.16781931e+01] [-3.60051122e-02 -6.56306319e-04 9.99351390e-01 -4.60177132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17105275399999 meters Centerline goodness [0,1] 0.9979900906796298 Centerline is valid? [True, True] Translation: X:105.69, Y:-41.69, Z:-4.60 [[ 8.62396154e-01 5.05263217e-01 3.13361494e-02 1.05689054e+02] [-5.04966907e-01 8.62964832e-01 -1.73240512e-02 -4.16861744e+01] [-3.57952008e-02 -8.83523267e-04 9.99358756e-01 -4.60083480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20105275399999 meters Centerline goodness [0,1] 0.9944383169455331 Centerline is valid? [True, True] Translation: X:105.72, Y:-41.69, Z:-4.60 [[ 8.56718029e-01 5.14826797e-01 3.14259182e-02 1.05718650e+02] [-5.14535257e-01 8.57293247e-01 -1.73712005e-02 -4.16909695e+01] [-3.58843869e-02 -1.28752225e-03 9.99355119e-01 -4.60216076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.23105275399999 meters Centerline goodness [0,1] 0.9937002341920375 Centerline is valid? [True, True] Translation: X:105.74, Y:-41.71, Z:-4.60 [[ 8.54146406e-01 5.19086669e-01 3.13520000e-02 1.05743192e+02] [-5.18799481e-01 8.54720353e-01 -1.73267587e-02 -4.17067707e+01] [-3.57912819e-02 -1.46581268e-03 9.99358212e-01 -4.60468925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26105275399999 meters Centerline goodness [0,1] 0.9933585894018053 Centerline is valid? [True, True] Translation: X:105.77, Y:-41.72, Z:-4.61 [[ 8.54263244e-01 5.18888712e-01 3.14454199e-02 1.05767405e+02] [-5.18599979e-01 8.54840539e-01 -1.73699567e-02 -4.17213683e+01] [-3.58938942e-02 -1.46907854e-03 9.99354527e-01 -4.60605490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29105275399999 meters Centerline goodness [0,1] 0.9955584646313526 Centerline is valid? [True, True] Translation: X:105.79, Y:-41.74, Z:-4.61 [[ 8.55004161e-01 5.17752463e-01 3.00045203e-02 1.05790193e+02] [-5.17489208e-01 8.55529384e-01 -1.65648179e-02 -4.17397878e+01] [-3.42462240e-02 -1.36402723e-03 9.99412495e-01 -4.60812608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.321052754 meters Centerline goodness [0,1] 0.9955039951545648 Centerline is valid? [True, True] Translation: X:105.81, Y:-41.75, Z:-4.61 [[ 8.55605835e-01 5.16791595e-01 2.94126372e-02 1.05814645e+02] [-5.16538363e-01 8.56110238e-01 -1.62289982e-02 -4.17534079e+01] [-3.35674696e-02 -1.30712992e-03 9.99435599e-01 -4.60988947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.351052754 meters Centerline goodness [0,1] 0.9962122097781103 Centerline is valid? [True, True] Translation: X:105.84, Y:-41.77, Z:-4.61 [[ 8.55907169e-01 5.16372875e-01 2.79637693e-02 1.05839432e+02] [-5.16143803e-01 8.56362975e-01 -1.54282112e-02 -4.17664792e+01] [-3.19138465e-02 -1.22820970e-03 9.99489869e-01 -4.61156082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.381052754 meters Centerline goodness [0,1] 0.9967694360559028 Centerline is valid? [True, True] Translation: X:105.86, Y:-41.78, Z:-4.62 [[ 8.56542932e-01 5.15447392e-01 2.54596156e-02 1.05863503e+02] [-5.15257372e-01 8.56920526e-01 -1.40375129e-02 -4.17794289e+01] [-2.90524666e-02 -1.09452221e-03 9.99577289e-01 -4.61775586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.411052754 meters Centerline goodness [0,1] 0.9980870620071852 Centerline is valid? [True, True] Translation: X:105.89, Y:-41.80, Z:-4.62 [[ 8.58123317e-01 5.12847994e-01 2.47246602e-02 1.05885749e+02] [-5.12667743e-01 8.58478875e-01 -1.36310972e-02 -4.17978190e+01] [-2.82162793e-02 -9.78373361e-04 9.99601363e-01 -4.61962763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.441052754 meters Centerline goodness [0,1] 0.997939544358332 Centerline is valid? [True, True] Translation: X:105.91, Y:-41.81, Z:-4.62 [[ 8.59107925e-01 5.11212892e-01 2.43916378e-02 1.05911328e+02] [-5.11036993e-01 8.59453626e-01 -1.34408281e-02 -4.18088416e+01] [-2.78346062e-02 -9.17907299e-04 9.99612121e-01 -4.62077870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.471052754 meters Centerline goodness [0,1] 0.9986162577982082 Centerline is valid? [True, True] Translation: X:105.94, Y:-41.83, Z:-4.62 [[ 8.60980890e-01 5.08103632e-01 2.32938948e-02 1.05935325e+02] [-5.07942137e-01 8.61295586e-01 -1.28335114e-02 -4.18252320e+01] [-2.65836825e-02 -7.82542605e-04 9.99646285e-01 -4.62062787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50105275399999 meters Centerline goodness [0,1] 0.9988536939128807 Centerline is valid? [True, True] Translation: X:105.96, Y:-41.84, Z:-4.63 [[ 8.63195388e-01 5.04319125e-01 2.35784427e-02 1.05960099e+02] [-5.04152295e-01 8.63517090e-01 -1.29884404e-02 -4.18372847e+01] [-2.69107071e-02 -6.75564119e-04 9.99637613e-01 -4.62575142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53105275399999 meters Centerline goodness [0,1] 0.999344492567014 Centerline is valid? [True, True] Translation: X:105.98, Y:-41.86, Z:-4.63 [[ 8.66118942e-01 4.99316934e-01 2.28161529e-02 1.05981077e+02] [-4.99158985e-01 8.66419267e-01 -1.25682997e-02 -4.18598080e+01] [-2.60439193e-02 -5.03245224e-04 9.99660673e-01 -4.62605338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56105275399999 meters Centerline goodness [0,1] 0.999321621558399 Centerline is valid? [True, True] Translation: X:106.01, Y:-41.87, Z:-4.63 [[ 8.66730329e-01 4.98249473e-01 2.29346937e-02 1.06005480e+02] [-4.98089722e-01 8.67033582e-01 -1.26252415e-02 -4.18728529e+01] [-2.61756696e-02 -4.80855512e-04 9.99657243e-01 -4.62872509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.59105275399999 meters Centerline goodness [0,1] 0.9996248886388146 Centerline is valid? [True, True] Translation: X:106.03, Y:-41.88, Z:-4.63 [[ 8.67398388e-01 4.97037941e-01 2.39441375e-02 1.06032081e+02] [-4.96863377e-01 8.67728684e-01 -1.31801262e-02 -4.18849454e+01] [-2.73280378e-02 -4.64544829e-04 9.99626411e-01 -4.62613223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62105275399999 meters Centerline goodness [0,1] 0.9996016122984627 Centerline is valid? [True, True] Translation: X:106.06, Y:-41.90, Z:-4.62 [[ 8.67084545e-01 4.97444298e-01 2.67125781e-02 1.06059683e+02] [-4.97227496e-01 8.67495751e-01 -1.46948776e-02 -4.18951211e+01] [-3.04829311e-02 -5.40527076e-04 9.99535141e-01 -4.62200547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65105275399999 meters Centerline goodness [0,1] 0.9994371482176361 Centerline is valid? [True, True] Translation: X:106.09, Y:-41.91, Z:-4.62 [[ 8.66412834e-01 4.98589903e-01 2.71461039e-02 1.06085327e+02] [-4.98366820e-01 8.66837789e-01 -1.49251606e-02 -4.19087780e+01] [-3.09728031e-02 -5.97366760e-04 9.99520049e-01 -4.62379792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68105275399999 meters Centerline goodness [0,1] 0.9994832526894348 Centerline is valid? [True, True] Translation: X:106.11, Y:-41.92, Z:-4.63 [[ 8.65476883e-01 5.00206081e-01 2.72697894e-02 1.06110401e+02] [-4.99982020e-01 8.65906135e-01 -1.49848427e-02 -4.19227500e+01] [-3.11085874e-02 -6.65369422e-04 9.99515789e-01 -4.62628745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.711052754 meters Centerline goodness [0,1] 0.9991050189594668 Centerline is valid? [True, True] Translation: X:106.14, Y:-41.93, Z:-4.63 [[ 8.62855595e-01 5.04759684e-01 2.64174948e-02 1.06137495e+02] [-5.04551816e-01 8.63259523e-01 -1.45072816e-02 -4.19313320e+01] [-3.01278448e-02 -8.11305873e-04 9.99545724e-01 -4.62926110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.741052754 meters Centerline goodness [0,1] 0.9988473571546188 Centerline is valid? [True, True] Translation: X:106.16, Y:-41.95, Z:-4.63 [[ 8.62138432e-01 5.05974635e-01 2.65893574e-02 1.06161890e+02] [-5.05764695e-01 8.62547928e-01 -1.45995278e-02 -4.19456319e+01] [-3.03215859e-02 -8.61144196e-04 9.99539824e-01 -4.62982164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.771052754 meters Centerline goodness [0,1] 0.9987264751662658 Centerline is valid? [True, True] Translation: X:106.19, Y:-41.96, Z:-4.63 [[ 8.58685324e-01 5.11862327e-01 2.56217210e-02 1.06188451e+02] [-5.11670030e-01 8.59066875e-01 -1.40671587e-02 -4.19581609e+01] [-2.92112203e-02 -1.03060401e-03 9.99572730e-01 -4.63015438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.801052754 meters Centerline goodness [0,1] 0.9981574222810167 Centerline is valid? [True, True] Translation: X:106.22, Y:-41.97, Z:-4.63 [[ 8.56353917e-01 5.15786422e-01 2.49466741e-02 1.06215653e+02] [-5.15605978e-01 8.56716446e-01 -1.36896663e-02 -4.19692376e+01] [-2.84331700e-02 -1.13945493e-03 9.99595046e-01 -4.63148296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.831052754 meters Centerline goodness [0,1] 0.9969704859056591 Centerline is valid? [True, True] Translation: X:106.24, Y:-41.98, Z:-4.63 [[ 8.52848421e-01 5.21621185e-01 2.36835438e-02 1.06242534e+02] [-5.21461001e-01 8.53176253e-01 -1.29886448e-02 -4.19791196e+01] [-2.69813895e-02 -1.27269926e-03 9.99635126e-01 -4.63225883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86105275399999 meters Centerline goodness [0,1] 0.9964008334911915 Centerline is valid? [True, True] Translation: X:106.27, Y:-41.99, Z:-4.64 [[ 8.50670256e-01 5.25191461e-01 2.31094193e-02 1.06269005e+02] [-5.25040258e-01 8.50983020e-01 -1.26738268e-02 -4.19920159e+01] [-2.63219090e-02 -1.35212804e-03 9.99652604e-01 -4.63524843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89105275399999 meters Centerline goodness [0,1] 0.9956035644219633 Centerline is valid? [True, True] Translation: X:106.29, Y:-42.01, Z:-4.64 [[ 8.47027204e-01 5.31078227e-01 2.23792907e-02 1.06294077e+02] [-5.30938646e-01 8.47321480e-01 -1.22663868e-02 -4.20059195e+01] [-2.54768647e-02 -1.49206697e-03 9.99674299e-01 -4.63917687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92105275399999 meters Centerline goodness [0,1] 0.9961717513056219 Centerline is valid? [True, True] Translation: X:106.32, Y:-42.02, Z:-4.64 [[ 8.45408198e-01 5.33589772e-01 2.38103969e-02 1.06319890e+02] [-5.33432816e-01 8.45741785e-01 -1.30485216e-02 -4.20197134e+01] [-2.71000052e-02 -1.66991990e-03 9.99631333e-01 -4.63734963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.95105275399999 meters Centerline goodness [0,1] 0.9963407389806345 Centerline is valid? [True, True] Translation: X:106.35, Y:-42.03, Z:-4.64 [[ 8.44211885e-01 5.35458465e-01 2.43007323e-02 1.06346325e+02] [-5.35295943e-01 8.44559704e-01 -1.33101260e-02 -4.20324711e+01] [-2.76504389e-02 -1.77151680e-03 9.99616084e-01 -4.63624657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98105275399999 meters Centerline goodness [0,1] 0.9955672068636797 Centerline is valid? [True, True] Translation: X:106.37, Y:-42.04, Z:-4.64 [[ 8.43669125e-01 5.36237551e-01 2.59171115e-02 1.06372581e+02] [-5.36053082e-01 8.44064933e-01 -1.41944104e-02 -4.20422232e+01] [-2.94873008e-02 -1.91756166e-03 9.99563316e-01 -4.63533089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01105275399999 meters Centerline goodness [0,1] 0.9949743956174825 Centerline is valid? [True, True] Translation: X:106.40, Y:-42.05, Z:-4.64 [[ 8.43804834e-01 5.36006634e-01 2.62733657e-02 1.06398643e+02] [-5.35817088e-01 8.44211541e-01 -1.43848148e-02 -4.20529564e+01] [-2.98906347e-02 -1.93974204e-03 9.99551293e-01 -4.63689934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04105275399999 meters Centerline goodness [0,1] 0.9958946941308446 Centerline is valid? [True, True] Translation: X:106.42, Y:-42.07, Z:-4.64 [[ 8.44905475e-01 5.34263639e-01 2.64026873e-02 1.06421337e+02] [-5.34071458e-01 8.45315795e-01 -1.44528596e-02 -4.20709963e+01] [-3.00402460e-02 -1.88962150e-03 9.99546904e-01 -4.63838089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.071052754 meters Centerline goodness [0,1] 0.9951770408041449 Centerline is valid? [True, True] Translation: X:106.45, Y:-42.08, Z:-4.64 [[ 8.45865936e-01 5.32756879e-01 2.60945631e-02 1.06447381e+02] [-5.32568496e-01 8.46266394e-01 -1.42824447e-02 -4.20822550e+01] [-2.96920225e-02 -1.81610878e-03 9.99557445e-01 -4.64034204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.101052754 meters Centerline goodness [0,1] 0.9956726516365028 Centerline is valid? [True, True] Translation: X:106.47, Y:-42.10, Z:-4.64 [[ 8.47213675e-01 5.30696892e-01 2.42857563e-02 1.06472372e+02] [-5.30533014e-01 8.47560123e-01 -1.32875674e-02 -4.20974661e+01] [-2.76353093e-02 -1.62698668e-03 9.99616748e-01 -4.64360062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.131052754 meters Centerline goodness [0,1] 0.9956192847225547 Centerline is valid? [True, True] Translation: X:106.50, Y:-42.11, Z:-4.65 [[ 8.47398044e-01 5.30431854e-01 2.36348002e-02 1.06497497e+02] [-5.30276753e-01 8.47726104e-01 -1.29235375e-02 -4.21084116e+01] [-2.68908930e-02 -1.58160470e-03 9.99637123e-01 -4.64534901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.161052754 meters Centerline goodness [0,1] 0.995190342207152 Centerline is valid? [True, True] Translation: X:106.52, Y:-42.12, Z:-4.65 [[ 8.46380588e-01 5.32130388e-01 2.18437520e-02 1.06523931e+02] [-5.31998507e-01 8.46661066e-01 -1.19426527e-02 -4.21185721e+01] [-2.48493028e-02 -1.51281402e-03 9.99690064e-01 -4.64809622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.191052754 meters Centerline goodness [0,1] 0.9947317777243204 Centerline is valid? [True, True] Translation: X:106.55, Y:-42.13, Z:-4.65 [[ 8.44975162e-01 5.34380338e-01 2.13220574e-02 1.06551044e+02] [-5.34255427e-01 8.45242732e-01 -1.16560212e-02 -4.21300198e+01] [-2.42510626e-02 -1.54237647e-03 9.99704710e-01 -4.64974995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22105275399998 meters Centerline goodness [0,1] 0.9946493130874909 Centerline is valid? [True, True] Translation: X:106.58, Y:-42.15, Z:-4.65 [[ 8.44078579e-01 5.35804154e-01 2.11012016e-02 1.06575107e+02] [-5.35682440e-01 8.44340828e-01 -1.15277774e-02 -4.21459923e+01] [-2.39932371e-02 -1.57319319e-03 9.99710883e-01 -4.65245877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25105275399999 meters Centerline goodness [0,1] 0.995742121722396 Centerline is valid? [True, True] Translation: X:106.60, Y:-42.17, Z:-4.65 [[ 8.43918954e-01 5.36037953e-01 2.15432385e-02 1.06597680e+02] [-5.35911151e-01 8.44192343e-01 -1.17697034e-02 -4.21650043e+01] [-2.44956447e-02 -1.61258595e-03 9.99698636e-01 -4.65099409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28105275399999 meters Centerline goodness [0,1] 0.995742121722396 Centerline is valid? [True, True] Translation: X:106.62, Y:-42.18, Z:-4.65 [[ 8.44057589e-01 5.35819532e-01 2.15456796e-02 1.06621752e+02] [-5.35692773e-01 8.44330997e-01 -1.17652324e-02 -4.21780567e+01] [-2.44957265e-02 -1.61133119e-03 9.99698636e-01 -4.65206107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31105275399999 meters Centerline goodness [0,1] 0.9947152509652509 Centerline is valid? [True, True] Translation: X:106.65, Y:-42.19, Z:-4.65 [[ 8.42590695e-01 5.38139074e-01 2.11484412e-02 1.06649929e+02] [-5.38017854e-01 8.42854436e-01 -1.15407314e-02 -4.21858393e+01] [-2.40355760e-02 -1.65412609e-03 9.99709735e-01 -4.65064513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34105275399999 meters Centerline goodness [0,1] 0.9938654734411085 Centerline is valid? [True, True] Translation: X:106.68, Y:-42.20, Z:-4.65 [[ 8.40493296e-01 5.41441225e-01 2.03081010e-02 1.06675842e+02] [-5.41330581e-01 8.40736914e-01 -1.10744100e-02 -4.21961162e+01] [-2.30699123e-02 -1.68542877e-03 9.99732433e-01 -4.65226653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37105275399999 meters Centerline goodness [0,1] 0.9926193052049526 Centerline is valid? [True, True] Translation: X:106.70, Y:-42.21, Z:-4.65 [[ 8.39185118e-01 5.43479485e-01 1.99596303e-02 1.06702332e+02] [-5.43373170e-01 8.39420706e-01 -1.08846935e-02 -4.22074451e+01] [-2.26701345e-02 -1.71125479e-03 9.99741535e-01 -4.65400137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40105275399999 meters Centerline goodness [0,1] 0.9922566371681416 Centerline is valid? [True, True] Translation: X:106.73, Y:-42.22, Z:-4.66 [[ 8.38312912e-01 5.44819264e-01 2.00856111e-02 1.06727864e+02] [-5.44712155e-01 8.38551641e-01 -1.09458994e-02 -4.22182805e+01] [-2.28063590e-02 -1.76478777e-03 9.99738344e-01 -4.65603356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43105275399999 meters Centerline goodness [0,1] 0.9915716172409653 Centerline is valid? [True, True] Translation: X:106.75, Y:-42.23, Z:-4.66 [[ 8.38424900e-01 5.44638072e-01 2.03238128e-02 1.06752382e+02] [-5.44528365e-01 8.38669302e-01 -1.10752783e-02 -4.22304788e+01] [-2.30769762e-02 -1.78110343e-03 9.99732105e-01 -4.65650077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.461052754 meters Centerline goodness [0,1] 0.9922424592849571 Centerline is valid? [True, True] Translation: X:106.78, Y:-42.24, Z:-4.66 [[ 8.38952222e-01 5.43800144e-01 2.09897966e-02 1.06777725e+02] [-5.43683102e-01 8.39212772e-01 -1.14283751e-02 -4.22425703e+01] [-2.38296574e-02 -1.82393701e-03 9.99714370e-01 -4.65678695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.491052754 meters Centerline goodness [0,1] 0.99457745285531 Centerline is valid? [True, True] Translation: X:106.80, Y:-42.26, Z:-4.66 [[ 8.41592500e-01 5.39697276e-01 2.11875875e-02 1.06800180e+02] [-5.39576726e-01 8.41857398e-01 -1.15359073e-02 -4.22608871e+01] [-2.40628251e-02 -1.72379606e-03 9.99708962e-01 -4.65551048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.521052754 meters Centerline goodness [0,1] 0.9984501380345813 Centerline is valid? [True, True] Translation: X:106.82, Y:-42.29, Z:-4.66 [[ 8.45149995e-01 5.34135074e-01 2.05233944e-02 1.06819270e+02] [-5.34020432e-01 8.45397784e-01 -1.11698025e-02 -4.22863157e+01] [-2.33166154e-02 -1.51975342e-03 9.99726976e-01 -4.65565758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.551052754 meters Centerline goodness [0,1] 0.9988114008489994 Centerline is valid? [True, True] Translation: X:106.84, Y:-42.30, Z:-4.66 [[ 8.47155176e-01 5.30970497e-01 1.99609398e-02 1.06844260e+02] [-5.30861297e-01 8.47389154e-01 -1.08584336e-02 -4.23012863e+01] [-2.26801918e-02 -1.39771217e-03 9.99741794e-01 -4.65770173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.581052754 meters Centerline goodness [0,1] 0.999295654919486 Centerline is valid? [True, True] Translation: X:106.87, Y:-42.31, Z:-4.66 [[ 8.49657885e-01 5.26972982e-01 1.95180860e-02 1.06868538e+02] [-5.26867696e-01 8.49881090e-01 -1.06096420e-02 -4.23144293e+01] [-2.21790469e-02 -1.26888302e-03 9.99753209e-01 -4.65890150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61105275399999 meters Centerline goodness [0,1] 0.9998298492950899 Centerline is valid? [True, True] Translation: X:106.89, Y:-42.33, Z:-4.66 [[ 8.51263399e-01 5.24369526e-01 1.96780426e-02 1.06891469e+02] [-5.24261856e-01 8.51489947e-01 -1.06946482e-02 -4.23325474e+01] [-2.23636030e-02 -1.21248460e-03 9.99749168e-01 -4.65831883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64105275399999 meters Centerline goodness [0,1] 0.9998060700087269 Centerline is valid? [True, True] Translation: X:106.92, Y:-42.34, Z:-4.66 [[ 8.53694154e-01 5.20435885e-01 1.87824704e-02 1.06917770e+02] [-5.20336874e-01 8.53900091e-01 -1.02064241e-02 -4.23432186e+01] [-2.13501426e-02 -1.06004739e-03 9.99771498e-01 -4.66021627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67105275399999 meters Centerline goodness [0,1] 0.9998786378310153 Centerline is valid? [True, True] Translation: X:106.94, Y:-42.36, Z:-4.67 [[ 8.54855902e-01 5.18613538e-01 1.61674045e-02 1.06940705e+02] [-5.18539851e-01 8.55008325e-01 -8.78557099e-03 -4.23578870e+01] [-1.83795815e-02 -8.73046297e-04 9.99830700e-01 -4.66644574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70105275399999 meters Centerline goodness [0,1] 0.9999515010427276 Centerline is valid? [True, True] Translation: X:106.97, Y:-42.37, Z:-4.67 [[ 8.54546317e-01 5.19157901e-01 1.50221973e-02 1.06966132e+02] [-5.19094357e-01 8.54677950e-01 -8.16394065e-03 -4.23715136e+01] [-1.70775151e-02 -8.21472451e-04 9.99853831e-01 -4.66938312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.73105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.99, Y:-42.39, Z:-4.67 [[ 8.51608977e-01 5.23972701e-01 1.46546842e-02 1.06991884e+02] [-5.23913058e-01 8.51734581e-01 -7.95688348e-03 -4.23851200e+01] [-1.66510911e-02 -9.01627030e-04 9.99860954e-01 -4.66981068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76105275399999 meters Centerline goodness [0,1] 0.9999512361632613 Centerline is valid? [True, True] Translation: X:107.02, Y:-42.40, Z:-4.67 [[ 8.50021700e-01 5.26531535e-01 1.50881250e-02 1.07018442e+02] [-5.26468712e-01 8.50155034e-01 -8.19225677e-03 -4.23976161e+01] [-1.71407270e-02 -9.79829714e-04 9.99852607e-01 -4.67061210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79105275399999 meters Centerline goodness [0,1] 0.999878431277201 Centerline is valid? [True, True] Translation: X:107.04, Y:-42.41, Z:-4.67 [[ 8.47884840e-01 5.29930515e-01 1.62771843e-02 1.07044242e+02] [-5.29858076e-01 8.48040308e-01 -8.83488516e-03 -4.24102209e+01] [-1.84855836e-02 -1.13363236e-03 9.99828484e-01 -4.67060738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.821052754 meters Centerline goodness [0,1] 0.9997079368169981 Centerline is valid? [True, True] Translation: X:107.07, Y:-42.42, Z:-4.67 [[ 8.42385707e-01 5.38563580e-01 1.83191700e-02 1.07071196e+02] [-5.38473979e-01 8.42583550e-01 -9.93654790e-03 -4.24208745e+01] [-2.07868941e-02 -1.49399044e-03 9.99782813e-01 -4.66709564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.851052754 meters Centerline goodness [0,1] 0.9988300672711319 Centerline is valid? [True, True] Translation: X:107.10, Y:-42.43, Z:-4.67 [[ 8.39566005e-01 5.42909536e-01 1.94462821e-02 1.07098855e+02] [-5.42809903e-01 8.39789451e-01 -1.05397926e-02 -4.24284074e+01] [-2.20529365e-02 -1.70678292e-03 9.99755348e-01 -4.66653160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.881052754 meters Centerline goodness [0,1] 0.9982944300959993 Centerline is valid? [True, True] Translation: X:107.12, Y:-42.44, Z:-4.66 [[ 8.33628677e-01 5.51924551e-01 2.10361211e-02 1.07124969e+02] [-5.51810795e-01 8.33891398e-01 -1.14009790e-02 -4.24400483e+01] [-2.38343207e-02 -2.10377566e-03 9.99713709e-01 -4.66486226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.911052754 meters Centerline goodness [0,1] 0.9965342184906766 Centerline is valid? [True, True] Translation: X:107.15, Y:-42.45, Z:-4.67 [[ 8.26642866e-01 5.62352868e-01 2.05140156e-02 1.07151671e+02] [-5.62248004e-01 8.26894028e-01 -1.11107660e-02 -4.24523008e+01] [-2.32110881e-02 -2.34932891e-03 9.99727826e-01 -4.66676390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.941052754 meters Centerline goodness [0,1] 0.9968368397822569 Centerline is valid? [True, True] Translation: X:107.18, Y:-42.47, Z:-4.67 [[ 8.22582430e-01 5.68300080e-01 1.98283711e-02 1.07176273e+02] [-5.68203839e-01 8.22817778e-01 -1.07378608e-02 -4.24667559e+01] [-2.24174633e-02 -2.43378095e-03 9.99745735e-01 -4.66807296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97105275399998 meters Centerline goodness [0,1] 0.9940921236486652 Centerline is valid? [True, True] Translation: X:107.20, Y:-42.48, Z:-4.67 [[ 8.16347169e-01 5.77191753e-01 2.06634713e-02 1.07203449e+02] [-5.77090094e-01 8.16603871e-01 -1.11866757e-02 -4.24770879e+01] [-2.33307276e-02 -2.79247354e-03 9.99723902e-01 -4.66734627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00105275399999 meters Centerline goodness [0,1] 0.9905475560779704 Centerline is valid? [True, True] Translation: X:107.23, Y:-42.49, Z:-4.67 [[ 8.13861046e-01 5.80673993e-01 2.11639362e-02 1.07230767e+02] [-5.80568520e-01 8.14130785e-01 -1.14567896e-02 -4.24878900e+01] [-2.38828717e-02 -2.96288038e-03 9.99710373e-01 -4.66940716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03105275399999 meters Centerline goodness [0,1] 0.9920035321821036 Centerline is valid? [True, True] Translation: X:107.25, Y:-42.50, Z:-4.67 [[ 8.08388609e-01 5.88295076e-01 2.04146971e-02 1.07254950e+02] [-5.88199478e-01 8.08640473e-01 -1.10435273e-02 -4.25046647e+01] [-2.30050030e-02 -3.08045255e-03 9.99730604e-01 -4.66991155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06105275399999 meters Centerline goodness [0,1] 0.9824599921935988 Centerline is valid? [True, True] Translation: X:107.28, Y:-42.51, Z:-4.67 [[ 8.06557913e-01 5.90803434e-01 2.03871470e-02 1.07283301e+02] [-5.90708887e-01 8.06809390e-01 -1.10280946e-02 -4.25113980e+01] [-2.29639779e-02 -3.14807192e-03 9.99731337e-01 -4.67330498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.09105275399999 meters Centerline goodness [0,1] 0.9612922216498638 Centerline is valid? [True, True] Translation: X:107.31, Y:-42.52, Z:-4.67 [[ 8.04105028e-01 5.94146671e-01 2.01205548e-02 1.07310207e+02] [-5.94055773e-01 8.04350326e-01 -1.08761810e-02 -4.25194704e+01] [-2.26460215e-02 -3.20713990e-03 9.99738402e-01 -4.67436612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12105275399999 meters Centerline goodness [0,1] 0.9856834143706105 Centerline is valid? [True, True] Translation: X:107.33, Y:-42.54, Z:-4.67 [[ 8.03614251e-01 5.94786678e-01 2.08072955e-02 1.07331014e+02] [-5.94689790e-01 8.03876643e-01 -1.12425708e-02 -4.25410846e+01] [-2.34134302e-02 -3.33919606e-03 9.99720291e-01 -4.67487438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15105275399999 meters Centerline goodness [0,1] 0.9849281886912481 Centerline is valid? [True, True] Translation: X:107.36, Y:-42.56, Z:-4.68 [[ 8.04776322e-01 5.93138586e-01 2.28405015e-02 1.07355170e+02] [-5.93021188e-01 8.05092270e-01 -1.23412783e-02 -4.25562955e+01] [-2.57087995e-02 -3.61293276e-03 9.99662945e-01 -4.67592072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18105275399999 meters Centerline goodness [0,1] 0.9881404636664719 Centerline is valid? [True, True] Translation: X:107.38, Y:-42.57, Z:-4.68 [[ 8.05213700e-01 5.92538784e-01 2.29932128e-02 1.07379331e+02] [-5.92419753e-01 8.05533774e-01 -1.24167707e-02 -4.25718604e+01] [-2.58792277e-02 -3.62347958e-03 9.99658510e-01 -4.67711664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.211052754 meters Centerline goodness [0,1] 0.9821450409685704 Centerline is valid? [True, True] Translation: X:107.41, Y:-42.58, Z:-4.68 [[ 8.06771653e-01 5.90420350e-01 2.28759685e-02 1.07406209e+02] [-5.90301913e-01 8.07088130e-01 -1.23450829e-02 -4.25805852e+01] [-2.57517108e-02 -3.54406502e-03 9.99662087e-01 -4.68067751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.241052754 meters Centerline goodness [0,1] 0.9819870600921479 Centerline is valid? [True, True] Translation: X:107.43, Y:-42.59, Z:-4.68 [[ 8.08539608e-01 5.87983627e-01 2.32154202e-02 1.07431546e+02] [-5.87860725e-01 8.08865172e-01 -1.25260397e-02 -4.25945811e+01] [-2.61432511e-02 -3.51963452e-03 9.99652011e-01 -4.68380285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.271052754 meters Centerline goodness [0,1] 0.995666332052004 Centerline is valid? [True, True] Translation: X:107.45, Y:-42.62, Z:-4.68 [[ 8.16152341e-01 5.77296988e-01 2.49708745e-02 1.07451514e+02] [-5.77149961e-01 8.16527096e-01 -1.34693430e-02 -4.26193943e+01] [-2.81652068e-02 -3.41890345e-03 9.99597435e-01 -4.68354390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.301052754 meters Centerline goodness [0,1] 0.993714383544892 Centerline is valid? [True, True] Translation: X:107.48, Y:-42.63, Z:-4.68 [[ 8.20116954e-01 5.71652560e-01 2.49305266e-02 1.07478155e+02] [-5.71503542e-01 8.20489468e-01 -1.34437962e-02 -4.26286248e+01] [-2.81404150e-02 -3.22239903e-03 9.99598786e-01 -4.68469576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.331052754 meters Centerline goodness [0,1] 0.9988016043827039 Centerline is valid? [True, True] Translation: X:107.50, Y:-42.65, Z:-4.69 [[ 8.26748621e-01 5.62025143e-01 2.47882174e-02 1.07500032e+02] [-5.61873589e-01 8.27115139e-01 -1.33647847e-02 -4.26481437e+01] [-2.80140549e-02 -2.87852729e-03 9.99603385e-01 -4.68785570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36105275399999 meters Centerline goodness [0,1] 0.9998532038264869 Centerline is valid? [True, True] Translation: X:107.52, Y:-42.67, Z:-4.69 [[ 8.31620071e-01 5.54698768e-01 2.67830855e-02 1.07523184e+02] [-5.54518143e-01 8.32046382e-01 -1.44376805e-02 -4.26658633e+01] [-3.02933330e-02 -2.84504196e-03 9.99537003e-01 -4.68949936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.55, Y:-42.68, Z:-4.69 [[ 8.34093664e-01 5.50883103e-01 2.85581278e-02 1.07546170e+02] [-5.50675824e-01 8.34577398e-01 -1.53851520e-02 -4.26842793e+01] [-3.23093883e-02 -2.89361272e-03 9.99473727e-01 -4.68889571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.57, Y:-42.69, Z:-4.69 [[ 8.38020203e-01 5.44727074e-01 3.15365458e-02 1.07572600e+02] [-5.44470066e-01 8.38608251e-01 -1.69867295e-02 -4.26944025e+01] [-3.56999389e-02 -2.93548267e-03 9.99358243e-01 -4.68745144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.45105275399999 meters Centerline goodness [0,1] 0.9995585638610948 Centerline is valid? [True, True] Translation: X:107.60, Y:-42.70, Z:-4.69 [[ 8.40286928e-01 5.41213787e-01 3.17098676e-02 1.07602540e+02] [-5.40951578e-01 8.40880357e-01 -1.70767800e-02 -4.26990282e+01] [-3.59063936e-02 -2.80410785e-03 9.99351223e-01 -4.68733596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.62, Y:-42.72, Z:-4.69 [[ 8.42506842e-01 5.37776134e-01 3.12897998e-02 1.07622562e+02] [-5.37518579e-01 8.43083590e-01 -1.68474655e-02 -4.27227448e+01] [-3.54400816e-02 -2.62474380e-03 9.99368356e-01 -4.68822872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.65, Y:-42.73, Z:-4.69 [[ 8.44489593e-01 5.34722462e-01 3.01532198e-02 1.07647950e+02] [-5.34481663e-01 8.45024298e-01 -1.62261645e-02 -4.27342671e+01] [-3.41566980e-02 -2.41351602e-03 9.99413576e-01 -4.69209807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.67, Y:-42.75, Z:-4.69 [[ 8.44829402e-01 5.34216117e-01 2.96044412e-02 1.07670582e+02] [-5.33983752e-01 8.45344672e-01 -1.59291592e-02 -4.27517007e+01] [-3.35355702e-02 -2.35086860e-03 9.99434760e-01 -4.69424968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.571052754 meters Centerline goodness [0,1] 0.9999511372798123 Centerline is valid? [True, True] Translation: X:107.70, Y:-42.77, Z:-4.70 [[ 8.43667030e-01 5.36062696e-01 2.93722345e-02 1.07695436e+02] [-5.35835394e-01 8.44174722e-01 -1.57945705e-02 -4.27668704e+01] [-3.32621779e-02 -2.41332449e-03 9.99443747e-01 -4.69540202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.601052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.72, Y:-42.78, Z:-4.70 [[ 8.40784521e-01 5.40534402e-01 3.00657450e-02 1.07722025e+02] [-5.40299193e-01 8.41317725e-01 -1.61637535e-02 -4.27774855e+01] [-3.40319090e-02 -2.65426405e-03 9.99417222e-01 -4.69612632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.631052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.75, Y:-42.79, Z:-4.70 [[ 8.38778083e-01 5.43630571e-01 3.02841615e-02 1.07746529e+02] [-5.43394124e-01 8.39319925e-01 -1.62754592e-02 -4.27924385e+01] [-3.42659373e-02 -2.80473692e-03 9.99408815e-01 -4.69713273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.661052754 meters Centerline goodness [0,1] 0.9995827299280823 Centerline is valid? [True, True] Translation: X:107.78, Y:-42.80, Z:-4.70 [[ 8.32739643e-01 5.52852255e-01 2.99845237e-02 1.07775949e+02] [-5.52626653e-01 8.33273308e-01 -1.61051667e-02 -4.27976832e+01] [-3.38890810e-02 -3.15883620e-03 9.99420608e-01 -4.69746470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.691052754 meters Centerline goodness [0,1] 0.9999264399382095 Centerline is valid? [True, True] Translation: X:107.80, Y:-42.82, Z:-4.70 [[ 8.30315842e-01 5.56500330e-01 2.97150573e-02 1.07799640e+02] [-5.56281164e-01 8.30840913e-01 -1.59575386e-02 -4.28150184e+01] [-3.35688608e-02 -3.28012955e-03 9.99431024e-01 -4.69819684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72105275399998 meters Centerline goodness [0,1] 0.9995576526098496 Centerline is valid? [True, True] Translation: X:107.83, Y:-42.82, Z:-4.70 [[ 8.24173399e-01 5.65631085e-01 2.82786903e-02 1.07826971e+02] [-5.65438144e-01 8.24651052e-01 -1.51772343e-02 -4.28233004e+01] [-3.19047672e-02 -3.48117735e-03 9.99484851e-01 -4.70115165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75105275399999 meters Centerline goodness [0,1] 0.9987479439275281 Centerline is valid? [True, True] Translation: X:107.85, Y:-42.83, Z:-4.70 [[ 8.21524821e-01 5.69521234e-01 2.72494650e-02 1.07853879e+02] [-5.69344257e-01 8.21969162e-01 -1.46223857e-02 -4.28346430e+01] [-3.07259791e-02 -3.50167367e-03 9.99521712e-01 -4.70306538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78105275399999 meters Centerline goodness [0,1] 0.9866646947176415 Centerline is valid? [True, True] Translation: X:107.88, Y:-42.84, Z:-4.70 [[ 8.16464145e-01 5.76773694e-01 2.68030991e-02 1.07884696e+02] [-5.76606542e-01 8.16895511e-01 -1.43742772e-02 -4.28359443e+01] [-3.01860363e-02 -3.71876030e-03 9.99537380e-01 -4.70489221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81105275399999 meters Centerline