+ python -m lidar_slam --no-model /working/436cd7e1-25bd-4474-a774-45f5cf616bf9 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/436cd7e1-25bd-4474-a774-45f5cf616bf9 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 0.029259764 Adjusted end_distance from 9.223372036854776e+18 to 264.379259764 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.029259764 meters Centerline goodness [0,1] 0.13533128806264028 Centerline is valid? [0, False] SLAMing on 0.059259764 meters Centerline goodness [0,1] 0.16354013131448475 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.28, Z:0.03 [[ 0.98323938 0.18099142 0.02196417 -0.13348894] [-0.18126477 0.9833711 0.01115156 0.28062451] [-0.0195806 -0.01494599 0.99969656 0.03087331] [ 0. 0. 0. 1. ]] SLAMing on 0.08925976399999999 meters Centerline goodness [0,1] 0.1949323026152212 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.32, Z:0.04 [[ 0.97842526 0.20488365 0.02658376 -0.1408641 ] [-0.2051046 0.97872263 0.00584032 0.31645661] [-0.02482154 -0.01116677 0.99962953 0.03516785] [ 0. 0. 0. 1. ]] SLAMing on 0.11925976399999999 meters Centerline goodness [0,1] 0.1960548144444697 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.33, Z:0.04 [[ 0.97736823 0.20977926 0.02727654 -0.14228276] [-0.21006516 0.9776543 0.00804418 0.32860153] [-0.02497952 -0.01359198 0.99959556 0.04034826] [ 0. 0. 0. 1. ]] SLAMing on 0.149259764 meters Centerline goodness [0,1] 0.18822393822393824 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.33, Z:0.04 [[ 9.79297938e-01 2.01777893e-01 1.61626300e-02 -1.57702791e-01] [-2.01799355e-01 9.79426835e-01 -3.08760315e-04 3.30480246e-01] [-1.58924146e-02 -2.95923998e-03 9.99869328e-01 3.59137851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.179259764 meters Centerline goodness [0,1] 0.18561869167244816 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.34, Z:0.03 [[ 0.97907751 0.20338496 0.00646506 -0.16757404] [-0.20339857 0.97909485 0.00151531 0.3431198 ] [-0.00602172 -0.00279859 0.99997795 0.03147897] [ 0. 0. 0. 1. ]] SLAMing on 0.209259764 meters Centerline goodness [0,1] 0.18635251592426882 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.37, Z:0.03 [[ 0.97554727 0.21959331 0.00928994 -0.17971349] [-0.21956547 0.97558985 -0.00392996 0.37439098] [-0.00992617 0.00179411 0.99994912 0.02599731] [ 0. 0. 0. 1. ]] SLAMing on 0.23925976399999999 meters Centerline goodness [0,1] 0.1981024754277394 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.40, Z:0.02 [[ 0.97277006 0.23147009 0.01183237 -0.18894932] [-0.23141439 0.9728374 -0.00589644 0.39742289] [-0.01287582 0.0029977 0.99991261 0.02199434] [ 0. 0. 0. 1. ]] SLAMing on 0.269259764 meters Centerline goodness [0,1] 0.197857820761965 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.42, Z:0.02 [[ 0.97054596 0.24054688 0.01333215 -0.1948958 ] [-0.24039055 0.97059806 -0.01232038 0.41961465] [-0.01590379 0.00875257 0.99983522 0.02116465] [ 0. 0. 0. 1. ]] SLAMing on 0.29925976400000004 meters Centerline goodness [0,1] 0.2025576036866359 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.45, Z:0.02 [[ 0.96695666 0.25433298 0.01759419 -0.2035964 ] [-0.25418297 0.96710098 -0.01033039 0.44791772] [-0.01964272 0.0055169 0.99979184 0.01895511] [ 0. 0. 0. 1. ]] SLAMing on 0.329259764 meters Centerline goodness [0,1] 0.23445065612500293 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.48, Z:0.02 [[ 0.96339359 0.26728709 0.02074641 -0.21354061] [-0.26707012 0.96359398 -0.01265703 0.47577999] [-0.02337417 0.00665295 0.99970465 0.01717706] [ 0. 0. 0. 1. ]] SLAMing on 0.359259764 meters Centerline goodness [0,1] 0.18635622817229336 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.51, Z:0.01 [[ 0.95786902 0.28600251 0.02625825 -0.22906788] [-0.28573904 0.95821419 -0.01337076 0.51306576] [-0.0289851 0.00530442 0.99956577 0.00954639] [ 0. 0. 0. 1. ]] SLAMing on 0.389259764 meters Centerline goodness [0,1] 0.19023859203483628 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.55, Z:0.00 [[ 0.95216277 0.30394416 0.03168596 -0.24535898] [-0.30351162 0.95266176 -0.01778407 0.55104188] [-0.03559137 0.00731627 0.99933965 0.00174863] [ 0. 0. 0. 1. ]] SLAMing on 0.41925976400000003 meters Centerline goodness [0,1] 0.23386494740413977 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.59, Z:-0.00 [[ 0.94503629 0.32472649 0.03819837 -0.26122292] [-0.3242264 0.94579264 -0.01880224 0.5933318 ] [-0.04223332 0.00538388 0.99909327 -0.00320526] [ 0. 0. 0. 1. ]] SLAMing on 0.449259764 meters Centerline goodness [0,1] 0.03823081537538642 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.64, Z:-0.00 [[ 0.93526923 0.35100227 0.04548487 -0.27730637] [-0.35024857 0.93635284 -0.02385992 0.64312238] [-0.05096477 0.00638444 0.99868004 -0.00499933] [ 0. 0. 0. 1. ]] SLAMing on 0.479259764 meters Centerline goodness [0,1] 0.2571272179902385 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.69, Z:-0.01 [[ 0.92734621 0.37061407 0.05171288 -0.29500991] [-0.36953099 0.92875045 -0.02948622 0.68664661] [-0.05895637 0.00823442 0.9982266 -0.01485725] [ 0. 0. 0. 1. ]] SLAMing on 0.509259764 meters Centerline goodness [0,1] 0.08610895033354549 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.73, Z:-0.02 [[ 0.91900377 0.39000421 0.0576956 -0.30967015] [-0.38862341 0.9207713 -0.03394188 0.72732741] [-0.06636193 0.00877086 0.99775707 -0.01916041] [ 0. 0. 0. 1. ]] SLAMing on 0.539259764 meters Centerline goodness [0,1] 0.2648766654663306 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.78, Z:-0.03 [[ 0.9088987 0.41317385 0.05648468 -0.3272212 ] [-0.41138312 0.910546 -0.04086449 0.77880215] [-0.06831604 0.01390484 0.99756683 -0.03313119] [ 0. 0. 0. 1. ]] SLAMing on 0.569259764 meters Centerline goodness [0,1] 0.2742640032761523 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.81, Z:-0.04 [[ 0.90111492 0.42930424 0.06074348 -0.34393579] [-0.42697475 0.90299639 -0.04785476 0.81427556] [-0.07539539 0.01718671 0.99700559 -0.04138887] [ 0. 0. 0. 1. ]] SLAMing on 0.5992597639999999 meters Centerline goodness [0,1] 0.20484891075193257 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.84, Z:-0.03 [[ 0.89483053 0.44310451 0.05419138 -0.34447348] [-0.44129533 0.89636045 -0.04238361 0.84369576] [-0.06735538 0.01401175 0.99763065 -0.03223405] [ 0. 0. 0. 1. ]] SLAMing on 0.6292597639999999 meters Centerline goodness [0,1] 0.21052135382294712 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.87, Z:-0.02 [[ 0.88695288 0.45942273 0.04738503 -0.34100247] [-0.45794041 0.888123 -0.03909108 0.87256663] [-0.06004307 0.01297242 0.99811149 -0.01995522] [ 0. 0. 0. 1. ]] SLAMing on 0.659259764 meters Centerline goodness [0,1] 0.21574902417145492 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.91, Z:-0.01 [[ 0.87465846 0.48271602 0.04424716 -0.3464544 ] [-0.4810023 0.87560457 -0.04419762 0.90889493] [-0.06007791 0.01737483 0.99804246 -0.01430067] [ 0. 0. 0. 1. ]] SLAMing on 0.6892597639999999 meters Centerline goodness [0,1] 0.29895122440786837 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.93, Z:-0.01 [[ 0.86968956 0.49222163 0.03685009 -0.34954504] [-0.49089664 0.87031577 -0.03963532 0.93094924] [-0.05158058 0.01638084 0.99853448 -0.00747474] [ 0. 0. 0. 1. ]] SLAMing on 0.7192597639999999 meters Centerline goodness [0,1] 0.24186634288970932 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.95, Z:-0.01 [[ 0.86391997 0.50184182 0.04239184 -0.36751765] [-0.50029233 0.8648238 -0.04227734 0.95059402] [-0.057878 0.01531592 0.99820617 -0.0085476 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7492597639999999 meters Centerline goodness [0,1] 0.25511239661034146 Centerline is valid? [False, False] Translation: X:-0.38, Y:0.97, Z:-0.01 [[ 0.86106346 0.50635942 0.04658184 -0.38330865] [-0.50447739 0.86216035 -0.04671281 0.97056963] [-0.06381448 0.01672321 0.99782165 -0.00524398] [ 0. 0. 0. 1. ]] SLAMing on 0.779259764 meters Centerline goodness [0,1] 0.23621898086758852 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.98, Z:0.00 [[ 0.86052606 0.50717908 0.04758452 -0.39017298] [-0.50519273 0.86166641 -0.04807594 0.98086279] [-0.06538509 0.01733125 0.99770959 0.00438903] [ 0. 0. 0. 1. ]] SLAMing on 0.809259764 meters Centerline goodness [0,1] 0.2444293293429466 Centerline is valid? [False, False] Translation: X:-0.40, Y:0.99, Z:0.01 [[ 0.85881039 0.50972047 0.05128108 -0.40041076] [-0.50780655 0.8602322 -0.04618514 0.99202835] [-0.06765515 0.01362341 0.99761575 0.01178472] [ 0. 0. 0. 1. ]] SLAMing on 0.8392597639999999 meters Centerline goodness [0,1] 0.23814337230903726 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.01, Z:0.02 [[ 0.85714558 0.51322749 0.04357757 -0.41618849] [-0.51154856 0.85810839 -0.04436289 1.01159057] [-0.06016253 0.01573341 0.99806459 0.01766864] [ 0. 0. 0. 1. ]] SLAMing on 0.8692597639999999 meters Centerline goodness [0,1] 0.24327945962206365 Centerline is valid? [False, False] Translation: X:-0.43, Y:1.03, Z:0.02 [[ 0.85753571 0.51325089 0.03472782 -0.43226039] [-0.51174538 0.85800443 -0.04410291 1.02863107] [-0.05243248 0.02004802 0.99842321 0.01953615] [ 0. 0. 0. 1. ]] SLAMing on 0.899259764 meters Centerline goodness [0,1] 0.33882673942701225 Centerline is valid? [False, False] Translation: X:-0.46, Y:1.05, Z:0.02 [[ 0.86416146 0.50184333 0.03712453 -0.45842382] [-0.50027363 0.86473429 -0.04428209 1.04922593] [-0.05432553 0.01969445 0.99832904 0.01605837] [ 0. 0. 0. 1. ]] SLAMing on 0.9292597639999999 meters Centerline goodness [0,1] 0.34768193623252475 Centerline is valid? [False, False] Translation: X:-0.48, Y:1.07, Z:0.02 [[ 0.86139695 0.50685128 0.03312203 -0.47550972] [-0.50572476 0.86190078 -0.03700687 1.0730898 ] [-0.04730488 0.01512697 0.99876595 0.0158196 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9592597639999999 meters Centerline goodness [0,1] 0.3542043840347603 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.10, Z:0.01 [[ 0.85485081 0.51753211 0.03729076 -0.49587392] [-0.5159746 0.85546286 -0.04419851 1.09671562] [-0.05477501 0.01854205 0.99832655 0.01421038] [ 0. 0. 0. 1. ]] SLAMing on 0.9892597639999999 meters Centerline goodness [0,1] 0.3570151422026038 Centerline is valid? [False, False] Translation: X:-0.50, Y:1.11, Z:0.03 [[ 0.85395611 0.51896188 0.03791485 -0.50120878] [-0.51729008 0.85456996 -0.04605609 1.10753759] [-0.05630225 0.0197169 0.99821906 0.02581217] [ 0. 0. 0. 1. ]] SLAMing on 1.019259764 meters Centerline goodness [0,1] 0.358165311351231 Centerline is valid? [False, False] Translation: X:-0.52, Y:1.12, Z:0.03 [[ 0.85465515 0.51835424 0.02955436 -0.52011628] [-0.51687017 0.85482893 -0.0459644 1.12360528] [-0.04908976 0.02400795 0.99850579 0.02707925] [ 0. 0. 0. 1. ]] SLAMing on 1.049259764 meters Centerline goodness [0,1] 0.3626968914076173 Centerline is valid? [False, False] Translation: X:-0.54, Y:1.14, Z:0.03 [[ 0.85699543 0.51431267 0.03226932 -0.54060494] [-0.5127175 0.85727757 -0.04686079 1.13501301] [-0.05176486 0.02361444 0.99838007 0.03276659] [ 0. 0. 0. 1. ]] SLAMing on 1.0792597640000001 meters Centerline goodness [0,1] 0.35572022809289006 Centerline is valid? [False, False] Translation: X:-0.56, Y:1.15, Z:0.03 [[ 0.86341853 0.50341048 0.03295962 -0.56195348] [-0.50166545 0.86365465 -0.04931969 1.14850984] [-0.05329378 0.02604883 0.99823907 0.02921279] [ 0. 0. 0. 1. ]] SLAMing on 1.1092597640000001 meters Centerline goodness [0,1] 0.3607570701821563 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.16, Z:0.03 [[ 0.8686973 0.49406632 0.03554531 -0.58633324] [-0.4922715 0.8690638 -0.04895806 1.16438654] [-0.05507967 0.02503179 0.99816814 0.02729739] [ 0. 0. 0. 1. ]] SLAMing on 1.139259764 meters Centerline goodness [0,1] 0.35670673274375053 Centerline is valid? [False, False] Translation: X:-0.61, Y:1.19, Z:0.04 [[ 0.86971926 0.49273422 0.02830913 -0.61330711] [-0.49108513 0.8696783 -0.04995053 1.18978484] [-0.04923217 0.02954074 0.99835041 0.03555889] [ 0. 0. 0. 1. ]] SLAMing on 1.169259764 meters Centerline goodness [0,1] 0.35919106549954727 Centerline is valid? [False, False] Translation: X:-0.63, Y:1.21, Z:0.04 [[ 0.86833139 0.49551949 0.02147142 -0.63059316] [-0.49416898 0.86804253 -0.04794986 1.21151019] [-0.0423982 0.03102586 0.99861894 0.04001321] [ 0. 0. 0. 1. ]] SLAMing on 1.199259764 meters Centerline goodness [0,1] 0.35735188559439013 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.23, Z:0.05 [[ 0.86697888 0.49814574 0.01408686 -0.64860952] [-0.49705212 0.86641906 -0.04750999 1.23255076] [-0.03587203 0.03418826 0.99877143 0.04689237] [ 0. 0. 0. 1. ]] SLAMing on 1.229259764 meters Centerline goodness [0,1] 0.3578217384096811 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.25, Z:0.05 [[ 0.86698952 0.49830043 0.00508493 -0.66466003] [-0.49751746 0.86611827 -0.04811979 1.2490711 ] [-0.02838226 0.03918951 0.99882863 0.04960875] [ 0. 0. 0. 1. ]] SLAMing on 1.259259764 meters Centerline goodness [0,1] 0.3578217384096811 Centerline is valid? [False, False] Translation: X:-0.66, Y:1.25, Z:0.05 [[ 0.86698952 0.49830043 0.00508493 -0.66466003] [-0.49751746 0.86611827 -0.04811979 1.2490711 ] [-0.02838226 0.03918951 0.99882863 0.04960875] [ 0. 0. 0. 1. ]] SLAMing on 1.289259764 meters Centerline goodness [0,1] 0.3707112272701997 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.26, Z:0.06 [[ 0.86608324 0.4998622 0.00613177 -0.67081248] [-0.49900448 0.86520083 -0.04921433 1.26186536] [-0.02990559 0.03956393 0.99876942 0.06153774] [ 0. 0. 0. 1. ]] SLAMing on 1.3192597640000001 meters Centerline goodness [0,1] 0.36394055154337335 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.28, Z:0.07 [[ 8.63914415e-01 5.03637144e-01 -1.22931410e-03 -6.87178899e-01] [-5.03105700e-01 8.62885400e-01 -4.80982396e-02 1.28159971e+00] [-2.31633028e-02 4.21712374e-02 9.98841853e-01 6.82760539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.349259764 meters Centerline goodness [0,1] 0.3624664279319606 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.30, Z:0.08 [[ 8.63381459e-01 5.04551726e-01 -1.08339447e-04 -6.94674599e-01] [-5.03942907e-01 8.62329072e-01 -4.92962193e-02 1.29510049e+00] [-2.47790683e-02 4.26160386e-02 9.98784196e-01 8.02280745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.379259764 meters Centerline goodness [0,1] 0.3760669314628581 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.32, Z:0.09 [[ 0.86122692 0.50817612 -0.00672471 -0.71226433] [-0.50790262 0.8601447 -0.04675487 1.31545396] [-0.01797548 0.04368205 0.99888376 0.08500115] [ 0. 0. 0. 1. ]] SLAMing on 1.409259764 meters Centerline goodness [0,1] 0.37358159540451064 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.33, Z:0.10 [[ 0.85901386 0.51193584 -0.00410883 -0.72014435] [-0.51156505 0.85802426 -0.04577743 1.3279995 ] [-0.01990963 0.04142538 0.99894321 0.09804246] [ 0. 0. 0. 1. ]] SLAMing on 1.439259764 meters Centerline goodness [0,1] 0.3722540727706193 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.34, Z:0.11 [[ 0.85989169 0.51044439 -0.00572857 -0.72468197] [-0.51004861 0.85865737 -0.05057592 1.3387611 ] [-0.02089732 0.04641166 0.99870379 0.10995385] [ 0. 0. 0. 1. ]] SLAMing on 1.469259764 meters Centerline goodness [0,1] 0.36915107424915783 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.36, Z:0.11 [[ 0.86501209 0.50173753 -0.00367943 -0.74640734] [-0.50125721 0.86381227 -0.05069103 1.35572114] [-0.02225525 0.04569269 0.99870761 0.10820336] [ 0. 0. 0. 1. ]] SLAMing on 1.499259764 meters Centerline goodness [0,1] 0.3690863331730905 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.37, Z:0.11 [[ 0.86514184 0.50140555 -0.01104845 -0.76806093] [-0.50128781 0.86383826 -0.04993989 1.37273867] [-0.01549606 0.04874354 0.99869111 0.10964254] [ 0. 0. 0. 1. ]] SLAMing on 1.529259764 meters Centerline goodness [0,1] 0.38035714285714284 Centerline is valid? [False, False] Translation: X:-0.79, Y:1.40, Z:0.12 [[ 0.86452886 0.50226062 -0.01800333 -0.78962483] [-0.50248522 0.86309839 -0.05069297 1.39618143] [-0.00992244 0.05287195 0.998552 0.1160917 ] [ 0. 0. 0. 1. ]] SLAMing on 1.559259764 meters Centerline goodness [0,1] 0.37975980420058053 Centerline is valid? [False, False] Translation: X:-0.80, Y:1.42, Z:0.12 [[ 0.86755748 0.49702696 -0.01755642 -0.79874665] [-0.49722151 0.866055 -0.05214889 1.41570478] [-0.01071458 0.05397159 0.99848498 0.11899685] [ 0. 0. 0. 1. ]] SLAMing on 1.5892597640000001 meters Centerline goodness [0,1] 0.3704904858938668 Centerline is valid? [False, False] Translation: X:-0.81, Y:1.43, Z:0.13 [[ 0.86554271 0.50061385 -0.01488627 -0.80752006] [-0.50067403 0.8641282 -0.05106828 1.42803766] [-0.01270184 0.05165495 0.99858421 0.13193194] [ 0. 0. 0. 1. ]] SLAMing on 1.619259764 meters Centerline goodness [0,1] 0.3639841233317993 Centerline is valid? [False, False] Translation: X:-0.83, Y:1.45, Z:0.14 [[ 0.86348558 0.50389604 -0.02194154 -0.82638814] [-0.50433594 0.86207283 -0.04975628 1.44672216] [-0.00615679 0.05402974 0.99852035 0.13820781] [ 0. 0. 0. 1. ]] SLAMing on 1.649259764 meters Centerline goodness [0,1] 0.36988031342383976 Centerline is valid? [False, False] Translation: X:-0.85, Y:1.46, Z:0.14 [[ 8.63499730e-01 5.03469476e-01 -2.97775421e-02 -8.45702742e-01] [-5.04348608e-01 8.62089921e-01 -4.93300039e-02 1.46148908e+00] [ 8.34767679e-04 5.76147070e-02 9.98338544e-01 1.37785276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.679259764 meters Centerline goodness [0,1] 0.40253652363971015 Centerline is valid? [False, False] Translation: X:-0.87, Y:1.48, Z:0.14 [[ 0.86307765 0.50370191 -0.03716652 -0.86715174] [-0.50501818 0.86171397 -0.04904767 1.48054709] [ 0.00732151 0.06110172 0.99810469 0.14118654] [ 0. 0. 0. 1. ]] SLAMing on 1.709259764 meters Centerline goodness [0,1] 0.367043341438993 Centerline is valid? [False, False] Translation: X:-0.88, Y:1.49, Z:0.14 [[ 0.86636179 0.49811898 -0.03598237 -0.88177309] [-0.49938149 0.86490696 -0.05053783 1.49319764] [ 0.00594755 0.06175298 0.99807374 0.14437812] [ 0. 0. 0. 1. ]] SLAMing on 1.739259764 meters Centerline goodness [0,1] 0.3672873737668554 Centerline is valid? [False, False] Translation: X:-0.90, Y:1.51, Z:0.15 [[ 0.86739979 0.49642957 -0.03428246 -0.8957789 ] [-0.49759504 0.86587661 -0.05154477 1.5066726 ] [ 0.00409603 0.06176871 0.99808209 0.15452006] [ 0. 0. 0. 1. ]] SLAMing on 1.769259764 meters Centerline goodness [0,1] 0.3617228552872409 Centerline is valid? [False, False] Translation: X:-0.90, Y:1.51, Z:0.16 [[ 0.86816196 0.49503085 -0.03520328 -0.90003962] [-0.49626207 0.86656132 -0.05287184 1.51191543] [ 0.00433261 0.06337137 0.99798061 0.16118482] [ 0. 0. 0. 1. ]] SLAMing on 1.799259764 meters Centerline goodness [0,1] 0.3731730102763463 Centerline is valid? [False, False] Translation: X:-0.92, Y:1.53, Z:0.16 [[ 0.86812169 0.49442648 -0.04367134 -0.92039967] [-0.49622754 0.86650471 -0.05410922 1.52857918] [ 0.01108839 0.06864431 0.99757957 0.16499918] [ 0. 0. 0. 1. ]] SLAMing on 1.829259764 meters Centerline goodness [0,1] 0.3491068151229658 Centerline is valid? [False, False] Translation: X:-0.94, Y:1.54, Z:0.16 [[ 0.87236171 0.48700881 -0.04251434 -0.94010308] [-0.4887449 0.87074526 -0.05413989 1.53880745] [ 0.01065256 0.06800823 0.99762789 0.16439752] [ 0. 0. 0. 1. ]] SLAMing on 1.859259764 meters Centerline goodness [0,1] 0.34648852135275243 Centerline is valid? [False, False] Translation: X:-0.95, Y:1.55, Z:0.16 [[ 0.87606973 0.48014682 -0.04428167 -0.94874095] [-0.4820539 0.87426821 -0.05726368 1.54568807] [ 0.01121908 0.07151313 0.99737656 0.16390555] [ 0. 0. 0. 1. ]] SLAMing on 1.889259764 meters Centerline goodness [0,1] 0.3927995034140286 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.55, Z:0.16 [[ 0.87904624 0.47481135 -0.04280048 -0.96491757] [-0.47662207 0.87725332 -0.05707897 1.55385462] [ 0.01044512 0.07057471 0.99745181 0.16325611] [ 0. 0. 0. 1. ]] SLAMing on 1.919259764 meters Centerline goodness [0,1] 0.3704461600471274 Centerline is valid? [False, False] Translation: X:-0.99, Y:1.56, Z:0.17 [[ 0.88488909 0.46381209 -0.04300751 -0.99168018] [-0.46568915 0.88292655 -0.0597857 1.56458194] [ 0.01024314 0.07293184 0.99728432 0.1654161 ] [ 0. 0. 0. 1. ]] SLAMing on 1.949259764 meters Centerline goodness [0,1] 0.3820009277872275 Centerline is valid? [False, False] Translation: X:-1.02, Y:1.57, Z:0.16 [[ 0.88978203 0.45455599 -0.04082623 -1.01723603] [-0.45629809 0.88779751 -0.06006362 1.57394096] [ 0.00894315 0.07207246 0.9973593 0.1648658 ] [ 0. 0. 0. 1. ]] SLAMing on 1.979259764 meters Centerline goodness [0,1] 0.3736899057041274 Centerline is valid? [False, False] Translation: X:-1.03, Y:1.58, Z:0.17 [[ 0.89202345 0.45020811 -0.04008519 -1.03259235] [-0.45191624 0.88995786 -0.06121047 1.58021502] [ 0.00811668 0.07271632 0.99731964 0.16970565] [ 0. 0. 0. 1. ]] SLAMing on 2.009259764 meters Centerline goodness [0,1] 0.3231537173683884 Centerline is valid? [False, False] Translation: X:-1.06, Y:1.60, Z:0.18 [[ 0.89589649 0.44262146 -0.03815393 -1.06081245] [-0.444208 0.89382569 -0.0612771 1.5969804 ] [ 0.0069804 0.07184622 0.99739129 0.1769188 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0392597639999996 meters Centerline goodness [0,1] 0.3204973926995588 Centerline is valid? [False, False] Translation: X:-1.09, Y:1.61, Z:0.18 [[ 0.90062803 0.43299982 -0.0371526 -1.08763654] [-0.4345387 0.89854698 -0.06155838 1.60633425] [ 0.00672859 0.07158544 0.99741178 0.178807 ] [ 0. 0. 0. 1. ]] SLAMing on 2.069259764 meters Centerline goodness [0,1] 0.3475862904936513 Centerline is valid? [False, False] Translation: X:-1.13, Y:1.62, Z:0.18 [[ 0.90848648 0.41638328 -0.03573916 -1.12898135] [-0.41787598 0.90623278 -0.0642013 1.61535492] [ 0.00565565 0.07326055 0.9972968 0.1802682 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0992597639999997 meters Centerline goodness [0,1] 0.3218230403800475 Centerline is valid? [False, False] Translation: X:-1.17, Y:1.62, Z:0.18 [[ 0.91724261 0.3969751 -0.03281417 -1.1733359 ] [-0.39830472 0.91497881 -0.06455326 1.62081428] [ 0.00439824 0.07228104 0.99737461 0.17545009] [ 0. 0. 0. 1. ]] SLAMing on 2.129259764 meters Centerline goodness [0,1] 0.3215746569580227 Centerline is valid? [False, False] Translation: X:-1.21, Y:1.62, Z:0.19 [[ 0.9275531 0.37242071 -0.03079064 -1.20748762] [-0.37366474 0.92531706 -0.06452133 1.61923484] [ 0.00446202 0.07135233 0.99744119 0.18618298] [ 0. 0. 0. 1. ]] SLAMing on 2.1592597639999997 meters Centerline goodness [0,1] 0.3179323223177909 Centerline is valid? [False, False] Translation: X:-1.27, Y:1.63, Z:0.19 [[ 9.38010737e-01 3.45632797e-01 -2.59581884e-02 -1.26811793e+00] [-3.46606199e-01 9.35383764e-01 -7.01523804e-02 1.62565997e+00] [ 3.39045124e-05 7.48009550e-02 9.97198484e-01 1.90346701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.189259764 meters Centerline goodness [0,1] 0.3402938061748174 Centerline is valid? [False, False] Translation: X:-1.36, Y:1.63, Z:0.19 [[ 0.95540322 0.29405458 -0.0271401 -1.35822004] [-0.29528902 0.95224769 -0.07764487 1.6253305 ] [ 0.00301227 0.08219633 0.9966116 0.18810997] [ 0. 0. 0. 1. ]] SLAMing on 2.219259764 meters Centerline goodness [0,1] 0.35551965250556206 Centerline is valid? [False, False] Translation: X:-1.42, Y:1.61, Z:0.19 [[ 0.9683735 0.2471733 -0.03403129 -1.42060486] [-0.24914108 0.96528869 -0.07839939 1.61091175] [ 0.01347178 0.08439848 0.99634101 0.18707162] [ 0. 0. 0. 1. ]] SLAMing on 2.2492597639999996 meters Centerline goodness [0,1] 0.32783975659229214 Centerline is valid? [False, False] Translation: X:-1.49, Y:1.59, Z:0.18 [[ 0.98179567 0.18386713 -0.04764601 -1.49123763] [-0.18711206 0.97937955 -0.07618902 1.59436162] [ 0.03265487 0.08371719 0.99595436 0.18323226] [ 0. 0. 0. 1. ]] SLAMing on 2.279259764 meters Centerline goodness [0,1] 0.32815937423612807 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.59, Z:0.18 [[ 0.99091216 0.12310633 -0.05420264 -1.55279672] [-0.12735104 0.98834197 -0.08343781 1.5909197 ] [ 0.04329903 0.0895823 0.99503779 0.1796589 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3092597639999997 meters Centerline goodness [0,1] 0.32882981041621273 Centerline is valid? [False, False] Translation: X:-1.59, Y:1.60, Z:0.18 [[ 0.99214386 0.11444492 -0.05052652 -1.58880091] [-0.11811344 0.99002264 -0.07684005 1.59893818] [ 0.04122844 0.08220424 0.99576236 0.18051135] [ 0. 0. 0. 1. ]] SLAMing on 2.339259764 meters Centerline goodness [0,1] 0.3162628267993398 Centerline is valid? [False, False] Translation: X:-1.61, Y:1.60, Z:0.19 [[ 0.99309804 0.10703058 -0.0479659 -1.6149409 ] [-0.11051173 0.99088691 -0.07700834 1.59811306] [ 0.03928654 0.08177763 0.99587599 0.18654272] [ 0. 0. 0. 1. ]] SLAMing on 2.3692597639999997 meters Centerline goodness [0,1] 0.31809734409183943 Centerline is valid? [False, False] Translation: X:-1.66, Y:1.61, Z:0.18 [[ 0.9946587 0.09137017 -0.04801625 -1.65982073] [-0.09452775 0.99318207 -0.06821932 1.61016663] [ 0.04145566 0.07239381 0.99651421 0.18497894] [ 0. 0. 0. 1. ]] SLAMing on 2.399259764 meters Centerline goodness [0,1] 0.23928405392840535 Centerline is valid? [False, False] Translation: X:-1.69, Y:1.62, Z:0.19 [[ 0.99550781 0.08248844 -0.04647424 -1.69365393] [-0.08529268 0.99442571 -0.06198919 1.6218523 ] [ 0.04110179 0.06567463 0.99699423 0.18731002] [ 0. 0. 0. 1. ]] SLAMing on 2.4292597639999998 meters Centerline goodness [0,1] 0.2895319887622485 Centerline is valid? [False, False] Translation: X:-1.72, Y:1.63, Z:0.19 [[ 0.99656637 0.069475 -0.04504097 -1.72456543] [-0.07226367 0.99535792 -0.06356547 1.62682307] [ 0.04041567 0.06660203 0.99696075 0.19236394] [ 0. 0. 0. 1. ]] SLAMing on 2.4592597639999996 meters Centerline goodness [0,1] 0.2591825588275454 Centerline is valid? [False, False] Translation: X:-1.76, Y:1.64, Z:0.20 [[ 0.99662229 0.06170314 -0.05419167 -1.7639425 ] [-0.06475423 0.99630181 -0.05647653 1.63531343] [ 0.05050648 0.05979491 0.99693213 0.19542985] [ 0. 0. 0. 1. ]] SLAMing on 2.489259764 meters Centerline goodness [0,1] 0.24142104673316145 Centerline is valid? [False, False] Translation: X:-1.79, Y:1.64, Z:0.20 [[ 0.99626421 0.06738558 -0.05400741 -1.78881001] [-0.06958991 0.99677225 -0.040029 1.6422213 ] [ 0.05113571 0.04363783 0.99773788 0.19764491] [ 0. 0. 0. 1. ]] SLAMing on 2.5192597639999996 meters Centerline goodness [0,1] 0.25249079974867605 Centerline is valid? [False, False] Translation: X:-1.82, Y:1.65, Z:0.20 [[ 0.99636988 0.06460751 -0.05543411 -1.81611067] [-0.06753174 0.99632923 -0.05260728 1.65230102] [ 0.05183179 0.05615987 0.99707549 0.2048006 ] [ 0. 0. 0. 1. ]] SLAMing on 2.549259764 meters Centerline goodness [0,1] 0.2647891150302234 Centerline is valid? [False, False] Translation: X:-1.83, Y:1.65, Z:0.22 [[ 0.99699793 0.05388071 -0.0556058 -1.8297276 ] [-0.05636438 0.9974355 -0.04410754 1.65339252] [ 0.05308665 0.04710931 0.99747808 0.21620996] [ 0. 0. 0. 1. ]] SLAMing on 2.5792597639999997 meters Centerline goodness [0,1] 0.2605232963621229 Centerline is valid? [False, False] Translation: X:-1.85, Y:1.67, Z:0.21 [[ 0.99698854 0.04135695 -0.0656007 -1.85482009] [-0.04315092 0.99872577 -0.02616925 1.67214031] [ 0.06443483 0.02892117 0.99750274 0.21112455] [ 0. 0. 0. 1. ]] SLAMing on 2.609259764 meters Centerline goodness [0,1] 0.26597114016665535 Centerline is valid? [False, False] Translation: X:-1.86, Y:1.68, Z:0.21 [[ 0.99687094 0.04431126 -0.06545862 -1.85755309] [-0.04594773 0.99866245 -0.02370905 1.67596146] [ 0.06432049 0.02664253 0.99757358 0.2142114 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6392597639999997 meters Centerline goodness [0,1] 0.2716912014110304 Centerline is valid? [False, False] Translation: X:-1.87, Y:1.68, Z:0.22 [[ 0.99645259 0.06269199 -0.05614224 -1.87058202] [-0.06430011 0.99755688 -0.0273089 1.68322607] [ 0.05429303 0.03082198 0.99804923 0.21890909] [ 0. 0. 0. 1. ]] SLAMing on 2.6692597639999995 meters Centerline goodness [0,1] 0.23713001634283637 Centerline is valid? [False, False] Translation: X:-1.88, Y:1.69, Z:0.21 [[ 0.99516249 0.08303913 -0.05249877 -1.8793969 ] [-0.08419165 0.99624617 -0.02013292 1.68831782] [ 0.05062988 0.02445548 0.99841802 0.21109553] [ 0. 0. 0. 1. ]] SLAMing on 2.699259764 meters Centerline goodness [0,1] 0.21941071388191669 Centerline is valid? [False, False] Translation: X:-1.88, Y:1.69, Z:0.20 [[ 0.99377765 0.09915977 -0.05072784 -1.88285784] [-0.10013467 0.99482787 -0.01704574 1.68857508] [ 0.04877522 0.02201929 0.99856704 0.19863513] [ 0. 0. 0. 1. ]] SLAMing on 2.7292597639999996 meters Centerline goodness [0,1] 0.23491461956644333 Centerline is valid? [False, False] Translation: X:-1.90, Y:1.70, Z:0.20 [[ 0.99218891 0.11555473 -0.04699223 -1.89534834] [-0.11651102 0.99302376 -0.01813822 1.70050938] [ 0.04456844 0.02347166 0.99873056 0.20216229] [ 0. 0. 0. 1. ]] SLAMing on 2.759259764 meters Centerline goodness [0,1] 0.24051862392988643 Centerline is valid? [False, False] Translation: X:-1.91, Y:1.71, Z:0.20 [[ 0.99130754 0.1245103 -0.04250344 -1.90835739] [-0.12546104 0.99188722 -0.02047592 1.70833459] [ 0.03960916 0.02563046 0.99888648 0.20128587] [ 0. 0. 0. 1. ]] SLAMing on 2.7892597639999996 meters Centerline goodness [0,1] 0.23982787365385483 Centerline is valid? [False, False] Translation: X:-1.92, Y:1.71, Z:0.20 [[ 0.990058 0.13521035 -0.03877274 -1.92177363] [-0.13617109 0.99041129 -0.02330032 1.71486821] [ 0.03525052 0.0283484 0.99897636 0.20063483] [ 0. 0. 0. 1. ]] SLAMing on 2.819259764 meters Centerline goodness [0,1] 0.22603896835229198 Centerline is valid? [False, False] Translation: X:-1.93, Y:1.72, Z:0.19 [[ 0.98600263 0.16265921 -0.03661683 -1.93499138] [-0.16348421 0.98632722 -0.02077323 1.72338374] [ 0.03273722 0.02646874 0.99911345 0.19113722] [ 0. 0. 0. 1. ]] SLAMing on 2.8492597639999997 meters Centerline goodness [0,1] 0.2145527818202172 Centerline is valid? [False, False] Translation: X:-1.95, Y:1.73, Z:0.19 [[ 0.98307866 0.18032584 -0.03223245 -1.95412011] [-0.18125533 0.98301744 -0.02869177 1.73163363] [ 0.0265112 0.03404858 0.99906849 0.18591834] [ 0. 0. 0. 1. ]] SLAMing on 2.879259764 meters Centerline goodness [0,1] 0.2375383089958536 Centerline is valid? [False, False] Translation: X:-1.99, Y:1.73, Z:0.19 [[ 0.98361196 0.17793706 -0.0290845 -1.98949132] [-0.17892677 0.98320497 -0.03596109 1.72963632] [ 0.02219722 0.04057575 0.99892987 0.18965388] [ 0. 0. 0. 1. ]] SLAMing on 2.9092597639999997 meters Centerline goodness [0,1] 0.2481479818614466 Centerline is valid? [False, False] Translation: X:-2.01, Y:1.72, Z:0.19 [[ 0.98741155 0.15564869 -0.02814112 -2.01402086] [-0.15636473 0.98737455 -0.02532903 1.72289536] [ 0.0238434 0.02941046 0.999283 0.18669257] [ 0. 0. 0. 1. ]] SLAMing on 2.9392597639999996 meters Centerline goodness [0,1] 0.22959355432367534 Centerline is valid? [False, False] Translation: X:-2.02, Y:1.74, Z:0.19 [[ 0.98444429 0.17201302 -0.03579051 -2.02389582] [-0.17273225 0.98480328 -0.01805764 1.73664961] [ 0.03214046 0.02395891 0.99919616 0.19205542] [ 0. 0. 0. 1. ]] SLAMing on 2.969259764 meters Centerline goodness [0,1] 0.23954594400574303 Centerline is valid? [False, False] Translation: X:-2.05, Y:1.76, Z:0.20 [[ 0.97738043 0.20934509 -0.03003539 -2.04630612] [-0.21019451 0.97724075 -0.02861447 1.76141015] [ 0.02336151 0.0342805 0.99913917 0.19874233] [ 0. 0. 0. 1. ]] SLAMing on 2.9992597639999996 meters Centerline goodness [0,1] 0.2528112449799197 Centerline is valid? [False, False] Translation: X:-2.08, Y:1.78, Z:0.20 [[ 0.96980273 0.24215377 -0.02905525 -2.07596598] [-0.24307271 0.96941556 -0.03389878 1.78108415] [ 0.01995789 0.03993767 0.99900284 0.20207906] [ 0. 0. 0. 1. ]] SLAMing on 3.029259764 meters Centerline goodness [0,1] 0.2656627044418626 Centerline is valid? [False, False] Translation: X:-2.11, Y:1.80, Z:0.20 [[ 0.96685361 0.2539378 -0.02664005 -2.1140068 ] [-0.25476953 0.96637847 -0.03471522 1.79694426] [ 0.01692887 0.04035161 0.99904212 0.19958704] [ 0. 0. 0. 1. ]] SLAMing on 3.0592597639999997 meters Centerline goodness [0,1] 0.27936578829834746 Centerline is valid? [False, False] Translation: X:-2.15, Y:1.82, Z:0.19 [[ 0.96388323 0.26429929 -0.03278741 -2.1546432 ] [-0.26521307 0.96379559 -0.02756967 1.81809952] [ 0.02431371 0.03526959 0.99908203 0.19493107] [ 0. 0. 0. 1. ]] SLAMing on 3.089259764 meters Centerline goodness [0,1] 0.2997636671720325 Centerline is valid? [False, False] Translation: X:-2.20, Y:1.85, Z:0.20 [[ 0.95962728 0.28032217 -0.02312948 -2.20364758] [-0.28104117 0.95893366 -0.03823735 1.85122795] [ 0.01146086 0.04319394 0.99900097 0.19775545] [ 0. 0. 0. 1. ]] SLAMing on 3.1192597639999997 meters Centerline goodness [0,1] 0.3110977430207428 Centerline is valid? [False, False] Translation: X:-2.25, Y:1.89, Z:0.20 [[ 0.9521448 0.30485643 -0.0219733 -2.25166582] [-0.30551471 0.95138645 -0.03904578 1.88965907] [ 0.00900175 0.04389041 0.9989958 0.20074689] [ 0. 0. 0. 1. ]] SLAMing on 3.149259764 meters Centerline goodness [0,1] 0.3110977430207428 Centerline is valid? [False, False] Translation: X:-2.30, Y:1.92, Z:0.20 [[ 0.95360047 0.30052765 -0.01814582 -2.29587791] [-0.30100989 0.9529143 -0.03670677 1.91939205] [ 0.00626001 0.04046566 0.99916132 0.20216876] [ 0. 0. 0. 1. ]] SLAMing on 3.1792597639999998 meters Centerline goodness [0,1] 0.32104010498921187 Centerline is valid? [False, False] Translation: X:-2.36, Y:1.96, Z:0.20 [[ 9.45127600e-01 3.26427241e-01 -1.33819431e-02 -2.35553134e+00] [-3.26700704e-01 9.44418286e-01 -3.66162734e-02 1.96316667e+00] [ 6.85602700e-04 3.89789408e-02 9.99239797e-01 1.99961605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2092597639999996 meters Centerline goodness [0,1] 0.3402993692813361 Centerline is valid? [False, False] Translation: X:-2.43, Y:2.01, Z:0.21 [[ 0.93659164 0.35035456 -0.00691269 -2.43468769] [-0.35035012 0.9358137 -0.03882663 2.01397257] [-0.0071341 0.03878656 0.99922205 0.20791053] [ 0. 0. 0. 1. ]] SLAMing on 3.239259764 meters Centerline goodness [0,1] 0.4103488706501781 Centerline is valid? [False, False] Translation: X:-2.51, Y:2.06, Z:0.21 [[ 0.93426162 0.35649733 -0.00805522 -2.51063672] [-0.35653915 0.93351931 -0.0377031 2.0639786 ] [-0.00592135 0.03809656 0.99925652 0.21363766] [ 0. 0. 0. 1. ]] SLAMing on 3.2692597639999996 meters Centerline goodness [0,1] 0.42185424599309307 Centerline is valid? [False, False] Translation: X:-2.59, Y:2.12, Z:0.22 [[ 0.93261512 0.36074893 -0.00944738 -2.58993097] [-0.36084681 0.93191576 -0.03636739 2.11948165] [-0.00431534 0.03732583 0.99929383 0.2215093 ] [ 0. 0. 0. 1. ]] SLAMing on 3.299259764 meters Centerline goodness [0,1] 0.44281680197670314 Centerline is valid? [False, False] Translation: X:-2.67, Y:2.17, Z:0.23 [[ 9.28796677e-01 3.70445295e-01 -1.03448931e-02 -2.66555159e+00] [-3.70586066e-01 9.28301804e-01 -3.03599850e-02 2.17464791e+00] [-1.64353069e-03 3.20319265e-02 9.99485495e-01 2.27794191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3292597639999997 meters Centerline goodness [0,1] 0.446271493612695 Centerline is valid? [False, False] Translation: X:-2.75, Y:2.23, Z:0.24 [[ 9.25337218e-01 3.79037420e-01 -9.03697912e-03 -2.74897189e+00] [-3.79143615e-01 9.25003149e-01 -2.48856062e-02 2.23492479e+00] [-1.07334185e-03 2.64538906e-02 9.99649458e-01 2.36835833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.359259764 meters Centerline goodness [0,1] 0.5364425067159906 Centerline is valid? [False, False] Translation: X:-2.85, Y:2.31, Z:0.24 [[ 0.91883909 0.39459477 -0.0054491 -2.85094721] [-0.39458574 0.91843058 -0.02806004 2.31236563] [-0.00606772 0.02793279 0.99959139 0.24119368] [ 0. 0. 0. 1. ]] SLAMing on 3.3892597639999997 meters Centerline goodness [0,1] 0.5638002468265162 Centerline is valid? [False, False] Translation: X:-2.96, Y:2.39, Z:0.24 [[ 9.10155254e-01 4.14267205e-01 -3.11822754e-04 -2.95771041e+00] [-4.14040912e-01 9.09632684e-01 -3.37417186e-02 2.39299953e+00] [-1.36944433e-02 3.08393098e-02 9.99430537e-01 2.44162501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4192597639999995 meters Centerline goodness [0,1] 0.5956784029834375 Centerline is valid? [False, False] Translation: X:-3.07, Y:2.48, Z:0.25 [[ 0.90458536 0.42619761 0.00899574 -3.07465504] [-0.42567083 0.90420424 -0.03491466 2.47515963] [-0.02301453 0.02775406 0.99934981 0.25079603] [ 0. 0. 0. 1. ]] SLAMing on 3.449259764 meters Centerline goodness [0,1] 0.6264489400149853 Centerline is valid? [False, False] Translation: X:-3.20, Y:2.56, Z:0.26 [[ 0.89613208 0.44362985 0.01182619 -3.20381858] [-0.44295386 0.89576374 -0.03740587 2.56343639] [-0.02718783 0.02828214 0.99923017 0.25752222] [ 0. 0. 0. 1. ]] SLAMing on 3.4792597639999996 meters Centerline goodness [0,1] 0.7197983622435502 Centerline is valid? [False, False] Translation: X:-3.34, Y:2.66, Z:0.26 [[ 0.88467587 0.46592448 0.01621664 -3.33974258] [-0.46498761 0.8843425 -0.04153153 2.66364893] [-0.03369162 0.02920141 0.99900558 0.26331796] [ 0. 0. 0. 1. ]] SLAMing on 3.509259764 meters Centerline goodness [0,1] 0.7148458149779735 Centerline is valid? [False, False] Translation: X:-3.50, Y:2.77, Z:0.27 [[ 0.87076113 0.49110791 0.02425023 -3.49583729] [-0.48970012 0.87060366 -0.04736106 2.77045134] [-0.04437173 0.02936483 0.99858342 0.27308672] [ 0. 0. 0. 1. ]] SLAMing on 3.5392597639999996 meters Centerline goodness [0,1] 0.486253119272133 Centerline is valid? [False, False] Translation: X:-3.82, Y:2.84, Z:0.27 [[ 0.78467098 0.61799798 0.04868208 -3.81983945] [-0.61496556 0.78590654 -0.0645622 2.84124466] [-0.07815888 0.02072228 0.99672553 0.2735208 ] [ 0. 0. 0. 1. ]] SLAMing on 3.569259764 meters Centerline goodness [0,1] 0.578783958602846 Centerline is valid? [False, False] Translation: X:-4.60, Y:1.93, Z:0.29 [[ 0.85757826 0.50710629 0.08603916 -4.60400084] [-0.50352134 0.86183807 -0.06083914 1.9335719 ] [-0.10500374 0.00885177 0.99443243 0.28935991] [ 0. 0. 0. 1. ]] SLAMing on 3.5992597639999997 meters Centerline goodness [0,1] 0.5872210953346856 Centerline is valid? [False, False] Translation: X:-5.22, Y:2.28, Z:0.36 [[ 0.88005137 0.46134282 0.11257175 -5.22199983] [-0.45419057 0.88692699 -0.08409185 2.27837957] [-0.1386381 0.02287612 0.99007887 0.35746051] [ 0. 0. 0. 1. ]] SLAMing on 3.6292597639999995 meters Centerline goodness [0,1] 0.6115849740024537 Centerline is valid? [False, False] Translation: X:-5.82, Y:2.57, Z:0.46 [[ 0.89845489 0.416129 0.14005524 -5.81754705] [-0.40629325 0.9088857 -0.09408813 2.56780204] [-0.166447 0.02763044 0.9856632 0.45543154] [ 0. 0. 0. 1. ]] SLAMing on 3.6592597639999997 meters Centerline goodness [0,1] 0.6376879976408139 Centerline is valid? [False, False] Translation: X:-6.38, Y:2.81, Z:0.57 [[ 0.91325191 0.37292722 0.1640007 -6.37740362] [-0.36149523 0.92742911 -0.09589811 2.80526966] [-0.18786204 0.02829366 0.98178782 0.57277757] [ 0. 0. 0. 1. ]] SLAMing on 3.6892597639999996 meters Centerline goodness [0,1] 0.6951273762567098 Centerline is valid? [False, False] Translation: X:-6.89, Y:3.00, Z:0.70 [[ 0.92642682 0.32965572 0.18182532 -6.8911764 ] [-0.31756707 0.94367713 -0.09286889 3.00103968] [-0.20219916 0.0282945 0.97893561 0.6978634 ] [ 0. 0. 0. 1. ]] SLAMing on 3.719259764 meters Centerline goodness [0,1] 0.7687804588137406 Centerline is valid? [False, False] Translation: X:-7.36, Y:3.16, Z:0.82 [[ 0.93707356 0.28928124 0.19547253 -7.36343676] [-0.27724483 0.95685454 -0.08697526 3.16052877] [-0.21219909 0.02730846 0.97684482 0.82093614] [ 0. 0. 0. 1. ]] SLAMing on 3.7492597639999996 meters Centerline goodness [0,1] 0.7577904533173221 Centerline is valid? [False, False] Translation: X:-7.79, Y:3.29, Z:0.94 [[ 0.94603912 0.25147232 0.20438117 -7.78930929] [-0.23992385 0.96750117 -0.07986265 3.29012806] [-0.21782226 0.02651727 0.97562815 0.93717853] [ 0. 0. 0. 1. ]] SLAMing on 3.779259764 meters Centerline goodness [0,1] 0.6953420314595782 Centerline is valid? [False, False] Translation: X:-8.17, Y:3.40, Z:1.05 [[ 0.95453698 0.21476477 0.20672505 -8.16723026] [-0.20441333 0.97634595 -0.07045411 3.39634253] [-0.21696622 0.0249937 0.9758591 1.04614878] [ 0. 0. 0. 1. ]] SLAMing on 3.8092597639999997 meters Centerline goodness [0,1] 0.6771521154316459 Centerline is valid? [False, False] Translation: X:-8.52, Y:3.49, Z:1.15 [[ 0.95965946 0.18767692 0.20935876 -8.51504139] [-0.17846336 0.98197616 -0.06223868 3.49100011] [-0.21726608 0.02236507 0.97585617 1.14616208] [ 0. 0. 0. 1. ]] SLAMing on 3.839259764 meters Centerline goodness [0,1] 0.6281383671192114 Centerline is valid? [False, False] Translation: X:-8.81, Y:3.57, Z:1.23 [[ 0.96669077 0.14955714 0.20770561 -8.80953916] [-0.14081774 0.9884318 -0.05632889 3.56797564] [-0.21372722 0.02520399 0.97656819 1.23259823] [ 0. 0. 0. 1. ]] SLAMing on 3.8692597639999997 meters Centerline goodness [0,1] 0.5688090560389185 Centerline is valid? [False, False] Translation: X:-9.04, Y:3.63, Z:1.30 [[ 0.97245479 0.11019611 0.20539839 -9.04478552] [-0.10170232 0.99348124 -0.05149433 3.63013623] [-0.20973392 0.02918642 0.97732279 1.30367565] [ 0. 0. 0. 1. ]] SLAMing on 3.8992597639999995 meters Centerline goodness [0,1] 0.5267393074081033 Centerline is valid? [False, False] Translation: X:-9.22, Y:3.68, Z:1.36 [[ 0.97735105 0.06912828 0.2000155 -9.21964648] [-0.06023845 0.99692077 -0.05020262 3.67991086] [-0.20287003 0.03701696 0.97850575 1.35918888] [ 0. 0. 0. 1. ]] SLAMing on 3.9292597639999998 meters Centerline goodness [0,1] 0.5074302058073743 Centerline is valid? [False, False] Translation: X:-9.33, Y:3.72, Z:1.40 [[ 0.98096012 0.0226842 0.19287992 -9.33414959] [-0.01495407 0.9990291 -0.04143939 3.71501628] [-0.19363268 0.03776605 0.98034693 1.40385758] [ 0. 0. 0. 1. ]] SLAMing on 3.9592597639999996 meters Centerline goodness [0,1] 0.468638762734749 Centerline is valid? [False, False] Translation: X:-9.40, Y:3.74, Z:1.43 [[ 0.9823249 -0.03003135 0.18475904 -9.39613626] [ 0.03636194 0.99885865 -0.03097097 3.74076858] [-0.18361807 0.03714175 0.98229573 1.43454014] [ 0. 0. 0. 1. ]] SLAMing on 3.989259764 meters Centerline goodness [0,1] 0.44655951632695823 Centerline is valid? [False, False] Translation: X:-9.42, Y:3.76, Z:1.45 [[ 0.97964043 -0.08714893 0.18085818 -9.42383175] [ 0.09383931 0.99517201 -0.02875513 3.76298016] [-0.17747902 0.04514129 0.98308873 1.44754636] [ 0. 0. 0. 1. ]] SLAMing on 4.019259764 meters Centerline goodness [0,1] 0.43898550724637686 Centerline is valid? [False, False] Translation: X:-9.46, Y:3.79, Z:1.47 [[ 0.97197728 -0.1528893 0.17856382 -9.45878972] [ 0.1590637 0.98705124 -0.02070256 3.78906459] [-0.17308644 0.04852544 0.98371051 1.46531992] [ 0. 0. 0. 1. ]] SLAMing on 4.049259763999999 meters Centerline goodness [0,1] 0.4434782608695652 Centerline is valid? [False, False] Translation: X:-9.51, Y:3.82, Z:1.49 [[ 9.57920328e-01 -2.27802866e-01 1.74626744e-01 -9.50527892e+00] [ 2.32737786e-01 9.72506263e-01 -8.04311247e-03 3.82085431e+00] [-1.67993359e-01 4.83469028e-02 9.84601853e-01 1.49280448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.079259764 meters Centerline goodness [0,1] 0.44662108861425187 Centerline is valid? [False, False] Translation: X:-9.59, Y:3.87, Z:1.53 [[ 9.35410033e-01 -3.08501442e-01 1.72727908e-01 -9.58734820e+00] [ 3.11886041e-01 9.50086805e-01 7.88417925e-03 3.86553936e+00] [-1.66538787e-01 4.64964831e-02 9.84938023e-01 1.53343474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.109259764 meters Centerline goodness [0,1] 0.4488641999801607 Centerline is valid? [False, False] Translation: X:-9.73, Y:3.93, Z:1.60 [[ 0.90469451 -0.39134452 0.16845569 -9.72895872] [ 0.3922585 0.91939043 0.02923198 3.92871782] [-0.16631633 0.03963216 0.98527568 1.59731376] [ 0. 0. 0. 1. ]] SLAMing on 4.139259763999999 meters Centerline goodness [0,1] 0.4353362514922403 Centerline is valid? [False, False] Translation: X:-9.99, Y:4.02, Z:1.70 [[ 0.86430829 -0.47628928 0.16161591 -9.98625151] [ 0.4721924 0.87906598 0.06540137 4.02097962] [-0.17322102 0.01978686 0.98468419 1.70040476] [ 0. 0. 0. 1. ]] SLAMing on 4.1692597639999995 meters Centerline goodness [0,1] 0.3881427095469433 Centerline is valid? [False, False] Translation: X:-10.41, Y:4.15, Z:1.73 [[ 0.82167752 -0.53751655 0.18953103 -10.40955242] [ 0.53742805 0.84142272 0.05638172 4.15345326] [ -0.18978182 0.0555317 0.9802546 1.7319376 ] [ 0. 0. 0. 1. ]] SLAMing on 4.199259764 meters Centerline goodness [0,1] 0.1416504365713286 Centerline is valid? [False, False] Translation: X:-10.93, Y:4.31, Z:1.76 [[ 0.78373762 -0.57538285 0.23385876 -10.92852291] [ 0.58552814 0.81006747 0.03078141 4.31377838] [ -0.20715247 0.11280634 0.9717832 1.75602944] [ 0. 0. 0. 1. ]] SLAMing on 4.229259764 meters Centerline goodness [0,1] 0.12953322542543422 Centerline is valid? [False, False] Translation: X:-11.56, Y:4.52, Z:1.82 [[ 7.53192142e-01 -5.90063814e-01 2.90734059e-01 -1.15601754e+01] [ 6.17576964e-01 7.86501878e-01 -3.67283769e-03 4.51809867e+00] [-2.26495675e-01 1.82317010e-01 9.56796853e-01 1.81542362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.259259763999999 meters Centerline goodness [0,1] 0.118401654674676 Centerline is valid? [False, False] Translation: X:-12.31, Y:4.79, Z:1.95 [[ 0.73332338 -0.58437362 0.34748279 -12.31055975] [ 0.63670517 0.76951171 -0.04958073 4.78703955] [ -0.23841841 0.2576028 0.93637464 1.95118129] [ 0. 0. 0. 1. ]] SLAMing on 4.289259764 meters Centerline goodness [0,1] 0.11366780107585905 Centerline is valid? [False, False] Translation: X:-13.11, Y:5.11, Z:2.17 [[ 0.72994492 -0.55246018 0.40245268 -13.10683249] [ 0.63899114 0.76058702 -0.11488132 5.10563356] [ -0.24263293 0.34102073 0.90820379 2.16998369] [ 0. 0. 0. 1. ]] SLAMing on 4.319259764 meters Centerline goodness [0,1] 0.11125016466868665 Centerline is valid? [False, False] Translation: X:-13.93, Y:5.48, Z:2.50 [[ 0.74412429 -0.49392911 0.44979226 -13.93354409] [ 0.62164314 0.7585158 -0.19548295 5.48266597] [ -0.24461981 0.42507388 0.87147768 2.50394397] [ 0. 0. 0. 1. ]] SLAMing on 4.349259764 meters Centerline goodness [0,1] 0.11201665023551322 Centerline is valid? [False, False] Translation: X:-14.72, Y:5.89, Z:2.92 [[ 0.77311277 -0.40845296 0.48524513 -14.71817318] [ 0.58226163 0.76043655 -0.28758938 5.88950991] [ -0.2515314 0.50487864 0.82572969 2.91892031] [ 0. 0. 0. 1. ]] SLAMing on 4.3792597639999995 meters Centerline goodness [0,1] 0.11491099062712651 Centerline is valid? [False, False] Translation: X:-15.42, Y:6.31, Z:3.41 [[ 0.81042567 -0.31187602 0.495927 -15.41904577] [ 0.52674255 0.75843389 -0.38382329 6.31158303] [ -0.25642256 0.5722861 0.77893266 3.41046437] [ 0. 0. 0. 1. ]] SLAMing on 4.409259764 meters Centerline goodness [0,1] 0.11740908395110328 Centerline is valid? [False, False] Translation: X:-15.99, Y:6.70, Z:3.91 [[ 0.84790977 -0.21048678 0.48656381 -15.98567409] [ 0.46036651 0.74747324 -0.47890127 6.70395767] [ -0.26289104 0.63006275 0.73069093 3.91149001] [ 0. 0. 0. 1. ]] SLAMing on 4.439259764 meters Centerline goodness [0,1] 0.11877679587015488 Centerline is valid? [False, False] Translation: X:-16.45, Y:7.06, Z:4.43 [[ 0.87875037 -0.11775305 0.46252784 -16.44939633] [ 0.3930072 0.72840095 -0.56122847 7.06032431] [ -0.27081935 0.6749565 0.6863604 4.43420924] [ 0. 0. 0. 1. ]] SLAMing on 4.469259763999999 meters Centerline goodness [0,1] 0.11969624439705817 Centerline is valid? [False, False] Translation: X:-16.83, Y:7.38, Z:4.94 [[ 0.90133747 -0.0366598 0.43156324 -16.83003216] [ 0.32845344 0.70736653 -0.6259001 7.37559806] [ -0.28232801 0.70589564 0.64961699 4.94242324] [ 0. 0. 0. 1. ]] SLAMing on 4.499259764 meters Centerline goodness [0,1] 0.12233140571329193 Centerline is valid? [False, False] Translation: X:-17.16, Y:7.66, Z:5.44 [[ 0.91481196 0.02454336 0.40313361 -17.15582847] [ 0.27483163 0.69358464 -0.66588882 7.65579526] [ -0.29595043 0.71995692 0.62775423 5.43847365] [ 0. 0. 0. 1. ]] SLAMing on 4.529259764 meters Centerline goodness [0,1] 0.12259954432027775 Centerline is valid? [False, False] Translation: X:-17.45, Y:7.90, Z:5.91 [[ 0.92118905 0.07232534 0.38233464 -17.44558136] [ 0.23175698 0.6873034 -0.68840594 7.90218342] [ -0.31256909 0.72276073 0.61637447 5.90825625] [ 0. 0. 0. 1. ]] SLAMing on 4.559259764 meters Centerline goodness [0,1] 0.12112902874801423 Centerline is valid? [False, False] Translation: X:-17.73, Y:8.10, Z:6.34 [[ 0.92012294 0.11114759 0.37552628 -17.72522231] [ 0.20084281 0.68926336 -0.6961165 8.1007258 ] [ -0.33620818 0.71593452 0.61188384 6.33777257] [ 0. 0. 0. 1. ]] SLAMing on 4.5892597639999995 meters Centerline goodness [0,1] 0.23621583925380285 Centerline is valid? [False, False] Translation: X:-18.00, Y:8.29, Z:6.74 [[ 0.91518349 0.13650958 0.3792154 -18.00137503] [ 0.17613177 0.71083044 -0.68095351 8.28642622] [ -0.36251453 0.68998929 0.62649661 6.74099285] [ 0. 0. 0. 1. ]] SLAMing on 4.619259764 meters Centerline goodness [0,1] 0.23358828671328669 Centerline is valid? [False, False] Translation: X:-18.28, Y:8.47, Z:7.13 [[ 0.91210168 0.15505845 0.37950943 -18.27521386] [ 0.15595299 0.72488583 -0.67098376 8.46573968] [ -0.37914271 0.67119104 0.63698775 7.13176359] [ 0. 0. 0. 1. ]] SLAMing on 4.649259764 meters Centerline goodness [0,1] 0.26363179404244164 Centerline is valid? [False, False] Translation: X:-18.55, Y:8.64, Z:7.51 [[ 0.90783552 0.1691971 0.38367565 -18.54680073] [ 0.14220876 0.73652787 -0.66128917 8.63940614] [ -0.39447602 0.65490384 0.64458486 7.50836443] [ 0. 0. 0. 1. ]] SLAMing on 4.679259763999999 meters Centerline goodness [0,1] 0.27278884810347837 Centerline is valid? [False, False] Translation: X:-18.82, Y:8.81, Z:7.87 [[ 0.9057316 0.1763209 0.38543639 -18.82379762] [ 0.13249295 0.74601621 -0.6526143 8.80856457] [ -0.40261133 0.642161 0.65232918 7.87401662] [ 0. 0. 0. 1. ]] SLAMing on 4.709259764 meters Centerline goodness [0,1] 0.2552225448036498 Centerline is valid? [False, False] Translation: X:-19.10, Y:8.97, Z:8.23 [[ 0.90557022 0.17170089 0.38789351 -19.10460849] [ 0.13112768 0.75632752 -0.6409167 8.97296728] [ -0.4034205 0.63125865 0.66239294 8.22548846] [ 0. 0. 0. 1. ]] SLAMing on 4.739259764 meters Centerline goodness [0,1] 0.2768502149763199 Centerline is valid? [False, False] Translation: X:-19.38, Y:9.14, Z:8.57 [[ 0.90558246 0.1706261 0.38833896 -19.37700308] [ 0.12425279 0.76865662 -0.62747768 9.13798412] [ -0.40556338 0.61648498 0.67488118 8.56578426] [ 0. 