goodness [0,1] 0.998893043392699 Centerline is valid? [True, True] Translation: X:107.90, Y:-42.86, Z:-4.70 [[ 8.15773330e-01 5.77722371e-01 2.73995496e-02 1.07902507e+02] [-5.77548348e-01 8.16224301e-01 -1.46900023e-02 -4.28635443e+01] [-3.08509212e-02 -3.84085254e-03 9.99516617e-01 -4.70444174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84105275399999 meters Centerline goodness [0,1] 0.9639050209512607 Centerline is valid? [True, True] Translation: X:107.94, Y:-42.86, Z:-4.71 [[ 8.13040474e-01 5.81612765e-01 2.63017038e-02 1.07937393e+02] [-5.81454466e-01 8.13456773e-01 -1.40990377e-02 -4.28577558e+01] [-2.95954794e-02 -3.83015482e-03 9.99554620e-01 -4.70743919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87105275399999 meters Centerline goodness [0,1] 0.9910259877560053 Centerline is valid? [True, True] Translation: X:107.96, Y:-42.88, Z:-4.71 [[ 8.11994759e-01 5.83076392e-01 2.61998686e-02 1.07958175e+02] [-5.82920232e-01 8.12408100e-01 -1.40386253e-02 -4.28803506e+01] [-2.94705764e-02 -3.87314337e-03 9.99558144e-01 -4.70903081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90105275399999 meters Centerline goodness [0,1] 0.9963058736608792 Centerline is valid? [True, True] Translation: X:107.98, Y:-42.90, Z:-4.71 [[ 8.11072696e-01 5.84293811e-01 2.76011725e-02 1.07980334e+02] [-5.84121450e-01 8.11531671e-01 -1.47810239e-02 -4.28998362e+01] [-3.10356864e-02 -4.13395203e-03 9.99509728e-01 -4.70870827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93105275399999 meters Centerline goodness [0,1] 0.9989682617667289 Centerline is valid? [True, True] Translation: X:108.00, Y:-42.92, Z:-4.71 [[ 8.10968005e-01 5.84308497e-01 3.02402931e-02 1.08002165e+02] [-5.84101948e-01 8.11518936e-01 -1.61843087e-02 -4.29190870e+01] [-3.39971995e-02 -4.53845756e-03 9.99411623e-01 -4.70622901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.961052754 meters Centerline goodness [0,1] 0.9939856637863315 Centerline is valid? [True, True] Translation: X:108.03, Y:-42.92, Z:-4.71 [[ 8.11198572e-01 5.83940630e-01 3.11483094e-02 1.08030996e+02] [-5.83721599e-01 8.11782947e-01 -1.66595783e-02 -4.29242928e+01] [-3.50138711e-02 -4.66771485e-03 9.99375926e-01 -4.70667383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.991052754 meters Centerline goodness [0,1] 0.975604962535315 Centerline is valid? [True, True] Translation: X:108.06, Y:-42.93, Z:-4.71 [[ 8.11792870e-01 5.83091462e-01 3.15703024e-02 1.08061171e+02] [-5.82865952e-01 8.12392939e-01 -1.68817802e-02 -4.29283233e+01] [-3.54911126e-02 -4.69674558e-03 9.99358955e-01 -4.70559986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.021052754 meters Centerline goodness [0,1] 0.9958509280172837 Centerline is valid? [True, True] Translation: X:108.08, Y:-42.95, Z:-4.71 [[ 8.12405964e-01 5.82200946e-01 3.22274599e-02 1.08081870e+02] [-5.81965421e-01 8.13031006e-01 -1.72288284e-02 -4.29505818e+01] [-3.62325643e-02 -4.75846437e-03 9.99332056e-01 -4.70542145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.051052754 meters Centerline goodness [0,1] 0.9997541970847774 Centerline is valid? [True, True] Translation: X:108.10, Y:-42.97, Z:-4.71 [[ 8.13512891e-01 5.80628687e-01 3.26665786e-02 1.08103163e+02] [-5.80385585e-01 8.14154603e-01 -1.74601352e-02 -4.29719454e+01] [-3.67335006e-02 -4.75516627e-03 9.99313784e-01 -4.70694985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.081052754 meters Centerline goodness [0,1] 0.9966353773009874 Centerline is valid? [True, True] Translation: X:108.13, Y:-42.98, Z:-4.71 [[ 8.16199066e-01 5.76881068e-01 3.20518135e-02 1.08129312e+02] [-5.76644546e-01 8.16815716e-01 -1.71217200e-02 -4.29821662e+01] [-3.60576211e-02 -4.50777160e-03 9.99339546e-01 -4.71189755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11105275399999 meters Centerline goodness [0,1] 0.9947933140312888 Centerline is valid? [True, True] Translation: X:108.15, Y:-43.00, Z:-4.71 [[ 8.18396547e-01 5.73770735e-01 3.18470723e-02 1.08154673e+02] [-5.73535027e-01 8.19004434e-01 -1.70090991e-02 -4.29950201e+01] [-3.58422167e-02 -4.34522350e-03 9.99348015e-01 -4.71360395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14105275399999 meters Centerline goodness [0,1] 0.998150671598209 Centerline is valid? [True, True] Translation: X:108.18, Y:-43.01, Z:-4.71 [[ 8.18879344e-01 5.73084656e-01 3.17898900e-02 1.08177745e+02] [-5.72849376e-01 8.19484841e-01 -1.69760666e-02 -4.30135156e+01] [-3.57800563e-02 -4.30946841e-03 9.99350397e-01 -4.71345732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17105275399999 meters Centerline goodness [0,1] 0.998150671598209 Centerline is valid? [True, True] Translation: X:108.20, Y:-43.03, Z:-4.71 [[ 8.19035567e-01 5.72861159e-01 3.17935837e-02 1.08202038e+02] [-5.72625978e-01 8.19641103e-01 -1.69691460e-02 -4.30264268e+01] [-3.57802926e-02 -4.30749788e-03 9.99350397e-01 -4.71452919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20105275399999 meters Centerline goodness [0,1] 0.9966888223407104 Centerline is valid? [True, True] Translation: X:108.23, Y:-43.04, Z:-4.72 [[ 8.18218122e-01 5.74122950e-01 3.00323669e-02 1.08228650e+02] [-5.73914306e-01 8.18758686e-01 -1.60182428e-02 -4.30362740e+01] [-3.37857021e-02 -4.12958847e-03 9.99420569e-01 -4.71698850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.23105275399999 meters Centerline goodness [0,1] 0.9956181990798219 Centerline is valid? [True, True] Translation: X:108.25, Y:-43.05, Z:-4.72 [[ 8.17171759e-01 5.75669429e-01 2.88967994e-02 1.08254953e+02] [-5.75477273e-01 8.17672561e-01 -1.54107272e-02 -4.30482464e+01] [-3.24996045e-02 -4.03624029e-03 9.99463598e-01 -4.71934218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26105275399999 meters Centerline goodness [0,1] 0.9940861387818415 Centerline is valid? [True, True] Translation: X:108.28, Y:-43.06, Z:-4.72 [[ 8.14348102e-01 5.79630323e-01 2.94254535e-02 1.08281847e+02] [-5.79433907e-01 8.14868323e-01 -1.56832451e-02 -4.30585348e+01] [-3.30683543e-02 -4.27848461e-03 9.99443935e-01 -4.71902860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29105275399999 meters Centerline goodness [0,1] 0.9913388317154466 Centerline is valid? [True, True] Translation: X:108.31, Y:-43.07, Z:-4.72 [[ 8.13594398e-01 5.80601304e-01 3.10850588e-02 1.08307908e+02] [-5.80382962e-01 8.14175215e-01 -1.65630904e-02 -4.30693306e+01] [-3.49252363e-02 -4.56560097e-03 9.99379499e-01 -4.71835563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.321052754 meters Centerline goodness [0,1] 0.9816527120495085 Centerline is valid? [True, True] Translation: X:108.33, Y:-43.08, Z:-4.72 [[ 8.12765260e-01 5.81688495e-01 3.24210934e-02 1.08334261e+02] [-5.81451933e-01 8.13397398e-01 -1.72719893e-02 -4.30801577e+01] [-3.64181504e-02 -4.81323459e-03 9.99325048e-01 -4.71722118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.351052754 meters Centerline goodness [0,1] 0.9861218756055028 Centerline is valid? [True, True] Translation: X:108.36, Y:-43.10, Z:-4.72 [[ 8.12612605e-01 5.81919814e-01 3.20949316e-02 1.08358926e+02] [-5.81688497e-01 8.13232106e-01 -1.70890385e-02 -4.30953358e+01] [-3.60450789e-02 -4.78248448e-03 9.99338721e-01 -4.71769979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.381052754 meters Centerline goodness [0,1] 0.9689763893234494 Centerline is valid? [True, True] Translation: X:108.38, Y:-43.11, Z:-4.72 [[ 8.12870080e-01 5.81580385e-01 3.17252131e-02 1.08384588e+02] [-5.81354461e-01 8.13475245e-01 -1.68824399e-02 -4.31056367e+01] [-3.56261714e-02 -4.72036387e-03 9.99354038e-01 -4.71796297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.411052754 meters Centerline goodness [0,1] 0.9755019207074002 Centerline is valid? [True, True] Translation: X:108.41, Y:-43.12, Z:-4.72 [[ 8.13431947e-01 5.80783119e-01 3.19285919e-02 1.08408919e+02] [-5.80553800e-01 8.14044660e-01 -1.69875581e-02 -4.31209284e+01] [-3.58573867e-02 -4.71804287e-03 9.99345780e-01 -4.71835649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.441052754 meters Centerline goodness [0,1] 0.9987504805843906 Centerline is valid? [True, True] Translation: X:108.43, Y:-43.15, Z:-4.72 [[ 8.14955865e-01 5.78629756e-01 3.21643187e-02 1.08426393e+02] [-5.78395648e-01 8.15577011e-01 -1.71059707e-02 -4.31505751e+01] [-3.61305026e-02 -4.66309083e-03 9.99336201e-01 -4.71782473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47105275399998 meters Centerline goodness [0,1] 0.9923765090664229 Centerline is valid? [True, True] Translation: X:108.46, Y:-43.16, Z:-4.72 [[ 8.16049235e-01 5.77063317e-01 3.25818085e-02 1.08455192e+02] [-5.76822217e-01 8.16686109e-01 -1.73184467e-02 -4.31557283e+01] [-3.66029507e-02 -4.66120586e-03 9.99319017e-01 -4.71920818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50105275399999 meters Centerline goodness [0,1] 0.9840059290427465 Centerline is valid? [True, True] Translation: X:108.48, Y:-43.17, Z:-4.72 [[ 8.17849037e-01 5.74468624e-01 3.32979339e-02 1.08481603e+02] [-5.74214815e-01 8.18513408e-01 -1.76959372e-02 -4.31662435e+01] [-3.74205661e-02 -4.64756175e-03 9.99288798e-01 -4.71879917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53105275399999 meters Centerline goodness [0,1] 0.998679883829777 Centerline is valid? [True, True] Translation: X:108.50, Y:-43.19, Z:-4.72 [[ 8.19562889e-01 5.72021918e-01 3.32805695e-02 1.08499700e+02] [-5.71766711e-01 8.20225768e-01 -1.76781742e-02 -4.31934002e+01] [-3.74098838e-02 -4.54034627e-03 9.99289691e-01 -4.71960203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56105275399999 meters Centerline goodness [0,1] 0.9970011755391887 Centerline is valid? [True, True] Translation: X:108.53, Y:-43.20, Z:-4.72 [[ 8.20047807e-01 5.71332339e-01 3.31806058e-02 1.08525723e+02] [-5.71078489e-01 8.20706449e-01 -1.76148981e-02 -4.32034490e+01] [-3.72954981e-02 -4.50367168e-03 9.99294132e-01 -4.72216142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59105275399999 meters Centerline goodness [0,1] 0.9978410017751763 Centerline is valid? [True, True] Translation: X:108.55, Y:-43.22, Z:-4.72 [[ 8.20520558e-01 5.70733225e-01 3.17741952e-02 1.08550448e+02] [-5.70500100e-01 8.21124347e-01 -1.68654355e-02 -4.32184028e+01] [-3.57162297e-02 -4.28874499e-03 9.99352769e-01 -4.72494783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62105275399999 meters Centerline goodness [0,1] 0.9972040338383596 Centerline is valid? [True, True] Translation: X:108.58, Y:-43.23, Z:-4.73 [[ 8.20175076e-01 5.71396120e-01 2.86237277e-02 1.08577290e+02] [-5.71207621e-01 8.20665152e-01 -1.51842684e-02 -4.32282815e+01] [-3.21667279e-02 -3.89633293e-03 9.99474922e-01 -4.72843937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65105275399999 meters Centerline goodness [0,1] 0.9971113571806846 Centerline is valid? [True, True] Translation: X:108.60, Y:-43.24, Z:-4.73 [[ 8.20227165e-01 5.71368802e-01 2.76602630e-02 1.08603212e+02] [-5.71192790e-01 8.20684787e-01 -1.46723423e-02 -4.32400287e+01] [-3.10836757e-02 -3.76468910e-03 9.99509696e-01 -4.72972853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68105275399999 meters Centerline goodness [0,1] 0.997589083369497 Centerline is valid? [True, True] Translation: X:108.63, Y:-43.25, Z:-4.73 [[ 8.20774761e-01 5.70614641e-01 2.69763581e-02 1.08628264e+02] [-5.70447068e-01 8.21209844e-01 -1.43015650e-02 -4.32539504e+01] [-3.03139332e-02 -3.65022079e-03 9.99533762e-01 -4.73071367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.711052754 meters Centerline goodness [0,1] 0.998169380479815 Centerline is valid? [True, True] Translation: X:108.65, Y:-43.27, Z:-4.73 [[ 8.21534561e-01 5.69541787e-01 2.65163812e-02 1.08654167e+02] [-5.69379544e-01 8.21954692e-01 -1.40505825e-02 -4.32673542e+01] [-2.97976578e-02 -3.55484594e-03 9.99549630e-01 -4.73251476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.741052754 meters Centerline goodness [0,1] 0.9995912872048853 Centerline is valid? [True, True] Translation: X:108.68, Y:-43.28, Z:-4.73 [[ 8.23511760e-01 5.66722838e-01 2.55657291e-02 1.08677745e+02] [-5.66570884e-01 8.23901757e-01 -1.35398564e-02 -4.32843950e+01] [-2.87369950e-02 -3.33456679e-03 9.99581445e-01 -4.73483943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.771052754 meters Centerline goodness [0,1] 0.9999037651870564 Centerline is valid? [True, True] Translation: X:108.70, Y:-43.30, Z:-4.74 [[ 8.25840670e-01 5.63340576e-01 2.51909269e-02 1.08701954e+02] [-5.63191695e-01 8.26218683e-01 -1.33342386e-02 -4.33009400e+01] [-2.83249321e-02 -3.17536431e-03 9.99593725e-01 -4.73706137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.801052754 meters Centerline goodness [0,1] 0.9999517735284897 Centerline is valid? [True, True] Translation: X:108.73, Y:-43.31, Z:-4.74 [[ 8.27552762e-01 5.60847722e-01 2.46223212e-02 1.08727824e+02] [-5.60704441e-01 8.27913464e-01 -1.30317497e-02 -4.33147765e+01] [-2.76939783e-02 -3.02138435e-03 9.99611882e-01 -4.73780666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.831052754 meters Centerline goodness [0,1] 0.9997602838239524 Centerline is valid? [True, True] Translation: X:108.76, Y:-43.32, Z:-4.74 [[ 8.31063603e-01 5.55649771e-01 2.42202467e-02 1.08756687e+02] [-5.55509158e-01 8.31411721e-01 -1.28111891e-02 -4.33208675e+01] [-2.72555313e-02 -2.80765584e-03 9.99624556e-01 -4.73818768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.78, Y:-43.34, Z:-4.74 [[ 8.32935251e-01 5.52804189e-01 2.50279140e-02 1.08778925e+02] [-5.52652891e-01 8.33306450e-01 -1.32340976e-02 -4.33413345e+01] [-2.81717868e-02 -2.80860268e-03 9.99599151e-01 -4.73781939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89105275399999 meters Centerline goodness [0,1] 0.9996139182471888 Centerline is valid? [True, True] Translation: X:108.81, Y:-43.35, Z:-4.74 [[ 8.34780088e-01 5.49972416e-01 2.59335069e-02 1.08806163e+02] [-5.49808667e-01 8.35178083e-01 -1.37112844e-02 -4.33503145e+01] [-2.91999248e-02 -2.81255970e-03 9.99569634e-01 -4.73897556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.83, Y:-43.37, Z:-4.74 [[ 8.37947169e-01 5.45049590e-01 2.76674447e-02 1.08826849e+02] [-5.44860822e-01 8.38399049e-01 -1.46191549e-02 -4.33740432e+01] [-3.11645237e-02 -2.82482719e-03 9.99510276e-01 -4.73746669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.95105275399999 meters Centerline goodness [0,1] 0.9999759846301634 Centerline is valid? [True, True] Translation: X:108.85, Y:-43.38, Z:-4.74 [[ 8.40969045e-01 5.40325813e-01 2.86196050e-02 1.08853125e+02] [-5.40121429e-01 8.41451400e-01 -1.51123583e-02 -4.33836677e+01] [-3.22476040e-02 -2.74903640e-03 9.99476130e-01 -4.73682466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.88, Y:-43.40, Z:-4.74 [[ 8.42648730e-01 5.37722549e-01 2.82414342e-02 1.08878467e+02] [-5.37522182e-01 8.43117792e-01 -1.49094643e-02 -4.33957873e+01] [-3.18280108e-02 -2.61695620e-03 9.99489935e-01 -4.73778586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.90, Y:-43.41, Z:-4.74 [[ 8.45126621e-01 5.33840498e-01 2.78445223e-02 1.08902959e+02] [-5.33643696e-01 8.45581682e-01 -1.46977806e-02 -4.34122537e+01] [-3.13910886e-02 -2.43756816e-03 9.99504206e-01 -4.73981472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.93, Y:-43.42, Z:-4.74 [[ 8.45366420e-01 5.33477335e-01 2.75235909e-02 1.08928073e+02] [-5.33284976e-01 8.45810957e-01 -1.45244465e-02 -4.34240443e+01] [-3.10282178e-02 -2.39943821e-03 9.99515629e-01 -4.74171357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.071052754 meters Centerline goodness [0,1] 0.9998316781686585 Centerline is valid? [True, True] Translation: X:108.96, Y:-43.43, Z:-4.74 [[ 8.43727233e-01 5.36128042e-01 2.62883743e-02 1.08957302e+02] [-5.35953921e-01 8.44133298e-01 -1.38697645e-02 -4.34294940e+01] [-2.96268618e-02 -2.38705922e-03 9.99558178e-01 -4.74322190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.101052754 meters Centerline goodness [0,1] 0.9999757798876187 Centerline is valid? [True, True] Translation: X:108.98, Y:-43.45, Z:-4.74 [[ 8.42046674e-01 5.38777556e-01 2.60027648e-02 1.08981290e+02] [-5.38608468e-01 8.42444493e-01 -1.37183995e-02 -4.34454826e+01] [-2.92970518e-02 -2.45377661e-03 9.99567737e-01 -4.74263250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.131052754 meters Centerline goodness [0,1] 0.9999512896076378 Centerline is valid? [True, True] Translation: X:109.01, Y:-43.45, Z:-4.74 [[ 8.39921496e-01 5.42085878e-01 2.59765551e-02 1.09009043e+02] [-5.41918961e-01 8.40319151e-01 -1.36954071e-02 -4.34521891e+01] [-2.92526835e-02 -2.57412096e-03 9.99568734e-01 -4.74280835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.161052754 meters Centerline goodness [0,1] 0.9997798380586609 Centerline is valid? [True, True] Translation: X:109.04, Y:-43.46, Z:-4.74 [[ 8.36092705e-01 5.47977821e-01 2.58707573e-02 1.09038603e+02] [-5.47815076e-01 8.36488277e-01 -1.36383800e-02 -4.34583224e+01] [-2.91141150e-02 -2.76944087e-03 9.99572258e-01 -4.74332158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.191052754 meters Centerline goodness [0,1] 0.9998283556470993 Centerline is valid? [True, True] Translation: X:109.06, Y:-43.47, Z:-4.74 [[ 8.34978268e-01 5.49604207e-01 2.73222855e-02 1.09064945e+02] [-5.49423793e-01 8.35419814e-01 -1.43955002e-02 -4.34702345e+01] [-3.07374062e-02 -2.99158389e-03 9.99523017e-01 -4.74431348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22105275399998 meters Centerline goodness [0,1] 0.9999755572937036 Centerline is valid? [True, True] Translation: X:109.09, Y:-43.49, Z:-4.74 [[ 8.35700087e-01 5.48449947e-01 2.84256954e-02 1.09089251e+02] [-5.48254321e-01 8.36177726e-01 -1.49669502e-02 -4.34863735e+01] [-3.19775564e-02 -3.07662870e-03 9.99483852e-01 -4.74424007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25105275399999 meters Centerline goodness [0,1] 0.9998538296628338 Centerline is valid? [True, True] Translation: X:109.11, Y:-43.50, Z:-4.74 [[ 8.35862186e-01 5.48172858e-01 2.89986738e-02 1.09114226e+02] [-5.47969149e-01 8.36359209e-01 -1.52671429e-02 -4.34993388e+01] [-3.26223412e-02 -3.12915117e-03 9.99462851e-01 -4.74442441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28105275399999 meters Centerline goodness [0,1] 0.9997561867609411 Centerline is valid? [True, True] Translation: X:109.14, Y:-43.51, Z:-4.75 [[ 8.35755009e-01 5.48337214e-01 2.89804037e-02 1.09139381e+02] [-5.48134196e-01 8.36251413e-01 -1.52472065e-02 -4.35131975e+01] [-3.25955143e-02 -3.14222108e-03 9.99463686e-01 -4.74568087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31105275399999 meters Centerline goodness [0,1] 0.9985676134984219 Centerline is valid? [True, True] Translation: X:109.17, Y:-43.52, Z:-4.75 [[ 8.34180333e-01 5.50697935e-01 2.95796591e-02 1.09165761e+02] [-5.50488224e-01 8.34698048e-01 -1.55526200e-02 -4.35222807e+01] [-3.32548795e-02 -3.30956428e-03 9.99441424e-01 -4.74624075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34105275399999 meters Centerline goodness [0,1] 0.9998545101842871 Centerline is valid? [True, True] Translation: X:109.19, Y:-43.54, Z:-4.75 [[ 8.32992936e-01 5.52419812e-01 3.09050199e-02 1.09186787e+02] [-5.52192224e-01 8.33558554e-01 -1.62445506e-02 -4.35449418e+01] [-3.47349553e-02 -3.53391582e-03 9.99390311e-01 -4.74607005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37105275399999 meters Centerline goodness [0,1] 0.9961513325103478 Centerline is valid? [True, True] Translation: X:109.22, Y:-43.55, Z:-4.74 [[ 8.29326311e-01 5.57718240e-01 3.41794580e-02 1.09215233e+02] [-5.57444703e-01 8.30019901e-01 -1.79546112e-02 -4.35508609e+01] [-3.83832445e-02 -4.16292634e-03 9.99254420e-01 -4.74485712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40105275399999 meters Centerline goodness [0,1] 0.997366450022953 Centerline is valid? [True, True] Translation: X:109.24, Y:-43.57, Z:-4.75 [[ 8.25554345e-01 5.63265448e-01 3.45261955e-02 1.09238808e+02] [-5.62991295e-01 8.26263916e-01 -1.81312798e-02 -4.35680996e+01] [-3.87404729e-02 -4.46959068e-03 9.99239310e-01 -4.74548840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43105275399999 meters Centerline goodness [0,1] 0.9984542929597875 Centerline is valid? [True, True] Translation: X:109.26, Y:-43.59, Z:-4.75 [[ 8.24434316e-01 5.64939669e-01 3.39297643e-02 1.09261287e+02] [-5.64676667e-01 8.25120066e-01 -1.78084072e-02 -4.35874733e+01] [-3.80568050e-02 -4.47748421e-03 9.99265546e-01 -4.74850361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.461052754 meters Centerline goodness [0,1] 0.9953251885587604 Centerline is valid? [True, True] Translation: X:109.29, Y:-43.60, Z:-4.75 [[ 8.23647459e-01 5.66189732e-01 3.21566640e-02 1.09288525e+02] [-5.65954775e-01 8.24263701e-01 -1.68684005e-02 -4.35958884e+01] [-3.60562860e-02 -4.30560231e-03 9.99340486e-01 -4.75176596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.491052754 meters Centerline goodness [0,1] 0.9967685983795471 Centerline is valid? [True, True] Translation: X:109.31, Y:-43.62, Z:-4.76 [[ 8.23078357e-01 5.67182425e-01 2.90880686e-02 1.09310368e+02] [-5.66990833e-01 8.23582791e-01 -1.52571607e-02 -4.36160392e+01] [-3.26100261e-02 -3.93482954e-03 9.99460406e-01 -4.75645151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.521052754 meters Centerline goodness [0,1] 0.9953959923664122 Centerline is valid? [True, True] Translation: X:109.33, Y:-43.63, Z:-4.76 [[ 8.23302323e-01 5.66882416e-01 2.85939071e-02 1.09333731e+02] [-5.66697354e-01 8.23789661e-01 -1.49901088e-02 -4.36306158e+01] [-3.20529942e-02 -3.86270013e-03 9.99478707e-01 -4.75866204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.551052754 meters Centerline goodness [0,1] 0.9925415541980395 Centerline is valid? [True, True] Translation: X:109.36, Y:-43.65, Z:-4.76 [[ 8.23979140e-01 5.65894016e-01 2.86764593e-02 1.09355333e+02] [-5.65707654e-01 8.24469031e-01 -1.50222370e-02 -4.36486497e+01] [-3.21438467e-02 -3.84448258e-03 9.99475859e-01 -4.76132462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.581052754 meters Centerline goodness [0,1] 0.9977578475336323 Centerline is valid? [True, True] Translation: X:109.37, Y:-43.68, Z:-4.76 [[ 8.25118551e-01 5.64246883e-01 2.83695806e-02 1.09374373e+02] [-5.64063591e-01 8.25597637e-01 -1.48595777e-02 -4.36752814e+01] [-3.18063291e-02 -3.74133426e-03 9.99487048e-01 -4.76239319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61105275399999 meters Centerline goodness [0,1] 0.9965560059039898 Centerline is valid? [True, True] Translation: X:109.40, Y:-43.69, Z:-4.76 [[ 8.25828857e-01 5.63218325e-01 2.81392614e-02 1.09398717e+02] [-5.63037694e-01 8.26299935e-01 -1.47299619e-02 -4.36886345e+01] [-3.15476544e-02 -3.67903722e-03 9.99495478e-01 -4.76312421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64105275399999 meters Centerline goodness [0,1] 0.9987956829867062 Centerline is valid? [True, True] Translation: X:109.42, Y:-43.71, Z:-4.76 [[ 8.27331382e-01 5.61004198e-01 2.82324886e-02 1.09417913e+02] [-5.60821156e-01 8.27805093e-01 -1.47769723e-02 -4.37141451e+01] [-3.16609413e-02 -3.60792396e-03 9.99492155e-01 -4.76403692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67105275399999 meters Centerline goodness [0,1] 0.9981811065318997 Centerline is valid? [True, True] Translation: X:109.44, Y:-43.73, Z:-4.77 [[ 8.28051212e-01 5.59955479e-01 2.79473083e-02 1.09442118e+02] [-5.59775814e-01 8.28515139e-01 -1.46185926e-02 -4.37286200e+01] [-3.13405291e-02 -3.53928395e-03 9.99502499e-01 -4.76533252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70105275399999 meters Centerline goodness [0,1] 0.9983282953192268 Centerline is valid? [True, True] Translation: X:109.46, Y:-43.75, Z:-4.77 [[ 8.29411594e-01 5.57897998e-01 2.87442446e-02 1.09463250e+02] [-5.57706817e-01 8.29901880e-01 -1.50324720e-02 -4.37504520e+01] [-3.22414887e-02 -3.56275459e-03 9.99473758e-01 -4.76601875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.73105275399999 meters Centerline goodness [0,1] 0.9985592096235649 Centerline is valid? [True, True] Translation: X:109.49, Y:-43.77, Z:-4.77 [[ 8.30006864e-01 5.57002782e-01 2.89224352e-02 1.09487047e+02] [-5.56808994e-01 8.30503007e-01 -1.51162371e-02 -4.37666530e+01] [-3.24399555e-02 -3.55769147e-03 9.99467354e-01 -4.76585434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76105275399999 meters Centerline goodness [0,1] 0.9972474351099888 Centerline is valid? [True, True] Translation: X:109.51, Y:-43.78, Z:-4.77 [[ 8.30241561e-01 5.56593076e-01 3.00515978e-02 1.09510171e+02] [-5.56383684e-01 8.30777099e-01 -1.57037731e-02 -4.37822792e+01] [-3.37067906e-02 -3.68229359e-03 9.99424981e-01 -4.76538698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79105275399999 meters Centerline goodness [0,1] 0.9951503614567045 Centerline is valid? [True, True] Translation: X:109.53, Y:-43.80, Z:-4.77 [[ 8.30401785e-01 5.56317217e-01 3.07250762e-02 1.09534130e+02] [-5.56098263e-01 8.30961518e-01 -1.60523218e-02 -4.37961854e+01] [-3.44615389e-02 -3.75628487e-03 9.99398966e-01 -4.76534938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.821052754 meters Centerline goodness [0,1] 0.9907691618309322 Centerline is valid? [True, True] Translation: X:109.56, Y:-43.81, Z:-4.76 [[ 8.29967827e-01 5.56834738e-01 3.29921315e-02 1.09556370e+02] [-5.56582816e-01 8.30613382e-01 -1.72330578e-02 -4.38133130e+01] [-3.69996712e-02 -4.05996996e-03 9.99307030e-01 -4.76443607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.851052754 meters Centerline goodness [0,1] 0.9989307909919141 Centerline is valid? [True, True] Translation: X:109.58, Y:-43.84, Z:-4.76 [[ 8.29473552e-01 5.57556745e-01 3.32280366e-02 1.09575209e+02] [-5.57301978e-01 8.30128576e-01 -1.73508964e-02 -4.38399759e+01] [-3.72576520e-02 -4.12594083e-03 9.99297175e-01 -4.76498435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.881052754 meters Centerline goodness [0,1] 0.9983348134991119 Centerline is valid? [True, True] Translation: X:109.60, Y:-43.86, Z:-4.77 [[ 8.27168169e-01 5.60981058e-01 3.30616674e-02 1.09599245e+02] [-5.60731600e-01 8.27817675e-01 -1.72617955e-02 -4.38571675e+01] [-3.70525730e-02 -4.26031391e-03 9.99304236e-01 -4.76576399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.911052754 meters Centerline goodness [0,1] 0.997636935149475 Centerline is valid? [True, True] Translation: X:109.62, Y:-43.87, Z:-4.77 [[ 8.25443947e-01 5.63472816e-01 3.37738990e-02 1.09624374e+02] [-5.63214680e-01 8.26122515e-01 -1.76299458e-02 -4.38726512e+01] [-3.78353736e-02 -4.46942373e-03 9.99273991e-01 -4.76645503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.941052754 meters Centerline goodness [0,1] 0.9915428268598052 Centerline is valid? [True, True] Translation: X:109.65, Y:-43.89, Z:-4.77 [[ 8.21455057e-01 5.69206629e-01 3.48626384e-02 1.09648874e+02] [-5.68937001e-01 8.22179948e-01 -1.81885204e-02 -4.38870467e+01] [-3.90163886e-02 -4.89359290e-03 9.99226588e-01 -4.76686991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97105275399998 meters Centerline goodness [0,1] 0.9868288406749945 Centerline is valid? [True, True] Translation: X:109.67, Y:-43.91, Z:-4.77 [[ 8.18555837e-01 5.73343541e-01 3.52636651e-02 1.09671200e+02] [-5.73071533e-01 8.19298875e-01 -1.83948630e-02 -4.39072973e+01] [-3.94380570e-02 -5.15138012e-03 9.99208738e-01 -4.76908733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00105275399999 meters Centerline goodness [0,1] 0.9961648038571116 Centerline is valid? [True, True] Translation: X:109.69, Y:-43.93, Z:-4.77 [[ 8.17963450e-01 5.74172419e-01 3.55222210e-02 1.09692480e+02] [-5.73897331e-01 8.18717687e-01 -1.85256900e-02 -4.39296110e+01] [-3.97196108e-02 -5.23277052e-03 9.99197163e-01 -4.77117752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03105275399999 meters Centerline goodness [0,1] 0.9746658817886498 Centerline is valid? [True, True] Translation: X:109.72, Y:-43.94, Z:-4.77 [[ 8.18230180e-01 5.73821254e-01 3.50505601e-02 1.09719476e+02] [-5.73553200e-01 8.18964385e-01 -1.82773960e-02 -4.39374014e+01] [-3.91931187e-02 -5.14824383e-03 9.99218392e-01 -4.77272915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06105275399999 meters Centerline goodness [0,1] 0.9979158977921542 Centerline is valid? [True, True] Translation: X:109.74, Y:-43.97, Z:-4.77 [[ 8.20831368e-01 5.70122680e-01 3.45831748e-02 1.09736080e+02] [-5.69858650e-01 8.21544912e-01 -1.80299127e-02 -4.39685818e+01] [-3.86908935e-02 -4.90800338e-03 9.99239174e-01 -4.77353948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.09105275399999 meters Centerline goodness [0,1] 0.9979158977921542 Centerline is valid? [True, True] Translation: X:109.76, Y:-43.98, Z:-4.77 [[ 8.20990834e-01 5.69892774e-01 3.45872362e-02 1.09760539e+02] [-5.69628866e-01 8.21704423e-01 -1.80221184e-02 -4.39812872e+01] [-3.86911600e-02 -4.90589411e-03 9.99239174e-01 -4.77461237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12105275399999 meters Centerline goodness [0,1] 0.996628557844006 Centerline is valid? [True, True] Translation: X:109.78, Y:-44.00, Z:-4.78 [[ 8.22423968e-01 5.67801477e-01 3.49327775e-02 1.09784195e+02] [-5.67530902e-01 8.23151145e-01 -1.81897650e-02 -4.39961908e+01] [-3.90831312e-02 -4.86573202e-03 9.99224116e-01 -4.77577874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15105275399999 meters Centerline goodness [0,1] 0.9913185490802819 Centerline is valid? [True, True] Translation: X:109.81, Y:-44.02, Z:-4.78 [[ 8.25265602e-01 5.63527339e-01 3.70624236e-02 1.09806676e+02] [-5.63218664e-01 8.26082581e-01 -1.92952528e-02 -4.40151195e+01] [-4.14900251e-02 -4.95054026e-03 9.99126654e-01 -4.77863936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18105275399999 meters Centerline goodness [0,1] 0.9980729289339014 Centerline is valid? [True, True] Translation: X:109.83, Y:-44.04, Z:-4.78 [[ 8.26412016e-01 5.61840313e-01 3.71300765e-02 1.09826783e+02] [-5.61529007e-01 8.27231326e-01 -1.93263473e-02 -4.40393898e+01] [-4.15734834e-02 -4.87808937e-03 9.99123541e-01 -4.78092217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.211052754 meters Centerline goodness [0,1] 0.9973061957497755 Centerline is valid? [True, True] Translation: X:109.85, Y:-44.06, Z:-4.78 [[ 8.28019348e-01 5.59428396e-01 3.77336535e-02 1.09850263e+02] [-5.59104843e-01 8.28864536e-01 -1.96304910e-02 -4.40563695e+01] [-4.22579413e-02 -4.84264207e-03 9.99094998e-01 -4.78104779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.241052754 meters Centerline goodness [0,1] 0.9986607712257132 Centerline is valid? [True, True] Translation: X:109.87, Y:-44.07, Z:-4.78 [[ 8.28759539e-01 5.58347433e-01 3.74936214e-02 1.09874860e+02] [-5.58027047e-01 8.29593567e-01 -1.95020024e-02 -4.40720404e+01] [-4.19933600e-02 -4.75998432e-03 9.99106551e-01 -4.77972960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.271052754 meters Centerline goodness [0,1] 0.998361562686186 Centerline is valid? [True, True] Translation: X:109.90, Y:-44.09, Z:-4.78 [[ 8.29534716e-01 5.57213487e-01 3.72194273e-02 1.09900341e+02] [-5.56896773e-01 8.30356138e-01 -1.93563493e-02 -4.40866248e+01] [-4.16909988e-02 -4.67061529e-03 9.99119635e-01 -4.78079965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.301052754 meters Centerline goodness [0,1] 0.9978013614646315 Centerline is valid? [True, True] Translation: X:109.92, Y:-44.10, Z:-4.79 [[ 8.32714849e-01 5.52581794e-01 3.52042663e-02 1.09923083e+02] [-5.52294511e-01 8.33448088e-01 -1.83045780e-02 -4.41037881e+01] [-3.94557050e-02 -4.20062908e-03 9.99212491e-01 -4.78614974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.331052754 meters Centerline goodness [0,1] 0.9997238742565845 Centerline is valid? [True, True] Translation: X:109.94, Y:-44.13, Z:-4.79 [[ 8.35348152e-01 5.48628299e-01 3.46475887e-02 1.09942868e+02] [-5.48346793e-01 8.36057035e-01 -1.80119137e-02 -4.41295835e+01] [-3.88492059e-02 -3.95267532e-03 9.99237267e-01 -4.78889517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36105275399999 meters Centerline goodness [0,1] 0.9985460215778826 Centerline is valid? [True, True] Translation: X:109.97, Y:-44.14, Z:-4.79 [[ 8.38074849e-01 5.44488842e-01 3.40947063e-02 1.09971709e+02] [-5.44213218e-01 8.38759888e-01 -1.77150746e-02 -4.41352343e+01] [-3.82429325e-02 -3.70823136e-03 9.99261591e-01 -4.79016207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39105275399999 meters Centerline goodness [0,1] 0.9996404171161453 Centerline is valid? [True, True] Translation: X:109.99, Y:-44.16, Z:-4.79 [[ 8.43047753e-01 5.36777454e-01 3.37705682e-02 1.09993826e+02] [-5.36500989e-01 8.43717306e-01 -1.75441047e-02 -4.41561973e+01] [-3.79100927e-02 -3.32742524e-03 9.99275614e-01 -4.78941684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42105275399999 meters Centerline goodness [0,1] 0.9993462398245392 Centerline is valid? [True, True] Translation: X:110.02, Y:-44.17, Z:-4.79 [[ 8.46786217e-01 5.30822753e-01 3.43556108e-02 1.10021265e+02] [-5.30531868e-01 8.47477136e-01 -1.78449265e-02 -4.41654776e+01] [-3.85880877e-02 -3.11590865e-03 9.99250344e-01 -4.78878334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.45105275399999 