0. 0. 1. ]] SLAMing on 4.769259764 meters Centerline goodness [0,1] 0.2796615727684134 Centerline is valid? [False, False] Translation: X:-19.65, Y:9.30, Z:8.89 [[ 0.90691796 0.16518274 0.38757513 -19.64866449] [ 0.11783286 0.78377279 -0.60976686 9.30045832] [ -0.4044938 0.5986776 0.69135367 8.8915917 ] [ 0. 0. 0. 1. ]] SLAMing on 4.799259763999999 meters Centerline goodness [0,1] 0.2903994577694208 Centerline is valid? [False, False] Translation: X:-19.92, Y:9.46, Z:9.20 [[ 0.90769636 0.1612642 0.38740312 -19.91772788] [ 0.11334378 0.7946709 -0.59636511 9.45774745] [ -0.40403033 0.58522817 0.70304159 9.20387329] [ 0. 0. 0. 1. ]] SLAMing on 4.829259764 meters Centerline goodness [0,1] 0.2779491217708948 Centerline is valid? [False, False] Translation: X:-20.18, Y:9.61, Z:9.51 [[ 0.90744767 0.15903509 0.38890433 -20.1846542 ] [ 0.1096878 0.80383465 -0.58465241 9.61361355] [ -0.40559502 0.57319952 0.71199367 9.50962633] [ 0. 0. 0. 1. ]] SLAMing on 4.859259764 meters Centerline goodness [0,1] 0.2872003321750912 Centerline is valid? [False, False] Translation: X:-20.45, Y:9.77, Z:9.80 [[ 0.90737015 0.16018681 0.3886124 -20.4501066 ] [ 0.10432272 0.80978492 -0.57737783 9.76930305] [ -0.40718077 0.56443651 0.71806354 9.80378895] [ 0. 0. 0. 1. ]] SLAMing on 4.889259763999999 meters Centerline goodness [0,1] 0.2904656803828588 Centerline is valid? [False, False] Translation: X:-20.71, Y:9.92, Z:10.09 [[ 0.90760311 0.16011507 0.38809762 -20.71248183] [ 0.09836123 0.81759115 -0.56733568 9.92395587] [ -0.40814417 0.55308938 0.72629916 10.08824144] [ 0. 0. 0. 1. ]] SLAMing on 4.9192597639999995 meters Centerline goodness [0,1] 0.2706152333078352 Centerline is valid? [False, False] Translation: X:-20.97, Y:10.08, Z:10.37 [[ 0.90759854 0.16049134 0.38795285 -20.96963362] [ 0.08984949 0.82839266 -0.5528948 10.07886869] [ -0.41011212 0.53666388 0.73742791 10.36580088] [ 0. 0. 0. 1. ]] SLAMing on 4.949259764 meters Centerline goodness [0,1] 0.2938706785331613 Centerline is valid? [False, False] Translation: X:-21.22, Y:10.23, Z:10.63 [[ 0.90753915 0.15855952 0.38888503 -21.22401295] [ 0.08592792 0.8362917 -0.54150955 10.22843222] [ -0.41108281 0.5248572 0.74534277 10.63420347] [ 0. 0. 0. 1. ]] SLAMing on 4.979259764 meters Centerline goodness [0,1] 0.29083552055993 Centerline is valid? [False, False] Translation: X:-21.48, Y:10.38, Z:10.89 [[ 0.90809698 0.15613486 0.38856375 -21.47848877] [ 0.08364741 0.84155915 -0.53364905 10.37652092] [ -0.4103206 0.51710744 0.75115704 10.89261586] [ 0. 0. 0. 1. ]] SLAMing on 5.009259763999999 meters Centerline goodness [0,1] 0.27977245377967397 Centerline is valid? [False, False] Translation: X:-21.73, Y:10.52, Z:11.14 [[ 0.90915575 0.15278463 0.38741796 -21.72720821] [ 0.08081595 0.84786312 -0.52401995 10.52140819] [ -0.40853959 0.50772531 0.7584922 11.14000868] [ 0. 0. 0. 1. ]] SLAMing on 5.039259764 meters Centerline goodness [0,1] 0.27441025865464574 Centerline is valid? [False, False] Translation: X:-21.97, Y:10.66, Z:11.38 [[ 0.91070693 0.14934558 0.38510881 -21.9711882 ] [ 0.07732976 0.85421589 -0.51413551 10.66269551] [ -0.40574993 0.49800714 0.76639147 11.37736336] [ 0. 0. 0. 1. ]] SLAMing on 5.069259764 meters Centerline goodness [0,1] 0.27441025865464574 Centerline is valid? [False, False] Translation: X:-22.21, Y:10.80, Z:11.61 [[ 0.91246227 0.14265303 0.38348758 -22.21405864] [ 0.07781425 0.85964661 -0.50492837 10.80034758] [ -0.40169335 0.49056888 0.77329466 11.6065439 ] [ 0. 0. 0. 1. ]] SLAMing on 5.099259763999999 meters Centerline goodness [0,1] 0.27875166874575974 Centerline is valid? [False, False] Translation: X:-22.45, Y:10.94, Z:11.83 [[ 0.91338046 0.14125339 0.38181621 -22.4525555 ] [ 0.07376657 0.86492794 -0.49644552 10.939301 ] [ -0.40036812 0.48160891 0.7795885 11.8318351 ] [ 0. 0. 0. 1. ]] SLAMing on 5.1292597639999995 meters Centerline goodness [0,1] 0.2533624931656643 Centerline is valid? [False, False] Translation: X:-22.69, Y:11.08, Z:12.05 [[ 0.91413994 0.14153666 0.37988886 -22.6854523 ] [ 0.06777147 0.8705341 -0.48741913 11.0777477 ] [ -0.39969388 0.47131492 0.78619784 12.04907826] [ 0. 0. 0. 1. ]] SLAMing on 5.159259764 meters Centerline goodness [0,1] 0.27290631770138085 Centerline is valid? [False, False] Translation: X:-22.91, Y:11.21, Z:12.26 [[ 0.91560193 0.14208507 0.37614483 -22.91018687] [ 0.05943286 0.87738414 -0.47609328 11.21283784] [ -0.39766926 0.45826729 0.79489009 12.25513373] [ 0. 0. 0. 1. ]] SLAMing on 5.189259764 meters Centerline goodness [0,1] 0.26115680784039197 Centerline is valid? [False, False] Translation: X:-23.13, Y:11.35, Z:12.45 [[ 0.91599751 0.14299895 0.3748331 -23.13044654] [ 0.05226186 0.88382281 -0.46489348 11.345775 ] [ -0.39776532 0.44543074 0.8021061 12.45439051] [ 0. 0. 0. 1. ]] SLAMing on 5.219259763999999 meters Centerline goodness [0,1] 0.24673338286063895 Centerline is valid? [False, False] Translation: X:-23.35, Y:11.48, Z:12.65 [[ 0.91494849 0.14728341 0.37573509 -23.35241415] [ 0.04646386 0.88639186 -0.46059807 11.47686798] [ -0.40088699 0.43888161 0.80415954 12.65171172] [ 0. 0. 0. 1. ]] SLAMing on 5.249259764 meters Centerline goodness [0,1] 0.2528889083428171 Centerline is valid? [False, False] Translation: X:-23.57, Y:11.61, Z:12.84 [[ 0.91428215 0.15094562 0.37590366 -23.57088848] [ 0.03929974 0.89054781 -0.45318885 11.60890636] [ -0.40316705 0.4291154 0.80827984 12.84221983] [ 0. 0. 0. 1. ]] SLAMing on 5.279259764 meters Centerline goodness [0,1] 0.2639472762305132 Centerline is valid? [False, False] Translation: X:-23.78, Y:11.74, Z:13.02 [[ 0.91535983 0.15299388 0.37243691 -23.77947825] [ 0.02937084 0.8971584 -0.44073139 11.73722139] [ -0.40156411 0.4143666 0.8167292 13.02193106] [ 0. 0. 0. 1. ]] SLAMing on 5.309259763999999 meters Centerline goodness [0,1] 0.25283548691398106 Centerline is valid? [False, False] Translation: X:-23.98, Y:11.86, Z:13.19 [[ 9.16672912e-01 1.56590116e-01 3.67682347e-01 -2.39801767e+01] [ 1.72998861e-02 9.03626887e-01 -4.27970983e-01 1.18615086e+01] [-3.99263681e-01 3.98670270e-01 8.25621299e-01 1.31924332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3392597639999995 meters Centerline goodness [0,1] 0.2451890373686174 Centerline is valid? [False, False] Translation: X:-24.17, Y:11.98, Z:13.35 [[ 9.18355638e-01 1.56496986e-01 3.63499127e-01 -2.41735190e+01] [ 1.11459070e-02 9.07900688e-01 -4.19037122e-01 1.19766920e+01] [-3.95599154e-01 3.88876631e-01 8.32031415e-01 1.33513626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.369259764 meters Centerline goodness [0,1] 0.2979008094057777 Centerline is valid? [False, False] Translation: X:-24.36, Y:12.09, Z:13.50 [[ 9.17993469e-01 1.62964797e-01 3.61566682e-01 -2.43626437e+01] [-4.63295865e-04 9.12116240e-01 -4.09931397e-01 1.20934819e+01] [-3.96595229e-01 3.76146833e-01 8.37392252e-01 1.35046295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.399259764 meters Centerline goodness [0,1] 0.2681348570927198 Centerline is valid? [False, False] Translation: X:-24.55, Y:12.21, Z:13.65 [[ 9.18267862e-01 1.67622700e-01 3.58729375e-01 -2.45458682e+01] [-1.15114697e-02 9.16892734e-01 -3.98967669e-01 1.22076760e+01] [-3.95792395e-01 3.62229686e-01 8.43882714e-01 1.36511349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.429259763999999 meters Centerline goodness [0,1] 0.2871056903435265 Centerline is valid? [False, False] Translation: X:-24.72, Y:12.31, Z:13.78 [[ 9.20195849e-01 1.67192646e-01 3.53957933e-01 -2.47168247e+01] [-1.97757635e-02 9.22903417e-01 -3.84523345e-01 1.23137422e+01] [-3.90958461e-01 3.46836997e-01 8.52558255e-01 1.37849341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.459259764 meters Centerline goodness [0,1] 0.2518844083067795 Centerline is valid? [False, False] Translation: X:-24.88, Y:12.42, Z:13.91 [[ 0.9206785 0.16863055 0.3520154 -24.88423964] [ -0.02892049 0.92885212 -0.3693201 12.41571263] [ -0.38924891 0.32984462 0.86005105 13.91244129] [ 0. 0. 0. 1. ]] SLAMing on 5.489259764 meters Centerline goodness [0,1] 0.2549531561972047 Centerline is valid? [False, False] Translation: X:-25.05, Y:12.52, Z:14.04 [[ 0.92029331 0.17364208 0.35058331 -25.04639566] [ -0.03940968 0.93269478 -0.35850706 12.51657989] [ -0.38923914 0.31611528 0.86519595 14.03634095] [ 0. 0. 0. 1. ]] SLAMing on 5.519259764 meters Centerline goodness [0,1] 0.30612692907163086 Centerline is valid? [False, False] Translation: X:-25.20, Y:12.62, Z:14.15 [[ 0.91907134 0.18011745 0.35052187 -25.20255132] [ -0.05178034 0.93692455 -0.34567496 12.6161558 ] [ -0.39067464 0.29954981 0.87042704 14.15219503] [ 0. 0. 0. 1. ]] SLAMing on 5.549259763999999 meters Centerline goodness [0,1] 0.30543914693814866 Centerline is valid? [False, False] Translation: X:-25.35, Y:12.71, Z:14.26 [[ 0.91855675 0.18743131 0.34802729 -25.35087624] [ -0.06627072 0.94099563 -0.33186657 12.71416093] [ -0.38969434 0.28177426 0.8767791 14.26205767] [ 0. 0. 0. 1. ]] SLAMing on 5.579259764 meters Centerline goodness [0,1] 0.2525907587143702 Centerline is valid? [False, False] Translation: X:-25.49, Y:12.81, Z:14.36 [[ 0.91846477 0.19371027 0.34481706 -25.49086424] [ -0.07917886 0.9442533 -0.3195566 12.80579318] [ -0.38749604 0.26619926 0.88260114 14.36186814] [ 0. 0. 0. 1. ]] SLAMing on 5.609259764 meters Centerline goodness [0,1] 0.20438132449458923 Centerline is valid? [False, False] Translation: X:-25.62, Y:12.89, Z:14.45 [[ 0.91791013 0.19947749 0.34300106 -25.62480043] [ -0.09192778 0.94783486 -0.30521856 12.89215672] [ -0.38599259 0.24863188 0.88836474 14.45318765] [ 0. 0. 0. 1. ]] SLAMing on 5.639259763999999 meters Centerline goodness [0,1] 0.2113783635365184 Centerline is valid? [False, False] Translation: X:-25.75, Y:12.97, Z:14.54 [[ 0.91911038 0.19840131 0.34040128 -25.75346747] [ -0.09673328 0.95114928 -0.29318547 12.96787049] [ -0.38194082 0.23654167 0.89340318 14.53830607] [ 0. 0. 0. 1. ]] SLAMing on 5.6692597639999995 meters Centerline goodness [0,1] 0.22407175910695876 Centerline is valid? [False, False] Translation: X:-25.88, Y:13.04, Z:14.62 [[ 0.91838562 0.20551 0.33813236 -25.87563292] [ -0.10942506 0.95312791 -0.28208749 13.04489119] [ -0.38025519 0.22206494 0.89782691 14.61930823] [ 0. 0. 0. 1. ]] SLAMing on 5.699259764 meters Centerline goodness [0,1] 0.15428433713822487 Centerline is valid? [False, False] Translation: X:-25.99, Y:13.12, Z:14.69 [[ 0.91721228 0.21257382 0.33694807 -25.99382165] [ -0.12194477 0.95496058 -0.27051759 13.11996368] [ -0.37927708 0.20703301 0.90182384 14.69492228] [ 0. 0. 0. 1. ]] SLAMing on 5.729259764 meters Centerline goodness [0,1] 0.11994632880207645 Centerline is valid? [False, False] Translation: X:-26.11, Y:13.19, Z:14.76 [[ 0.91720636 0.21635895 0.3345464 -26.10893072] [ -0.13197791 0.95728648 -0.25726333 13.19176004] [ -0.37591797 0.19181083 0.90658386 14.76414672] [ 0. 0. 0. 1. ]] SLAMing on 5.759259763999999 meters Centerline goodness [0,1] 0.08082657021877204 Centerline is valid? [False, False] Translation: X:-26.21, Y:13.26, Z:14.83 [[ 0.91913581 0.21559565 0.32970878 -26.21343113] [ -0.13904345 0.96062906 -0.24053842 13.25593425] [ -0.36858687 0.17524363 0.91292573 14.826293 ] [ 0. 0. 0. 1. ]] SLAMing on 5.789259764 meters Centerline goodness [0,1] 0.09362510212643804 Centerline is valid? [False, False] Translation: X:-26.31, Y:13.31, Z:14.88 [[ 0.91975334 0.21572793 0.3278952 -26.3100335 ] [ -0.14365055 0.96246367 -0.23027854 13.31487132] [ -0.36526473 0.16469713 0.91621861 14.88134039] [ 0. 0. 0. 1. ]] SLAMing on 5.819259764 meters Centerline goodness [0,1] 0.10632639835527047 Centerline is valid? [False, False] Translation: X:-26.41, Y:13.37, Z:14.94 [[ 0.91909146 0.2181815 0.32812759 -26.4069982 ] [ -0.15013368 0.96380162 -0.22033228 13.37384064] [ -0.36432234 0.15324252 0.91857823 14.9375307 ] [ 0. 0. 0. 1. ]] SLAMing on 5.849259763999999 meters Centerline goodness [0,1] 0.10566998692928287 Centerline is valid? [False, False] Translation: X:-26.50, Y:13.43, Z:14.99 [[ 0.91801166 0.2225199 0.32823693 -26.50007677] [ -0.15770968 0.96431668 -0.21265227 13.43164203] [ -0.36384371 0.14345113 0.9203475 14.99155277] [ 0. 0. 0. 1. ]] SLAMing on 5.8792597639999995 meters Centerline goodness [0,1] 0.14873117112226897 Centerline is valid? [False, False] Translation: X:-26.59, Y:13.49, Z:15.04 [[ 0.91667183 0.22778569 0.32836936 -26.59045673] [ -0.16619355 0.96452087 -0.20513212 13.48778459] [ -0.36344526 0.13346597 0.92200563 15.04291965] [ 0. 0. 0. 1. ]] SLAMing on 5.909259764 meters Centerline goodness [0,1] 0.07469453449096641 Centerline is valid? [False, False] Translation: X:-26.68, Y:13.54, Z:15.09 [[ 0.91543047 0.23352311 0.3278018 -26.67702577] [ -0.17465944 0.9642726 -0.19917938 13.5408672 ] [ -0.36260328 0.1250812 0.92351153 15.09144736] [ 0. 0. 0. 1. ]] SLAMing on 5.939259764 meters Centerline goodness [0,1] 0.11590643006358903 Centerline is valid? [False, False] Translation: X:-26.77, Y:13.59, Z:15.14 [[ 0.91500745 0.23573633 0.32739845 -26.7699779 ] [ -0.17922032 0.96456535 -0.19363308 13.59138036] [ -0.36144355 0.11849926 0.92483322 15.13877025] [ 0. 0. 0. 1. ]] SLAMing on 5.969259763999999 meters Centerline goodness [0,1] 0.10358237635540102 Centerline is valid? [False, False] Translation: X:-26.86, Y:13.63, Z:15.18 [[ 0.91914733 0.22783092 0.32134289 -26.8560225 ] [ -0.17374216 0.96660922 -0.1883621 13.63144049] [ -0.35352771 0.11730171 0.92804012 15.1833306 ] [ 0. 0. 0. 1. ]] SLAMing on 5.999259764 meters Centerline goodness [0,1] 0.11041732891331002 Centerline is valid? [False, False] Translation: X:-26.94, Y:13.67, Z:15.23 [[ 0.9233083 0.21586651 0.31765301 -26.94414054] [ -0.16442591 0.9696397 -0.18100544 13.6661107 ] [ -0.34708198 0.11489344 0.93077043 15.22522966] [ 0. 0. 0. 1. ]] SLAMing on 6.029259764 meters Centerline goodness [0,1] 0.10236327725941563 Centerline is valid? [False, False] Translation: X:-27.03, Y:13.70, Z:15.27 [[ 0.92610815 0.20670898 0.31558689 -27.03278676] [ -0.15785177 0.97210117 -0.17349968 13.70499297] [ -0.34264633 0.11086352 0.9329002 15.26808786] [ 0. 0. 0. 1. ]] SLAMing on 6.059259763999999 meters Centerline goodness [0,1] 0.08880890788437745 Centerline is valid? [False, False] Translation: X:-27.12, Y:13.73, Z:15.31 [[ 0.93076786 0.18701501 0.31416013 -27.11954047] [ -0.14095182 0.97639942 -0.16363604 13.73448429] [ -0.33734816 0.10802572 0.9351613 15.30978618] [ 0. 0. 0. 1. ]] SLAMing on 6.0892597639999995 meters Centerline goodness [0,1] 0.10400231116247027 Centerline is valid? [False, False] Translation: X:-27.21, Y:13.77, Z:15.35 [[ 0.93480757 0.17276107 0.31030377 -27.20631842] [ -0.12791928 0.9788567 -0.15961271 13.76608143] [ -0.33131779 0.10951333 0.93714212 15.350376 ] [ 0. 0. 0. 1. ]] SLAMing on 6.119259764 meters Centerline goodness [0,1] 0.07476656291685191 Centerline is valid? [False, False] Translation: X:-27.29, Y:13.80, Z:15.39 [[ 0.93752958 0.16507103 0.30625127 -27.29091374] [ -0.12348869 0.98084506 -0.15064363 13.80345762] [ -0.32525195 0.10341429 0.93995567 15.39023166] [ 0. 0. 0. 1. ]] SLAMing on 6.149259764 meters Centerline goodness [0,1] 0.09036530184306368 Centerline is valid? [False, False] Translation: X:-27.37, Y:13.84, Z:15.43 [[ 0.93960795 0.15805503 0.30357127 -27.37076464] [ -0.11802769 0.98220799 -0.14607167 13.84134489] [ -0.32125749 0.10142029 0.9415453 15.42941493] [ 0. 0. 0. 1. ]] SLAMing on 6.179259763999999 meters Centerline goodness [0,1] 0.09649161518093552 Centerline is valid? [False, False] Translation: X:-27.45, Y:13.88, Z:15.47 [[ 0.94164517 0.15247967 0.30009053 -27.45230222] [ -0.11415111 0.98334107 -0.14145624 13.87756033] [ -0.31666055 0.09894592 0.94336409 15.46881447] [ 0. 0. 0. 1. ]] SLAMing on 6.209259764 meters Centerline goodness [0,1] 0.10433062211475053 Centerline is valid? [False, False] Translation: X:-27.53, Y:13.91, Z:15.50 [[ 0.9419018 0.15132166 0.29987124 -27.52653707] [ -0.11432601 0.98389636 -0.13739549 13.91307107] [ -0.31583313 0.09512997 0.94403375 15.50393343] [ 0. 0. 0. 1. ]] SLAMing on 6.239259764 meters Centerline goodness [0,1] 0.100233660166401 Centerline is valid? [False, False] Translation: X:-27.60, Y:13.95, Z:15.54 [[ 0.94196734 0.15105181 0.2998014 -27.59671206] [ -0.11481864 0.98415679 -0.13510032 13.94855577] [ -0.31545873 0.0928373 0.94438712 15.53711178] [ 0. 0. 0. 1. ]] SLAMing on 6.269259764 meters Centerline goodness [0,1] 0.10967968870226663 Centerline is valid? [False, False] Translation: X:-27.68, Y:13.99, Z:15.58 [[ 0.94283013 0.14766512 0.29877477 -27.6778927 ] [ -0.1137863 0.98524191 -0.12787129 13.98884845] [ -0.31324756 0.08656443 0.94571802 15.57613343] [ 0. 0. 0. 1. ]] SLAMing on 6.299259763999999 meters Centerline goodness [0,1] 0.10052898487365569 Centerline is valid? [False, False] Translation: X:-27.74, Y:14.02, Z:15.60 [[ 0.94479023 0.14634425 0.29318046 -27.74088937] [ -0.11387937 0.98560072 -0.12499087 14.02086384] [ -0.30725057 0.08470294 0.94785152 15.60415113] [ 0. 0. 0. 1. ]] SLAMing on 6.329259764 meters Centerline goodness [0,1] 0.10768994088042017 Centerline is valid? [False, False] Translation: X:-27.81, Y:14.06, Z:15.63 [[ 0.94681936 0.14208147 0.28869699 -27.81316203] [ -0.11115896 0.98642074 -0.12090411 14.05617206] [ -0.30195493 0.08238309 0.94975589 15.63437078] [ 0. 0. 0. 1. ]] SLAMing on 6.359259764 meters Centerline goodness [0,1] 0.10762816553428045 Centerline is valid? [False, False] Translation: X:-27.88, Y:14.09, Z:15.66 [[ 0.94855733 0.14184421 0.28305339 -27.87611692] [ -0.11261991 0.98671879 -0.11705887 14.08519151] [ -0.29589822 0.0791596 0.95193382 15.65838841] [ 0. 0. 0. 1. ]] SLAMing on 6.389259763999999 meters Centerline goodness [0,1] 0.0775159559197014 Centerline is valid? [False, False] Translation: X:-27.93, Y:14.11, Z:15.68 [[ 0.95090177 0.13946409 0.27628898 -27.92888387] [ -0.11363415 0.987693 -0.10747006 14.11118035] [ -0.28787691 0.07079761 0.9550469 15.68430906] [ 0. 0. 0. 1. ]] SLAMing on 6.4192597639999995 meters Centerline goodness [0,1] 0.11845997615788773 Centerline is valid? [False, False] Translation: X:-27.98, Y:14.14, Z:15.71 [[ 0.95357579 0.13344063 0.26997559 -27.98074679] [ -0.10879894 0.98857325 -0.10433462 14.13523593] [ -0.28081313 0.07011791 0.95719772 15.71042126] [ 0. 0. 0. 1. ]] SLAMing on 6.449259764 meters Centerline goodness [0,1] 0.1634936941269043 Centerline is valid? [False, False] Translation: X:-28.03, Y:14.15, Z:15.73 [[ 0.95547363 0.12861991 0.2655693 -28.02652048] [ -0.10407677 0.989057 -0.10456712 14.15266209] [ -0.27611259 0.07227153 0.95840423 15.73344194] [ 0. 0. 0. 1. ]] SLAMing on 6.479259764 meters Centerline goodness [0,1] 0.1602126210819953 Centerline is valid? [False, False] Translation: X:-28.09, Y:14.18, Z:15.76 [[ 0.95669276 0.1197018 0.26534967 -28.08977819] [ -0.09686699 0.99050231 -0.09758055 14.17714393] [ -0.27451002 0.06765098 0.95920154 15.75927363] [ 0. 0. 0. 1. ]] SLAMing on 6.509259763999999 meters Centerline goodness [0,1] 0.1711453455293448 Centerline is valid? [False, False] Translation: X:-28.14, Y:14.20, Z:15.78 [[ 0.9568994 0.11399559 0.26711148 -28.14331664] [ -0.09254471 0.99148566 -0.09160597 14.19883712] [ -0.27527988 0.06293795 0.95930173 15.77969043] [ 0. 0. 0. 1. ]] SLAMing on 6.539259764 meters Centerline goodness [0,1] 0.14890722373387166 Centerline is valid? [False, False] Translation: X:-28.20, Y:14.22, Z:15.81 [[ 0.95936356 0.10801695 0.26067968 -28.19775492] [ -0.08857535 0.99241507 -0.08524517 14.22366473] [ -0.26791037 0.05869131 0.96165449 15.80536197] [ 0. 0. 0. 1. ]] SLAMing on 6.569259764 meters Centerline goodness [0,1] 0.19469960005274034 Centerline is valid? [False, False] Translation: X:-28.25, Y:14.24, Z:15.83 [[ 0.96180444 0.10331078 0.2534938 -28.24644146] [ -0.08560548 0.99311706 -0.07993871 14.2445878 ] [ -0.26000755 0.05518495 0.96402837 15.82577975] [ 0. 0. 0. 1. ]] SLAMing on 6.599259763999999 meters Centerline goodness [0,1] 0.1948508413514345 Centerline is valid? [False, False] Translation: X:-28.29, Y:14.26, Z:15.84 [[ 0.96405303 0.1002988 0.24605266 -28.2897803 ] [ -0.08398 0.99356733 -0.07596923 14.26491349] [ -0.25208951 0.05257486 0.96627468 15.84499885] [ 0. 0. 0. 1. ]] SLAMing on 6.6292597639999995 meters Centerline goodness [0,1] 0.18173043173043169 Centerline is valid? [False, False] Translation: X:-28.33, Y:14.29, Z:15.86 [[ 0.9645535 0.09847913 0.24482321 -28.33263888] [ -0.08322007 0.99393149 -0.07193478 14.28503631] [ -0.25042158 0.04901074 0.96689554 15.85976122] [ 0. 0. 0. 1. ]] SLAMing on 6.659259764 meters Centerline goodness [0,1] 0.19604442883484063 Centerline is valid? [False, False] Translation: X:-28.37, Y:14.31, Z:15.88 [[ 0.96635334 0.09712002 0.23817836 -28.37290719] [ -0.08322808 0.99422628 -0.06772886 14.30630335] [ -0.24338102 0.04562688 0.96885699 15.87755618] [ 0. 0. 0. 1. ]] SLAMing on 6.689259764 meters Centerline goodness [0,1] 0.20163553450846272 Centerline is valid? [False, False] Translation: X:-28.41, Y:14.33, Z:15.89 [[ 0.96655118 0.09589767 0.23787065 -28.41353663] [ -0.08285629 0.99448791 -0.06425437 14.32590946] [ -0.24272133 0.04239605 0.9691692 15.88905661] [ 0. 0. 0. 1. ]] SLAMing on 6.719259763999999 meters Centerline goodness [0,1] 0.2189986373027386 Centerline is valid? [False, False] Translation: X:-28.45, Y:14.35, Z:15.91 [[ 0.96842294 0.09313388 0.23126411 -28.4540637 ] [ -0.0808955 0.99480043 -0.06187109 14.34675941] [ -0.23582393 0.04120916 0.97092166 15.90637832] [ 0. 0. 0. 1. ]] SLAMing on 6.749259764 meters Centerline goodness [0,1] 0.20561671830707362 Centerline is valid? [False, False] Translation: X:-28.49, Y:14.37, Z:15.92 [[ 0.96859757 0.09316193 0.23052029 -28.49078487] [ -0.08120073 0.99483774 -0.06086305 14.36696387] [ -0.2350004 0.04023339 0.97116223 15.91818109] [ 0. 0. 0. 1. ]] SLAMing on 6.779259764 meters Centerline goodness [0,1] 0.21017699115044253 Centerline is valid? [False, False] Translation: X:-28.52, Y:14.39, Z:15.93 [[ 0.9688824 0.09493012 0.22859388 -28.52357884] [ -0.08345439 0.994741 -0.05937775 14.38702441] [ -0.23302844 0.0384529 0.97170938 15.92991066] [ 0. 0. 0. 1. ]] SLAMing on 6.809259763999999 meters Centerline goodness [0,1] 0.0956990189208129 Centerline is valid? [False, False] Translation: X:-28.56, Y:14.41, Z:15.95 [[ 0.96875672 0.09923832 0.22729316 -28.55651796] [ -0.08844442 0.99443641 -0.05721718 14.41202951] [ -0.23170673 0.03532672 0.97214403 15.94540985] [ 0. 0. 0. 1. ]] SLAMing on 6.8392597639999995 meters Centerline goodness [0,1] 0.10507915567282322 Centerline is valid? [False, False] Translation: X:-28.59, Y:14.44, Z:15.96 [[ 0.96868362 0.10390923 0.22551034 -28.58922946] [ -0.09387808 0.994075 -0.05478864 14.43810186] [ -0.22986724 0.03190238 0.97269897 15.96147244] [ 0. 0. 0. 1. ]] SLAMing on 6.869259764 meters Centerline goodness [0,1] 0.10653050374374196 Centerline is valid? [False, False] Translation: X:-28.61, Y:14.46, Z:15.97 [[ 0.96907998 0.10987497 0.2209332 -28.61172119] [ -0.10046997 0.99350599 -0.05340077 14.4578222 ] [ -0.22536586 0.02955247 0.9738259 15.97115321] [ 0. 0. 0. 1. ]] SLAMing on 6.899259764 meters Centerline goodness [0,1] 0.09125027759271598 Centerline is valid? [False, False] Translation: X:-28.63, Y:14.47, Z:15.98 [[ 0.96985061 0.11239429 0.21623442 -28.63462313] [ -0.10277812 0.99316868 -0.05525056 14.47323507] [ -0.22096711 0.03136063 0.97477692 15.97936465] [ 0. 0. 0. 1. ]] SLAMing on 6.929259763999999 meters Centerline goodness [0,1] 0.13516601693776042 Centerline is valid? [False, False] Translation: X:-28.66, Y:14.49, Z:15.99 [[ 0.97027289 0.11626372 0.21225753 -28.66054775] [ -0.10698374 0.99275307 -0.05473414 14.49286059] [ -0.21708291 0.03039895 0.97567972 15.99019334] [ 0. 0. 0. 1. ]] SLAMing on 6.959259764 meters Centerline goodness [0,1] 0.13516601693776042 Centerline is valid? [False, False] Translation: X:-28.68, Y:14.50, Z:15.99 [[ 9.70032520e-01 1.12561854e-01 2.15329372e-01 -2.86795940e+01] [-1.04868600e-01 9.93381334e-01 -4.68625908e-02 1.44993077e+01] [-2.19179119e-01 2.28769473e-02 9.75416403e-01 1.59925058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.989259764 meters Centerline goodness [0,1] 0.11997845504735405 Centerline is valid? [False, False] Translation: X:-28.70, Y:14.52, Z:16.00 [[ 9.70945550e-01 1.13940378e-01 2.10433671e-01 -2.87040797e+01] [-1.05896728e-01 9.93162055e-01 -4.91428157e-02 1.45152652e+01] [-2.14594088e-01 2.54307610e-02 9.76372190e-01 1.60017737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.019259763999999 meters Centerline goodness [0,1] 0.12477006595181483 Centerline is valid? [False, False] Translation: X:-28.73, Y:14.53, Z:16.01 [[ 9.71784659e-01 1.15949297e-01 2.05402867e-01 -2.87274414e+01] [-1.07837884e-01 9.92895562e-01 -5.02930744e-02 1.45282808e+01] [-2.09775042e-01 2.67238276e-02 9.77384402e-01 1.60092204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.049259763999999 meters Centerline goodness [0,1] 0.0789027275568055 Centerline is valid? [False, False] Translation: X:-28.75, Y:14.54, Z:16.02 [[ 9.72564968e-01 1.20054583e-01 1.99259329e-01 -2.87451380e+01] [-1.11781342e-01 9.92355357e-01 -5.23046596e-02 1.45390879e+01] [-2.04015477e-01 2.85962043e-02 9.78549918e-01 1.60161317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.079259764 meters Centerline goodness [0,1] 0.08223823654090712 Centerline is valid? [False, False] Translation: X:-28.77, Y:14.55, Z:16.02 [[ 0.97334751 0.12292264 0.19360954 -28.76544788] [ -0.11425729 0.99190819 -0.05534809 14.55066725] [ -0.19884642 0.03175163 0.97951617 16.02453491] [ 0. 0. 0. 1. ]] SLAMing on 7.109259764 meters Centerline goodness [0,1] 0.09045304906725193 Centerline is valid? [False, False] Translation: X:-28.78, Y:14.56, Z:16.04 [[ 9.75606956e-01 1.18621984e-01 1.84715709e-01 -2.87821743e+01] [-1.11323875e-01 9.92554142e-01 -4.94294441e-02 1.45605496e+01] [-1.89203761e-01 2.76604409e-02 9.81548184e-01 1.60370006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.139259763999999 meters Centerline goodness [0,1] 0.08887249312495804 Centerline is valid? [False, False] Translation: X:-28.79, Y:14.56, Z:16.04 [[ 9.75086557e-01 1.21193823e-01 1.85790911e-01 -2.87850670e+01] [-1.14482529e-01 9.92337513e-01 -4.64759103e-02 1.45613046e+01] [-1.89999884e-01 2.40482220e-02 9.81489545e-01 1.60393813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1692597639999995 meters Centerline goodness [0,1] 0.1353013530135302 Centerline is valid? [False, False] Translation: X:-28.79, Y:14.56, Z:16.04 [[ 9.74560293e-01 1.23631410e-01 1.86942532e-01 -2.87880938e+01] [-1.17481744e-01 9.92114468e-01 -4.36683292e-02 1.45629781e+01] [-1.90867167e-01 2.05950851e-02 9.81399800e-01 1.60419124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.199259764 meters Centerline goodness [0,1] 0.07600599458697743 Centerline is valid? [False, False] Translation: X:-28.79, Y:14.57, Z:16.05 [[ 9.73662819e-01 1.28366931e-01 1.88421456e-01 -2.87920437e+01] [-1.23355993e-01 9.91629510e-01 -3.81341558e-02 1.45671147e+01] [-1.91739441e-01 1.38868939e-02 9.81347615e-01 1.60468737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.229259763999999 meters Centerline goodness [0,1] 0.10633162655358308 Centerline is valid? [False, False] Translation: X:-28.81, Y:14.58, Z:16.05 [[ 9.73081386e-01 1.26639044e-01 1.92549135e-01 -2.88090829e+01] [-1.22548727e-01 9.91911850e-01 -3.30558907e-02 1.45763399e+01] [-1.95177935e-01 8.56942046e-03 9.80730411e-01 1.60514258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.259259763999999 meters Centerline goodness [0,1] 0.11500856087230782 Centerline is valid? [False, False] Translation: X:-28.82, Y:14.59, Z:16.06 [[ 9.74012202e-01 1.30628200e-01 1.85031090e-01 -2.88216363e+01] [-1.25411224e-01 9.91311206e-01 -3.96751501e-02 1.45870068e+01] [-1.88606086e-01 1.54391049e-02 9.81931453e-01 1.60605281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.289259764 meters Centerline goodness [0,1] 0.08827028847233132 Centerline is valid? [False, False] Translation: X:-28.83, Y:14.60, Z:16.07 [[ 9.74805638e-01 1.35337942e-01 1.77306539e-01 -2.88332676e+01] [-1.29353390e-01 9.90579567e-01 -4.49424273e-02 1.45983002e+01] [-1.81718650e-01 2.08749297e-02 9.83128969e-01 1.60680371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.319259764 meters Centerline goodness [0,1] 0.13976302136432628 Centerline is valid? [False, False] Translation: X:-28.85, Y:14.61, Z:16.07 [[ 9.75230098e-01 1.39929633e-01 1.71306605e-01 -2.88504568e+01] [-1.34002408e-01 9.89924570e-01 -4.57460491e-02 1.46099312e+01] [-1.75981845e-01 2.16574264e-02 9.84155143e-01 1.60724697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.349259763999999 meters Centerline goodness [0,1] 0.13518589758095545 Centerline is valid? [False, False] Translation: X:-28.86, Y:14.62, Z:16.08 [[ 9.76105014e-01 1.43521552e-01 1.63158102e-01 -2.88624229e+01] [-1.36914287e-01 9.89263820e-01 -5.11035439e-02 1.46195226e+01] [-1.68740867e-01 2.75437503e-02 9.85275526e-01 1.60794350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3792597639999995 meters Centerline goodness [0,1] 0.10354767687314159 Centerline is valid? [False, False] Translation: X:-28.87, Y:14.63, Z:16.09 [[ 0.97652042 0.14936487 0.15523534 -28.8729491 ] [ -0.142463 0.98828547 -0.05473688 14.63002248] [ -0.1615926 0.03133639 0.98635991 16.08532921] [ 0. 0. 0. 1. ]] SLAMing on 7.409259764 meters Centerline goodness [0,1] 0.15028125071166676 Centerline is valid? [False, False] Translation: X:-28.88, Y:14.64, Z:16.09 [[ 0.97697089 0.15435357 0.14731888 -28.88407452] [ -0.14697148 0.9873308 -0.05981026 14.64086551] [ -0.15468439 0.03678121 0.98727903 16.09219505] [ 0. 0. 0. 1. ]] SLAMing on 7.439259764 meters Centerline goodness [0,1] 0.1151881201607593 Centerline is valid? [False, False] Translation: X:-28.89, Y:14.64, Z:16.09 [[ 0.97629348 0.15749258 0.14848276 -28.8851564 ] [ -0.15067451 0.98698631 -0.05617132 14.6418187 ] [ -0.15539702 0.03246712 0.98731841 16.09170168] [ 0. 0. 0. 1. ]] SLAMing on 7.469259763999999 meters Centerline goodness [0,1] 0.10977674078140731 Centerline is valid? [False, False] Translation: X:-28.90, Y:14.65, Z:16.10 [[ 0.97635034 0.16405633 0.14080315 -28.89752376] [ -0.15736373 0.98586564 -0.05749428 14.65446536] [ -0.14824529 0.03397726 0.98836677 16.09953582] [ 0. 0. 0. 1. ]] SLAMing on 7.499259764 meters Centerline goodness [0,1] 0.10635280122617985 Centerline is valid? [False, False] Translation: X:-28.90, Y:14.66, Z:16.10 [[ 0.97565073 0.16745845 0.14164502 -28.89784124] [ -0.16134724 0.98543757 -0.05366438 14.65553335] [ -0.14856888 0.02950366 0.98846185 16.09965466] [ 0. 0. 0. 1. ]] SLAMing on 7.529259764 meters Centerline goodness [0,1] 0.08087406555491661 Centerline is valid? [False, False] Translation: X:-28.90, Y:14.66, Z:16.10 [[ 9.74383030e-01 1.72979345e-01 1.43721453e-01 -2.89012749e+01] [-1.67832388e-01 9.84680697e-01 -4.72886330e-02 1.46581164e+01] [-1.49699697e-01 2.19561268e-02 9.88487698e-01 1.61021498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.559259763999999 meters Centerline goodness [0,1] 0.1209310909636192 Centerline is valid? [False, False] Translation: X:-28.90, Y:14.66, Z:16.10 [[ 9.73650521e-01 1.76055294e-01 1.44945492e-01 -2.89029730e+01] [-1.71444141e-01 9.84219199e-01 -4.38118056e-02 1.46588348e+01] [-1.50371437e-01 1.78073320e-02 9.88469185e-01 1.61028279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5892597639999995 meters Centerline goodness [0,1] 0.09347976878612718 Centerline is valid? [False, False] Translation: X:-28.91, Y:14.67, Z:16.11 [[ 9.73996651e-01 1.80334039e-01 1.37150130e-01 -2.89149530e+01] [-1.75174345e-01 9.83322087e-01 -4.89042073e-02 1.46711373e+01] [-1.43681845e-01 2.36073499e-02 9.89342317e-01 1.61099495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.619259764 meters Centerline goodness [0,1] 0.0735743380855397 Centerline is valid? [False, False] Translation: X:-28.92, Y:14.67, Z:16.11 [[ 9.73236864e-01 1.83216896e-01 1.38714010e-01 -2.89174915e+01] [-1.78581268e-01 9.82883390e-01 -4.52655874e-02 1.46707106e+01] [-1.44633116e-01 1.92824146e-02 9.89297453e-01 1.61101351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.649259764 meters Centerline goodness [0,1] 0.1990579896005783 Centerline is valid? [False, False] Translation: X:-28.93, Y:14.68, Z:16.12 [[ 9.73513402e-01 1.87944328e-01 1.30186737e-01 -2.89287443e+01] [-1.83063199e-01 9.81898841e-01 -4.86058785e-02 1.46812558e+01] [-1.36965405e-01 2.34860737e-02 9.90297371e-01 1.61174288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.679259763999999 meters Centerline goodness [0,1] 0.16752172792653497 Centerline is valid? [False, False] Translation: X:-28.93, Y:14.68, Z:16.12 [[ 9.72750760e-01 1.91027715e-01 1.31393955e-01 -2.89303507e+01] [-1.86615627e-01 9.81391452e-01 -4.52263888e-02 1.46824994e+01] [-1.37588398e-01 1.94738388e-02 9.90298037e-01 1.61183632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.709259764 meters Centerline goodness [0,1] 0.07922044459019462 Centerline is valid? [False, False] Translation: X:-28.93, Y:14.68, Z:16.12 [[ 9.71970839e-01 1.94030567e-01 1.32758530e-01 -2.89325739e+01] [-1.90091546e-01 9.80873942e-01 -4.18510848e-02 1.46827526e+01] [-1.38339772e-01 1.54417599e-02 9.90264439e-01 1.61193487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.739259764 meters Centerline goodness [0,1] 0.13483568958622472 Centerline is valid? [False, False] Translation: X:-28.94, Y:14.69, Z:16.13 [[ 9.72004943e-01 1.99069954e-01 1.24810030e-01 -2.89434939e+01] [-1.94687786e-01 9.79762391e-01 -4.65007785e-02 1.46938547e+01] [-1.31541082e-01 2.08999980e-02 9.91090376e-01 1.61259806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.769259763999999 meters Centerline goodness [0,1] 0.086753380916604 Centerline is valid? [False, False] Translation: X:-28.94, Y:14.69, Z:16.13 [[ 9.71115848e-01 2.02502971e-01 1.26200464e-01 -2.89445968e+01] [-1.98638261e-01 9.79145579e-01 -4.26236621e-02 1.46937140e+01] [-1.32200045e-01 1.63242730e-02 9.91088627e-01 1.61252822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.799259763999999 meters Centerline goodness [0,1] 0.16615950746585517 Centerline is valid? [False, False] Translation: X:-28.96, Y:14.71, Z:16.13 [[ 9.70300219e-01 2.10565622e-01 1.19078146e-01 -2.89556503e+01] [-2.06643769e-01 9.77402993e-01 -4.45167677e-02 1.47086953e+01] [-1.25761037e-01 1.85878725e-02 9.91886411e-01 1.61336111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.829259764 meters Centerline goodness [0,1] 0.17367985823981102 Centerline is valid? [False, False] Translation: X:-28.96, Y:14.71, Z:16.13 [[ 9.69468276e-01 2.13549050e-01 1.20532421e-01 -2.89574288e+01] [-2.10035270e-01 9.76821541e-01 -4.12899764e-02 1.47103510e+01] [-1.26556101e-01 1.47132627e-02 9.91850328e-01 1.61341549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.859259764 meters Centerline goodness [0,1] 0.22225919939146144 Centerline is valid? [False, False] Translation: X:-28.97, Y:14.72, Z:16.14 [[ 9.68780995e-01 2.20498790e-01 1.13329908e-01 -2.89693797e+01] [-2.16883688e-01 9.75229985e-01 -4.34504565e-02 1.47239777e+01] [-1.20103498e-01 1.75145680e-02 9.92606866e-01 1.61415579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.889259763999999 meters Centerline goodness [0,1] 0.17465084131750797 Centerline is valid? [False, False] Translation: X:-28.97, Y:14.72, Z:16.14 [[ 9.67022165e-01 2.26733251e-01 1.16017953e-01 -2.89723337e+01] [-2.23991535e-01 9.73914041e-01 -3.63212531e-02 1.47246923e+01] [-1.21226749e-01 9.13641750e-03 9.92582793e-01 1.61420939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9192597639999995 meters Centerline goodness [0,1] 0.24130712034073687 Centerline is valid? [False, False] Translation: X:-28.98, Y:14.74, Z:16.15 [[ 9.65979180e-01 2.34531373e-01 1.08992017e-01 -2.89834595e+01] [-2.31750975e-01 9.72044576e-01 -3.76938807e-02 1.47406843e+01] [-1.14785496e-01 1.11524978e-02 9.93327696e-01 1.61498492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.949259764 meters Centerline goodness [0,1] 0.2648961525366019 Centerline is valid? [False, False] Translation: X:-29.00, Y:14.75, Z:16.16 [[ 9.65035418e-01 2.41514886e-01 1.01868554e-01 -2.89955641e+01] [-2.38652214e-01 9.70297568e-01 -3.95948230e-02 1.47542887e+01] [-1.08405549e-01 1.38992507e-02 9.94009581e-01 1.61573908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.979259763999999 meters Centerline goodness [0,1] 0.3037496035715157 Centerline is valid? [False, False] Translation: X:-29.00, Y:14.75, Z:16.16 [[ 9.63996283e-01 2.44990934e-01 1.03395395e-01 -2.89965424e+01] [-2.42532244e-01 9.69478400e-01 -3.59129825e-02 1.47549208e+01] [-1.09037957e-01 9.54326454e-03 9.93991776e-01 1.61568503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.009259764 meters Centerline goodness [0,1] 0.26083227134594644 Centerline is valid? [False, False] Translation: X:-29.01, Y:14.77, Z:16.16 [[ 9.63734245e-01 2.49323558e-01 9.51528715e-02 -2.90077409e+01] [-2.46503992e-01 9.68294864e-01 -4.05072640e-02 1.47665414e+01] [-1.02235452e-01 1.55826748e-02 9.94638172e-01 1.61637107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.039259764 meters Centerline goodness [0,1] 0.31293152165900884 Centerline is valid? [False, False] Translation: X:-29.01, Y:14.77, Z:16.16 [[ 9.62798890e-01 2.52206840e-01 9.70051958e-02 -2.90107990e+01] [-2.49742083e-01 9.67606645e-01 -3.69631133e-02 1.47659768e+01] [-1.03185222e-01 1.13617648e-02 9.94597265e-01 1.61641100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.069259764 meters Centerline goodness [0,1] 0.38780800948101324 Centerline is valid? [False, False] Translation: X:-29.01, Y:14.76, Z:16.16 [[ 9.61757041e-01 2.55441163e-01 9.88595286e-02 -2.90129440e+01] [-2.53402383e-01 9.66802331e-01 -3.28707376e-02 1.47647580e+01] [-1.03974162e-01 6.56242319e-03 9.94558348e-01 1.61633322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.099259764000001 meters Centerline goodness [0,1] 0.33651044496024496 Centerline is valid? [False, False] Translation: X:-29.02, Y:14.76, Z:16.16 [[ 9.60858032e-01 2.58106994e-01 1.00660922e-01 -2.90164267e+01] [-2.56457278e-01 9.66113685e-01 -2.92234938e-02 1.47625251e+01] [-1.04792683e-01 2.26440260e-03 9.94491511e-01 1.61636746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.129259764 meters Centerline goodness [0,1] 0.3569108092144123 Centerline is valid? [False, False] Translation: X:-29.03, Y:14.77, Z:16.17 [[ 9.61202793e-01 2.59903275e-01 9.24092980e-02 -2.90309987e+01] [-2.57714785e-01 9.65583813e-01 -3.50854713e-02 1.47706088e+01] [-9.83477512e-02 9.90901055e-03 9.95102774e-01 1.61704259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.159259764 meters Centerline goodness [0,1] 0.38590141330575667 Centerline is valid? [False, False] Translation: X:-29.03, Y:14.77, Z:16.17 [[ 9.60200677e-01 2.62872180e-01 9.44080336e-02 -2.90346069e+01] [-2.61062651e-01 9.64815755e-01 -3.12546065e-02 1.47674644e+01] [-9.93023248e-02 5.36428272e-03 9.95042850e-01 1.61702531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.189259764 meters Centerline goodness [0,1] 0.38552673711175156 Centerline is valid? [False, False] Translation: X:-29.04, Y:14.77, Z:16.17 [[ 9.59415263e-01 2.64819172e-01 9.69183121e-02 -2.90399815e+01] [-2.63368822e-01 9.64297520e-01 -2.76975938e-02 1.47656621e+01] [-1.00792942e-01 1.04823259e-03 9.94906872e-01 1.61698326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.219259764 meters Centerline goodness [0,1] 0.3349810634007181 Centerline is valid? [False, False] Translation: X:-29.04, Y:14.77, Z:16.17 [[ 9.58432067e-01 2.67640538e-01 9.88762611e-02 -2.90434507e+01] [-2.66560112e-01 9.63513731e-01 -2.42280032e-02 1.47650466e+01] [-1.01753031e-01 -3.13557206e-03 9.94804749e-01 1.61706663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.249259764 meters Centerline goodness [0,1] 0.3347309229023825 Centerline is valid? [False, False] Translation: X:-29.05, Y:14.78, Z:16.18 [[ 9.58474277e-01 2.71113452e-01 8.84565248e-02 -2.90538805e+01] [-2.69918899e-01 9.62547272e-01 -2.54270944e-02 1.47756439e+01] [-9.20372140e-02 4.95128174e-04 9.95755445e-01 1.61810535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.279259764 meters Centerline goodness [0,1] 0.32974026294368664 Centerline is valid? [False, False] Translation: X:-29.06, Y:14.78, Z:16.18 [[ 9.57496274e-01 2.73933524e-01 9.03399694e-02 -2.90572749e+01] [-2.73037537e-01 9.61743160e-01 -2.23740273e-02 1.47762240e+01] [-9.30128438e-02 -3.24315494e-03 9.95659627e-01 1.61825149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.309259764 meters Centerline goodness [0,1] 0.3746807824858057 Centerline is valid? [False, False] Translation: X:-29.06, Y:14.78, Z:16.19 [[ 9.56559379e-01 2.76718106e-01 9.17673341e-02 -2.90597643e+01] [-2.76077884e-01 9.60930197e-01 -1.98534173e-02 1.47790961e+01] [-9.36758024e-02 -6.34395886e-03 9.95582542e-01 1.61851926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.339259764000001 meters Centerline goodness [0,1] 0.3644936347618929 Centerline is valid? [False, False] Translation: X:-29.06, Y:14.78, Z:16.19 [[ 9.55637901e-01 2.79250143e-01 9.36779549e-02 -2.90637490e+01] [-2.78898155e-01 9.60168494e-01 -1.70962528e-02 1.47795818e+01] [-9.47207520e-02 -9.78878157e-03 9.95455754e-01 1.61871300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.369259764 meters Centerline goodness [0,1] 0.38557510686947016 Centerline is valid? [False, False] Translation: X:-29.08, Y:14.79, Z:16.20 [[ 9.55351094e-01 2.82807695e-01 8.55809262e-02 -2.90768988e+01] [-2.81940391e-01 9.59172499e-01 -2.23099156e-02 1.47929379e+01] [-8.83962867e-02 -2.81491746e-03 9.96081409e-01 1.61962404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.399259764 meters Centerline goodness [0,1] 0.3706799750467873 Centerline is valid? [False, False] Translation: X:-29.09, Y:14.80, Z:16.20 [[ 9.57410192e-01 2.78348828e-01 7.67310474e-02 -2.90881734e+01] [-2.77992730e-01 9.60458118e-01 -1.54998349e-02 1.48025276e+01] [-7.80113183e-02 -6.49097347e-03 9.96931342e-01 1.62034903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.429259764000001 meters Centerline goodness [0,1] 0.3784669250969114 Centerline is valid? [False, False] Translation: X:-29.10, Y:14.81, Z:16.21 [[ 9.57173157e-01 2.81365414e-01 6.82132759e-02 -2.91008731e+01] [-2.80639083e-01 9.59600680e-01 -2.02049423e-02 1.48122372e+01] [-7.11424779e-02 1.96317204e-04 9.97466144e-01 1.62101925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.459259764 meters Centerline goodness [0,1] 0.3478315148186063 Centerline is valid? [False, False] Translation: X:-29.10, Y:14.81, Z:16.21 [[ 9.56163679e-01 2.84281645e-01 7.02493040e-02 -2.91041229e+01] [-2.83838629e-01 9.58731445e-01 -1.64210076e-02 1.48100238e+01] [-7.20184078e-02 -4.23829510e-03 9.97394298e-01 1.62095887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.489259764 meters Centerline goodness [0,1] 0.3438419713672869 Centerline is valid? [False, False] Translation: X:-29.12, Y:14.82, Z:16.22 [[ 9.55984718e-01 2.86893282e-01 6.15261200e-02 -2.91171488e+01] [-2.86078868e-01 9.57956908e-01 -2.18504888e-02 1.48198127e+01] [-6.52081301e-02 3.28741066e-03 9.97866270e-01 1.62171487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.519259764000001 meters Centerline goodness [0,1] 0.3943052847357632 Centerline is valid? [False, False] Translation: X:-29.12, Y:14.82, Z:16.22 [[ 9.55068740e-01 2.89285925e-01 6.44775623e-02 -2.91226020e+01] [-2.88725655e-01 9.57241742e-01 -1.80483749e-02 1.48181814e+01] [-6.69417549e-02 -1.37888769e-03 9.97755932e-01 1.62157177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.549259764 meters Centerline goodness [0,1] 0.38621972057493215 Centerline is valid? [False, False] Translation: X:-29.13, Y:14.82, Z:16.22 [[ 9.54030774e-01 2.92272385e-01 6.63485891e-02 -2.91255573e+01] [-2.91939697e-01 9.56321083e-01 -1.48727906e-02 1.48188667e+01] [-6.77974606e-02 -5.18068706e-03 9.97685654e-01 1.62168446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.579259764 meters Centerline goodness [0,1] 0.37961003627569534 Centerline is valid? [False, False] Translation: X:-29.13, Y:14.82, Z:16.23 [[ 9.55261035e-01 2.90280488e-01 5.66885650e-02 -2.91311650e+01] [-2.90283960e-01 9.56904080e-01 -8.35490288e-03 1.48246825e+01] [-5.66707844e-02 -8.47466795e-03 9.98356951e-01 1.62260879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.609259764 meters Centerline goodness [0,1] 0.38254136400322836 Centerline is valid? [False, False] Translation: X:-29.14, Y:14.84, Z:16.23 [[ 9.54821180e-01 2.93252902e-01 4.81585917e-02 -2.91440711e+01] [-2.92929400e-01 9.56034452e-01 -1.38019560e-02 1.48368249e+01] [-5.00887365e-02 -9.28667410e-04 9.98744340e-01 1.62345513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.639259764 meters Centerline goodness [0,1] 0.4156287107450545 Centerline is valid? [False, False] Translation: X:-29.15, Y:14.84, Z:16.24 [[ 9.53807346e-01 2.96286884e-01 4.96550962e-02 -2.91461131e+01] [-2.96103230e-01 9.55090465e-01 -1.11839825e-02 1.48396467e+01] [-5.07387763e-02 -4.03566971e-03 9.98703805e-01 1.62365086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.669259764000001 meters Centerline goodness [0,1] 0.4071000227727031 Centerline is valid? [False, False] Translation: X:-29.15, Y:14.84, Z:16.24 [[ 9.52751937e-01 2.99370817e-01 5.13893125e-02 -2.91487734e+01] [-2.99353214e-01 9.54106956e-01 -8.22007353e-03 1.48409484e+01] [-5.14917507e-02 -7.55186492e-03 9.98644866e-01 1.62379866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.699259764 meters Centerline goodness [0,1] 0.40512067262643403 Centerline is valid? [False, False] Translation: X:-29.16, Y:14.85, Z:16.25 [[ 9.54149943e-01 2.96373804e-01 4.19577674e-02 -2.91565892e+01] [-2.96519379e-01 9.55022573e-01 -2.85344508e-03 1.48478682e+01] [-4.09163013e-02 -9.71867666e-03 9.99115310e-01 1.62475625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.729259764 meters Centerline goodness [0,1] 0.40050492299924256 Centerline is valid? [False, False] Translation: X:-29.17, Y:14.86, Z:16.25 [[ 9.53864167e-01 2.98387162e-01 3.32904121e-02 -2.91702464e+01] [-2.98306829e-01 9.54440795e-01 -7.47017987e-03 1.48581878e+01] [-3.40027332e-02 -2.80522038e-03 9.99417803e-01 1.62536825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.759259764000001 meters Centerline goodness [0,1] 0.395433512857468 Centerline is valid? [False, False] Translation: X:-29.18, Y:14.86, Z:16.25 [[ 9.53743780e-01 2.98196659e-01 3.80992682e-02 -2.91821100e+01] [-2.98321168e-01 9.54462256e-01 -2.50654535e-03 1.48614527e+01] [-3.71117569e-02 -8.97521616e-03 9.99270816e-01 1.62488263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.789259764 meters Centerline goodness [0,1] 0.3991266816426462 Centerline is valid? [False, False] Translation: X:-29.18, Y:14.86, Z:16.25 [[ 9.53777906e-01 2.98042775e-01 3.84474915e-02 -2.91836737e+01] [-2.98166253e-01 9.54510371e-01 -2.61487802e-03 1.48609654e+01] [-3.74778748e-02 -8.96973157e-03 9.99257201e-01 1.62493825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.819259764 meters Centerline goodness [0,1] 0.4077097505668934 Centerline is valid? [False, False] Translation: X:-29.19, Y:14.86, Z:16.25 [[ 9.54158841e-01 2.96503000e-01 4.08274011e-02 -2.91906224e+01] [-2.96650973e-01 9.54982632e-01 -2.52445603e-03 1.48608740e+01] [-3.97379678e-02 -9.70275621e-03 9.99163025e-01 1.62476233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.849259764000001 meters Centerline goodness [0,1] 0.40530141085934157 Centerline is valid? [False, False] Translation: X:-29.20, Y:14.87, Z:16.26 [[ 9.53846404e-01 2.98649406e-01 3.13937978e-02 -2.92035359e+01] [-2.98558505e-01 9.54360643e-01 -7.65385806e-03 1.48703296e+01] [-3.22468252e-02 -2.07228035e-03 9.99477788e-01 1.62559896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.879259764 meters Centerline goodness [0,1] 0.40530141085934157 Centerline is valid? [False, False] Translation: X:-29.20, Y:14.87, Z:16.26 [[ 9.53846404e-01 2.98649406e-01 3.13937978e-02 -2.92035359e+01] [-2.98558505e-01 9.54360643e-01 -7.65385806e-03 1.48703296e+01] [-3.22468252e-02 -2.07228035e-03 9.99477788e-01 1.62559896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.909259764 meters Centerline goodness [0,1] 0.4096049457177322 Centerline is valid? [False, False] Translation: X:-29.21, Y:14.87, Z:16.26 [[ 9.53984298e-01 2.98188398e-01 3.15854093e-02 -2.92057035e+01] [-2.98079699e-01 9.54505715e-01 -8.20561106e-03 1.48706540e+01] [-3.25952717e-02 -1.58694520e-03 9.99467373e-01 1.62578514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.939259764 meters Centerline goodness [0,1] 0.38909675313261183 Centerline is valid? [False, False] Translation: X:-29.21, Y:14.87, Z:16.26 [[ 9.54140520e-01 2.97634283e-01 3.20889745e-02 -2.92084970e+01] [-2.97507325e-01 9.54679238e-01 -8.77175834e-03 1.48705786e+01] [-3.32454537e-02 -1.17721491e-03 9.99446524e-01 1.62591542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.969259764 meters Centerline goodness [0,1] 0.40228789323164915 Centerline is valid? [False, False] Translation: X:-29.21, Y:14.87, Z:16.26 [[ 9.53359286e-01 2.99951218e-01 3.36947748e-02 -2.92129793e+01] [-2.99921704e-01 9.53944661e-01 -6.04607645e-03 1.48691796e+01] [-3.39564785e-02 -4.34171114e-03 9.99413882e-01 1.62613294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.999259764 meters Centerline goodness [0,1] 0.4086577046548957 Centerline is valid? [False, False] Translation: X:-29.22, Y:14.87, Z:16.26 [[ 9.52329468e-01 3.02980842e-01 3.56537979e-02 -2.92164609e+01] [-3.03071377e-01 9.52963239e-01 -2.96747150e-03 1.48694138e+01] [-3.48758458e-02 -7.97963505e-03 9.99359795e-01 1.62625673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.029259764 meters Centerline goodness [0,1] 0.40915290195484166 Centerline is valid? [False, False] Translation: X:-29.23, Y:14.88, Z:16.27 [[ 9.50877318e-01 3.08271279e-01 2.83045000e-02 -2.92314904e+01] [-3.08241956e-01 9.51292080e-01 -5.50236944e-03 1.48826486e+01] [-2.86220691e-02 -3.49255614e-03 9.99584203e-01 1.62713213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.059259764 meters Centerline goodness [0,1] 0.40401768793430193 Centerline is valid? [False, False] Translation: X:-29.24, Y:14.89, Z:16.28 [[ 9.50155972e-01 3.11132839e-01 1.99996199e-02 -2.92448333e+01] [-3.10977081e-01 9.50358797e-01 -1.05551975e-02 1.48946791e+01] [-2.22908833e-02 3.80966056e-03 9.99744269e-01 1.62787593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.089259764000001 meters Centerline goodness [0,1] 0.37342745493508134 Centerline is valid? [False, False] Translation: X:-29.25, Y:14.89, Z:16.28 [[ 9.49210003e-01 3.13870644e-01 2.20360948e-02 -2.92484933e+01] [-3.13792900e-01 9.49465714e-01 -6.99101916e-03 1.48928356e+01] [-2.31167921e-02 -2.78824765e-04 9.99732732e-01 1.62785641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.119259764 meters Centerline goodness [0,1] 0.37175386010427947 Centerline is valid? [False, False] Translation: X:-29.27, Y:14.90, Z:16.28 [[ 9.49109292e-01 3.14626694e-01 1.41984121e-02 -2.92650514e+01] [-3.14488853e-01 9.49195881e-01 -1.11328753e-02 1.49036316e+01] [-1.69797740e-02 6.10107310e-03 9.99837219e-01 1.62824659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.149259764 meters Centerline goodness [0,1] 0.4009402962438704 Centerline is valid? [False, False] Translation: X:-29.28, Y:14.91, Z:16.28 [[ 9.48934245e-01 3.14916030e-01 1.87534562e-02 -2.92780504e+01] [-3.14926181e-01 9.49112911e-01 -2.48657084e-03 1.49068748e+01] [-1.85822085e-02 -3.54636213e-03 9.99821046e-01 1.62766826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.179259764000001 meters Centerline goodness [0,1] 0.4136185293000886 Centerline is valid? [False, False] Translation: X:-29.29, Y:14.92, Z:16.29 [[ 9.48375010e-01 3.17080668e-01 6.68512265e-03 -2.92855230e+01] [-3.17088819e-01 9.48395831e-01 1.68812692e-04 1.49161147e+01] [-6.28661521e-03 -2.27987539e-03 9.99977640e-01 1.62865882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.209259764 meters Centerline goodness [0,1] 0.3983554134307903 Centerline is valid? [False, False] Translation: X:-29.29, Y:14.92, Z:16.28 [[ 9.47869071e-01 3.18468772e-01 1.10392294e-02 -2.92941047e+01] [-3.18528777e-01 9.47904149e-01 4.14027753e-03 1.49193845e+01] [-9.14558230e-03 -7.44075328e-03 9.99930494e-01 1.62832148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.239259764 meters Centerline goodness [0,1] 0.4000050720227226 Centerline is valid? [False, False] Translation: X:-29.31, Y:14.93, Z:16.29 [[ 9.49711122e-01 3.13126833e-01 6.09858888e-04 -2.93076011e+01] [-3.13120971e-01 9.49677231e-01 8.27128990e-03 1.49295044e+01] [ 2.01079371e-03 -8.04629561e-03 9.99965606e-01 1.62917800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.269259764000001 meters Centerline goodness [0,1] 0.3991097172340533 Centerline is valid? [False, False] Translation: X:-29.32, Y:14.94, Z:16.30 [[ 9.49336157e-01 3.14156730e-01 -8.14926668e-03 -2.93223399e+01] [-3.14145211e-01 9.49371134e-01 2.69024555e-03 1.49387084e+01] [ 8.58183729e-03 6.10572715e-06 9.99963175e-01 1.62976876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.299259764 meters Centerline goodness [0,1] 0.4108000202152928 Centerline is valid? [False, False] Translation: X:-29.33, Y:14.94, Z:16.30 [[ 9.49023630e-01 3.15173551e-01 -4.44780731e-03 -2.93312938e+01] [-3.15144468e-01 9.49023488e-01 6.19542694e-03 1.49381831e+01] [ 6.17370832e-03 -4.47790469e-03 9.99970916e-01 1.62954058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.329259764 meters Centerline goodness [0,1] 0.4135835295905189 Centerline is valid? [False, False] Translation: X:-29.34, Y:14.94, Z:16.29 [[ 9.48485504e-01 3.16820496e-01 -1.47609306e-04 -2.93396784e+01] [-3.16802123e-01 9.48435317e-01 1.03375423e-02 1.49414177e+01] [ 3.41514315e-03 -9.75824605e-03 9.99946555e-01 1.62923219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.359259764 meters Centerline goodness [0,1] 0.40682474540203684 Centerline is valid? [False, False] Translation: X:-29.35, Y:14.95, Z:16.30 [[ 9.47720625e-01 3.18975857e-01 -8.94539924e-03 -2.93529636e+01] [-3.18937639e-01 9.47760012e-01 5.45359364e-03 1.49529394e+01] [ 1.02176564e-02 -2.31545866e-03 9.99945118e-01 1.62990498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.389259764 meters Centerline goodness [0,1] 0.41156324521792076 Centerline is valid? [False, False] Translation: X:-29.37, Y:14.96, Z:16.31 [[ 9.46118066e-01 3.23391133e-01 -1.66967132e-02 -2.93673335e+01] [-3.23392850e-01 9.46261025e-01 2.67161430e-03 1.49643996e+01] [ 1.66634253e-02 2.87193511e-03 9.99857031e-01 1.63055033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.419259764 meters Centerline goodness [0,1] 0.4144294876669963 Centerline is valid? [False, False] Translation: X:-29.37, Y:14.97, Z:16.31 [[ 9.46322913e-01 3.22804006e-01 -1.64474520e-02 -2.93695859e+01] [-3.22820626e-01 9.46458625e-01 1.70728571e-03 1.49657402e+01] [ 1.61179514e-02 3.69393315e-03 9.99863274e-01 1.63071366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.449259764 meters Centerline goodness [0,1] 0.41575420407131114 Centerline is valid? [False, False] Translation: X:-29.37, Y:14.97, Z:16.31 [[ 9.45268849e-01 3.25976826e-01 -1.43496077e-02 -2.93737962e+01] [-3.25941921e-01 9.45377745e-01 4.77314837e-03 1.49653306e+01] [ 1.51217355e-02 1.65230217e-04 9.99885646e-01 1.63085093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.479259764 meters Centerline goodness [0,1] 0.36957181901002123 Centerline is valid? [False, False] Translation: X:-29.40, Y:14.98, Z:16.31 [[ 9.46866642e-01 3.21480158e-01 -9.69895079e-03 -2.93987369e+01] [-3.21359477e-01 9.46878860e-01 1.21865323e-02 1.49771367e+01] [ 1.31014598e-02 -8.42217116e-03 9.99878702e-01 1.63064078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.509259764000001 meters Centerline goodness [0,1] 0.42000910424358906 Centerline is valid? [False, False] Translation: X:-29.40, Y:14.98, Z:16.32 [[ 9.46923144e-01 3.20592583e-01 -2.35998913e-02 -2.94034404e+01] [-3.20318229e-01 9.47195758e-01 1.47115169e-02 1.49823461e+01] [ 2.70701201e-02 -6.37120050e-03 9.99613233e-01 1.63162130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.539259764 meters Centerline goodness [0,1] 0.41508434828655727 Centerline is valid? [False, False] Translation: X:-29.42, Y:14.99, Z:16.31 [[ 9.48376732e-01 3.16480869e-01 -2.05288803e-02 -2.94194807e+01] [-3.16057728e-01 9.48498137e-01 2.14195369e-02 1.49857829e+01] [ 2.62504783e-02 -1.38254791e-02 9.99559787e-01 1.63091657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.569259764 meters Centerline goodness [0,1] 0.406207657951523 Centerline is valid? [False, False] Translation: X:-29.43, Y:14.99, Z:16.31 [[ 9.47911023e-01 3.17143971e-01 -2.97387547e-02 -2.94327618e+01] [-3.16791847e-01 9.48359936e-01 1.60111894e-02 1.49946455e+01] [ 3.32808957e-02 -5.75618792e-03 9.99429461e-01 1.63137890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.599259764000001 meters Centerline goodness [0,1] 0.3659461223670005 Centerline is valid? [False, False] Translation: X:-29.45, Y:15.00, Z:16.31 [[ 9.49963143e-01 3.11133573e-01 -2.76753714e-02 -2.94532998e+01] [-3.10585099e-01 9.50281482e-01 2.24053686e-02 1.50025683e+01] [ 3.32704554e-02 -1.26887164e-02 9.99365836e-01 1.63095661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.629259764 meters Centerline goodness [0,1] 0.35477968820492256 Centerline is valid? [False, False] Translation: X:-29.45, Y:15.00, Z:16.31 [[ 9.50029702e-01 3.10954190e-01 -2.74054366e-02 -2.94548686e+01] [-3.10416606e-01 9.50341874e-01 2.21777741e-02 1.50023006e+01] [ 3.29408057e-02 -1.25624415e-02 9.99378351e-01 1.63102198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.659259764 meters Centerline goodness [0,1] 0.3801456420009509 Centerline is valid? [False, False] Translation: X:-29.46, Y:15.00, Z:16.31 [[ 9.50356486e-01 3.09960482e-01 -2.73321942e-02 -2.94584642e+01] [-3.09467243e-01 9.50681741e-01 2.08387504e-02 1.50045322e+01] [ 3.24434070e-02 -1.13458228e-02 9.99409174e-01 1.63138964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.689259764 meters Centerline goodness [0,1] 0.378517518868396 Centerline is valid? [False, False] Translation: X:-29.46, Y:15.01, Z:16.32 [[ 9.49779047e-01 3.11847402e-01 -2.59028751e-02 -2.94644368e+01] [-3.11313565e-01 9.50036670e-01 2.26757375e-02 1.50057362e+01] [ 3.16800511e-02 -1.34730240e-02 9.99407250e-01 1.63183074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.719259764 meters Centerline goodness [0,1] 0.391049321086262 Centerline is valid? [False, False] Translation: X:-29.47, Y:15.00, Z:16.32 [[ 9.48949621e-01 3.14500724e-01 -2.41642459e-02 -2.94689881e+01] [-3.13901222e-01 9.49109735e-01 2.56268239e-02 1.50049015e+01] [ 3.09941757e-02 -1.67333785e-02 9.99379485e-01 1.63202561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.749259764 meters Centerline goodness [0,1] 0.38101511234837937 Centerline is valid? [False, False] Translation: X:-29.49, Y:15.01, Z:16.31 [[ 9.50932786e-01 3.08720431e-01 -2.04580405e-02 -2.94896067e+01] [-3.08004116e-01 9.50846779e-01 3.19979205e-02 1.50123771e+01] [ 2.93308737e-02 -2.41267110e-02 9.99278541e-01 1.63143384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.779259764 meters Centerline goodness [0,1] 0.3664853857806253 Centerline is valid? [False, False] Translation: X:-29.51, Y:15.02, Z:16.32 [[ 9.50846802e-01 3.08353727e-01 -2.84312864e-02 -2.95075626e+01] [-3.07639123e-01 9.51122957e-01 2.68940626e-02 1.50226718e+01] [ 3.53345337e-02 -1.68255574e-02 9.99233892e-01 1.63187012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.809259764 meters Centerline goodness [0,1] 0.3687359944839814 Centerline is valid? [False, False] Translation: X:-29.53, Y:15.03, Z:16.31 [[ 9.52797508e-01 3.02488346e-01 -2.60328637e-02 -2.95269737e+01] [-3.01634802e-01 9.52879788e-01 3.21955929e-02 1.50263877e+01] [ 3.45449813e-02 -2.28234630e-02 9.99142499e-01 1.63144400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.839259764000001 meters Centerline goodness [0,1] 0.3556046112337503 Centerline is valid? [False, False] Translation: X:-29.55, Y:15.03, Z:16.31 [[ 9.55002237e-01 2.95670551e-01 -2.34446861e-02 -2.95486915e+01] [-2.94709237e-01 9.54857451e-01 3.73324852e-02 1.50338019e+01] [ 3.34244497e-02 -2.87432413e-02 9.99027844e-01 1.63110176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.869259764 meters Centerline goodness [0,1] 0.3523125566803108 Centerline is valid? [False, False] Translation: X:-29.56, Y:15.04, Z:16.32 [[ 9.54500478e-01 2.96402528e-01 -3.27777250e-02 -2.95624175e+01] [-2.95461452e-01 9.54862087e-01 3.06744954e-02 1.50438849e+01] [ 4.03902049e-02 -1.95942663e-02 9.98991840e-01 1.63178570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.899259764 meters Centerline goodness [0,1] 0.34004156987406775 Centerline is valid? [False, False] Translation: X:-29.58, Y:15.05, Z:16.32 [[ 9.55699963e-01 2.92884623e-01 -2.92605396e-02 -2.95778438e+01] [-2.91892699e-01 9.55850091e-01 3.39006805e-02 1.50492891e+01] [ 3.78976774e-02 -2.38579413e-02 9.98996779e-01 1.63151991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.929259764000001 meters Centerline goodness [0,1] 0.3601486952718791 Centerline is valid? [False, False] Translation: X:-29.59, Y:15.06, Z:16.32 [[ 9.55788471e-01 2.91406918e-01 -3.93752018e-02 -2.95911679e+01] [-2.90556736e-01 9.56505906e-01 2.59467689e-02 1.50574582e+01] [ 4.52236810e-02 -1.33588925e-02 9.98887561e-01 1.63211101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.959259764 meters Centerline goodness [0,1] 0.3364000485495813 Centerline is valid? [False, False] Translation: X:-29.60, Y:15.06, Z:16.32 [[ 9.56382575e-01 2.89820865e-01 -3.65545774e-02 -2.95991297e+01] [-2.89001519e-01 9.56972424e-01 2.61132616e-02 1.50580713e+01] [ 4.25498906e-02 -1.44099400e-02 9.98990421e-01 1.63187828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.989259764 meters Centerline goodness [0,1] 0.25253456221198156 Centerline is valid? [False, False] Translation: X:-29.60, Y:15.06, Z:16.32 [[ 9.55667483e-01 2.92363772e-01 -3.49726647e-02 -2.96036943e+01] [-2.91457747e-01 9.56150245e-01 2.87939371e-02 1.50571439e+01] [ 4.18574260e-02 -1.73243753e-02 9.98973384e-01 1.63208112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.019259764000001 meters Centerline goodness [0,1] 0.3615977575332866 Centerline is valid? [False, False] Translation: X:-29.61, Y:15.06, Z:16.32 [[ 9.56006933e-01 2.91273716e-01 -3.47903172e-02 -2.96073759e+01] [-2.90422941e-01 9.56502380e-01 2.75265654e-02 1.50587929e+01] [ 4.12947862e-02 -1.62116811e-02 9.99015476e-01 1.63239768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.049259764 meters Centerline goodness [0,1] 0.3667585739853916 Centerline is valid? [False, False] Translation: X:-29.61, Y:15.06, Z:16.33 [[ 9.56150664e-01 2.90773646e-01 -3.50227673e-02 -2.96084379e+01] [-2.89956919e-01 9.56669768e-01 2.66071431e-02 1.50612141e+01] [ 4.12418786e-02 -1.52853438e-02 9.99032265e-01 1.63262011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.079259764 meters Centerline goodness [0,1] 0.2596671738762891 Centerline is valid? [False, False] Translation: X:-29.61, Y:15.06, Z:16.33 [[ 9.55948655e-01 2.91537212e-01 -3.41792920e-02 -2.96140190e+01] [-2.90702305e-01 9.56421575e-01 2.73850612e-02 1.50628755e+01] [ 4.06735767e-02 -1.62427134e-02 9.99040457e-01 1.63307094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.109259764 meters Centerline goodness [0,1] 0.2872170632617528 Centerline is valid? [False, False] Translation: X:-29.64, Y:15.08, Z:16.33 [[ 9.56376753e-01 2.89329547e-01 -4.03970314e-02 -2.96368043e+01] [-2.88564974e-01 9.57165678e-01 2.37512301e-02 1.50759284e+01] [ 4.55385846e-02 -1.10579560e-02 9.98901376e-01 1.63306974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.139259764 meters Centerline goodness [0,1] 0.33438653192156487 Centerline is valid? [False, False] Translation: X:-29.65, Y:15.09, Z:16.33 [[ 9.55503491e-01 2.90900990e-01 -4.88844831e-02 -2.96505617e+01] [-2.90293967e-01 9.56743947e-01 1.92466499e-02 1.50856429e+01] [ 5.23688028e-02 -4.19937068e-03 9.98618983e-01 1.63345041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.169259764 meters Centerline goodness [0,1] 0.17448856799037304 Centerline is valid? [False, False] Translation: X:-29.66, Y:15.09, Z:16.33 [[ 9.56319562e-01 2.88921586e-01 -4.44658510e-02 -2.96647284e+01] [-2.88017806e-01 9.57280616e-01 2.56820008e-02 1.50893060e+01] [ 4.99863816e-02 -1.17532430e-02 9.98680741e-01 1.63266652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.199259764 meters Centerline goodness [0,1] 0.2603134224483429 Centerline is valid? [False, False] Translation: X:-29.67, Y:15.09, Z:16.33 [[ 9.56372372e-01 2.88759237e-01 -4.43845633e-02 -2.96653193e+01] [-2.87870386e-01 9.57332510e-01 2.53989408e-02 1.50897928e+01] [ 4.98249642e-02 -1.15138439e-02 9.98691596e-01 1.63270376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.229259764 meters Centerline goodness [0,1] 0.21640145705521474 Centerline is valid? [False, False] Translation: X:-29.67, Y:15.09, Z:16.33 [[ 9.56359367e-01 2.89207605e-01 -4.16619897e-02 -2.96729589e+01] [-2.88272502e-01 9.57165870e-01 2.70640347e-02 1.50896721e+01] [ 4.77045593e-02 -1.38729371e-02 9.98765146e-01 1.63263703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.259259764000001 meters Centerline goodness [0,1] 0.13858539390454283 Centerline is valid? [False, False] Translation: X:-29.67, Y:15.09, Z:16.33 [[ 9.56428331e-01 2.89012609e-01 -4.14313792e-02 -2.96743163e+01] [-2.88090604e-01 9.57226590e-01 2.68525502e-02 1.50893766e+01] [ 4.74199434e-02 -1.37465488e-02 9.98780447e-01 1.63268738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.289259764 meters Centerline goodness [0,1] 0.2326919404125286 Centerline is valid? [False, False] Translation: X:-29.68, Y:15.09, Z:16.33 [[ 9.55733161e-01 2.91504559e-01 -3.99902088e-02 -2.96784117e+01] [-2.90479957e-01 9.56425247e-01 2.95320384e-02 1.50876671e+01] [ 4.68563692e-02 -1.66083943e-02 9.98763557e-01 1.63283794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.319259764 meters Centerline goodness [0,1] 0.1743983174398317 Centerline is valid? [False, False] Translation: X:-29.68, Y:15.09, Z:16.33 [[ 9.55266904e-01 2.93171229e-01 -3.89329281e-02 -2.96823418e+01] [-2.92075596e-01 9.55877091e-01 3.14774975e-02 1.50868695e+01] [ 4.64433906e-02 -1.86980534e-02 9.98745911e-01 1.63304279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.349259764000001 meters Centerline goodness [0,1] 0.18146625884152168 Centerline is valid? [False, False] Translation: X:-29.69, Y:15.09, Z:16.33 [[ 9.55575634e-01 2.92208071e-01 -3.85959871e-02 -2.96855507e+01] [-2.91156532e-01 9.56184506e-01 3.06441586e-02 1.50875422e+01] [ 4.58593553e-02 -1.80453375e-02 9.98784904e-01 1.63323941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.379259764 meters Centerline goodness [0,1] 0.19419861167433983 Centerline is valid? [False, False] Translation: X:-29.69, Y:15.09, Z:16.33 [[ 9.55703488e-01 2.91814187e-01 -3.84099374e-02 -2.96873131e+01] [-2.90789418e-01 9.56312673e-01 3.01261678e-02 1.50881183e+01] [ 4.55231531e-02 -1.76224803e-02 9.98807835e-01 1.63335822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.409259764 meters Centerline goodness [0,1] 0.20440326663164432 Centerline is valid? [False, False] Translation: X:-29.70, Y:15.09, Z:16.33 [[ 9.55531103e-01 2.92839737e-01 -3.47159893e-02 -2.96964237e+01] [-2.91757094e-01 9.55920205e-01 3.30811143e-02 1.50898326e+01] [ 4.28731804e-02 -2.14813975e-02 9.98849558e-01 1.63322161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.439259764 meters Centerline goodness [0,1] 0.2638905470260977 Centerline is valid? [False, False] Translation: X:-29.71, Y:15.10, Z:16.34 [[ 9.54437800e-01 2.95214183e-01 -4.35553793e-02 -2.97090329e+01] [-2.94220146e-01 9.55332010e-01 2.78434173e-02 1.51009167e+01] [ 4.98296197e-02 -1.37599399e-02 9.98662943e-01 1.63380784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.469259764 meters Centerline goodness [0,1] 0.21767586289263108 Centerline is valid? [False, False] Translation: X:-29.73, Y:15.11, Z:16.33 [[ 9.55303466e-01 2.93017295e-01 -3.91937781e-02 -2.97279887e+01] [-2.91713165e-01 9.55836664e-01 3.57729239e-02 1.51084380e+01] [ 4.79449354e-02 -2.27406571e-02 9.98591080e-01 1.63330866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.499259764 meters Centerline goodness [0,1] 0.22292947904951066 Centerline is valid? [False, False] Translation: X:-29.74, Y:15.12, Z:16.34 [[ 9.54182667e-01 2.95314943e-01 -4.82132960e-02 -2.97404572e+01] [-2.94103069e-01 9.55280300e-01 3.07072254e-02 1.51197018e+01] [ 5.51255144e-02 -1.51206240e-02 9.98364935e-01 1.63389539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.529259764 meters Centerline goodness [0,1] 0.2707604426990361 Centerline is valid? [False, False] Translation: X:-29.75, Y:15.12, Z:16.33 [[ 9.55466463e-01 2.91630022e-01 -4.51194970e-02 -2.97539399e+01] [-2.90217641e-01 9.56307672e-01 3.53462462e-02 1.51222898e+01] [ 5.34561477e-02 -2.06776789e-02 9.98356086e-01 1.63330660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.559259764 meters Centerline goodness [0,1] 0.2084926496782008 Centerline is valid? [False, False] Translation: X:-29.77, Y:15.13, Z:16.34 [[ 9.54649289e-01 2.92707681e-01 -5.44696987e-02 -2.97665286e+01] [-2.91451085e-01 9.56117853e-01 2.99151407e-02 1.51315267e+01] [ 6.08358428e-02 -1.26832151e-02 9.98067200e-01 1.63377907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.589259764 meters Centerline goodness [0,1] 0.26102582411043673 Centerline is valid? [False, False] Translation: X:-29.78, Y:15.14, Z:16.34 [[ 9.56231127e-01 2.85837527e-01 -6.26014362e-02 -2.97837590e+01] [-2.84152947e-01 9.58157120e-01 3.45258635e-02 1.51425445e+01] [ 6.98507993e-02 -1.52263228e-02 9.97441239e-01 1.63417876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.619259764 meters Centerline goodness [0,1] 0.2231656558449281 Centerline is valid? [False, False] Translation: X:-29.79, Y:15.14, Z:16.34 [[ 9.55350006e-01 2.89178998e-01 -6.06784338e-02 -2.97871994e+01] [-2.87286334e-01 9.57087514e-01 3.80795454e-02 1.51405445e+01] [ 6.90863762e-02 -1.89472091e-02 9.97430737e-01 1.63416836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.649259764 meters Centerline goodness [0,1] 0.21589287413186187 Centerline is valid? [False, False] Translation: X:-29.79, Y:15.14, Z:16.34 [[ 9.54391431e-01 2.92704582e-01 -5.88304652e-02 -2.97900568e+01] [-2.90629212e-01 9.55940714e-01 4.13764745e-02 1.51402868e+01] [ 6.83495206e-02 -2.23915009e-02 9.97410128e-01 1.63419653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.679259764000001 meters Centerline goodness [0,1] 0.25052336092872773 Centerline is valid? [False, False] Translation: X:-29.79, Y:15.14, Z:16.34 [[ 9.54465784e-01 2.92391728e-01 -5.91789202e-02 -2.97902721e+01] [-2.90376341e-01 9.56060071e-01 4.03821788e-02 1.51432066e+01] [ 6.83860177e-02 -2.13592497e-02 9.97430266e-01 1.63437828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.709259764 meters Centerline goodness [0,1] 0.27618820157630763 Centerline is valid? [False, False] Translation: X:-29.79, Y:15.14, Z:16.35 [[ 9.53577847e-01 2.95644758e-01 -5.73015473e-02 -2.97943748e+01] [-2.93493168e-01 9.54989571e-01 4.30891930e-02 1.51438908e+01] [ 6.74614741e-02 -2.42712872e-02 9.97426616e-01 1.63454234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.739259764 meters Centerline goodness [0,1] 0.31098216204599183 Centerline is valid? [False, False] Translation: X:-29.80, Y:15.15, Z:16.35 [[ 9.53945773e-01 2.94422290e-01 -5.74715263e-02 -2.97966916e+01] [-2.92383422e-01 9.55407595e-01 4.13311250e-02 1.51482221e+01] [ 6.70775372e-02 -2.26239305e-02 9.97491234e-01 1.63486127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.769259764000001 meters Centerline goodness [0,1] 0.27937455239914055 Centerline is valid? [False, False] Translation: X:-29.80, Y:15.15, Z:16.35 [[ 9.54087689e-01 2.93962218e-01 -5.74708333e-02 -2.97977563e+01] [-2.91960180e-01 9.55561021e-01 4.07724061e-02 1.51493456e+01] [ 6.69024351e-02 -2.21212559e-02 9.97514268e-01 1.63496667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.799259764 meters Centerline goodness [0,1] 0.27937455239914055 Centerline is valid? [False, False] Translation: X:-29.80, Y:15.15, Z:16.35 [[ 9.54087689e-01 2.93962218e-01 -5.74708333e-02 -2.97977563e+01] [-2.91960180e-01 9.55561021e-01 4.07724061e-02 1.51493456e+01] [ 6.69024351e-02 -2.21212559e-02 9.97514268e-01 1.63496667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.829259764 meters Centerline goodness [0,1] 0.2286673972080614 Centerline is valid? [False, False] Translation: X:-29.80, Y:15.15, Z:16.35 [[ 9.54178795e-01 2.93631962e-01 -5.76463162e-02 -2.97980371e+01] [-2.91663859e-01 9.55675700e-01 4.02013709e-02 1.51510959e+01] [ 6.68955910e-02 -2.15459486e-02 9.97527319e-01 1.63507134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.859259764 meters Centerline goodness [0,1] 0.2345847065004537 Centerline is valid? [False, False] Translation: X:-29.80, Y:15.15, Z:16.35 [[ 9.54361112e-01 2.93123548e-01 -5.72141043e-02 -2.98009123e+01] [-2.91199895e-01 9.55839681e-01 3.96626460e-02 1.51522001e+01] [ 6.63135667e-02 -2.11917458e-02 9.97573767e-01 1.63524232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.889259764 meters Centerline goodness [0,1] 0.23801582007052324 Centerline is valid? [False, False] Translation: X:-29.80, Y:15.15, Z:16.35 [[ 9.54396584e-01 2.92988489e-01 -5.73140928e-02 -2.98007612e+01] [-2.91084035e-01 9.55888348e-01 3.93389247e-02 1.51532405e+01] [ 6.63117257e-02 -2.08617180e-02 9.97580846e-01 1.63527034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.919259764 meters Centerline goodness [0,1] 0.3146629802650396 Centerline is valid? [False, False] Translation: X:-29.81, Y:15.16, Z:16.36 [[ 9.53278247e-01 2.94715057e-01 -6.63597760e-02 -2.98131176e+01] [-2.93004122e-01 9.55491816e-01 3.44089246e-02 1.51643048e+01] [ 7.35470511e-02 -1.33575914e-02 9.97202289e-01 1.63571122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.949259764 meters Centerline goodness [0,1] 0.2688660089343303 Centerline is valid? [False, False] Translation: X:-29.81, Y:15.16, Z:16.36 [[ 9.52137295e-01 2.98770491e-01 -6.45814585e-02 -2.98142680e+01] [-2.96824688e-01 9.54171671e-01 3.80989064e-02 1.51641021e+01] [ 7.30046271e-02 -1.71060184e-02 9.97184892e-01 1.63563173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.979259764 meters Centerline goodness [0,1] 0.3034924581072359 Centerline is valid? [False, False] Translation: X:-29.81, Y:15.17, Z:16.36 [[ 9.52151839e-01 2.98675407e-01 -6.48064505e-02 -2.98129904e+01] [-2.96752465e-01 9.54208718e-01 3.77319071e-02 1.51657325e+01] [ 7.31084727e-02 -1.66950308e-02 9.97184249e-01 1.63559062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.009259764000001 meters Centerline goodness [0,1] 0.3282742978476981 Centerline is valid? [False, False] Translation: X:-29.82, Y:15.18, Z:16.36 [[ 9.50529117e-01 3.01868006e-01 -7.32810015e-02 -2.98238975e+01] [-3.00154982e-01 9.53297648e-01 3.36241268e-02 1.51793790e+01] [ 8.00086544e-02 -9.96505389e-03 9.96744357e-01 1.63589073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.039259764 