meters Centerline goodness [0,1] 0.9998730937625584 Centerline is valid? [True, True] Translation: X:110.04, Y:-44.19, Z:-4.79 [[ 8.48538053e-01 5.27969155e-01 3.50962111e-02 1.10041851e+02] [-5.27663286e-01 8.49258058e-01 -1.82265436e-02 -4.41888414e+01] [-3.94287929e-02 -3.05306623e-03 9.99217719e-01 -4.79023386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48105275399999 meters Centerline goodness [0,1] 0.9996411003441215 Centerline is valid? [True, True] Translation: X:110.07, Y:-44.21, Z:-4.79 [[ 8.52535901e-01 5.21564404e-01 3.39574854e-02 1.10065426e+02] [-5.21273347e-01 8.53207724e-01 -1.76260233e-02 -4.42069692e+01] [-3.81658952e-02 -2.67431443e-03 9.99267838e-01 -4.79321461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51105275399999 meters Centerline goodness [0,1] 0.9998107852412488 Centerline is valid? [True, True] Translation: X:110.10, Y:-44.21, Z:-4.80 [[ 8.54600093e-01 5.18233498e-01 3.30563516e-02 1.10095254e+02] [-5.17955549e-01 8.55235616e-01 -1.71490586e-02 -4.42121785e+01] [-3.71581859e-02 -2.46613370e-03 9.99306353e-01 -4.79515632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54105275399999 meters Centerline goodness [0,1] 0.9995990799940917 Centerline is valid? [True, True] Translation: X:110.12, Y:-44.23, Z:-4.80 [[ 8.56834748e-01 5.14535531e-01 3.29757881e-02 1.10116816e+02] [-5.14256295e-01 8.57465969e-01 -1.71048214e-02 -4.42344171e+01] [-3.70766545e-02 -2.30200128e-03 9.99309773e-01 -4.79565582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.571052754 meters Centerline goodness [0,1] 0.9997884359066579 Centerline is valid? [True, True] Translation: X:110.14, Y:-44.25, Z:-4.79 [[ 8.60223900e-01 5.08804249e-01 3.36612345e-02 1.10144511e+02] [-5.08509003e-01 8.60879683e-01 -1.74575404e-02 -4.42459149e+01] [-3.78607436e-02 -2.09964726e-03 9.99280819e-01 -4.79403432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.601052754 meters Centerline goodness [0,1] 0.9997459188210633 Centerline is valid? [True, True] Translation: X:110.17, Y:-44.25, Z:-4.79 [[ 8.61126908e-01 5.07203277e-01 3.47171924e-02 1.10173055e+02] [-5.06888265e-01 8.61823893e-01 -1.79962137e-02 -4.42509786e+01] [-3.90478445e-02 -2.10071354e-03 9.99235134e-01 -4.79389220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.631052754 meters Centerline goodness [0,1] 0.9996808714337383 Centerline is valid? [True, True] Translation: X:110.20, Y:-44.26, Z:-4.79 [[ 8.61400214e-01 5.06603786e-01 3.66370643e-02 1.10198913e+02] [-5.06252616e-01 8.62176198e-01 -1.89866219e-02 -4.42645399e+01] [-4.12062993e-02 -2.19252949e-03 9.99148254e-01 -4.79383842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.661052754 meters Centerline goodness [0,1] 0.9998721418373218 Centerline is valid? [True, True] Translation: X:110.23, Y:-44.27, Z:-4.80 [[ 8.59649599e-01 5.09620966e-01 3.59031720e-02 1.10228851e+02] [-5.09286774e-01 8.60395946e-01 -1.85956410e-02 -4.42689668e+01] [-4.03676722e-02 -2.29927536e-03 9.99182248e-01 -4.79551855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.691052754 meters Centerline goodness [0,1] 0.9997634357728123 Centerline is valid? [True, True] Translation: X:110.26, Y:-44.28, Z:-4.80 [[ 8.58259482e-01 5.11990329e-01 3.54480482e-02 1.10257768e+02] [-5.11666681e-01 8.58987908e-01 -1.83570291e-02 -4.42768214e+01] [-3.98480662e-02 -2.38249091e-03 9.99202910e-01 -4.79630357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72105275399998 meters Centerline goodness [0,1] 0.9999563966163775 Centerline is valid? [True, True] Translation: X:110.29, Y:-44.27, Z:-4.79 [[ 8.53711229e-01 5.19488497e-01 3.61778945e-02 1.10291428e+02] [-5.19158137e-01 8.54472889e-01 -1.87325930e-02 -4.42732375e+01] [-4.06443966e-02 -2.78982334e-03 9.99169780e-01 -4.79461762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.32, Y:-44.28, Z:-4.79 [[ 8.50612860e-01 5.24502390e-01 3.68104009e-02 1.10321677e+02] [-5.24165150e-01 8.51403387e-01 -1.90569577e-02 -4.42792512e+01] [-4.13359199e-02 -3.08463600e-03 9.99140544e-01 -4.79439010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78105275399999 meters Centerline goodness [0,1] 0.9996704527978557 Centerline is valid? [True, True] Translation: X:110.35, Y:-44.28, Z:-4.80 [[ 8.43498846e-01 5.35910814e-01 3.61841934e-02 1.10353959e+02] [-5.35595621e-01 8.44266982e-01 -1.87241164e-02 -4.42772639e+01] [-4.05835763e-02 -3.58632495e-03 9.99169711e-01 -4.79721279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81105275399999 meters Centerline goodness [0,1] 0.9992939411323419 Centerline is valid? [True, True] Translation: X:110.38, Y:-44.28, Z:-4.80 [[ 8.40547811e-01 5.40617594e-01 3.48137106e-02 1.10383315e+02] [-5.40329978e-01 8.41260443e-01 -1.80106098e-02 -4.42849549e+01] [-3.90242501e-02 -3.67211287e-03 9.99231516e-01 -4.79970826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84105275399999 meters Centerline goodness [0,1] 0.9969809980465282 Centerline is valid? [True, True] Translation: X:110.42, Y:-44.28, Z:-4.80 [[ 8.35775051e-01 5.48127560e-01 3.21907244e-02 1.10415221e+02] [-5.47887426e-01 8.36386455e-01 -1.66453119e-02 -4.42842467e+01] [-3.60476401e-02 -3.72515677e-03 9.99343130e-01 -4.80200724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87105275399999 meters Centerline goodness [0,1] 0.9951844468833292 Centerline is valid? [True, True] Translation: X:110.44, Y:-44.29, Z:-4.80 [[ 8.34083402e-01 5.50735502e-01 3.15481315e-02 1.10444514e+02] [-5.50506824e-01 8.34671336e-01 -1.63094397e-02 -4.42910969e+01] [-3.53145085e-02 -3.76402877e-03 9.99369160e-01 -4.80237886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90105275399999 meters Centerline goodness [0,1] 0.9895510314143184 Centerline is valid? [True, True] Translation: X:110.48, Y:-44.29, Z:-4.80 [[ 8.31792129e-01 5.54163843e-01 3.20045166e-02 1.10475308e+02] [-5.53931312e-01 8.32398130e-01 -1.65364621e-02 -4.42934428e+01] [-3.58044091e-02 -3.97340487e-03 9.99350918e-01 -4.80191015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93105275399999 meters Centerline goodness [0,1] 0.9990998492247452 Centerline is valid? [True, True] Translation: X:110.50, Y:-44.32, Z:-4.80 [[ 8.31366692e-01 5.54795357e-01 3.21175244e-02 1.10497545e+02] [-5.54561731e-01 8.31977150e-01 -1.65924372e-02 -4.43152319e+01] [-3.59264535e-02 -4.01675027e-03 9.99346364e-01 -4.80301352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.961052754 meters Centerline goodness [0,1] 0.9853765482325287 Centerline is valid? [True, True] Translation: X:110.53, Y:-44.32, Z:-4.81 [[ 8.31848461e-01 5.54147235e-01 3.08054957e-02 1.10528361e+02] [-5.53932154e-01 8.32409847e-01 -1.59064220e-02 -4.43160568e+01] [-3.44572977e-02 -3.83242194e-03 9.99398823e-01 -4.80829105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.991052754 meters Centerline goodness [0,1] 0.9855173971983733 Centerline is valid? [True, True] Translation: X:110.55, Y:-44.33, Z:-4.81 [[ 8.32660100e-01 5.52970306e-01 3.00166393e-02 1.10554292e+02] [-5.52765430e-01 8.33192795e-01 -1.54966438e-02 -4.43293568e+01] [-3.35788315e-02 -3.68872355e-03 9.99429265e-01 -4.81089701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.021052754 meters Centerline goodness [0,1] 0.9998646331558524 Centerline is valid? [True, True] Translation: X:110.57, Y:-44.36, Z:-4.81 [[ 8.35324487e-01 5.48912465e-01 3.04648459e-02 1.10573215e+02] [-5.48699052e-01 8.35872150e-01 -1.57193765e-02 -4.43568859e+01] [-3.40932780e-02 -3.58525196e-03 9.99412224e-01 -4.80985039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.051052754 meters Centerline goodness [0,1] 0.9998203579368109 Centerline is valid? [True, True] Translation: X:110.60, Y:-44.37, Z:-4.81 [[ 8.40164640e-01 5.41368705e-01 3.23001938e-02 1.10597861e+02] [-5.41123402e-01 8.40778105e-01 -1.66626201e-02 -4.43729695e+01] [-3.61779167e-02 -3.47904654e-03 9.99339309e-01 -4.80828613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.081052754 meters Centerline goodness [0,1] 0.9944858319641692 Centerline is valid? [True, True] Translation: X:110.63, Y:-44.38, Z:-4.81 [[ 8.43423293e-01 5.36295646e-01 3.20020106e-02 1.10628096e+02] [-5.36051312e-01 8.44024009e-01 -1.65064217e-02 -4.43760481e+01] [-3.58627874e-02 -3.23281922e-03 9.99351494e-01 -4.80971689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11105275399999 meters Centerline goodness [0,1] 0.9964184984554775 Centerline is valid? [True, True] Translation: X:110.65, Y:-44.39, Z:-4.81 [[ 8.46682216e-01 5.31143740e-01 3.18677261e-02 1.10650807e+02] [-5.30897927e-01 8.47276404e-01 -1.64343111e-02 -4.43937172e+01] [-3.57297538e-02 -3.00387075e-03 9.99356974e-01 -4.81209513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14105275399999 meters Centerline goodness [0,1] 0.9998885570365087 Centerline is valid? [True, True] Translation: X:110.66, Y:-44.43, Z:-4.81 [[ 8.53582515e-01 5.19958052e-01 3.22570112e-02 1.10663855e+02] [-5.19698295e-01 8.54187940e-01 -1.66326518e-02 -4.44317227e+01] [-3.62018312e-02 -2.56657296e-03 9.99341203e-01 -4.81386668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17105275399999 meters Centerline goodness [0,1] 0.9999554446622705 Centerline is valid? [True, True] Translation: X:110.69, Y:-44.45, Z:-4.81 [[ 8.56849200e-01 5.14508978e-01 3.30145456e-02 1.10687333e+02] [-5.14233183e-01 8.57481637e-01 -1.70139973e-02 -4.44501831e+01] [-3.70632209e-02 -2.39874489e-03 9.99310044e-01 -4.81391804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20105275399999 meters Centerline goodness [0,1] 0.9999335739432722 Centerline is valid? [True, True] Translation: X:110.71, Y:-44.47, Z:-4.81 [[ 8.62417328e-01 5.05002446e-01 3.47689709e-02 1.10711552e+02] [-5.04689203e-01 8.63115349e-01 -1.79081554e-02 -4.44682387e+01] [-3.90532947e-02 -2.10322070e-03 9.99234916e-01 -4.81159404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.23105275399999 meters Centerline goodness [0,1] 0.9998668116939333 Centerline is valid? [True, True] Translation: X:110.74, Y:-44.48, Z:-4.81 [[ 8.64362552e-01 5.01637854e-01 3.51687691e-02 1.10737931e+02] [-5.01314957e-01 8.65075451e-01 -1.81046457e-02 -4.44796218e+01] [-3.95056144e-02 -1.98165216e-03 9.99217383e-01 -4.81164148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.76, Y:-44.50, Z:-4.81 [[ 8.66795642e-01 4.97472892e-01 3.44388860e-02 1.10762648e+02] [-4.97160079e-01 8.67477744e-01 -1.77262348e-02 -4.44957411e+01] [-3.86932885e-02 -1.75661621e-03 9.99249590e-01 -4.81427965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.79, Y:-44.51, Z:-4.82 [[ 8.67832660e-01 4.95802005e-01 3.23550180e-02 1.10787130e+02] [-4.95525046e-01 8.68434139e-01 -1.66455839e-02 -4.45118691e+01] [-3.63511160e-02 -1.58714046e-03 9.99337819e-01 -4.81810582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.321052754 meters Centerline goodness [0,1] 0.9999777347315922 Centerline is valid? [True, True] Translation: X:110.81, Y:-44.52, Z:-4.82 [[ 8.67891179e-01 4.95753583e-01 3.15164386e-02 1.10813365e+02] [-4.95491078e-01 8.68461846e-01 -1.62053816e-02 -4.45233863e+01] [-3.54047005e-02 -1.55160642e-03 9.99371853e-01 -4.81929323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.351052754 meters Centerline goodness [0,1] 0.9998005098082677 Centerline is valid? [True, True] Translation: X:110.84, Y:-44.53, Z:-4.82 [[ 8.67849470e-01 4.95851108e-01 3.11283886e-02 1.10840242e+02] [-4.95595428e-01 8.68406179e-01 -1.59962482e-02 -4.45330990e+01] [-3.49638424e-02 -1.54475150e-03 9.99387384e-01 -4.82004126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.381052754 meters Centerline goodness [0,1] 0.9999552202046437 Centerline is valid? [True, True] Translation: X:110.87, Y:-44.53, Z:-4.82 [[ 8.68302913e-01 4.95066239e-01 3.09753231e-02 1.10870996e+02] [-4.94812926e-01 8.68853915e-01 -1.59073233e-02 -4.45342982e+01] [-3.47882094e-02 -1.51461513e-03 9.99393559e-01 -4.82135084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.411052754 meters Centerline goodness [0,1] 0.999685612270104 Centerline is valid? [True, True] Translation: X:110.90, Y:-44.55, Z:-4.82 [[ 8.68883248e-01 4.93984857e-01 3.19509452e-02 1.10895782e+02] [-4.93714714e-01 8.69469177e-01 -1.64052150e-02 -4.45479990e+01] [-3.58842899e-02 -1.52043528e-03 9.99354795e-01 -4.82322785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.441052754 meters Centerline goodness [0,1] 0.9998199536380618 Centerline is valid? [True, True] Translation: X:110.92, Y:-44.56, Z:-4.83 [[ 8.69348742e-01 4.93188294e-01 3.15922692e-02 1.10921998e+02] [-4.92923998e-01 8.69921329e-01 -1.62115331e-02 -4.45588794e+01] [-3.54781272e-02 -1.47911177e-03 9.99369359e-01 -4.82527143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47105275399998 meters Centerline goodness [0,1] 0.9996829925503249 Centerline is valid? [True, True] Translation: X:110.95, Y:-44.56, Z:-4.83 [[ 8.70096382e-01 4.91899584e-01 3.10979883e-02 1.10950539e+02] [-4.91643016e-01 8.70650793e-01 -1.59480725e-02 -4.45642929e+01] [-3.49203384e-02 -1.41274852e-03 9.99389100e-01 -4.82659134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50105275399999 meters Centerline goodness [0,1] 0.9996816010916534 Centerline is valid? [True, True] Translation: X:110.98, Y:-44.57, Z:-4.83 [[ 8.70358325e-01 4.91388510e-01 3.18389580e-02 1.10977190e+02] [-4.91119397e-01 8.70939314e-01 -1.63232856e-02 -4.45748038e+01] [-3.57508752e-02 -1.42962236e-03 9.99359711e-01 -4.82567085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53105275399999 meters Centerline goodness [0,1] 0.9997486518599762 Centerline is valid? [True, True] Translation: X:111.01, Y:-44.58, Z:-4.82 [[ 8.69657571e-01 4.92543705e-01 3.31120545e-02 1.11007149e+02] [-4.92253875e-01 8.70286338e-01 -1.69650559e-02 -4.45775283e+01] [-3.71730001e-02 -1.54574779e-03 9.99307650e-01 -4.82390392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.03, Y:-44.59, Z:-4.83 [[ 8.68801015e-01 4.94052470e-01 3.31202981e-02 1.11034051e+02] [-4.93763795e-01 8.69430588e-01 -1.69637277e-02 -4.45868753e+01] [-3.71767718e-02 -1.61550021e-03 9.99307399e-01 -4.82518613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.59105275399999 meters Centerline goodness [0,1] 0.9998618211966285 Centerline is valid? [True, True] Translation: X:111.06, Y:-44.59, Z:-4.83 [[ 8.65403108e-01 4.99968455e-01 3.33017241e-02 1.11064261e+02] [-4.99681097e-01 8.66041569e-01 -1.70528889e-02 -4.45892658e+01] [-3.73665839e-02 -1.88261899e-03 9.99299852e-01 -4.82777873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62105275399999 meters Centerline goodness [0,1] 0.9999077426943747 Centerline is valid? [True, True] Translation: X:111.09, Y:-44.60, Z:-4.83 [[ 8.63409085e-01 5.03408930e-01 3.32295286e-02 1.11093402e+02] [-5.03125462e-01 8.64045907e-01 -1.70129133e-02 -4.45972531e+01] [-3.72762907e-02 -2.02951807e-03 9.99302937e-01 -4.82879441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.12, Y:-44.60, Z:-4.83 [[ 8.58811969e-01 5.11239683e-01 3.28022536e-02 1.11124127e+02] [-5.10969416e-01 8.59434982e-01 -1.67859663e-02 -4.46006129e+01] [-3.67730563e-02 -2.34495958e-03 9.99320891e-01 -4.82847862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.15, Y:-44.60, Z:-4.83 [[ 8.56677209e-01 5.14808018e-01 3.28156013e-02 1.11154314e+02] [-5.14540481e-01 8.57301825e-01 -1.67831696e-02 -4.46035913e+01] [-3.67729851e-02 -2.50719642e-03 9.99320500e-01 -4.82901911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.711052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.18, Y:-44.61, Z:-4.83 [[ 8.52689200e-01 5.21437955e-01 3.19935614e-02 1.11182994e+02] [-5.21188359e-01 8.53284851e-01 -1.63602456e-02 -4.46105723e+01] [-3.58304743e-02 -2.72446707e-03 9.99354169e-01 -4.83138051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.741052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.21, Y:-44.62, Z:-4.83 [[ 8.50915359e-01 5.24390743e-01 3.09419029e-02 1.11210508e+02] [-5.24159328e-01 8.51473279e-01 -1.58194108e-02 -4.46216088e+01] [-3.46417561e-02 -2.75750736e-03 9.99395990e-01 -4.83351040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.771052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.24, Y:-44.63, Z:-4.84 [[ 8.48332633e-01 5.28665648e-01 2.90581659e-02 1.11239701e+02] [-5.28464285e-01 8.48825670e-01 -1.48486191e-02 -4.46288320e+01] [-3.25152720e-02 -2.75963470e-03 9.99467429e-01 -4.83619960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.801052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.27, Y:-44.64, Z:-4.84 [[ 8.47297459e-01 5.30325872e-01 2.90083569e-02 1.11267090e+02] [-5.30126416e-01 8.47789177e-01 -1.48153718e-02 -4.46384284e+01] [-3.24499459e-02 -2.82506939e-03 9.99469369e-01 -4.83741952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.831052754 meters Centerline goodness [0,1] 0.9999760444614795 Centerline is valid? [True, True] Translation: X:111.30, Y:-44.65, Z:-4.84 [[ 8.45756502e-01 5.32828140e-01 2.81089456e-02 1.11295282e+02] [-5.32642470e-01 8.46218722e-01 -1.43483029e-02 -4.46453320e+01] [-3.14314956e-02 -2.83684779e-03 9.99501883e-01 -4.83807746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.32, Y:-44.66, Z:-4.84 [[ 8.45852912e-01 5.32635163e-01 2.88553933e-02 1.11320985e+02] [-5.32439428e-01 8.46339966e-01 -1.47280899e-02 -4.46565560e+01] [-3.22661712e-02 -2.90595142e-03 9.99475087e-01 -4.84074102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.34, Y:-44.67, Z:-4.84 [[ 8.46350374e-01 5.31825607e-01 2.91987730e-02 1.11344964e+02] [-5.31625044e-01 8.46848870e-01 -1.48930631e-02 -4.46734658e+01] [-3.26474603e-02 -2.91804944e-03 9.99462670e-01 -4.84295632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.37, Y:-44.69, Z:-4.84 [[ 8.47044818e-01 5.30708750e-01 2.93819543e-02 1.11369244e+02] [-5.30505299e-01 8.47549295e-01 -1.49772944e-02 -4.46886481e+01] [-3.28512359e-02 -2.90084283e-03 9.99456043e-01 -4.84476713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.95105275399999 meters Centerline goodness [0,1] 0.9999760708303422 Centerline is valid? [True, True] Translation: X:111.40, Y:-44.70, Z:-4.85 [[ 8.49144028e-01 5.27310158e-01 2.99736034e-02 1.11397062e+02] [-5.27096385e-01 8.49668176e-01 -1.52771879e-02 -4.46964475e+01] [-3.35234333e-02 -2.82644516e-03 9.99433935e-01 -4.84596034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98105275399999 meters Centerline goodness [0,1] 0.9999760708303422 Centerline is valid? [True, True] Translation: X:111.42, Y:-44.71, Z:-4.85 [[ 8.49282514e-01 5.27086889e-01 2.99770261e-02 1.11421523e+02] [-5.26873214e-01 8.49806701e-01 -1.52704687e-02 -4.47088312e+01] [-3.35235415e-02 -2.82515006e-03 9.99433935e-01 -4.84702867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.44, Y:-44.73, Z:-4.85 [[ 8.50523436e-01 5.25038239e-01 3.07365007e-02 1.11443547e+02] [-5.24812636e-01 8.51073956e-01 -1.56467038e-02 -4.47295646e+01] [-3.43741530e-02 -2.82301565e-03 9.99405047e-01 -4.84610328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.47, Y:-44.74, Z:-4.84 [[ 8.52724353e-01 5.21381742e-01 3.19727619e-02 1.11468952e+02] [-5.21135420e-01 8.53318983e-01 -1.62661465e-02 -4.47410283e+01] [-3.57638365e-02 -2.79159946e-03 9.99356370e-01 -4.84438453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.071052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.50, Y:-44.75, Z:-4.85 [[ 8.53529641e-01 5.20097046e-01 3.14040640e-02 1.11495574e+02] [-5.19858654e-01 8.54102932e-01 -1.59737849e-02 -4.47511271e+01] [-3.51302215e-02 -2.69157554e-03 9.99379119e-01 -4.84520375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.101052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.52, Y:-44.77, Z:-4.85 [[ 8.55135271e-01 5.17505190e-01 3.05294549e-02 1.11518673e+02] [-5.17278310e-01 8.55676374e-01 -1.55271783e-02 -4.47696696e+01] [-3.41587286e-02 -2.51438704e-03 9.99413257e-01 -4.84924536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.131052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.54, Y:-44.79, Z:-4.85 [[ 8.57203185e-01 5.14153948e-01 2.91275999e-02 1.11542808e+02] [-5.13945751e-01 8.57694893e-01 -1.48065808e-02 -4.47855350e+01] [-3.25954556e-02 -2.27775798e-03 9.99466031e-01 -4.85223666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.161052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.57, Y:-44.80, Z:-4.85 [[ 8.58131420e-01 5.12597423e-01 2.92292412e-02 1.11568641e+02] [-5.12387144e-01 8.58626166e-01 -1.48499681e-02 -4.47989981e+01] [-3.27090467e-02 -2.23346317e-03 9.99462420e-01 -4.85329088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.191052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.60, Y:-44.80, Z:-4.85 [[ 8.59650242e-01 5.10038131e-01 2.93694956e-02 1.11599109e+02] [-5.09824650e-01 8.60149094e-01 -1.49118180e-02 -4.48014768e+01] [-3.28677408e-02 -2.15434487e-03 9.99457388e-01 -4.85476883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22105275399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.62, Y:-44.83, Z:-4.85 [[ 8.60656202e-01 5.08323629e-01 2.96308973e-02 1.11618766e+02] [-5.08105372e-01 8.61163539e-01 -1.50429407e-02 -4.48272301e+01] [-3.31637306e-02 -2.10881790e-03 9.99447707e-01 -4.85471143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.64, Y:-44.84, Z:-4.86 [[ 8.62630801e-01 5.04943581e-01 3.00013619e-02 1.11642337e+02] [-5.04718083e-01 8.63150008e-01 -1.52223755e-02 -4.48448561e+01] [-3.35821166e-02 -2.01093990e-03 9.99433939e-01 -4.85519811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.68, Y:-44.84, Z:-4.86 [[ 8.63889098e-01 5.02809468e-01 2.96355372e-02 1.11675433e+02] [-5.02588500e-01 8.64395153e-01 -1.50272757e-02 -4.48424028e+01] [-3.31726713e-02 -1.91258049e-03 9.99447805e-01 -4.85715062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.70, Y:-44.86, Z:-4.86 [[ 8.67407061e-01 4.96807326e-01 2.80619156e-02 1.11698057e+02] [-4.96606124e-01 8.67859400e-01 -1.42274299e-02 -4.48620620e+01] [-3.14220886e-02 -1.59474598e-03 9.99504932e-01 -4.85673429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.72, Y:-44.89, Z:-4.86 [[ 8.69488619e-01 4.93162240e-01 2.79382696e-02 1.11719586e+02] [-4.92961025e-01 8.69936134e-01 -1.41616147e-02 -4.48852762e+01] [-3.12884839e-02 -1.45911524e-03 9.99509331e-01 -4.85592673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.74, Y:-44.90, Z:-4.86 [[ 8.73522089e-01 4.85932374e-01 2.87903982e-02 1.11742696e+02] [-4.85714868e-01 8.73995533e-01 -1.45902129e-02 -4.49015183e+01] [-3.22525362e-02 -1.23905118e-03 9.99478984e-01 -4.85846385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.77, Y:-44.92, Z:-4.86 [[ 8.75572316e-01 4.82196180e-01 2.93251545e-02 1.11767222e+02] [-4.81968508e-01 8.76062544e-01 -1.48585528e-02 -4.49177702e+01] [-3.28554069e-02 -1.12406351e-03 9.99459483e-01 -4.86014882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43105275399999 meters Centerline goodness [0,1] 0.9999762549271026 Centerline is valid? [True, True] Translation: X:111.79, Y:-44.93, Z:-4.86 [[ 8.79743080e-01 4.74557639e-01 2.91060359e-02 1.11791633e+02] [-4.74329240e-01 8.80224035e-01 -1.47451709e-02 -4.49337321e+01] [-3.26172659e-02 -8.33881825e-04 9.99467568e-01 -4.86054758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.461052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.82, Y:-44.95, Z:-4.86 [[ 8.83418838e-01 4.67758529e-01 2.78049562e-02 1.11817738e+02] [-4.67546993e-01 8.83856120e-01 -1.40772431e-02 -4.49450878e+01] [-3.11603312e-02 -5.64021882e-04 9.99514240e-01 -4.86102050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.491052754 meters Centerline goodness [0,1] 0.9999284385286962 Centerline is valid? [True, True] Translation: X:111.84, Y:-44.96, Z:-4.86 [[ 8.85082819e-01 4.64648076e-01 2.70290468e-02 1.11843038e+02] [-4.64446790e-01 8.85495324e-01 -1.36824884e-02 -4.49570070e+01] [-3.02916365e-02 -4.43418602e-04 9.99541005e-01 -4.86211877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.521052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.87, Y:-44.97, Z:-4.86 [[ 8.86527533e-01 4.61891665e-01 2.69262421e-02 1.11868145e+02] [-4.61690676e-01 8.86936282e-01 -1.36290880e-02 -4.49703781e+01] [-3.01770232e-02 -3.49033177e-04 9.99544509e-01 -4.86215586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.551052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.89, Y:-44.98, Z:-4.86 [[ 8.88887117e-01 4.57293508e-01 2.76105376e-02 1.11893876e+02] [-4.57080268e-01 8.89315807e-01 -1.39650932e-02 -4.49810945e+01] [-3.09406340e-02 -2.06840503e-04 9.99521203e-01 -4.86352680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.581052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.92, Y:-44.99, Z:-4.86 [[ 8.89694766e-01 4.55717175e-01 2.76600812e-02 1.11919688e+02] [-4.55502450e-01 8.90124616e-01 -1.39887630e-02 -4.49925743e+01] [-3.09958387e-02 -1.53505560e-04 9.99519502e-01 -4.86433186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.95, Y:-45.00, Z:-4.87 [[ 8.90146260e-01 4.54822211e-01 2.78638128e-02 1.11947425e+02] [-4.54604236e-01 8.90582247e-01 -1.40801342e-02 -4.49992233e+01] [-3.12189748e-02 -1.33628510e-04 9.99512560e-01 -4.86583042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64105275399999 meters Centerline goodness [0,1] 0.9999758430766258 Centerline is valid? [True, True] Translation: X:111.97, Y:-45.01, Z:-4.87 [[ 8.92285012e-01 4.50508680e-01 2.94853588e-02 1.11972729e+02] [-4.50262311e-01 8.92772048e-01 -1.48970623e-02 -4.50120198e+01] [-3.30349600e-02 1.62795632e-05 9.99454197e-01 -4.86578789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67105275399999 meters Centerline goodness [0,1] 0.999927506464007 Centerline is valid? [True, True] Translation: X:112.00, Y:-45.02, Z:-4.87 [[ 8.92424044e-01 4.50198369e-01 3.00125648e-02 1.11997647e+02] [-4.49943275e-01 8.92928568e-01 -1.51532811e-02 -4.50226755e+01] [-3.36210590e-02 1.92007378e-05 9.99434652e-01 -4.86695957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70105275399999 meters Centerline goodness [0,1] 0.9999270924467775 Centerline is valid? [True, True] Translation: X:112.02, Y:-45.03, Z:-4.87 [[ 8.92180105e-01 4.50656583e-01 3.03859354e-02 1.12023631e+02] [-4.50395497e-01 8.92697398e-01 -1.53379370e-02 -4.50336365e+01] [-3.40375877e-02 -1.48621842e-06 9.99420553e-01 -4.86751245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.73105275399999 meters Centerline goodness [0,1] 0.9999272780161442 Centerline is valid? [True, True] Translation: X:112.05, Y:-45.05, Z:-4.87 [[ 8.91452343e-01 4.51983561e-01 3.19934345e-02 1.12049532e+02] [-4.51695392e-01 8.92026264e-01 -1.61374382e-02 -4.50450560e+01] [-3.58328407e-02 -6.55298220e-05 9.99357795e-01 -4.86567284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76105275399999 meters Centerline goodness [0,1] 0.9999514055932163 Centerline is valid? [True, True] Translation: X:112.08, Y:-45.06, Z:-4.87 [[ 8.90426842e-01 4.53988615e-01 3.21617237e-02 1.12075640e+02] [-4.53699123e-01 8.91007471e-01 -1.62108929e-02 -4.50560870e+01] [-3.60158969e-02 -1.57131639e-04 9.99351205e-01 -4.86586642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.10, Y:-45.07, Z:-4.87 [[ 8.87270612e-01 4.60048662e-01 3.32579287e-02 1.12101343e+02] [-4.59743734e-01 8.87893601e-01 -1.67526547e-02 -4.50662476e+01] [-3.72365385e-02 -4.25986141e-04 9.99306389e-01 -4.86575038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.821052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.13, Y:-45.08, Z:-4.87 [[ 8.84564029e-01 4.65220663e-01 3.34097737e-02 1.12128490e+02] [-4.64916747e-01 8.85194506e-01 -1.68257256e-02 -4.50774076e+01] [-3.74018234e-02 -6.49331675e-04 9.99300096e-01 -4.86637451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.851052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.16, Y:-45.08, Z:-4.87 [[ 8.77128451e-01 4.79100794e-01 3.32882825e-02 1.12156472e+02] [-4.78809335e-01 8.77759014e-01 -1.67551275e-02 -4.50836380e+01] [-3.72464848e-02 -1.24234139e-03 9.99305337e-01 -4.86771670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.881052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.18, Y:-45.09, Z:-4.87 [[ 8.69429410e-01 4.92987081e-01 3.24998354e-02 1.12183110e+02] [-4.92719006e-01 8.70034780e-01 -1.63542687e-02 -4.50945663e+01] [-3.63384303e-02 -1.79440444e-03 9.99337930e-01 -4.87023480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.911052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.21, Y:-45.11, Z:-4.87 [[ 8.66234567e-01 4.98601772e-01 3.21550573e-02 1.12208660e+02] [-4.98343279e-01 8.66828838e-01 -1.61784603e-02 -4.51081462e+01] [-3.59395399e-02 -2.00991514e-03 9.99351945e-01 -4.87269666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.941052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.24, Y:-45.12, Z:-4.87 [[ 8.60441674e-01 5.08598491e-01 3.11078805e-02 1.12235039e+02] [-5.08363094e-01 8.61000615e-01 -1.56494409e-02 -4.51203883e+01] [-3.47431863e-02 -2.34866725e-03 9.99393513e-01 -4.87355557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97105275399998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.26, Y:-45.13, Z:-4.87 [[ 8.58326126e-01 5.12158454e-01 3.11445117e-02 1.12260431e+02] [-5.11924950e-01 8.58887347e-01 -1.56643052e-02 -4.51340052e+01] [-3.47722333e-02 -2.49857017e-03 9.99392140e-01 -4.87363317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.29, Y:-45.15, Z:-4.88 [[ 8.56389373e-01 5.15412993e-01 3.07683161e-02 1.12285051e+02] [-5.15187263e-01 8.56937969e-01 -1.54726145e-02 -4.51499718e+01] [-3.43413248e-02 -2.60086191e-03 9.99406779e-01 -4.87520705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.31, Y:-45.16, Z:-4.88 [[ 8.56166958e-01 5.15830350e-01 2.99531409e-02 1.12308437e+02] [-5.15616779e-01 8.56686958e-01 -1.50596635e-02 -4.51639097e+01] [-3.34286967e-02 -2.55075572e-03 9.99437850e-01 -4.87730282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.33, Y:-45.18, Z:-4.88 [[ 8.56569312e-01 5.15276772e-01 2.79081033e-02 1.12330731e+02] [-5.15091149e-01 8.57020587e-01 -1.40293004e-02 -4.51824128e+01] [-3.11467918e-02 -2.35814878e-03 9.99512039e-01 -4.88062918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.09105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.36, Y:-45.20, Z:-4.88 [[ 8.57121348e-01 5.14424850e-01 2.66471064e-02 1.12355519e+02] [-5.14255441e-01 8.57532569e-01 -1.33878122e-02 -4.51969036e+01] [-2.97377849e-02 -2.22843979e-03 9.99555250e-01 -4.88279266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.38, Y:-45.22, Z:-4.88 [[ 8.58765158e-01 5.11730242e-01 2.55844457e-02 1.12377853e+02] [-5.11573150e-01 8.59143717e-01 -1.28447095e-02 -4.52163228e+01] [-2.85537420e-02 -2.05772648e-03 9.99590141e-01 -4.88401367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.40, Y:-45.23, Z:-4.89 [[ 8.59855210e-01 5.09907439e-01 2.53657575e-02 1.12401800e+02] [-5.09752294e-01 8.60226991e-01 -1.27327305e-02 -4.52315461e+01] [-2.83128232e-02 -1.98194845e-03 9.99597147e-01 -4.88529506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18105275399999 meters Centerline goodness [0,1] 0.9999765939518772 Centerline is valid? [True, True] Translation: X:112.42, Y:-45.25, Z:-4.88 [[ 8.61326964e-01 5.07344001e-01 2.67941434e-02 1.12422915e+02] [-5.07169718e-01 8.61741283e-01 -1.34476253e-02 -4.52543747e+01] [-2.99121915e-02 -2.00637589e-03 9.99550517e-01 -4.88480127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.211052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.45, Y:-45.27, Z:-4.88 [[ 8.61813114e-01 5.06466637e-01 2.77434841e-02 1.12446776e+02] [-5.06279389e-01 8.62257127e-01 -1.39222042e-02 -4.52700613e+01] [-3.09731488e-02 -2.04761604e-03 9.99518120e-01 -4.88457007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.241052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.47, Y:-45.29, Z:-4.88 [[ 8.61534152e-01 5.06887658e-01 2.87020300e-02 1.12469997e+02] [-5.06687808e-01 8.62009460e-01 -1.43928836e-02 -4.52868906e+01] [-3.20369964e-02 -2.14300791e-03 9.99484386e-01 -4.88353409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.271052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.49, Y:-45.30, Z:-4.88 [[ 8.61344817e-01 5.07193528e-01 2.89798310e-02 1.12493854e+02] [-5.06990029e-01 8.61829441e-01 -1.45301262e-02 -4.53026757e+01] [-3.23452575e-02 -2.17703644e-03 9.99474384e-01 -4.88403499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.301052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.52, Y:-45.32, Z:-4.88 [[ 8.59680841e-01 5.09987582e-01 2.93516232e-02 1.12518002e+02] [-5.09780778e-01 8.60178634e-01 -1.47062967e-02 -4.53185962e+01] [-3.27476678e-02 -2.32017181e-03 9.99460958e-01 -4.88446643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.331052754 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.54, Y:-45.33, Z:-4.89 [[ 8.58869281e-01 5.11362363e-01 2.91905970e-02 1.12542820e+02] [-5.11158684e-01 8.59361948e-01 -1.46233493e-02 -4.53347780e+01] [-3.25631188e-02 -2.36148165e-03 9.99466891e-01 -4.88549191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36105275399999 meters Centerline goodness [0,1] 0.9999542710810316 Centerline is valid? [True, True] Translation: X:112.57, Y:-45.35, Z:-4.89 [[ 8.57224984e-01 5.14056248e-01 3.01910684e-02 1.12566650e+02] [-5.13840319e-01 8.57752669e-01 -1.51157358e-02 -4.53507358e+01] [-3.36668080e-02 -2.55580190e-03 9.99429844e-01 -4.88717560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39105275399999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.59, Y:-45.37, Z:-4.89 [[ 8.56385565e-01 5.15431325e-01 3.05665319e-02 1.12591885e+02] [-5.15210971e-01 8.56926807e-01 -1.53004360e-02 -4.53669466e+01] [-3.40796046e-02 -2.64514003e-03 9.99415621e-01 -4.88761268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42105275399999 meters Centerline goodness [0,1] 0.9998194049392749 Centerline is valid? [True, True] Translation: X:112.62, Y:-45.38, Z:-4.89 [[ 8.55009389e-01 5.17651837e-01 3.15518578e-02 1.12615294e+02] [-5.17418849e-01 8.55586682e-01 -1.57849149e-02 -4.53830928e+01] [-3.51664396e-02 -2.82927551e-03 9.99377465e-01 -4.88662372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.45105275399999 meters Centerline goodness [0,1] 0.9998202125986021 Centerline is valid? [True, True] Translation: X:112.64, Y:-45.40, Z:-4.89 [[ 8.53409366e-01 5.20187962e-01 3.31200640e-02 1.12637479e+02] [-5.19933276e-01 8.54046239e-01 -1.65653340e-02 -4.54026088e+01] [-3.69031535e-02 -3.08321219e-03 9.99314090e-01 -4.88688710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48105275399999 meters Centerline goodness [0,1] 0.9997983464408147 Centerline is valid? [True, True] Translation: X:112.66, Y:-45.43, Z:-4.89 [[ 8.52406097e-01 5.21793665e-01 3.36929825e-02 1.12657261e+02] [-5.21531484e-01 8.53065685e-01 -1.68478239e-02 -4.54281604e+01] [-3.75334150e-02 -3.21076330e-03 9.99290215e-01 -4.88782692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51105275399999 meters Centerline goodness [0,1] 0.9996224235963042 Centerline is valid? [True, True] Translation: X:112.68, Y:-45.45, Z:-4.89 [[ 8.50421356e-01 5.24990913e-01 3.41768755e-02 1.12678274e+02] [-5.24723817e-01 8.51101030e-01 -1.70866255e-02 -4.54518573e+01] [-3.80582970e-02 -3.40258930e-03 9.99269728e-01 -4.88873119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54105275399999 meters Centerline goodness [0,1] 0.999801521667218 Centerline is valid? [True, True] Translation: X:112.70, Y:-45.47, Z:-4.89 [[ 8.49323948e-01 5.26788079e-01 3.38105319e-02 1.12702198e+02] [-5.26528431e-01 8.49989643e-01 -1.68943202e-02 -4.54700704e+01] [-3.76383284e-02 -3.45345552e-03 9.99285460e-01 -4.88979898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.571052754 meters Centerline goodness [0,1] 0.999846508058327 Centerline is valid? [True, True] Translation: X:112.73, Y:-45.48, Z:-4.89 [[ 8.48512713e-01 5.28101584e-01 3.36881696e-02 1.12726952e+02] [-5.27844912e-01 8.49173988e-01 -1.68311387e-02 -4.54843980e+01] [-3.74956684e-02 -3.50069376e-03 9.99290658e-01 -4.89103805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.601052754 meters Centerline goodness [0,1] 0.999913045368579 Centerline is valid? [True, True] Translation: X:112.75, Y:-45.51, Z:-4.89 [[ 8.47686296e-01 5.29471560e-01 3.29819895e-02 1.12747360e+02] [-5.29226637e-01 8.48320517e-01 -1.64762484e-02 -4.55058652e+01] [-3.67030033e-02 -3.48825746e-03 9.99320130e-01 -4.89371312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.631052754 meters Centerline goodness [0,1] 0.9997426935694834 Centerline is valid? [True, True] Translation: X:112.77, Y:-45.54, Z:-4.90 [[ 8.48305636e-01 5.28531470e-01 3.21252721e-02 1.12765161e+02] [-5.28298517e-01 8.48907061e-01 -1.60461567e-02 -4.55354145e+01] [-3.57522691e-02 -3.35968850e-03 9.99355036e-01 -4.89658314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.661052754 meters Centerline goodness [0,1] 0.9997214484679666 Centerline is valid? [True, True] Translation: X:112.79, Y:-45.56, Z:-4.90 [[ 8.48925759e-01 5.27538175e-01 3.20707017e-02 1.12787390e+02] [-5.27305650e-01 8.49524838e-01 -1.60094299e-02 -4.55551684e+01] [-3.56904431e-02 -3.32024477e-03 9.99357378e-01 -4.89847157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.691052754 meters Centerline goodness [0,1] 0.9999366487171365 Centerline is valid? [True, True] Translation: X:112.81, Y:-45.58, Z:-4.90 [[ 8.50048855e-01 5.25764622e-01 3.14405282e-02 1.12807327e+02] [-5.25540016e-01 8.50624140e-01 -1.56928031e-02 -4.55803719e+01] [-3.49947930e-02 -3.18360640e-03 9.99382424e-01 -4.90139420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72105275399998 meters Centerline goodness [0,1] 0.9997275775356245 Centerline is valid? [True, True] Translation: X:112.83, Y:-45.60, Z:-4.90 [[ 8.50640480e-01 5.24827763e-01 3.10900785e-02 1.12829999e+02] [-5.24607828e-01 8.51202737e-01 -1.55089425e-02 -4.55972606e+01] [-3.46034835e-02 -3.11756426e-03 9.99396258e-01 -4.90272216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75105275399999 meters Centerline goodness [0,1] 0.9999164874626804 Centerline is valid? [True, True] Translation: X:112.85, Y:-45.63, Z:-4.90 [[ 8.51685882e-01 5.23157975e-01 3.06086811e-02 1.12848427e+02] [-5.22943816e-01 8.52230430e-01 -1.52662822e-02 -4.56266044e+01] [-3.40723268e-02 -3.00454349e-03 9.99414853e-01 -4.90353586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78105275399999 meters Centerline goodness [0,1] 0.9998956659641508 Centerline is valid? [True, True] Translation: X:112.87, Y:-45.64, Z:-4.90 [[ 8.52541012e-01 5.21777806e-01 3.03602281e-02 1.12871645e+02] [-5.21566541e-01 8.53076385e-01 -1.51335503e-02 -4.56424683e+01] [-3.37959443e-02 -2.93290682e-03 9.99424450e-01 -4.90416497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81105275399999 meters Centerline goodness [0,1] 0.9997080109287338 Centerline is valid? [True, True] Translation: X:112.89, Y:-45.67, Z:-4.91 [[ 8.54672454e-01 5.18372895e-01 2.87147566e-02 1.12892196e+02] [-5.18182084e-01 8.55150588e-01 -1.43108491e-02 -4.56666018e+01] [-3.19737973e-02 -2.64838388e-03 9.99485199e-01 -4.90620684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84105275399999 meters Centerline goodness [0,1] 0.9996039273727877 Centerline is valid? [True, True] Translation: X:112.92, Y:-45.68, Z:-4.91 [[ 8.56006008e-01 5.16190951e-01 2.82951667e-02 1.12915759e+02] [-5.16004689e-01 8.56469776e-01 -1.40955005e-02 -4.56835191e+01] [-3.15099249e-02 -2.53460563e-03 9.99500225e-01 -4.90858825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87105275399999 meters Centerline goodness [0,1] 0.9990620701154695 Centerline is valid? [True, True] Translation: X:112.94, Y:-45.71, Z:-4.91 [[ 8.58480333e-01 5.12074747e-01 2.81242042e-02 1.12935042e+02] [-5.11888594e-01 8.58937619e-01 -1.40083555e-02 -4.57109044e+01] [-3.13302621e-02 -2.37056167e-03 9.99506276e-01 -4.90967141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90105275399999 meters Centerline goodness [0,1] 0.9990620701154695 Centerline is valid? [True, True] Translation: X:112.96, Y:-45.72, Z:-4.91 [[ 8.58624190e-01 5.11833507e-01 2.81240524e-02 1.12959630e+02] [-5.11647215e-01 8.59081419e-01 -1.40086608e-02 -4.57231048e+01] [-3.13309529e-02 -2.36141804e-03 9.99506276e-01 -4.91073667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93105275399999 meters Centerline goodness [0,1] 0.9991033634297392 Centerline is valid? [True, True] Translation: X:112.98, Y:-45.74, Z:-4.91 [[ 8.59674040e-01 5.10062449e-01 2.82284051e-02 1.12982823e+02] [-5.09874193e-01 8.60134255e-01 -1.40488490e-02 -4.57415954e+01] [-3.14460085e-02 -2.31550452e-03 9.99502770e-01 -4.91168725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.961052754 meters Centerline goodness [0,1] 0.9985375229817817 Centerline is valid? [True, True] Translation: X:113.01, Y:-45.76, Z:-4.91 [[ 8.61641979e-01 5.06697729e-01 2.88185976e-02 1.13005682e+02] [-5.06499669e-01 8.62120872e-01 -1.43417957e-02 -4.57630886e+01] [-3.21120698e-02 -2.23911698e-03 9.99481766e-01 -4.91234339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.991052754 meters Centerline goodness [0,1] 0.9981788495352927 Centerline is valid? [True, True] Translation: X:113.03, Y:-45.78, Z:-4.91 [[ 8.62209301e-01 5.05698506e-01 2.93962975e-02 1.13029927e+02] [-5.05492106e-01 8.62707335e-01 -1.46214101e-02 -4.57802948e+01] [-3.27544267e-02 -2.25288060e-03 9.99460891e-01 -4.91166223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.021052754 meters Centerline goodness [0,1] 0.9981322375793799 Centerline is valid? [True, True] Translation: X:113.06, Y:-45.79, Z:-4.91 [[ 8.61975283e-01 5.06051689e-01 3.01711745e-02 1.13055213e+02] [-5.05834807e-01 8.62499993e-01 -1.49970078e-02 -4.57925497e+01] [-3.36118989e-02 -2.33458020e-03 9.99432234e-01 -4.91150383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.051052754 meters Centerline goodness [0,1] 0.9982790794111549 Centerline is valid? [True, True] Translation: X:113.08, Y:-45.81, Z:-4.91 [[ 8.61399609e-01 5.07055058e-01 2.97637678e-02 1.13080148e+02] [-5.06844705e-01 8.61910477e-01 -1.47910347e-02 -4.58067905e+01] [-3.31535723e-02 -2.34461660e-03 9.99447519e-01 -4.91284265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.081052754 meters Centerline goodness [0,1] 0.9981117824773413 Centerline is valid? [True, True] Translation: X:113.10, Y:-45.83, Z:-4.91 [[ 8.59609118e-01 5.10076355e-01 2.99044606e-02 1.13102206e+02] [-5.09865882e-01 8.60125566e-01 -1.48590971e-02 -4.58285165e+01] [-3.33008652e-02 -2.47424882e-03 9.99442310e-01 -4.91443057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11105275399999 meters Centerline goodness [0,1] 0.997691258264246 Centerline is valid? [True, True] Translation: X:113.13, Y:-45.84, Z:-4.92 [[ 8.58453254e-01 5.11996508e-01 3.02916958e-02 1.13127561e+02] [-5.11781799e-01 8.58983645e-01 -1.50495211e-02 -4.58446771e+01] [-3.37253735e-02 -2.58342825e-03 9.99427799e-01 -4.91529443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14105275399999 meters Centerline goodness [0,1] 0.9980014156639048 Centerline is valid? [True, True] Translation: X:113.15, Y:-45.86, Z:-4.92 [[ 8.55661746e-01 5.16657318e-01 3.01362344e-02 1.13153575e+02] [-5.16447803e-01 8.56187841e-01 -1.49681990e-02 -4.58558454e+01] [-3.35357070e-02 -2.75607677e-03 9.99433720e-01 -4.91533362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17105275399999 meters Centerline goodness [0,1] 0.9976363788487282 Centerline is valid? [True, True] Translation: X:113.18, Y:-45.88, Z:-4.92 [[ 8.54456825e-01 5.18663604e-01 2.98596649e-02 1.13175203e+02] [-5.18459221e-01 8.54973780e-01 -1.48280984e-02 -4.58781303e+01] [-3.32200255e-02 -2.81104873e-03 9.99444109e-01 -4.91528947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20105275399999 meters Centerline goodness [0,1] 0.9977416724170378 Centerline is valid? [True, True] Translation: X:113.20, Y:-45.89, Z:-4.92 [[ 8.52902157e-01 5.21205682e-01 3.00424488e-02 1.13199599e+02] [-5.21000393e-01 8.53426071e-01 -1.49175090e-02 -4.58939853e+01] [-3.34140995e-02 -2.92895201e-03 9.99437301e-01 -4.91534714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.23105275399999 meters Centerline goodness [0,1] 0.9968363049718201 Centerline is valid? [True, True] Translation: X:113.22, Y:-45.91, Z:-4.91 [[ 8.52515928e-01 5.21793946e-01 3.07842572e-02 1.13222596e+02] [-5.21578808e-01 8.53066189e-01 -1.52847792e-02 -4.59121781e+01] [-3.42365142e-02 -3.02589847e-03 9.99409178e-01 -4.91484958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26105275399999 meters Centerline goodness [0,1] 0.9972203063932953 Centerline is valid? [True, True] Translation: X:113.24, Y:-45.93, Z:-4.91 [[ 8.52405554e-01 5.21837184e-01 3.30261199e-02 1.13244263e+02] [-5.21590001e-01 8.53038886e-01 -1.63868948e-02 -4.59323205e+01] [-3.67238555e-02 -3.25781378e-03 9.99320141e-01 -4.91431965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29105275399999 meters Centerline goodness [0,1] 0.9966776714446905 Centerline is valid? [True, True] Translation: X:113.27, Y:-45.95, Z:-4.91 [[ 8.52584569e-01 5.21531380e-01 3.32351120e-02 1.13266572e+02] [-5.21281210e-01 8.53225820e-01 -1.64802939e-02 -4.59504502e+01] [-3.69520461e-02 -3.27399511e-03 9.99311677e-01 -4.91480135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.321052754 meters Centerline goodness [0,1] 0.9973640167364016 Centerline is valid? [True, True] Translation: X:113.29, Y:-45.97, Z:-4.92 [[ 8.52689103e-01 5.21357943e-01 3.32744430e-02 1.13288527e+02] [-5.21107493e-01 8.53331784e-01 -1.64878003e-02 -4.59679409e+01] [-3.69901854e-02 -3.28059391e-03 9.99310244e-01 -4.91520433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.351052754 meters Centerline goodness [0,1] 0.9978891930865849 Centerline is valid? [True, True] Translation: X:113.32, Y:-45.97, Z:-4.92 [[ 8.52704684e-01 5.21367020e-01 3.27284671e-02 1.13316887e+02] [-5.21125162e-01 8.53326404e-01 -1.62053789e-02 -4.59739517e+01] [-3.63770152e-02 -3.23722517e-03 9.99332894e-01 -4.91631817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.381052754 meters Centerline goodness [0,1] 0.9976293954958514 Centerline is valid? [True, True] Translation: X:113.34, Y:-45.99, Z:-4.92 [[ 8.52515788e-01 5.21713912e-01 3.21157955e-02 1.13339622e+02] [-5.21481457e-01 8.53114519e-01 -1.58967814e-02 -4.59913921e+01] [-3.56920234e-02 -3.19553471e-03 9.99357728e-01 -4.91739739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.411052754 meters Centerline goodness [0,1] 0.9975781364177297 Centerline is valid? [True, True] Translation: X:113.36, Y:-46.02, Z:-4.92 [[ 8.52771617e-01 5.21307183e-01 3.19278931e-02 1.13358893e+02] [-5.21077319e-01 8.53363235e-01 -1.57992532e-02 -4.60179537e+01] [-3.54823543e-02 -3.16374622e-03 9.99365295e-01 -4.91841234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.441052754 meters Centerline goodness [0,1] 0.9977685088633994 Centerline is valid? [True, True] Translation: X:113.38, Y:-46.04, Z:-4.92 [[ 8.53755529e-01 5.19686869e-01 3.20476930e-02 1.13381337e+02] [-5.19454514e-01 8.54351124e-01 -1.58481783e-02 -4.60401712e+01] [-3.56160727e-02 -3.11684896e-03 9.99360686e-01 -4.91929711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47105275399998 meters Centerline goodness [0,1] 0.9978194505015264 Centerline is valid? [True, True] Translation: X:113.41, Y:-46.05, Z:-4.92 [[ 8.54354220e-01 5.18693728e-01 3.21820281e-02 1.13405612e+02] [-5.18458901e-01 8.54954532e-01 -1.59096162e-02 -4.60543961e+01] [-3.57663889e-02 -3.09261119e-03 9.99355393e-01 -4.92005886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50105275399999 meters Centerline goodness [0,1] 0.9983326733498676 Centerline is valid? [True, True] Translation: X:113.43, Y:-46.08, Z:-4.92 [[ 8.55554603e-01 5.16717684e-01 3.20804717e-02 1.13428937e+02] [-5.16483084e-01 8.56150580e-01 -1.58558952e-02 -4.60751750e+01] [-3.56587359e-02 -3.00343679e-03 9.99359512e-01 -4.92064527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53105275399999 meters Centerline goodness [0,1] 0.9979588011080794 Centerline is valid? [True, True] Translation: X:113.45, Y:-46.10, Z:-4.92 [[ 8.56815300e-01 5.14602610e-01 3.24298691e-02 1.13451592e+02] [-5.14361514e-01 8.57423727e-01 -1.60245228e-02 -4.60976600e+01] [-3.60524005e-02 -2.95062027e-03 9.99345545e-01 -4.92150671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56105275399999 meters Centerline goodness [0,1] 0.9983938926202495 Centerline is valid? [True, True] Translation: X:113.48, Y:-46.11, Z:-4.92 [[ 8.57641409e-01 5.13191122e-01 3.29558321e-02 1.13476503e+02] [-5.12941227e-01 8.58269318e-01 -1.62811335e-02 -4.61131484e+01] [-3.66403127e-02 -2.94103071e-03 9.99324191e-01 -4.92206392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.59105275399999 meters Centerline goodness [0,1] 0.9985008744898809 Centerline is valid? [True, True] Translation: X:113.50, Y:-46.13, Z:-4.92 [[ 8.58667941e-01 5.11447536e-01 3.33284369e-02 1.13501287e+02] [-5.11190707e-01 8.59309610e-01 -1.64637411e-02 -4.61272815e+01] [-3.70597860e-02 -2.90030052e-03 9.99308841e-01 -4.92232006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62105275399999 meters Centerline goodness [0,1] 0.9987491921866205 Centerline is valid? [True, True] Translation: X:113.52, Y:-46.15, Z:-4.92 [[ 8.61462306e-01 5.06722215e-01 3.33959875e-02 1.13523581e+02] [-5.06460892e-01 8.62105147e-01 -1.64948431e-02 -4.61499774e+01] [-3.71491561e-02 -2.70407602e-03 9.99306073e-01 -4.92252642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65105275399999 meters Centerline goodness [0,1] 0.9983396978250042 Centerline is valid? [True, True] Translation: X:113.55, Y:-46.17, Z:-4.92 [[ 8.65100520e-01 5.00562232e-01 3.22264263e-02 1.13546036e+02] [-5.00314654e-01 8.65697355e-01 -1.59165538e-02 -4.61698929e+01] [-3.58655577e-02 -2.35393437e-03 9.99353852e-01 -4.92446960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68105275399999 meters Centerline goodness [0,1] 0.9985216341148545 Centerline is valid? [True, True] Translation: X:113.57, Y:-46.19, Z:-4.93 [[ 8.67009992e-01 4.97290781e-01 3.15523845e-02 1.13570650e+02] [-4.97051348e-01 8.67581210e-01 -1.55821089e-02 -4.61867893e+01] [-3.51230950e-02 -2.17331115e-03 9.99380631e-01 -4.92612630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.711052754 meters Centerline goodness [0,1] 0.9988535217726638 Centerline is valid? [True, True] Translation: X:113.59, Y:-46.20, Z:-4.93 [[ 8.69792203e-01 4.92489857e-01 3.02533371e-02 1.13594830e+02] [-4.92266865e-01 8.70316114e-01 -1.49397643e-02 -4.62038100e+01] [-3.36876492e-02 -1.89822491e-03 9.99430607e-01 -4.92676972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.741052754 meters Centerline goodness [0,1] 0.9988307512423268 Centerline is valid? [True, True] Translation: X:113.62, Y:-46.22, Z:-4.93 [[ 8.70217898e-01 4.91713851e-01 3.06316522e-02 1.13619662e+02] [-4.91484783e-01 8.70754793e-01 -1.51260887e-02 -4.62173073e+01] [-3.41103653e-02 -1.89199787e-03 9.99416281e-01 -4.92643821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.771052754 meters Centerline goodness [0,1] 0.9988310197265421 Centerline is valid? [True, True] Translation: X:113.65, Y:-46.23, Z:-4.93 [[ 8.68766568e-01 4.94249884e-01 3.10113377e-02 1.13645539e+02] [-4.94017068e-01 8.69317520e-01 -1.53031463e-02 -4.62325162e+01] [-3.45222775e-02 -2.02526823e-03 9.99401876e-01 -4.92534761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.801052754 meters Centerline goodness [0,1] 0.9989381857550332 Centerline is valid? [True, True] Translation: X:113.67, Y:-46.24, Z:-4.93 [[ 8.67140667e-01 4.97156764e-01 3.00369029e-02 1.13672700e+02] [-4.96940111e-01 8.67658257e-01 -1.48214789e-02 -4.62421343e+01] [-3.34303653e-02 -2.07423475e-03 9.99438897e-01 -4.92658412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.831052754 meters Centerline goodness [0,1] 0.9989631073598639 Centerline is valid? [True, True] Translation: X:113.70, Y:-46.25, Z:-4.93 [[ 8.65120174e-01 5.00711414e-01 2.92431927e-02 1.13700574e+02] [-5.00508133e-01 8.65611598e-01 -1.44281226e-02 -4.62537008e+01] [-3.25375725e-02 -2.15439587e-03 9.99468191e-01 -4.92818911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86105275399999 meters Centerline goodness [0,1] 0.9992920648801715 Centerline is valid? [True, True] Translation: X:113.73, Y:-46.26, Z:-4.93 [[ 8.61221077e-01 5.07375657e-01 2.94652131e-02 1.13728178e+02] [-5.07173163e-01 8.61721570e-01 -1.45367994e-02 -4.62626226e+01] [-3.27664278e-02 -2.42456728e-03 9.99460096e-01 -4.92843802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89105275399999 meters Centerline goodness [0,1] 0.9990626757482972 Centerline is valid? [True, True] Translation: X:113.75, Y:-46.28, Z:-4.93 [[ 8.58930039e-01 5.11195460e-01 3.03049350e-02 1.13752595e+02] [-5.10983664e-01 8.59460416e-01 -1.49495071e-02 -4.62801035e+01] [-3.36880122e-02 -2.64474604e-03 9.99428898e-01 -4.92863920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92105275399999 meters Centerline goodness [0,1] 0.9990417265587568 Centerline is valid? [True, True] Translation: X:113.78, Y:-46.29, Z:-4.93 [[ 8.58666660e-01 5.11581929e-01 3.12329432e-02 1.13777536e+02] [-5.11357267e-01 8.59230124e-01 -1.54057883e-02 -4.62912996e+01] [-3.47176086e-02 -2.74275568e-03 9.99393398e-01 -4.92947685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.95105275399999 meters Centerline goodness [0,1] 0.9983954656275397 Centerline is valid? [True, True] Translation: X:113.80, Y:-46.31, Z:-4.93 [[ 8.59500483e-01 5.10064185e-01 3.30673248e-02 1.13800424e+02] [-5.09811408e-01 8.60131644e-01 -1.63059526e-02 -4.63120382e+01] [-3.67593348e-02 -2.84312529e-03 9.99320103e-01 -4.93005350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98105275399999 meters Centerline goodness [0,1] 0.9986932984879596 Centerline is valid? [True, True] Translation: X:113.83, Y:-46.32, Z:-4.93 [[ 8.60720842e-01 5.07972514e-01 3.35195147e-02 1.13827023e+02] [-5.07711255e-01 8.61368751e-01 -1.65274283e-02 -4.63229899e+01] [-3.72681418e-02 -2.79273291e-03 9.99301399e-01 -4.93028165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01105275399999 meters Centerline goodness [0,1] 0.998916237677414 Centerline is valid? [True, True] Translation: X:113.85, Y:-46.34, Z:-4.93 [[ 8.62806042e-01 5.04445498e-01 3.31733843e-02 1.13851048e+02] [-5.04187059e-01 8.63439579e-01 -1.63554864e-02 -4.63415405e+01] [-3.68936645e-02 -2.61397859e-03 9.99315778e-01 -4.93057338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04105275399999 meters Centerline goodness [0,1] 0.998851822470878 Centerline is valid? [True, True] Translation: X:113.88, Y:-46.35, Z:-4.93 [[ 8.63663665e-01 5.02975190e-01 3.31817988e-02 1.13877068e+02] [-5.02715577e-01 8.64297080e-01 -1.63586652e-02 -4.63519580e+01] [-3.69069346e-02 -2.55262238e-03 9.99315447e-01 -4.93196076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.071052754 meters Centerline goodness [0,1] 0.9985828904866104 Centerline is valid? [True, True] Translation: X:113.90, Y:-46.37, Z:-4.93 [[ 8.65072772e-01 5.00500829e-01 3.38824367e-02 1.13902604e+02] [-5.00228391e-01 8.65732441e-01 -1.67002200e-02 -4.63675014e+01] [-3.76915986e-02 -2.50205114e-03 9.99286287e-01 -4.93264920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.101052754 meters Centerline goodness [0,1] 0.9984961463750862 Centerline is valid? [True, True] Translation: X:113.93, Y:-46.38, Z:-4.93 [[ 8.65933112e-01 4.98967409e-01 3.45162261e-02 1.13928561e+02] [-4.98683495e-01 8.66617197e-01 -1.70119066e-02 -4.63813955e+01] [-3.84007421e-02 -2.48149908e-03 9.99259338e-01 -4.93276194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.131052754 meters Centerline goodness [0,1] 0.9987677527151211 Centerline is valid? [True, True] Translation: X:113.96, Y:-46.39, Z:-4.93 [[ 8.67333831e-01 4.96511011e-01 3.47684015e-02 1.13956546e+02] [-4.96221358e-01 8.68027109e-01 -1.71260800e-02 -4.63903300e+01] [-3.86832023e-02 -2.39879486e-03 9.99248646e-01 -4.93247025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.161052754 meters Centerline goodness [0,1] 0.9987882080103629 Centerline is valid? [True, True] Translation: X:113.98, Y:-46.40, Z:-4.93 [[ 8.68039409e-01 4.95255650e-01 3.50631619e-02 1.13981690e+02] [-4.94960107e-01 8.68744066e-01 -1.72696336e-02 -4.64039197e+01] [-3.90137974e-02 -2.36414384e-03 9.99235875e-01 -4.93339009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.191052754 meters Centerline goodness [0,1] 0.9984321431557822 Centerline is valid? [True, True] Translation: X:114.01, Y:-46.42, Z:-4.93 [[ 8.68706328e-01 4.94070234e-01 3.52692478e-02 1.14006517e+02] [-4.93770653e-01 8.69418862e-01 -1.73604491e-02 -4.64183007e+01] [-3.92410304e-02 -2.33378754e-03 9.99227049e-01 -4.93406506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22105275399998 meters Centerline goodness [0,1] 0.9985813827345934 Centerline is valid? [True, True] Translation: X:114.03, Y:-46.43, Z:-4.94 [[ 8.68956163e-01 4.93636309e-01 3.51906310e-02 1.14033628e+02] [-4.93338138e-01 8.69665349e-01 -1.73107885e-02 -4.64271900e+01] [-3.91493062e-02 -2.31856399e-03 9.99230682e-01 -4.93529627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25105275399999 meters Centerline goodness [0,1] 0.9988563348651515 Centerline is valid? [True, True] Translation: X:114.06, Y:-46.43, Z:-4.94 [[ 8.68420337e-01 4.94747721e-01 3.27232488e-02 1.14062823e+02] [-4.94491049e-01 8.69033834e-01 -1.60871926e-02 -4.64328700e+01] [-3.63967123e-02 -2.21090846e-03 9.99334974e-01 -4.93824166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28105275399999 meters Centerline goodness [0,1] 0.9991302006751299 Centerline is valid? [True, True] Translation: X:114.09, Y:-46.44, Z:-4.94 [[ 8.67976540e-01 4.95597283e-01 3.16237047e-02 1.14089272e+02] [-4.95358178e-01 8.68549720e-01 -1.55454225e-02 -4.64449509e+01] [-3.51710290e-02 -2.17199864e-03 9.99378948e-01 -4.94032346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31105275399999 meters Centerline goodness [0,1] 0.997258054465009 Centerline is valid? [True, True] Translation: X:114.12, Y:-46.45, Z:-4.94 [[ 8.65397077e-01 5.00008274e-01 3.28576613e-02 1.14118031e+02] [-4.99753693e-01 8.66017155e-01 -1.61410645e-02 -4.64538781e+01] [-3.65259641e-02 -2.45230757e-03 9.99329695e-01 -4.94267205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34105275399999 meters Centerline goodness [0,1] 0.996910764637585 Centerline is valid? [True, True] Translation: X:114.15, Y:-46.46, Z:-4.94 [[ 8.63451509e-01 5.03351517e-01 3.29960761e-02 1.14148522e+02] [-5.03097243e-01 8.64077810e-01 -1.62080929e-02 -4.64581398e+01] [-3.66695454e-02 -2.60533261e-03 9.99324050e-01 -4.94403994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37105275399999 meters Centerline goodness [0,1] 0.9967839654743132 Centerline is valid? [True, True] Translation: X:114.17, Y:-46.47, Z:-4.95 [[ 8.62642827e-01 5.04732599e-01 3.30508093e-02 1.14174895e+02] [-5.04478558e-01 8.63271611e-01 -1.62330086e-02 -4.64723127e+01] [-3.67251540e-02 -2.67013622e-03 9.99321837e-01 -4.94545731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40105275399999 meters Centerline goodness [0,1] 0.9963355472735222 Centerline is valid? [True, True] Translation: X:114.20, Y:-46.48, Z:-4.95 [[ 8.61237474e-01 5.07145167e-01 3.27687826e-02 1.14203671e+02] [-5.06897227e-01 8.61856261e-01 -1.60930767e-02 -4.64809832e+01] [-3.64035065e-02 -2.75044426e-03 9.99333388e-01 -4.94732271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43105275399999 meters Centerline goodness [0,1] 0.9968332013833909 Centerline is valid? [True, True] Translation: X:114.23, Y:-46.49, Z:-4.95 [[ 8.61114982e-01 5.07330770e-01 3.31131122e-02 1.14231004e+02] [-5.07077756e-01 8.61746899e-01 -1.62613657e-02 -4.64915460e+01] [-3.67850129e-02 -2.78801697e-03 9.99319313e-01 -4.94802112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.461052754 meters Centerline goodness [0,1] 0.9969216049254321 Centerline is valid? [True, True] Translation: X:114.26, Y:-46.50, Z:-4.95 [[ 8.61199604e-01 5.07159917e-01 3.35270213e-02 1.14256418e+02] [-5.06900785e-01 8.61847343e-01 -1.64545420e-02 -4.65036557e+01] [-3.72402583e-02 -2.82422836e-03 9.99302350e-01 -4.94882088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.491052754 meters Centerline goodness [0,1] 0.9971937555865051 Centerline is valid? [True, True] Translation: X:114.28, Y:-46.51, Z:-4.95 [[ 8.61996750e-01 5.05768862e-01 3.40508441e-02 1.14284257e+02] [-5.05500948e-01 8.62664429e-01 -1.66995197e-02 -4.65111154e+01] [-3.78205491e-02 -2.81780227e-03 9.99280574e-01 -4.94966793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.521052754 meters Centerline goodness [0,1] 0.9970600500417014 Centerline is valid? [True, True] Translation: X:114.31, Y:-46.52, Z:-4.95 [[ 8.62838673e-01 5.04251740e-01 3.52080386e-02 1.14311297e+02] [-5.03964149e-01 8.63552011e-01 -1.72644289e-02 -4.65225423e+01] [-3.91095909e-02 -2.84717231e-03 9.99230871e-01 -4.95019083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.551052754 meters Centerline goodness [0,1] 0.9962995301650659 Centerline is valid? [True, True] Translation: X:114.34, Y:-46.53, Z:-4.95 [[ 8.62612684e-01 5.04587503e-01 3.59278271e-02 1.14337235e+02] [-5.04288712e-01 8.63355587e-01 -1.76075529e-02 -4.65328056e+01] [-3.99030414e-02 -2.92949917e-03 9.99199262e-01 -4.95103834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.581052754 meters Centerline goodness [0,1] 0.9963574298024687 Centerline is valid? [True, True] Translation: X:114.36, Y:-46.55, Z:-4.95 [[ 8.61863691e-01 5.05811853e-01 3.66789871e-02 1.14362559e+02] [-5.05501687e-01 8.62638427e-01 -1.79718918e-02 -4.65490105e+01] [-4.07310996e-02 -3.05196890e-03 9.99165483e-01 -4.95155780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61105275399999 meters Centerline goodness [0,1] 0.9958584807492196 Centerline is valid? [True, True] Translation: X:114.39, Y:-46.56, Z:-4.95 [[ 8.61766994e-01 5.05965262e-01 3.68347840e-02 1.14388985e+02] [-5.05652682e-01 8.62548378e-01 -1.80460877e-02 -4.65608382e+01] [-4.09024766e-02 -3.07408459e-03 9.99158415e-01 -4.95274930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64105275399999 meters Centerline goodness [0,1] 0.9965933403959203 Centerline is valid? [True, True] Translation: X:114.42, Y:-46.57, Z:-4.95 [[ 8.61033217e-01 5.07216068e-01 3.67921187e-02 1.14417450e+02] [-5.06905785e-01 8.61813209e-01 -1.80144010e-02 -4.65681335e+01] [-4.08451275e-02 -3.13914013e-03 9.99160558e-01 -4.95334610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67105275399999 meters Centerline goodness [0,1] 0.996386142726593 Centerline is valid? [True, True] Translation: X:114.44, Y:-46.58, Z:-4.95 [[ 8.59966037e-01 5.09014053e-01 3.69203109e-02 1.14444547e+02] [-5.08703345e-01 8.60752119e-01 -1.80747527e-02 -4.65781125e+01] [-4.09795390e-02 -3.23781225e-03 9.99154740e-01 -4.95466427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70105275399999 meters Centerline goodness [0,1] 0.995922103861518 Centerline is valid? [True, True] Translation: X:114.47, Y:-46.59, Z:-4.96 [[ 8.57523613e-01 5.13000925e-01 3.85136994e-02 1.14469948e+02] [-5.12666899e-01 8.58380595e-01 -1.88521902e-02 -4.65945385e+01] [-4.27306032e-02 -3.57850058e-03 9.99080222e-01 -4.95556585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.73105275399999 meters Centerline goodness [0,1] 0.9956294615912922 Centerline is valid? [True, True] Translation: X:114.50, Y:-46.61, Z:-4.96 [[ 8.56076651e-01 5.15355331e-01 3.92638532e-02 1.14496664e+02] [-5.15010667e-01 8.56968306e-01 -1.92181292e-02 -4.66080783e+01] [-4.35520431e-02 -3.76911158e-03 9.99044050e-01 -4.95636471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76105275399999 meters Centerline goodness [0,1] 0.9955265183828884 Centerline is valid? [True, True] Translation: X:114.52, Y:-46.62, Z:-4.96 [[ 8.53014485e-01 5.20351241e-01 4.00109277e-02 1.14523984e+02] [-5.19998824e-01 8.53942481e-01 -1.95821854e-02 -4.66173549e+01] [-4.43566454e-02 -4.10174757e-03 9.99007339e-01 -4.95718134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79105275399999 meters Centerline goodness [0,1] 0.9955265183828884 Centerline is valid? [True, True] Translation: X:114.55, Y:-46.63, Z:-4.96 [[ 8.53162293e-01 5.20108746e-01 4.00124324e-02 1.14548715e+02] [-5.19756207e-01 8.54090243e-01 -1.95791101e-02 -4.66294228e+01] [-4.43574945e-02 -4.09255160e-03 9.99007339e-01 -4.95824910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.821052754 meters Centerline goodness [0,1] 0.995254844013403 Centerline is valid? [True, True] Translation: X:114.58, Y:-46.64, Z:-4.96 [[ 8.52010511e-01 5.22040107e-01 3.93981591e-02 1.14576628e+02] [-5.21700888e-01 8.52910895e-01 -1.92662481e-02 -4.66385383e+01] [-4.36608734e-02 -4.13900868e-03 9.99037835e-01 -4.95872227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.851052754 meters Centerline goodness [0,1] 0.9949705925140803 Centerline is valid? [True, True] Translation: X:114.60, Y:-46.66, Z:-4.96 [[ 8.49887258e-01 5.25573561e-01 3.82633146e-02 1.14601465e+02] [-5.25257204e-01 8.50737808e-01 -1.87096836e-02 -4.66563431e+01] [-4.23853634e-02 -4.19695994e-03 9.99092521e-01 -4.96082191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.881052754 meters Centerline goodness [0,1] 0.9945899831457167 Centerline is valid? [True, True] Translation: X:114.63, Y:-46.67, Z:-4.96 [[ 8.49869281e-01 5.25638670e-01 3.77649793e-02 1.14626028e+02] [-5.25330647e-01 8.50697825e-01 -1.84640357e-02 -4.66717955e+01] [-4.18319970e-02 -4.14708432e-03 9.99116052e-01 -4.96243159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.911052754 meters Centerline goodness [0,1] 0.9948776678813118 Centerline is valid? [True, True] Translation: X:114.65, Y:-46.69, Z:-4.96 [[ 8.52250301e-01 5.21854558e-01 3.65683650e-02 1.14650107e+02] [-5.21562729e-01 8.53025815e-01 -1.78683710e-02 -4.66872692e+01] [-4.05184502e-02 -3.84437167e-03 9.99171395e-01 -4.96448783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.941052754 meters Centerline goodness [0,1] 0.9945463970969414 Centerline is valid? [True, True] Translation: X:114.67, Y:-46.70, Z:-4.97 [[ 8.54837301e-01 5.17669881e-01 3.56522543e-02 1.14674468e+02] [-5.17388974e-01 8.55573052e-01 -1.74184277e-02 -4.67043261e+01] [-3.95201034e-02 -3.55616158e-03 9.99212447e-01 -4.96630923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2049.67 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%| | 0/4165 [00:00