meters Centerline goodness [0,1] 0.35793652714904745 Centerline is valid? [False, False] Translation: X:-29.82, Y:15.18, Z:16.36 [[ 9.50503247e-01 3.01868693e-01 -7.36129658e-02 -2.98222754e+01] [-3.00187639e-01 9.53302717e-01 3.31860080e-02 1.51813371e+01] [ 8.01932572e-02 -9.44570604e-03 9.96734579e-01 1.63586574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.069259764 meters Centerline goodness [0,1] 0.3253448821196565 Centerline is valid? [False, False] Translation: X:-29.82, Y:15.18, Z:16.36 [[ 9.49295472e-01 3.05920067e-01 -7.24639192e-02 -2.98210399e+01] [-3.04001009e-01 9.51974194e-01 3.64488751e-02 1.51839524e+01] [ 8.01342234e-02 -1.25716476e-02 9.96704801e-01 1.63580968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.099259764000001 meters Centerline goodness [0,1] 0.38360157761936253 Centerline is valid? [False, False] Translation: X:-29.82, Y:15.19, Z:16.36 [[ 9.48147410e-01 3.09801905e-01 -7.09878030e-02 -2.98215735e+01] [-3.07647929e-01 9.50668654e-01 3.97726384e-02 1.51857430e+01] [ 7.98075183e-02 -1.58710735e-02 9.96683936e-01 1.63581632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.129259764 meters Centerline goodness [0,1] 0.3446263973328103 Centerline is valid? [False, False] Translation: X:-29.82, Y:15.19, Z:16.36 [[ 9.48286285e-01 3.09223156e-01 -7.16530603e-02 -2.98202312e+01] [-3.07142140e-01 9.50875787e-01 3.87161931e-02 1.51901033e+01] [ 8.01051035e-02 -1.47063607e-02 9.96677930e-01 1.63595123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.159259764 meters Centerline goodness [0,1] 0.33860235003092143 Centerline is valid? [False, False] Translation: X:-29.82, Y:15.19, Z:16.36 [[ 9.46112303e-01 3.16527622e-01 -6.84234959e-02 -2.98231514e+01] [-3.13999292e-01 9.48342910e-01 4.52787934e-02 1.51922315e+01] [ 7.92209260e-02 -2.13538943e-02 9.96628344e-01 1.63600023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.189259764 meters Centerline goodness [0,1] 0.3851659237246161 Centerline is valid? [False, False] Translation: X:-29.82, Y:15.20, Z:16.36 [[ 9.46097238e-01 3.16439379e-01 -6.90372082e-02 -2.98213688e+01] [-3.13959245e-01 9.48392600e-01 4.45092031e-02 1.51957880e+01] [ 7.95588420e-02 -2.04351643e-02 9.96620687e-01 1.63609271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.219259764 meters Centerline goodness [0,1] 0.41619159053001076 Centerline is valid? [False, False] Translation: X:-29.82, Y:15.20, Z:16.36 [[ 9.45057369e-01 3.19788646e-01 -6.78365010e-02 -2.98222170e+01] [-3.17152305e-01 9.47214410e-01 4.68964487e-02 1.52003001e+01] [ 7.92526631e-02 -2.28053318e-02 9.96593665e-01 1.63626350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.249259764 meters Centerline goodness [0,1] 0.39927653735811397 Centerline is valid? [False, False] Translation: X:-29.84, Y:15.21, Z:16.37 [[ 9.43591977e-01 3.22190800e-01 -7.63365521e-02 -2.98353341e+01] [-3.19828861e-01 9.46556826e-01 4.17094231e-02 1.52141349e+01] [ 8.56952768e-02 -1.49420445e-02 9.96209343e-01 1.63687811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.279259764 meters Centerline goodness [0,1] 0.3862137862137862 Centerline is valid? [False, False] Translation: X:-29.83, Y:15.22, Z:16.37 [[ 9.43713388e-01 3.21745593e-01 -7.67125394e-02 -2.98347021e+01] [-3.19443910e-01 9.46720867e-01 4.09290634e-02 1.52170987e+01] [ 8.57941076e-02 -1.41199515e-02 9.96212828e-01 1.63696823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.309259764 meters Centerline goodness [0,1] 0.3035683072389942 Centerline is valid? [False, False] Translation: X:-29.85, Y:15.23, Z:16.37 [[ 9.42740892e-01 3.22551994e-01 -8.48517646e-02 -2.98504122e+01] [-3.20561975e-01 9.46524345e-01 3.64922648e-02 1.52317095e+01] [ 9.20849136e-02 -7.20250102e-03 9.95725109e-01 1.63735751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.339259764 meters Centerline goodness [0,1] 0.38509021842355173 Centerline is valid? [False, False] Translation: X:-29.85, Y:15.23, Z:16.37 [[ 9.42746002e-01 3.22493926e-01 -8.50155508e-02 -2.98495925e+01] [-3.20522797e-01 9.46546042e-01 3.62729419e-02 1.52326372e+01] [ 9.21689366e-02 -6.94674887e-03 9.95719152e-01 1.63733943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.369259764 meters Centerline goodness [0,1] 0.39342250275523494 Centerline is valid? [False, False] Translation: X:-29.85, Y:15.23, Z:16.37 [[ 9.42701759e-01 3.22684489e-01 -8.47827451e-02 -2.98488947e+01] [-3.20698094e-01 9.46479315e-01 3.64642199e-02 1.52320419e+01] [ 9.20115526e-02 -7.18521951e-03 9.95732016e-01 1.63718831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.399259764 meters Centerline goodness [0,1] 0.3949970041941282 Centerline is valid? [False, False] Translation: X:-29.85, Y:15.23, Z:16.37 [[ 9.43862329e-01 3.18772149e-01 -8.66499889e-02 -2.98467002e+01] [-3.17137343e-01 9.47826331e-01 3.23906019e-02 1.52341193e+01] [ 9.24543629e-02 -3.09232174e-03 9.95712121e-01 1.63723202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.429259764000001 meters Centerline goodness [0,1] 0.37708562293935455 Centerline is valid? [False, False] Translation: X:-29.85, Y:15.23, Z:16.37 [[ 9.43862513e-01 3.18878547e-01 -8.62555973e-02 -2.98478986e+01] [-3.17237700e-01 9.47789883e-01 3.24742746e-02 1.52327016e+01] [ 9.21075320e-02 -3.28772312e-03 9.95743638e-01 1.63719628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.459259764 meters Centerline goodness [0,1] 0.3571375158902266 Centerline is valid? [False, False] Translation: X:-29.85, Y:15.23, Z:16.37 [[ 9.43047502e-01 3.21750748e-01 -8.44858839e-02 -2.98519619e+01] [-3.19841361e-01 9.46801681e-01 3.56101253e-02 1.52302815e+01] [ 9.14489613e-02 -6.55995966e-03 9.95788157e-01 1.63724356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.489259764 meters Centerline goodness [0,1] 0.38749999999999996 Centerline is valid? [False, False] Translation: X:-29.86, Y:15.23, Z:16.37 [[ 9.42061273e-01 3.25171670e-01 -8.23646920e-02 -2.98560609e+01] [-3.22982810e-01 9.45600573e-01 3.90084676e-02 1.52283847e+01] [ 9.05685486e-02 -1.01459870e-02 9.95838540e-01 1.63727099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.519259764000001 meters Centerline goodness [0,1] 0.3601155637468556 Centerline is valid? [False, False] Translation: X:-29.86, Y:15.23, Z:16.37 [[ 9.42369971e-01 3.24351259e-01 -8.20676429e-02 -2.98590525e+01] [-3.22240824e-01 9.45889023e-01 3.81419454e-02 1.52292583e+01] [ 8.99982705e-02 -9.49827908e-03 9.95896628e-01 1.63743732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.549259764 meters Centerline goodness [0,1] 0.3625006209328896 Centerline is valid? [False, False] Translation: X:-29.86, Y:15.23, Z:16.38 [[ 9.42505158e-01 3.23869763e-01 -8.24160376e-02 -2.98593847e+01] [-3.21832902e-01 9.46062535e-01 3.72728298e-02 1.52319294e+01] [ 9.00422680e-02 -8.60564181e-03 9.95900765e-01 1.63761069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.579259764 meters Centerline goodness [0,1] 0.3769493724580183 Centerline is valid? [False, False] Translation: X:-29.86, Y:15.24, Z:16.38 [[ 9.41526705e-01 3.27062245e-01 -8.09799502e-02 -2.98623174e+01] [-3.24845206e-01 9.44939459e-01 3.95602200e-02 1.52355971e+01] [ 8.94598047e-02 -1.09410550e-02 9.95930337e-01 1.63789235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.609259764 meters Centerline goodness [0,1] 0.391936533360028 Centerline is valid? [False, False] Translation: X:-29.86, Y:15.24, Z:16.38 [[ 9.41730414e-01 3.26400260e-01 -8.12815940e-02 -2.98630440e+01] [-3.24278755e-01 9.45180465e-01 3.84340767e-02 1.52387610e+01] [ 8.93706674e-02 -9.83664480e-03 9.95949860e-01 1.63808608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.639259764 meters Centerline goodness [0,1] 0.37380528309459904 Centerline is valid? [False, False] Translation: X:-29.86, Y:15.24, Z:16.38 [[ 9.41918877e-01 3.25840688e-01 -8.13429439e-02 -2.98641347e+01] [-3.23796837e-01 9.45381668e-01 3.75381041e-02 1.52408018e+01] [ 8.91315697e-02 -9.01926086e-03 9.95979024e-01 1.63822073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.669259764 meters Centerline goodness [0,1] 0.3847807609619519 Centerline is valid? [False, False] Translation: X:-29.87, Y:15.24, Z:16.38 [[ 9.42070660e-01 3.25450751e-01 -8.11460409e-02 -2.98653141e+01] [-3.23447993e-01 9.45519087e-01 3.70816870e-02 1.52413807e+01] [ 8.87933933e-02 -8.68704527e-03 9.96012183e-01 1.63825900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.699259764 meters Centerline goodness [0,1] 0.3171611868484362 Centerline is valid? [False, False] Translation: X:-29.88, Y:15.25, Z:16.38 [[ 9.40890206e-01 3.26709349e-01 -8.93678947e-02 -2.98796113e+01] [-3.24989369e-01 9.45121424e-01 3.35768334e-02 1.52523882e+01] [ 9.54333773e-02 -2.54849801e-03 9.95432557e-01 1.63848021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.729259764 meters Centerline goodness [0,1] 0.37135904061817904 Centerline is valid? [False, False] Translation: X:-29.89, Y:15.26, Z:16.38 [[ 9.41123438e-01 3.27179479e-01 -8.50897352e-02 -2.98890366e+01] [-3.24830376e-01 9.44903954e-01 4.05184317e-02 1.52562757e+01] [ 9.36584267e-02 -1.04931150e-02 9.95549092e-01 1.63765255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.759259764000001 meters Centerline goodness [0,1] 0.3599458048976315 Centerline is valid? [False, False] Translation: X:-29.89, Y:15.26, Z:16.38 [[ 9.40064674e-01 3.30743616e-01 -8.29883697e-02 -2.98923487e+01] [-3.28125857e-01 9.43617451e-01 4.38124237e-02 1.52559366e+01] [ 9.27999533e-02 -1.39558819e-02 9.95586964e-01 1.63767491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.789259764 meters Centerline goodness [0,1] 0.3690581041294446 Centerline is valid? [False, False] Translation: X:-29.90, Y:15.26, Z:16.37 [[ 9.40004156e-01 3.31826810e-01 -7.92663502e-02 -2.99013683e+01] [-3.29012029e-01 9.43172992e-01 4.66453904e-02 1.52578286e+01] [ 9.02400717e-02 -1.77672781e-02 9.95761544e-01 1.63747897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.819259764 meters Centerline goodness [0,1] 0.3751942258533407 Centerline is valid? [False, False] Translation: X:-29.90, Y:15.26, Z:16.38 [[ 9.40090914e-01 3.31650976e-01 -7.89728066e-02 -2.99033237e+01] [-3.28878072e-01 9.43239996e-01 4.62333575e-02 1.52574721e+01] [ 8.98236479e-02 -1.74911350e-02 9.95804083e-01 1.63755353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.849259764000001 meters Centerline goodness [0,1] 0.37877114602680584 Centerline is valid? [False, False] Translation: X:-29.92, Y:15.27, Z:16.38 [[ 9.38902172e-01 3.32839133e-01 -8.76402982e-02 -2.99182793e+01] [-3.30455037e-01 9.42936714e-01 4.08634670e-02 1.52694109e+01] [ 9.62402157e-02 -9.40561999e-03 9.95313697e-01 1.63814688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.879259764 meters Centerline goodness [0,1] 0.39451641302980756 Centerline is valid? [False, False] Translation: X:-29.92, Y:15.27, Z:16.38 [[ 9.39071446e-01 3.32315887e-01 -8.78121372e-02 -2.99190312e+01] [-3.30001914e-01 9.43128231e-01 4.00983320e-02 1.52715797e+01] [ 9.61434184e-02 -8.67702528e-03 9.95329670e-01 1.63829478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.909259764 meters Centerline goodness [0,1] 0.3989904063488874 Centerline is valid? [False, False] Translation: X:-29.92, Y:15.27, Z:16.38 [[ 9.39163175e-01 3.32021867e-01 -8.79432191e-02 -2.99195229e+01] [-3.29741690e-01 9.43235098e-01 3.97236478e-02 1.52724710e+01] [ 9.61402506e-02 -8.30844148e-03 9.95333121e-01 1.63838260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.939259764 meters Centerline goodness [0,1] 0.4011660049253656 Centerline is valid? [False, False] Translation: X:-29.92, Y:15.27, Z:16.38 [[ 9.38213297e-01 3.35241238e-01 -8.58435893e-02 -2.99235630e+01] [-3.32649910e-01 9.42054738e-01 4.33232998e-02 1.52701223e+01] [ 9.53931166e-02 -1.20906337e-02 9.95366249e-01 1.63837379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.969259764 meters Centerline goodness [0,1] 0.39978442873615083 Centerline is valid? [False, False] Translation: X:-29.94, Y:15.27, Z:16.38 [[ 9.39722085e-01 3.32077554e-01 -8.15285237e-02 -2.99393880e+01] [-3.29159091e-01 9.43086854e-01 4.73442656e-02 1.52743413e+01] [ 9.26104468e-02 -1.76545972e-02 9.95545891e-01 1.63782576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.999259764 meters Centerline goodness [0,1] 0.40045 Centerline is valid? [False, False] Translation: X:-29.94, Y:15.27, Z:16.38 [[ 9.39953230e-01 3.31571611e-01 -8.09209040e-02 -2.99425078e+01] [-3.28686839e-01 9.43264873e-01 4.70780419e-02 1.52733992e+01] [ 9.19395884e-02 -1.76535213e-02 9.95608088e-01 1.63788432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.029259764 meters Centerline goodness [0,1] 0.3928776135768933 Centerline is valid? [False, False] Translation: X:-29.96, Y:15.28, Z:16.37 [[ 9.41239794e-01 3.28865220e-01 -7.69111035e-02 -2.99574674e+01] [-3.25735685e-01 9.44107861e-01 5.05629288e-02 1.52757216e+01] [ 8.92407661e-02 -2.25391497e-02 9.95755026e-01 1.63744810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.059259764 meters Centerline goodness [0,1] 0.298304916239996 Centerline is valid? [False, False] Translation: X:-29.97, Y:15.29, Z:16.38 [[ 9.42272436e-01 3.23190737e-01 -8.75808451e-02 -2.99745117e+01] [-3.19555863e-01 9.46076027e-01 5.31432172e-02 1.52877046e+01] [ 1.00033534e-01 -2.20884162e-02 9.94738857e-01 1.63821619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.089259764 meters Centerline goodness [0,1] 0.3907535944471988 Centerline is valid? [False, False] Translation: X:-29.98, Y:15.29, Z:16.38 [[ 9.42372510e-01 3.22995990e-01 -8.72218000e-02 -2.99766653e+01] [-3.19375490e-01 9.46140925e-01 5.30720809e-02 1.52865576e+01] [ 9.96661839e-02 -2.21571650e-02 9.94774201e-01 1.63827487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.119259764 meters Centerline goodness [0,1] 0.3951779394416044 Centerline is valid? [False, False] Translation: X:-29.98, Y:15.28, Z:16.38 [[ 9.43767585e-01 3.18633241e-01 -8.81793848e-02 -2.99793035e+01] [-3.15345101e-01 9.47691839e-01 4.93725163e-02 1.52840525e+01] [ 9.92986083e-02 -1.87892434e-02 9.94880270e-01 1.63836101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.149259764 meters Centerline goodness [0,1] 0.2695162278015921 Centerline is valid? [False, False] Translation: X:-29.98, Y:15.28, Z:16.38 [[ 9.43905105e-01 3.18369686e-01 -8.76578283e-02 -2.99822672e+01] [-3.15108976e-01 9.47780107e-01 4.91853815e-02 1.52823623e+01] [ 9.87394803e-02 -1.88045641e-02 9.94935628e-01 1.63843123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.179259764000001 meters Centerline goodness [0,1] 0.3405675721603185 Centerline is valid? [False, False] Translation: X:-30.00, Y:15.28, Z:16.38 [[ 9.46324690e-01 3.11758197e-01 -8.53018646e-02 -2.99960471e+01] [-3.08582373e-01 9.49959510e-01 4.85164737e-02 1.52818815e+01] [ 9.61587259e-02 -1.95896851e-02 9.95173223e-01 1.63803303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.209259764 meters Centerline goodness [0,1] 0.34612132486169156 Centerline is valid? [False, False] Translation: X:-30.00, Y:15.28, Z:16.38 [[ 9.47520509e-01 3.07641431e-01 -8.69576648e-02 -2.99955404e+01] [-3.04795115e-01 9.51371321e-01 4.46379523e-02 1.52819140e+01] [ 9.64615120e-02 -1.57911038e-02 9.95211444e-01 1.63811606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.239259764 meters Centerline goodness [0,1] 0.37461412309473274 Centerline is valid? [False, False] Translation: X:-30.00, Y:15.28, Z:16.38 [[ 9.47918966e-01 3.06576902e-01 -8.63726646e-02 -3.00001000e+01] [-3.03787248e-01 9.51718595e-01 4.41024365e-02 1.52803248e+01] [ 9.57232594e-02 -1.55666220e-02 9.95286259e-01 1.63826042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.269259764000001 meters Centerline goodness [0,1] 0.2934373125374925 Centerline is valid? [False, False] Translation: X:-30.00, Y:15.28, Z:16.38 [[ 9.49249943e-01 3.02310933e-01 -8.67908127e-02 -3.00047211e+01] [-2.99832056e-01 9.53126977e-01 4.06165510e-02 1.52777073e+01] [ 9.50014923e-02 -1.25325909e-02 9.95398237e-01 1.63842102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.299259764 meters Centerline goodness [0,1] 0.17223681069467656 Centerline is valid? [False, False] Translation: X:-30.01, Y:15.28, Z:16.39 [[ 9.50614051e-01 2.97564025e-01 -8.82529115e-02 -3.00058575e+01] [-2.95468428e-01 9.54665203e-01 3.62320128e-02 1.52783382e+01] [ 9.50333272e-02 -8.36671141e-03 9.95438931e-01 1.63859238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.329259764 meters Centerline goodness [0,1] 0.3066679394778292 Centerline is valid? [False, False] Translation: X:-30.01, Y:15.28, Z:16.39 [[ 9.50721872e-01 2.97250282e-01 -8.81486901e-02 -3.00084333e+01] [-2.95181019e-01 9.54764731e-01 3.59510149e-02 1.52781778e+01] [ 9.48477097e-02 -8.15959609e-03 9.95458353e-01 1.63880380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.359259764 meters Centerline goodness [0,1] 0.2253605195301308 Centerline is valid? [False, False] Translation: X:-30.01, Y:15.28, Z:16.39 [[ 9.50298707e-01 2.98948263e-01 -8.69615025e-02 -3.00135159e+01] [-2.96761498e-01 9.54219898e-01 3.73764541e-02 1.52785663e+01] [ 9.41540221e-02 -9.71197028e-03 9.95510270e-01 1.63909899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.389259764 meters Centerline goodness [0,1] 0.2783674440742504 Centerline is valid? [False, False] Translation: X:-30.02, Y:15.28, Z:16.39 [[ 9.50529899e-01 2.98260533e-01 -8.67961141e-02 -3.00160710e+01] [-2.96145037e-01 9.54441186e-01 3.66079104e-02 1.52795696e+01] [ 9.37604809e-02 -9.09267492e-03 9.95553261e-01 1.63927947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.419259764 meters Centerline goodness [0,1] 0.2706235268909364 Centerline is valid? [False, False] Translation: X:-30.02, Y:15.28, Z:16.40 [[ 9.50889072e-01 2.97190654e-01 -8.65314323e-02 -3.00200948e+01] [-2.95167704e-01 9.54781991e-01 3.56002374e-02 1.52800367e+01] [ 9.31987109e-02 -8.31059246e-03 9.95612844e-01 1.63953634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.449259764 meters Centerline goodness [0,1] 0.3027368321108975 Centerline is valid? [False, False] Translation: X:-30.02, Y:15.28, Z:16.40 [[ 9.51053067e-01 2.96730821e-01 -8.63069169e-02 -3.00222254e+01] [-2.94751550e-01 9.54927872e-01 3.51323626e-02 1.52798813e+01] [ 9.28417353e-02 -7.97364363e-03 9.95648951e-01 1.63964105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.479259764 meters Centerline goodness [0,1] 0.24803261590973735 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.28, Z:16.40 [[ 9.51235918e-01 2.96375776e-01 -8.55080549e-02 -3.00251851e+01] [-2.94389970e-01 9.55034768e-01 3.52581614e-02 1.52775150e+01] [ 9.21128303e-02 -8.36611585e-03 9.95713430e-01 1.63959924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.509259764000001 meters Centerline goodness [0,1] 0.15731135427028564 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.28, Z:16.40 [[ 9.51266643e-01 2.96380818e-01 -8.51480161e-02 -3.00262647e+01] [-2.94387045e-01 9.55031239e-01 3.53779683e-02 1.52760720e+01] [ 9.18043665e-02 -8.58740830e-03 9.95740034e-01 1.63955703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.539259764 meters Centerline goodness [0,1] 0.24638332072617242 Centerline is valid? [False, False] Translation: X:-30.04, Y:15.28, Z:16.40 [[ 9.52550133e-01 2.89731786e-01 -9.32938160e-02 -3.00418021e+01] [-2.87161832e-01 9.57038989e-01 4.01802993e-02 1.52843997e+01] [ 1.00927329e-01 -1.14833262e-02 9.94827526e-01 1.63983893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.569259764 meters Centerline goodness [0,1] 0.13879812473362696 Centerline is valid? [False, False] Translation: X:-30.04, Y:15.28, Z:16.40 [[ 9.52565235e-01 2.89843580e-01 -9.27910125e-02 -3.00430286e+01] [-2.87244796e-01 9.56999389e-01 4.05289565e-02 1.52825155e+01] [ 1.00548000e-01 -1.19527395e-02 9.94860408e-01 1.63977120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.599259764000001 meters Centerline goodness [0,1] 0.0920193327832135 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.28, Z:16.40 [[ 9.52742203e-01 2.89425415e-01 -9.22779670e-02 -3.00460450e+01] [-2.86815755e-01 9.57121658e-01 4.06799054e-02 1.52796089e+01] [ 1.00095039e-01 -1.22906880e-02 9.94901966e-01 1.63980601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.629259764 meters Centerline goodness [0,1] 0.2094808762414595 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.28, Z:16.40 [[ 9.53939300e-01 2.84962992e-01 -9.37864829e-02 -3.00460580e+01] [-2.82733642e-01 9.58502236e-01 3.65397336e-02 1.52799850e+01] [ 1.00307025e-01 -8.34009410e-03 9.94921577e-01 1.63990965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.659259764 meters Centerline goodness [0,1] 0.21179064911910295 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.28, Z:16.40 [[ 9.54087063e-01 2.84629887e-01 -9.32936440e-02 -3.00486146e+01] [-2.82417821e-01 9.58600903e-01 3.63934445e-02 1.52783115e+01] [ 9.97900334e-02 -8.37472685e-03 9.94973273e-01 1.63994773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.689259764 meters Centerline goodness [0,1] 0.2081365443067571 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.27, Z:16.40 [[ 9.54115122e-01 2.84765121e-01 -9.25913570e-02 -3.00505210e+01] [-2.82500213e-01 9.58553788e-01 3.69900641e-02 1.52748945e+01] [ 9.92872761e-02 -9.13570143e-03 9.95016872e-01 1.63984197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.719259764 meters Centerline goodness [0,1] 0.2081365443067571 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.27, Z:16.40 [[ 9.54115122e-01 2.84765121e-01 -9.25913570e-02 -3.00505210e+01] [-2.82500213e-01 9.58553788e-01 3.69900641e-02 1.52748945e+01] [ 9.92872761e-02 -9.13570143e-03 9.95016872e-01 1.63984197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.749259764 meters Centerline goodness [0,1] 0.17758342492341506 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.27, Z:16.40 [[ 9.54178452e-01 2.84606482e-01 -9.24263650e-02 -3.00512648e+01] [-2.82353041e-01 9.58601280e-01 3.68828744e-02 1.52747309e+01] [ 9.90971369e-02 -9.09597876e-03 9.95036191e-01 1.63984921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.779259764 meters Centerline goodness [0,1] 0.1747831575994202 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.27, Z:16.40 [[ 9.54293602e-01 2.84338618e-01 -9.20612421e-02 -3.00524683e+01] [-2.82101621e-01 9.58680835e-01 3.67387062e-02 1.52742209e+01] [ 9.87035814e-02 -9.08888655e-03 9.95075372e-01 1.63982689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.809259764 meters Centerline goodness [0,1] 0.17928156068279877 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.27, Z:16.40 [[ 9.53365931e-01 2.88045299e-01 -9.01293922e-02 -3.00553752e+01] [-2.85501221e-01 9.57533598e-01 4.02300932e-02 1.52732515e+01] [ 9.78900104e-02 -1.26219488e-02 9.95117195e-01 1.63980160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.839259764 meters Centerline goodness [0,1] 0.17348325134691966 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.28, Z:16.40 [[ 9.53511451e-01 2.87507591e-01 -9.03066895e-02 -3.00560507e+01] [-2.85042360e-01 9.57705544e-01 3.93820127e-02 1.52756330e+01] [ 9.78098448e-02 -1.18099681e-02 9.95135046e-01 1.63994221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.869259764 meters Centerline goodness [0,1] 0.21531336687197333 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.28, Z:16.40 [[ 9.52517573e-01 2.91117094e-01 -8.92250566e-02 -3.00575981e+01] [-2.88427249e-01 9.56581350e-01 4.19743023e-02 1.52792449e+01] [ 9.75704621e-02 -1.42463229e-02 9.95126649e-01 1.64016897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.899259764 meters Centerline goodness [0,1] 0.21106884568423034 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.28, Z:16.40 [[ 9.52677002e-01 2.90528053e-01 -8.94426043e-02 -3.00580899e+01] [-2.87923911e-01 9.56773366e-01 4.10432465e-02 1.52819627e+01] [ 9.75005160e-02 -1.33482926e-02 9.95145955e-01 1.64030452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.929259764000001 meters Centerline goodness [0,1] 0.24146010027646314 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.28, Z:16.40 [[ 9.52654118e-01 2.90488633e-01 -8.98136199e-02 -3.00570648e+01] [-2.87929524e-01 9.56793448e-01 4.05325454e-02 1.52841833e+01] [ 9.77073268e-02 -1.27535035e-02 9.95133472e-01 1.64036456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.959259764 meters Centerline goodness [0,1] 0.23079985946832182 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.29, Z:16.40 [[ 9.52728644e-01 2.90212598e-01 -8.99153960e-02 -3.00568542e+01] [-2.87707336e-01 9.56884423e-01 3.99586099e-02 1.52858684e+01] [ 9.76351337e-02 -1.22003931e-02 9.95147492e-01 1.64039018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.989259764 meters Centerline goodness [0,1] 0.22616511785772808 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.29, Z:16.40 [[ 9.52797866e-01 2.89993590e-01 -8.98885051e-02 -3.00572531e+01] [-2.87526691e-01 9.56955244e-01 3.95608843e-02 1.52867270e+01] [ 9.74916791e-02 -1.18481817e-02 9.95165812e-01 1.64042262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.019259764000001 meters Centerline goodness [0,1] 0.23869269988957031 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.29, Z:16.40 [[ 9.51678642e-01 2.94156508e-01 -8.82026706e-02 -3.00589538e+01] [-2.91363239e-01 9.55631121e-01 4.33200235e-02 1.52859748e+01] [ 9.70320838e-02 -1.55277254e-02 9.95160120e-01 1.64040814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.049259764 meters Centerline goodness [0,1] 0.24684511080299865 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.29, Z:16.40 [[ 9.51728765e-01 2.93909673e-01 -8.84842478e-02 -3.00586122e+01] [-2.91162340e-01 9.55716039e-01 4.27942171e-02 1.52878661e+01] [ 9.71434492e-02 -1.49652067e-02 9.95157873e-01 1.64048650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.079259764 meters Centerline goodness [0,1] 0.2369537199765671 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.29, Z:16.41 [[ 9.51906976e-01 2.93295347e-01 -8.86055733e-02 -3.00596434e+01] [-2.90620935e-01 9.55915953e-01 4.20019400e-02 1.52897510e+01] [ 9.70184546e-02 -1.42313052e-02 9.95180833e-01 1.64062411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.109259764 meters Centerline goodness [0,1] 0.24618092221048926 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.29, Z:16.41 [[ 9.52051560e-01 2.92709629e-01 -8.89881996e-02 -3.00601576e+01] [-2.90118249e-01 9.56109094e-01 4.10706926e-02 1.52924405e+01] [ 9.71042141e-02 -1.32843164e-02 9.95185560e-01 1.64081832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.139259764 meters Centerline goodness [0,1] 0.2008836247414928 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.29, Z:16.41 [[ 9.52229594e-01 2.92111968e-01 -8.90471741e-02 -3.00614061e+01] [-2.89591123e-01 9.56301123e-01 4.03130745e-02 1.52940222e+01] [ 9.69318441e-02 -1.26000314e-02 9.95211262e-01 1.64095211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.169259764 meters Centerline goodness [0,1] 0.22237627485077782 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.30, Z:16.41 [[ 9.52242723e-01 2.91951916e-01 -8.94308429e-02 -3.00609111e+01] [-2.89480380e-01 9.56358158e-01 3.97515182e-02 1.52960336e+01] [ 9.71334481e-02 -1.19646195e-02 9.95199448e-01 1.64106011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.199259764 meters Centerline goodness [0,1] 0.21019602312790864 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.30, Z:16.41 [[ 9.52308890e-01 2.91716270e-01 -8.94952320e-02 -3.00611702e+01] [-2.89279734e-01 9.56434463e-01 3.93745127e-02 1.52969022e+01] [ 9.70825102e-02 -1.16075416e-02 9.95208647e-01 1.64110872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.229259764 meters Centerline goodness [0,1] 0.23971731448763256 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.30, Z:16.41 [[ 9.51346293e-01 2.95416542e-01 -8.75745239e-02 -3.00636514e+01] [-2.92667784e-01 9.55246145e-01 4.30159437e-02 1.52955231e+01] [ 9.63628476e-02 -1.52928167e-02 9.95228783e-01 1.64103524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.259259764 meters Centerline goodness [0,1] 0.29051136229558483 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.30, Z:16.41 [[ 9.51327632e-01 2.95425647e-01 -8.77463609e-02 -3.00628959e+01] [-2.92690545e-01 9.55246710e-01 4.28482018e-02 1.52962311e+01] [ 9.64778803e-02 -1.50801481e-02 9.95220884e-01 1.64102428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.289259764 meters Centerline goodness [0,1] 0.12603777134927918 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.30, Z:16.41 [[ 9.51370193e-01 2.95294939e-01 -8.77248762e-02 -3.00633283e+01] [-2.92581482e-01 9.55290212e-01 4.26226203e-02 1.52964643e+01] [ 9.63889596e-02 -1.48832162e-02 9.95232464e-01 1.64105157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.319259764 meters Centerline goodness [0,1] 0.2431393813655225 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.30, Z:16.41 [[ 9.51423057e-01 2.95043859e-01 -8.79959570e-02 -3.00632056e+01] [-2.92376491e-01 9.55376363e-01 4.20950494e-02 1.52978875e+01] [ 9.64891432e-02 -1.43222514e-02 9.95230987e-01 1.64113254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.349259764000001 meters Centerline goodness [0,1] 0.294766812555885 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.30, Z:16.41 [[ 9.51390793e-01 2.95096691e-01 -8.81674675e-02 -3.00626368e+01] [-2.92448095e-01 9.55363964e-01 4.18784810e-02 1.52986541e+01] [ 9.65902225e-02 -1.40583934e-02 9.95224945e-01 1.64114437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.379259764 meters Centerline goodness [0,1] 0.15856470588235294 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.30, Z:16.41 [[ 9.51417115e-01 2.95126352e-01 -8.77833104e-02 -3.00630336e+01] [-2.92472033e-01 9.55351499e-01 4.19955131e-02 1.52973972e+01] [ 9.62578997e-02 -1.42810866e-02 9.95253971e-01 1.64102702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.409259764 meters Centerline goodness [0,1] 0.17633465383889835 Centerline is valid? [False, False] Translation: X:-30.07, Y:15.30, Z:16.41 [[ 9.50380084e-01 2.99061399e-01 -8.56736575e-02 -3.00654680e+01] [-2.96071694e-01 9.54057360e-01 4.60011504e-02 1.52950654e+01] [ 9.54947519e-02 -1.83530323e-02 9.95260729e-01 1.64089639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.439259764 meters Centerline goodness [0,1] 0.19026183686455655 Centerline is valid? [False, False] Translation: X:-30.07, Y:15.29, Z:16.41 [[ 9.50514829e-01 2.98797087e-01 -8.50991268e-02 -3.00669482e+01] [-2.95811551e-01 9.54135265e-01 4.60588896e-02 1.52935208e+01] [ 9.49583399e-02 -1.86063529e-02 9.95307348e-01 1.64080237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.469259764 meters Centerline goodness [0,1] 0.1666391762294116 Centerline is valid? [False, False] Translation: X:-30.08, Y:15.30, Z:16.41 [[ 9.48958184e-01 3.01207175e-01 -9.35553498e-02 -3.00777244e+01] [-2.98288734e-01 9.53456971e-01 4.40866789e-02 1.53010049e+01] [ 1.02480224e-01 -1.39299079e-02 9.94637502e-01 1.64067956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.499259764 meters Centerline goodness [0,1] 0.26874852698562335 Centerline is valid? [False, False] Translation: X:-30.08, Y:15.30, Z:16.41 [[ 9.49075113e-01 3.00913190e-01 -9.33149651e-02 -3.00788437e+01] [-2.98018105e-01 9.53551178e-01 4.38789189e-02 1.53008045e+01] [ 1.02184340e-01 -1.38348408e-02 9.94669271e-01 1.64068989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.529259764 meters Centerline goodness [0,1] 0.23960989893265328 Centerline is valid? [False, False] Translation: X:-30.08, Y:15.30, Z:16.41 [[ 9.48414431e-01 3.03492451e-01 -9.16645976e-02 -3.00834100e+01] [-3.00385914e-01 9.52692966e-01 4.63078259e-02 1.53020181e+01] [ 1.01382293e-01 -1.63842565e-02 9.94712615e-01 1.64089844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.559259764 meters Centerline goodness [0,1] 0.21420311061811148 Centerline is valid? [False, False] Translation: X:-30.08, Y:15.30, Z:16.41 [[ 9.48564578e-01 3.02969252e-01 -9.18415727e-02 -3.00843950e+01] [-2.99938787e-01 9.52872280e-01 4.55098109e-02 1.53039218e+01] [ 1.01301362e-01 -1.56221446e-02 9.94733121e-01 1.64105577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.589259764 meters Centerline goodness [0,1] 0.21819039754630176 Centerline is valid? [False, False] Translation: X:-30.09, Y:15.31, Z:16.41 [[ 9.47668737e-01 3.06184758e-01 -9.04149270e-02 -3.00871486e+01] [-3.02935327e-01 9.51799227e-01 4.80460130e-02 1.53071107e+01] [ 1.00767814e-01 -1.81418289e-02 9.94744551e-01 1.64127088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.619259764 meters Centerline goodness [0,1] 0.229290151263692 Centerline is valid? [False, False] Translation: X:-30.09, Y:15.31, Z:16.41 [[ 9.47776630e-01 3.05712803e-01 -9.08798219e-02 -3.00863649e+01] [-3.02542193e-01 9.51968257e-01 4.71662942e-02 1.53105094e+01] [ 1.00934046e-01 -1.72081307e-02 9.94744288e-01 1.64138021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.649259764 meters Centerline goodness [0,1] 0.20058976005326867 Centerline is valid? [False, False] Translation: X:-30.08, Y:15.31, Z:16.41 [[ 9.47786257e-01 3.05531105e-01 -9.13890320e-02 -3.00846064e+01] [-3.02413122e-01 9.52039347e-01 4.65551782e-02 1.53134208e+01] [ 1.01230009e-01 -1.64871157e-02 9.94726425e-01 1.64141303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.679259764000001 meters Centerline goodness [0,1] 0.3181122326938717 Centerline is valid? [False, False] Translation: X:-30.08, Y:15.32, Z:16.41 [[ 9.46255918e-01 3.10564537e-01 -9.02740642e-02 -3.00806976e+01] [-3.07082000e-01 9.50339463e-01 5.05524535e-02 1.53151660e+01] [ 1.01490805e-01 -2.01140180e-02 9.94633120e-01 1.64115735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.709259764 meters Centerline goodness [0,1] 0.2668823388449557 Centerline is valid? [False, False] Translation: X:-30.08, Y:15.32, Z:16.41 [[ 9.46034548e-01 3.11101194e-01 -9.07451418e-02 -3.00772375e+01] [-3.07626224e-01 9.50171086e-01 5.04084709e-02 1.53177026e+01] [ 1.01905545e-01 -1.97725697e-02 9.94597559e-01 1.64105962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.739259764 meters Centerline goodness [0,1] 0.34221028952906174 Centerline is valid? [False, False] Translation: X:-30.07, Y:15.32, Z:16.41 [[ 9.44622741e-01 3.15575289e-01 -9.00006359e-02 -3.00737699e+01] [-3.11854558e-01 9.48642317e-01 5.31459142e-02 1.53231773e+01] [ 1.02149949e-01 -2.21357306e-02 9.94522698e-01 1.64103343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.769259764000001 meters Centerline goodness [0,1] 0.3222955913769664 Centerline is valid? [False, False] Translation: X:-30.07, Y:15.33, Z:16.41 [[ 9.44457816e-01 3.15913562e-01 -9.05431075e-02 -3.00709969e+01] [-3.12274467e-01 9.48553889e-01 5.22510949e-02 1.53281452e+01] [ 1.02391846e-01 -2.10746543e-02 9.94520874e-01 1.64109527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.799259764 meters Centerline goodness [0,1] 0.3416209628275442 Centerline is valid? [False, False] Translation: X:-30.07, Y:15.33, Z:16.41 [[ 9.44419604e-01 3.15805529e-01 -9.13152760e-02 -3.00688464e+01] [-3.12259717e-01 9.48616729e-01 5.11876048e-02 1.53328634e+01] [ 1.02788527e-01 -1.98284952e-02 9.94505580e-01 1.64123190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.829259764 meters Centerline goodness [0,1] 0.3949257547448126 Centerline is valid? [False, False] Translation: X:-30.07, Y:15.34, Z:16.41 [[ 9.43198856e-01 3.19489748e-01 -9.11165100e-02 -3.00665608e+01] [-3.15782080e-01 9.47353296e-01 5.29472466e-02 1.53400127e+01] [ 1.03235629e-01 -2.11668213e-02 9.94431682e-01 1.64149398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.859259764 meters Centerline goodness [0,1] 0.38612979817965964 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.34, Z:16.42 [[ 9.43203685e-01 3.19248979e-01 -9.19070067e-02 -3.00642723e+01] [-3.15632300e-01 9.47460913e-01 5.19044260e-02 1.53448895e+01] [ 1.03648731e-01 -1.99476259e-02 9.94413914e-01 1.64161804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.889259764 meters Centerline goodness [0,1] 0.4018135944642902 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.35, Z:16.42 [[ 9.41842231e-01 3.23273705e-01 -9.18004515e-02 -3.00603266e+01] [-3.19465712e-01 9.46062026e-01 5.39286720e-02 1.53529247e+01] [ 1.04282643e-01 -2.14652041e-02 9.94316034e-01 1.64181525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.919259764 meters Centerline goodness [0,1] 0.4113776214994349 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.36, Z:16.42 [[ 9.41826575e-01 3.23083195e-01 -9.26280266e-02 -3.00574869e+01] [-3.19366759e-01 9.46154431e-01 5.28835179e-02 1.53582572e+01] [ 1.04726194e-01 -2.02247899e-02 9.94295420e-01 1.64191686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.949259764 meters Centerline goodness [0,1] 0.42586607413392585 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.36, Z:16.42 [[ 9.41591294e-01 3.23575801e-01 -9.32981054e-02 -3.00538160e+01] [-3.19943684e-01 9.46009585e-01 5.19798493e-02 1.53643027e+01] [ 1.05080323e-01 -1.90936340e-02 9.94280423e-01 1.64198920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.979259764 meters Centerline goodness [0,1] 0.44013085593068724 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.37, Z:16.43 [[ 9.40063390e-01 3.27866952e-01 -9.37234459e-02 -3.00493620e+01] [-3.24258415e-01 9.44545229e-01 5.18728302e-02 1.53748398e+01] [ 1.05533420e-01 -1.83731326e-02 9.94246008e-01 1.64253448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.009259764 meters Centerline goodness [0,1] 0.44197175126707655 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.38, Z:16.43 [[ 9.39747349e-01 3.28637769e-01 -9.41920159e-02 -3.00457728e+01] [-3.25125387e-01 9.44298852e-01 5.09230788e-02 1.53808508e+01] [ 1.05680660e-01 -1.72306126e-02 9.94250826e-01 1.64259467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.039259764 meters Centerline goodness [0,1] 0.43952486620545617 Centerline is valid? [False, False] Translation: X:-30.04, Y:15.39, Z:16.42 [[ 9.37127687e-01 3.36635698e-01 -9.20223064e-02 -3.00412065e+01] [-3.32524615e-01 9.41351252e-01 5.73166719e-02 1.53863055e+01] [ 1.05920151e-01 -2.31133582e-02 9.94105977e-01 1.64241060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.069259764 meters Centerline goodness [0,1] 0.4694365604961631 Centerline is valid? [False, False] Translation: X:-30.04, Y:15.39, Z:16.42 [[ 9.36906287e-01 3.37059929e-01 -9.27211611e-02 -3.00369120e+01] [-3.33006047e-01 9.41221462e-01 5.66492078e-02 1.53917659e+01] [ 1.06365325e-01 -2.21982916e-02 9.94079299e-01 1.64240478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.099259764000001 meters Centerline goodness [0,1] 0.44579424475598184 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.40, Z:16.42 [[ 9.36781707e-01 3.37176590e-01 -9.35520169e-02 -3.00331897e+01] [-3.33182193e-01 9.41202147e-01 5.59298132e-02 1.53963511e+01] [ 1.06909583e-01 -2.12241597e-02 9.94042190e-01 1.64243392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.129259764 meters Centerline goodness [0,1] 0.45377927844096455 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.40, Z:16.42 [[ 9.35191381e-01 3.41745096e-01 -9.28836398e-02 -3.00286783e+01] [-3.37460630e-01 9.39491441e-01 5.89589325e-02 1.54012574e+01] [ 1.07412311e-01 -2.37933139e-02 9.93929813e-01 1.64238134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.159259764 meters Centerline goodness [0,1] 0.477538329580787 Centerline is valid? [False, False] Translation: X:-30.02, Y:15.41, Z:16.42 [[ 9.33578514e-01 3.46342646e-01 -9.20756713e-02 -3.00244614e+01] [-3.41743330e-01 9.37729553e-01 6.22477516e-02 1.54053979e+01] [ 1.07901129e-01 -2.66469170e-02 9.93804452e-01 1.64230292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.189259764 meters Centerline goodness [0,1] 0.47636949516648763 Centerline is valid? [False, False] Translation: X:-30.02, Y:15.41, Z:16.42 [[ 9.33449134e-01 3.46520947e-01 -9.27143334e-02 -3.00212952e+01] [-3.41942878e-01 9.37679598e-01 6.19034661e-02 1.54083734e+01] [ 1.08387187e-01 -2.60807308e-02 9.93766579e-01 1.64228621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.219259764 meters Centerline goodness [0,1] 0.4762084084245636 Centerline is valid? [False, False] Translation: X:-30.02, Y:15.41, Z:16.42 [[ 9.33384090e-01 3.46581406e-01 -9.31421999e-02 -3.00188701e+01] [-3.42007662e-01 9.37665186e-01 6.17637219e-02 1.54101278e+01] [ 1.08742356e-01 -2.57939294e-02 9.93735263e-01 1.64222947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.249259764 meters Centerline goodness [0,1] 0.4773482454007618 Centerline is valid? [False, False] Translation: X:-30.02, Y:15.41, Z:16.42 [[ 9.34591883e-01 3.42662841e-01 -9.54996820e-02 -3.00150457e+01] [-3.38462511e-01 9.39210510e-01 5.76779582e-02 1.54131087e+01] [ 1.09458398e-01 -2.15822894e-02 9.93757045e-01 1.64227340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.279259764 meters Centerline goodness [0,1] 0.49137395718026944 Centerline is valid? [False, False] Translation: X:-30.01, Y:15.42, Z:16.42 [[ 9.36109539e-01 3.37884834e-01 -9.76359020e-02 -3.00141267e+01] [-3.34124925e-01 9.41032618e-01 5.30862119e-02 1.54159735e+01] [ 1.09815594e-01 -1.70719209e-02 9.93805356e-01 1.64244426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.309259764 meters Centerline goodness [0,1] 0.4717948717948718 Centerline is valid? [False, False] Translation: X:-30.02, Y:15.42, Z:16.43 [[ 9.37652591e-01 3.32998733e-01 -9.95964932e-02 -3.00154253e+01] [-3.29673588e-01 9.42840620e-01 4.86506952e-02 1.54171503e+01] [ 1.10104239e-01 -1.27831172e-02 9.93837838e-01 1.64274232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.339259764 meters Centerline goodness [0,1] 0.45997209851370924 Centerline is valid? [False, False] Translation: X:-30.01, Y:15.42, Z:16.43 [[ 9.39024114e-01 3.28401326e-01 -1.01913117e-01 -3.00142184e+01] [-3.25518084e-01 9.44501416e-01 4.42159641e-02 1.54199413e+01] [ 1.10777664e-01 -8.34529390e-03 9.93810176e-01 1.64298307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.369259764 meters Centerline goodness [0,1] 0.47356155576984893 Centerline is valid? [False, False] Translation: X:-30.01, Y:15.42, Z:16.43 [[ 9.40335374e-01 3.23926283e-01 -1.04120830e-01 -3.00129569e+01] [-3.21467896e-01 9.46073040e-01 4.00523964e-02 1.54222815e+01] [ 1.11479934e-01 -4.19118099e-03 9.93757847e-01 1.64318725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.399259764 meters Centerline goodness [0,1] 0.4659610295886456 Centerline is valid? [False, False] Translation: X:-29.99, Y:15.41, Z:16.43 [[ 9.41849371e-01 3.21314029e-01 -9.83720323e-02 -2.99932657e+01] [-3.18730736e-01 9.46942137e-01 4.13679526e-02 1.54099852e+01] [ 1.06444726e-01 -7.60818982e-03 9.94289513e-01 1.64314415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.429259764 meters Centerline goodness [0,1] 0.45222525217759657 Centerline is valid? [False, False] Translation: X:-29.99, Y:15.41, Z:16.43 [[ 9.44178875e-01 3.13288336e-01 -1.01865944e-01 -2.99914608e+01] [-3.11459678e-01 9.49658035e-01 3.38006692e-02 1.54106631e+01] [ 1.07327167e-01 -1.86743842e-04 9.94223740e-01 1.64333593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.459259764 meters Centerline goodness [0,1] 0.4620772883490306 Centerline is valid? [False, False] Translation: X:-29.99, Y:15.41, Z:16.43 [[ 9.46399282e-01 3.05365603e-01 -1.05262753e-01 -2.99897119e+01] [-3.04283725e-01 9.52210405e-01 2.65849474e-02 1.54089005e+01] [ 1.08350417e-01 6.86976746e-03 9.94089027e-01 1.64345267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.489259764 meters Centerline goodness [0,1] 0.4346939842157529 Centerline is valid? [False, False] Translation: X:-29.99, Y:15.41, Z:16.44 [[ 9.47668751e-01 3.00959462e-01 -1.06523898e-01 -2.99907643e+01] [-3.00290059e-01 9.53578901e-01 2.26530190e-02 1.54080054e+01] [ 1.08396582e-01 1.05205095e-02 9.94052061e-01 1.64353262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.519259764000001 meters Centerline goodness [0,1] 0.42336126170527355 Centerline is valid? [False, False] Translation: X:-29.99, Y:15.41, Z:16.44 [[ 9.48873738e-01 2.96690124e-01 -1.07766412e-01 -2.99917820e+01] [-2.96407438e-01 9.54872491e-01 1.90041078e-02 1.54061439e+01] [ 1.08541514e-01 1.39102674e-02 9.93994590e-01 1.64359466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.549259764 meters Centerline goodness [0,1] 0.4365545240619586 Centerline is valid? [False, False] Translation: X:-29.99, Y:15.41, Z:16.44 [[ 9.49920080e-01 2.92678254e-01 -1.09504707e-01 -2.99904637e+01] [-2.92810585e-01 9.56049112e-01 1.52334094e-02 1.54063373e+01] [ 1.09150366e-01 1.75936159e-02 9.93869540e-01 1.64366529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.579259764 meters Centerline goodness [0,1] 0.4365545240619586 Centerline is valid? [False, False] Translation: X:-29.99, Y:15.41, Z:16.44 [[ 9.49920080e-01 2.92678254e-01 -1.09504707e-01 -2.99904637e+01] [-2.92810585e-01 9.56049112e-01 1.52334094e-02 1.54063373e+01] [ 1.09150366e-01 1.75936159e-02 9.93869540e-01 1.64366529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.609259764 meters Centerline goodness [0,1] 0.4095394736842105 Centerline is valid? [False, False] Translation: X:-29.99, Y:15.40, Z:16.44 [[ 9.51134405e-01 2.88307614e-01 -1.10553438e-01 -2.99925083e+01] [-2.88817571e-01 9.57312364e-01 1.17238725e-02 1.54038298e+01] [ 1.09214255e-01 2.07787969e-02 9.93801030e-01 1.64375340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.639259764 meters Centerline goodness [0,1] 0.42453476859021555 Centerline is valid? [False, False] Translation: X:-30.00, Y:15.40, Z:16.44 [[ 9.52522887e-01 2.83405424e-01 -1.11272258e-01 -2.99961028e+01] [-2.84222762e-01 9.58718048e-01 8.78214286e-03 1.53980638e+01] [ 1.09167629e-01 2.32609164e-02 9.93751155e-01 1.64372311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.669259764 meters Centerline goodness [0,1] 0.4148658576748664 Centerline is valid? [False, False] Translation: X:-30.00, Y:15.39, Z:16.44 [[ 9.52653326e-01 2.83333358e-01 -1.10335171e-01 -2.99992729e+01] [-2.84077627e-01 9.58756693e-01 9.24688347e-03 1.53945480e+01] [ 1.08404534e-01 2.25346792e-02 9.93851420e-01 1.64363853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.699259764 meters Centerline goodness [0,1] 0.40484821024014495 Centerline is valid? [False, False] Translation: X:-30.00, Y:15.39, Z:16.44 [[ 9.52686848e-01 2.83443585e-01 -1.09761122e-01 -3.00011617e+01] [-2.84113605e-01 9.58740366e-01 9.81687907e-03 1.53917267e+01] [ 1.08014950e-01 2.18322164e-02 9.93909516e-01 1.64357590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.729259764 meters Centerline goodness [0,1] 0.4021780136314479 Centerline is valid? [False, False] Translation: X:-30.00, Y:15.39, Z:16.44 [[ 9.52677269e-01 2.83517094e-01 -1.09654360e-01 -3.00015955e+01] [-2.84162276e-01 9.58723754e-01 1.00281567e-02 1.53912710e+01] [ 1.07971393e-01 2.16060355e-02 9.93919191e-01 1.64357907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.759259764 meters Centerline goodness [0,1] 0.39701574744010215 Centerline is valid? [False, False] Translation: X:-30.01, Y:15.39, Z:16.44 [[ 9.53216620e-01 2.81832156e-01 -1.09310161e-01 -3.00061211e+01] [-2.82491421e-01 9.59220471e-01 9.73062017e-03 1.53887952e+01] [ 1.07594946e-01 2.16037939e-02 9.93960061e-01 1.64367625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.789259764 meters Centerline goodness [0,1] 0.33373235572846527 Centerline is valid? [False, False] Translation: X:-30.01, Y:15.38, Z:16.43 [[ 9.53286238e-01 2.82004255e-01 -1.08254089e-01 -3.00084266e+01] [-2.82540149e-01 9.59196061e-01 1.06761290e-02 1.53843313e+01] [ 1.06847610e-01 2.04087198e-02 9.94065930e-01 1.64344419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.819259764 meters Centerline goodness [0,1] 0.39630681818181823 Centerline is valid? [False, False] Translation: X:-30.01, Y:15.38, Z:16.43 [[ 9.53364058e-01 2.81999640e-01 -1.07578697e-01 -3.00102319e+01] [-2.82485828e-01 9.59208275e-01 1.10110296e-02 1.53822574e+01] [ 1.06295483e-01 1.98919374e-02 9.94135595e-01 1.64335630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.849259764000001 meters Centerline goodness [0,1] 0.39935903806022066 Centerline is valid? [False, False] Translation: X:-30.01, Y:15.38, Z:16.43 [[ 9.53307132e-01 2.82303743e-01 -1.07285170e-01 -3.00104066e+01] [-2.82732928e-01 9.59129643e-01 1.15073815e-02 1.53807872e+01] [ 1.06148964e-01 1.93629815e-02 9.94161693e-01 1.64326680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.879259764 meters Centerline goodness [0,1] 0.38976153254423185 Centerline is valid? [False, False] Translation: X:-30.01, Y:15.38, Z:16.43 [[ 9.52490790e-01 2.85753987e-01 -1.05384795e-01 -3.00144982e+01] [-2.85790074e-01 9.58173545e-01 1.50827898e-02 1.53790969e+01] [ 1.05286890e-01 1.57517099e-02 9.94317130e-01 1.64331175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.909259764 meters Centerline goodness [0,1] 0.3920156905583555 Centerline is valid? [False, False] Translation: X:-30.02, Y:15.38, Z:16.43 [[ 9.52645598e-01 2.85340341e-01 -1.05105920e-01 -3.00159798e+01] [-2.85410008e-01 9.58292780e-01 1.46994705e-02 1.53796296e+01] [ 1.04916597e-01 1.59948957e-02 9.94352388e-01 1.64336023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.939259764 meters Centerline goodness [0,1] 0.41179836783439494 Centerline is valid? [False, False] Translation: X:-30.02, Y:15.38, Z:16.43 [[ 9.52637584e-01 2.85461056e-01 -1.04850456e-01 -3.00159772e+01] [-2.85510757e-01 9.58260344e-01 1.48567027e-02 1.53793752e+01] [ 1.04715044e-01 1.57828796e-02 9.94377021e-01 1.64327676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.969259764 meters Centerline goodness [0,1] 0.3425854663720549 Centerline is valid? [False, False] Translation: X:-30.02, Y:15.38, Z:16.43 [[ 9.52623614e-01 2.85542859e-01 -1.04754593e-01 -3.00156869e+01] [-2.85590228e-01 9.58236472e-01 1.48689126e-02 1.53794269e+01] [ 1.04625383e-01 1.57524107e-02 9.94386942e-01 1.64322011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.999259764 meters Centerline goodness [0,1] 0.38278474723636813 Centerline is valid? [False, False] Translation: X:-30.02, Y:15.38, Z:16.43 [[ 9.52698653e-01 2.85408252e-01 -1.04438530e-01 -3.00165875e+01] [-2.85472693e-01 9.58274855e-01 1.46507358e-02 1.53794503e+01] [ 1.04262258e-01 1.58566121e-02 9.94423426e-01 1.64320086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.029259764 meters Centerline goodness [0,1] 0.3940876909700658 Centerline is valid? [False, False] Translation: X:-30.02, Y:15.38, Z:16.43 [[ 9.51657682e-01 2.89443119e-01 -1.02812146e-01 -3.00184287e+01] [-2.89150443e-01 9.57113150e-01 1.80676550e-02 1.53799944e+01] [ 1.03632416e-01 1.25339550e-02 9.94536687e-01 1.64323285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.059259764 meters Centerline goodness [0,1] 0.3997458767252977 Centerline is valid? [False, False] Translation: X:-30.02, Y:15.38, Z:16.43 [[ 9.50907247e-01 2.92546997e-01 -1.00953766e-01 -3.00228825e+01] [-2.91975090e-01 9.56201282e-01 2.07281422e-02 1.53812393e+01] [ 1.02596076e-01 9.76544421e-03 9.94675164e-01 1.64340635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.089259764 meters Centerline goodness [0,1] 0.3942199705507998 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.39, Z:16.44 [[ 9.51150296e-01 2.92081314e-01 -1.00008108e-01 -3.00300133e+01] [-2.91520729e-01 9.56344768e-01 2.05024199e-02 1.53860598e+01] [ 1.01630605e-01 9.65355380e-03 9.94775366e-01 1.64387238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.119259764 meters Centerline goodness [0,1] 0.39321974705016594 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.39, Z:16.44 [[ 9.51261287e-01 2.91594604e-01 -1.00372064e-01 -3.00300555e+01] [-2.91115561e-01 9.56484737e-01 1.97149049e-02 1.53884769e+01] [ 1.01753107e-01 1.04658438e-02 9.94754629e-01 1.64401526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.149259764 meters Centerline goodness [0,1] 0.3975008106153194 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.39, Z:16.44 [[ 9.51251349e-01 2.91443363e-01 -1.00904100e-01 -3.00288725e+01] [-2.91025468e-01 9.56523296e-01 1.91666794e-02 1.53912100e+01] [ 1.02103123e-01 1.11333333e-02 9.94711517e-01 1.64412438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.179259764 meters Centerline goodness [0,1] 0.40583534378769603 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.39, Z:16.44 [[ 9.51454621e-01 2.90746295e-01 -1.00998494e-01 -3.00292327e+01] [-2.90397846e-01 9.56727870e-01 1.84627617e-02 1.53935419e+01] [ 1.01996054e-01 1.17632653e-02 9.94715251e-01 1.64419866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.209259764 meters Centerline goodness [0,1] 0.39668944036973774 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.40, Z:16.44 [[ 9.51466519e-01 2.90563098e-01 -1.01412766e-01 -3.00280471e+01] [-2.90263532e-01 9.56776961e-01 1.80257924e-02 1.53956012e+01] [ 1.02267028e-01 1.22854898e-02 9.94681116e-01 1.64424841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.239259764 meters Centerline goodness [0,1] 0.39958763923461815 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.40, Z:16.44 [[ 9.51463054e-01 2.90473511e-01 -1.01701504e-01 -3.00266925e+01] [-2.90217847e-01 9.56798199e-01 1.76297631e-02 1.53973944e+01] [ 1.02428795e-01 1.27415232e-02 9.94658733e-01 1.64423889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.269259764000001 meters Centerline goodness [0,1] 0.40536456365697016 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.40, Z:16.44 [[ 9.51488684e-01 2.90402526e-01 -1.01664437e-01 -3.00267278e+01] [-2.90161173e-01 9.56818094e-01 1.74822066e-02 1.53977090e+01] [ 1.02351250e-01 1.28649506e-02 9.94665127e-01 1.64422944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.299259764 meters Centerline goodness [0,1] 0.4115157926552818 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.40, Z:16.44 [[ 9.51525695e-01 2.90316963e-01 -1.01562360e-01 -3.00270334e+01] [-2.90086568e-01 9.56842976e-01 1.73580442e-02 1.53976712e+01] [ 1.02218566e-01 1.29452514e-02 9.94677729e-01 1.64421533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.329259764 meters Centerline goodness [0,1] 0.3674075565736149 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.40, Z:16.44 [[ 9.51553847e-01 2.90324876e-01 -1.01275581e-01 -3.00278225e+01] [-2.90080227e-01 9.56843025e-01 1.74610339e-02 1.53965080e+01] [ 1.01974205e-01 1.27629294e-02 9.94705167e-01 1.64416806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.359259764 meters Centerline goodness [0,1] 0.4098004546602677 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.40, Z:16.44 [[ 9.51630703e-01 2.90108943e-01 -1.01172160e-01 -3.00286796e+01] [-2.89887349e-01 9.56906005e-01 1.72111312e-02 1.53967134e+01] [ 1.01805351e-01 1.29498885e-02 9.94720047e-01 1.64420920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.389259764 meters Centerline goodness [0,1] 0.4115304141773173 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.40, Z:16.44 [[ 9.51625436e-01 2.90199362e-01 -1.00962167e-01 -3.00290174e+01] [-2.89950001e-01 9.56882497e-01 1.74609337e-02 1.53958235e+01] [ 1.01676082e-01 1.26577119e-02 9.94737029e-01 1.64415643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.419259764 meters Centerline goodness [0,1] 0.3966539655302934 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.40, Z:16.44 [[ 9.51691525e-01 2.90040154e-01 -1.00796575e-01 -3.00298009e+01] [-2.89805368e-01 9.56929437e-01 1.72887703e-02 1.53958138e+01] [ 1.01469647e-01 1.27578123e-02 9.94756829e-01 1.64417048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.449259764 meters Centerline goodness [0,1] 0.39789399257594504 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.40, Z:16.44 [[ 9.51768933e-01 2.89876154e-01 -1.00537128e-01 -3.00308545e+01] [-2.89654431e-01 9.56978192e-01 1.71187427e-02 1.53956635e+01] [ 1.01174154e-01 1.28279371e-02 9.94786024e-01 1.64418047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.479259764 meters Centerline goodness [0,1] 0.40834026674734636 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.40, Z:16.44 [[ 9.51992061e-01 2.89270017e-01 -1.00169727e-01 -3.00337333e+01] [-2.89088434e-01 9.57157712e-01 1.66430852e-02 1.53956396e+01] [ 1.00692572e-01 1.31138246e-02 9.94831158e-01 1.64431007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.509259764 meters Centerline goodness [0,1] 0.39378434239048243 Centerline is valid? [False, False] Translation: X:-30.04, Y:15.40, Z:16.44 [[ 9.52237378e-01 2.88604680e-01 -9.97562763e-02 -3.00366944e+01] [-2.88468275e-01 9.57354002e-01 1.61049604e-02 1.53957042e+01] [ 1.00150037e-01 1.34407757e-02 9.94881559e-01 1.64443163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.539259764 meters Centerline goodness [0,1] 0.3918084625809366 Centerline is valid? [False, False] Translation: X:-30.04, Y:15.40, Z:16.45 [[ 9.52450574e-01 2.87957194e-01 -9.95919626e-02 -3.00396734e+01] [-2.87891992e-01 9.57540032e-01 1.53390721e-02 1.53962825e+01] [ 9.97802873e-02 1.40620205e-02 9.94910124e-01 1.64464920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.569259764 meters Centerline goodness [0,1] 0.3486635318967035 Centerline is valid? [False, False] Translation: X:-30.04, Y:15.40, Z:16.45 [[ 9.52520111e-01 2.87677782e-01 -9.97343076e-02 -3.00402564e+01] [-2.87660720e-01 9.57617017e-01 1.48646769e-02 1.53974963e+01] [ 9.97835074e-02 1.45307391e-02 9.94903065e-01 1.64476209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.599259764000001 meters Centerline goodness [0,1] 0.38789570289909736 Centerline is valid? [False, False] Translation: X:-30.04, Y:15.40, Z:16.45 [[ 9.52658632e-01 2.87302945e-01 -9.94914446e-02 -3.00418199e+01] [-2.87315529e-01 9.57726040e-01 1.45127355e-02 1.53978521e+01] [ 9.94550989e-02 1.47597543e-02 9.94932577e-01 1.64482549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.629259764 meters Centerline goodness [0,1] 0.3936260978670012 Centerline is valid? [False, False] Translation: X:-30.04, Y:15.40, Z:16.45 [[ 9.52620284e-01 2.87631353e-01 -9.89080299e-02 -3.00422841e+01] [-2.87564836e-01 9.57639944e-01 1.52381696e-02 1.53953385e+01] [ 9.91012556e-02 1.39262819e-02 9.94979899e-01 1.64464361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.659259764 meters Centerline goodness [0,1] 0.3963275633157143 Centerline is valid? [False, False] Translation: X:-30.04, Y:15.39, Z:16.44 [[ 9.52597257e-01 2.87950849e-01 -9.81976345e-02 -3.00430458e+01] [-2.87808306e-01 9.57555664e-01 1.59226196e-02 1.53923580e+01] [ 9.86146330e-02 1.30942510e-02 9.95039544e-01 1.64443175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.689259764 meters Centerline goodness [0,1] 0.36410372153676396 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.39, Z:16.44 [[ 9.51777896e-01 2.91267952e-01 -9.63421857e-02 -3.00466760e+01] [-2.90765048e-01 9.56595102e-01 1.95319439e-02 1.53894218e+01] [ 9.78494923e-02 9.42286775e-03 9.95156614e-01 1.64439506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.719259764 meters Centerline goodness [0,1] 0.36277136489971706 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.39, Z:16.44 [[ 9.51856400e-01 2.91155163e-01 -9.59065453e-02 -3.00482959e+01] [-2.90647155e-01 9.56630841e-01 1.95362455e-02 1.53882030e+01] [ 9.74352378e-02 9.27926426e-03 9.95198608e-01 1.64438041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.749259764 meters Centerline goodness [0,1] 0.36388160359685273 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.39, Z:16.44 [[ 9.51842199e-01 2.91227092e-01 -9.58290627e-02 -3.00484346e+01] [-2.90713587e-01 9.56609582e-01 1.95887038e-02 1.53877070e+01] [ 9.73757609e-02 9.21345565e-03 9.95205041e-01 1.64435843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.779259764 meters Centerline goodness [0,1] 0.385977212971078 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.39, Z:16.44 [[ 9.51851595e-01 2.91040801e-01 -9.63005311e-02 -3.00475079e+01] [-2.90582214e-01 9.56660077e-01 1.90650102e-02 1.53899324e+01] [ 9.76755693e-02 9.83616117e-03 9.95169701e-01 1.64445527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.809259764 meters Centerline goodness [0,1] 0.3911682979948432 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.39, Z:16.45 [[ 9.52044110e-01 2.90386912e-01 -9.63714354e-02 -3.00485019e+01] [-2.90000586e-01 9.56851450e-01 1.83019736e-02 1.53920067e+01] [ 9.75278013e-02 1.05234866e-02 9.95177162e-01 1.64458658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.839259764 meters Centerline goodness [0,1] 0.34352788066873563 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.39, Z:16.45 [[ 9.51981961e-01 2.90550504e-01 -9.64922348e-02 -3.00474567e+01] [-2.90163019e-01 9.56801567e-01 1.83353384e-02 1.53923647e+01] [ 9.76512632e-02 1.05435667e-02 9.95164843e-01 1.64453406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.869259764 meters Centerline goodness [0,1] 0.35632011593333834 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.39, Z:16.44 [[ 9.51972167e-01 2.90629791e-01 -9.63499705e-02 -3.00474183e+01] [-2.90239197e-01 9.56778070e-01 1.83557281e-02 1.53920776e+01] [ 9.75202603e-02 1.04903958e-02 9.95178251e-01 1.64447772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.899259764 meters Centerline goodness [0,1] 0.3737927565392354 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.39, Z:16.45 [[ 9.51141166e-01 2.93996546e-01 -9.43213258e-02 -3.00513138e+01] [-2.93287753e-01 9.55780020e-01 2.16066681e-02 1.53913551e+01] [ 9.65027244e-02 7.11229817e-03 9.95307309e-01 1.64450315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.929259764 meters Centerline goodness [0,1] 0.3671951311142836 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.39, Z:16.45 [[ 9.51264866e-01 2.93581224e-01 -9.43674764e-02 -3.00520338e+01] [-2.92932507e-01 9.55903152e-01 2.09692519e-02 1.53927655e+01] [ 9.63623468e-02 7.69598884e-03 9.95316568e-01 1.64459432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.959259764 meters Centerline goodness [0,1] 0.3775666641534092 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.39, Z:16.45 [[ 9.50554732e-01 2.96456923e-01 -9.25148338e-02 -3.00566268e+01] [-2.95549925e-01 9.55033957e-01 2.36724093e-02 1.53927450e+01] [ 9.53726574e-02 4.84083144e-03 9.95429868e-01 1.64472323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.989259764 meters Centerline goodness [0,1] 0.39997483010319657 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.40, Z:16.45 [[ 9.50577007e-01 2.96203552e-01 -9.30956956e-02 -3.00557326e+01] [-2.95369806e-01 9.55107818e-01 2.29289069e-02 1.53958610e+01] [ 9.57080503e-02 5.70196583e-03 9.95393117e-01 1.64487708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.019259764 meters Centerline goodness [0,1] 0.39071444783496834 Centerline is valid? [False, False] Translation: X:-30.06, Y:15.40, Z:16.45 [[ 9.50713606e-01 2.95661969e-01 -9.34218362e-02 -3.00559968e+01] [-2.94914590e-01 9.55269743e-01 2.20250362e-02 1.53985698e+01] [ 9.57550190e-02 6.61196092e-03 9.95382971e-01 1.64503555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.049259764 meters Centerline goodness [0,1] 0.41141528272793915 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.40, Z:16.45 [[ 9.50702815e-01 2.95582622e-01 -9.37820387e-02 -3.00548941e+01] [-2.94892592e-01 9.55289582e-01 2.14516818e-02 1.54008593e+01] [ 9.59297488e-02 7.26145417e-03 9.95361620e-01 1.64508684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.079259764 meters Centerline goodness [0,1] 0.39139002576928905 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.40, Z:16.45 [[ 9.50665124e-01 2.95630118e-01 -9.40141220e-02 -3.00535826e+01] [-2.94960511e-01 9.55272892e-01 2.12602869e-02 1.54019494e+01] [ 9.60943233e-02 7.51904015e-03 9.95343833e-01 1.64505251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.109259763999997 meters Centerline goodness [0,1] 0.40907364743411223 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.40, Z:16.45 [[ 9.50520292e-01 2.96076010e-01 -9.40753408e-02 -3.00511164e+01] [-2.95385195e-01 9.55136136e-01 2.15069556e-02 1.54018909e+01] [ 9.62224511e-02 7.34566518e-03 9.95332749e-01 1.64484089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.139259764 meters Centerline goodness [0,1] 0.41680416296484324 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.40, Z:16.45 [[ 9.50373765e-01 2.96415352e-01 -9.44862192e-02 -3.00487321e+01] [-2.95741069e-01 9.55028735e-01 2.13854009e-02 1.54034545e+01] [ 9.65760155e-02 7.61933150e-03 9.95296448e-01 1.64478942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.169259764 meters Centerline goodness [0,1] 0.4020529498450125 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.41, Z:16.45 [[ 9.50417745e-01 2.96156783e-01 -9.48539402e-02 -3.00477744e+01] [-2.95538599e-01 9.55103792e-01 2.08250459e-02 1.54056673e+01] [ 9.67628365e-02 8.24050746e-03 9.95273353e-01 1.64484044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.199259763999997 meters Centerline goodness [0,1] 0.4147008459631456 Centerline is valid? [False, False] Translation: X:-30.05, Y:15.41, Z:16.45 [[ 9.49184929e-01 3.00465535e-01 -9.36399062e-02 -3.00463835e+01] [-2.99516104e-01 9.53780000e-01 2.43683079e-02 1.54078206e+01] [ 9.66337064e-02 4.91662931e-03 9.95307869e-01 1.64475463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.229259764 meters Centerline goodness [0,1] 0.42881247603221273 Centerline is valid? [False, False] Translation: X:-30.04, Y:15.41, Z:16.45 [[ 9.49194182e-01 3.00277429e-01 -9.41481308e-02 -3.00446929e+01] [-2.99382049e-01 9.53835669e-01 2.38307773e-02 1.54106929e+01] [ 9.69576899e-02 5.56622515e-03 9.95272939e-01 1.64479999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.259259764 meters Centerline goodness [0,1] 0.441032887975334 Centerline is valid? [False, False] Translation: X:-30.04, Y:15.41, Z:16.45 [[ 9.47886108e-01 3.04615749e-01 -9.33872121e-02 -3.00415861e+01] [-3.03400142e-01 9.52472152e-01 2.72975132e-02 1.54146783e+01] [ 9.72639713e-02 2.45875990e-03 9.95255582e-01 1.64474668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.289259763999997 meters Centerline goodness [0,1] 0.43787639897645325 Centerline is valid? [False, False] Translation: X:-30.04, Y:15.42, Z:16.45 [[ 9.47891815e-01 3.04438071e-01 -9.39072287e-02 -3.00392154e+01] [-3.03284929e-01 9.52526741e-01 2.66657002e-02 1.54182919e+01] [ 9.75672008e-02 3.20444822e-03 9.95223780e-01 1.64475027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.319259763999998 meters Centerline goodness [0,1] 0.4433774234462765 Centerline is valid? [False, False] Translation: X:-30.04, Y:15.42, Z:16.45 [[ 9.47751559e-01 3.04710217e-01 -9.44386876e-02 -3.00358147e+01] [-3.03584200e-01 9.52438196e-01 2.64219060e-02 1.54212131e+01] [ 9.79980379e-02 3.62869083e-03 9.95179992e-01 1.64467487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.349259764 meters Centerline goodness [0,1] 0.4628598321436975 Centerline is valid? [False, False] Translation: X:-30.03, Y:15.43, Z:16.44 [[ 9.46147639e-01 3.09988651e-01 -9.33363892e-02 -3.00304323e+01] [-3.08534990e-01 9.50740163e-01 2.99883907e-02 1.54259343e+01] [ 9.80347146e-02 4.24096796e-04 9.95182905e-01 1.64440809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.379259763999997 meters Centerline goodness [0,1] 0.4524586711593135 Centerline is valid? [False, False] Translation: X:-30.02, Y:15.43, Z:16.44 [[ 9.44550110e-01 3.15054951e-01 -9.25498074e-02 -3.00248435e+01] [-3.13298750e-01 9.49070222e-01 3.33107541e-02 1.54316833e+01] [ 9.83309843e-02 -2.46793749e-03 9.95150706e-01 1.64424949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.409259763999998 meters Centerline goodness [0,1] 0.484263555614477 Centerline is valid? [False, False] Translation: X:-30.02, Y:15.44, Z:16.44 [[ 9.44298733e-01 3.15598918e-01 -9.32589221e-02 -3.00204897e+01] [-3.13904413e-01 9.48891327e-01 3.26996736e-02 1.54369699e+01] [ 9.88125640e-02 -1.60387311e-03 9.95104771e-01 1.64425004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.439259764 meters Centerline goodness [0,1] 0.4959914768943934 Centerline is valid? [False, False] Translation: X:-30.02, Y:15.44, Z:16.44 [[ 9.44155990e-01 3.15802525e-01 -9.40118724e-02 -3.00166237e+01] [-3.14172922e-01 9.48824664e-01 3.20489073e-02 1.54421359e+01] [ 9.93219090e-02 -7.23183076e-04 9.95055092e-01 1.64427054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.469259763999997 meters Centerline goodness [0,1] 0.49694325496216096 Centerline is valid? [False, False] Translation: X:-29.98, Y:15.44, Z:16.45 [[ 9.42445422e-01 3.19985940e-01 -9.69826007e-02 -2.99781583e+01] [-3.18265797e-01 9.47422222e-01 3.31363214e-02 1.54359290e+01] [ 1.02486628e-01 -3.62929700e-04 9.94734316e-01 1.64516943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.499259763999998 meters Centerline goodness [0,1] 0.49694325496216096 Centerline is valid? [False, False] Translation: X:-29.95, Y:15.42, Z:16.45 [[ 9.43243733e-01 3.18510837e-01 -9.40324743e-02 -2.99511621e+01] [-3.16775126e-01 9.47917920e-01 3.32435959e-02 1.54236630e+01] [ 9.97235130e-02 -1.56966455e-03 9.95013948e-01 1.64538356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.529259764 meters Centerline goodness [0,1] 0.5056201026749527 Centerline is valid? [False, False] Translation: X:-29.92, Y:15.42, Z:16.46 [[ 9.43304442e-01 3.17508850e-01 -9.67722037e-02 -2.99173105e+01] [-3.15931696e-01 9.48255012e-01 3.16163725e-02 1.54157042e+01] [ 1.01803205e-01 7.49541770e-04 9.94804275e-01 1.64623516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.559259764 meters Centerline goodness [0,1] 0.5151539730175467 Centerline is valid? [False, False] Translation: X:-29.88, Y:15.41, Z:16.47 [[ 9.43593846e-01 3.15903738e-01 -9.91739971e-02 -2.98840501e+01] [-3.14525826e-01 9.48785793e-01 2.96483457e-02 1.54069245e+01] [ 1.03460903e-01 3.21678686e-03 9.94628319e-01 1.64704355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.589259763999998 meters Centerline goodness [0,1] 0.5192862194657526 Centerline is valid? [False, False] Translation: X:-29.85, Y:15.40, Z:16.48 [[ 9.43496116e-01 3.14769662e-01 -1.03610513e-01 -2.98469541e+01] [-3.13664195e-01 9.49143634e-01 2.72237925e-02 1.53994738e+01] [ 1.06910483e-01 6.81336569e-03 9.94245305e-01 1.64785999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.619259764 meters Centerline goodness [0,1] 0.4992239196144106 Centerline is valid? [False, False] Translation: X:-29.81, Y:15.39, Z:16.49 [[ 9.43637108e-01 3.13219676e-01 -1.06969352e-01 -2.98121257e+01] [-3.12321013e-01 9.49634610e-01 2.54890493e-02 1.53904070e+01] [ 1.09565471e-01 9.35636377e-03 9.93935544e-01 1.64864302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.649259764 meters Centerline goodness [0,1] 0.5165443190533582 Centerline is valid? [False, False] Translation: X:-29.78, Y:15.38, Z:16.49 [[ 9.43963562e-01 3.11190225e-01 -1.09970163e-01 -2.97798180e+01] [-3.10322613e-01 9.50293023e-01 2.53583382e-02 1.53843097e+01] [ 1.12395145e-01 1.01888810e-02 9.93611352e-01 1.64933572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.679259763999998 meters Centerline goodness [0,1] 0.5263259137125584 Centerline is valid? [False, False] Translation: X:-29.75, Y:15.38, Z:16.50 [[ 9.44139691e-01 3.09374090e-01 -1.13524957e-01 -2.97463365e+01] [-3.08569068e-01 9.50872238e-01 2.50423255e-02 1.53764428e+01] [ 1.15695177e-01 1.13868368e-02 9.93219495e-01 1.65009630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.709259764 meters Centerline goodness [0,1] 0.5286697879372073 Centerline is valid? [False, False] Translation: X:-29.71, Y:15.37, Z:16.51 [[ 9.44296770e-01 3.07936127e-01 -1.16098892e-01 -2.97121455e+01] [-3.07170590e-01 9.51329207e-01 2.48790996e-02 1.53657676e+01] [ 1.18109440e-01 1.21689116e-02 9.92926018e-01 1.65077096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.739259764 meters Centerline goodness [0,1] 0.5319284448382808 Centerline is valid? [False, False] Translation: X:-29.68, Y:15.36, Z:16.51 [[ 9.44655657e-01 3.05647030e-01 -1.19187172e-01 -2.96789019e+01] [-3.04934636e-01 9.52054966e-01 2.46213067e-02 1.53575743e+01] [ 1.20998168e-01 1.30856402e-02 9.92566476e-01 1.65148848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.769259763999997 meters Centerline goodness [0,1] 0.5319284448382808 Centerline is valid? [False, False] Translation: X:-29.65, Y:15.35, Z:16.52 [[ 9.45245139e-01 3.03443960e-01 -1.20139051e-01 -2.96477520e+01] [-3.02819565e-01 9.52749040e-01 2.38658427e-02 1.53463328e+01] [ 1.21704311e-01 1.38213832e-02 9.92470166e-01 1.65207751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.799259764 meters Centerline goodness [0,1] 0.5352854726450933 Centerline is valid? [False, False] Translation: X:-29.61, Y:15.34, Z:16.53 [[ 9.45172717e-01 3.01674644e-01 -1.25063760e-01 -2.96094812e+01] [-3.01293939e-01 9.53268063e-01 2.24045080e-02 1.53363096e+01] [ 1.25978160e-01 1.65048233e-02 9.91895707e-01 1.65282519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.829259764 meters Centerline goodness [0,1] 0.5432081607693804 Centerline is valid? [False, False] Translation: X:-29.57, Y:15.32, Z:16.53 [[ 9.44875532e-01 3.01169864e-01 -1.28479342e-01 -2.95716594e+01] [-3.00835053e-01 9.53411406e-01 2.24713348e-02 1.53236082e+01] [ 1.29261359e-01 1.74184755e-02 9.91457562e-01 1.65345945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.859259763999997 meters Centerline goodness [0,1] 0.5418348879298343 Centerline is valid? [False, False] Translation: X:-29.53, Y:15.31, Z:16.54 [[ 9.46819618e-01 2.96124761e-01 -1.25867935e-01 -2.95271859e+01] [-2.94900072e-01 9.55097371e-01 2.86872683e-02 1.53065735e+01] [ 1.28711144e-01 9.95679479e-03 9.91632141e-01 1.65365745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.889259764 meters Centerline goodness [0,1] 0.5432507653771221 Centerline is valid? [False, False] Translation: X:-29.48, Y:15.29, Z:16.54 [[ 9.48711271e-01 2.90923443e-01 -1.23735502e-01 -2.94810132e+01] [-2.88969774e-01 9.56739421e-01 3.38548406e-02 1.52903456e+01] [ 1.28231800e-01 3.63735115e-03 9.91737554e-01 1.65397295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.919259764 meters Centerline goodness [0,1] 0.544047950933928 Centerline is valid? [False, False] Translation: X:-29.43, Y:15.27, Z:16.54 [[ 9.50304327e-01 2.86565160e-01 -1.21663859e-01 -2.94332715e+01] [-2.83894944e-01 9.58057134e-01 3.91176317e-02 1.52738125e+01] [ 1.27770678e-01 -2.63390026e-03 9.91800240e-01 1.65435625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.949259763999997 meters Centerline goodness [0,1] 0.5303924297244642 Centerline is valid? [False, False] Translation: X:-29.38, Y:15.26, Z:16.55 [[ 9.51740053e-01 2.82503538e-01 -1.19927572e-01 -2.93842360e+01] [-2.79222990e-01 9.59232158e-01 4.36828252e-02 1.52568702e+01] [ 1.27378936e-01 -8.08815915e-03 9.91821147e-01 1.65486793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.979259764 meters Centerline goodness [0,1] 0.5311244979919678 Centerline is valid? [False, False] Translation: X:-29.35, Y:15.25, Z:16.56 [[ 9.53134988e-01 2.76471383e-01 -1.22870941e-01 -2.93528077e+01] [-2.73773603e-01 9.61016785e-01 3.86620301e-02 1.52494546e+01] [ 1.28769982e-01 -3.21131343e-03 9.91669289e-01 1.65584620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.009259764 meters Centerline goodness [0,1] 0.5389441981092613 Centerline is valid? [False, False] Translation: X:-29.30, Y:15.23, Z:16.56 [[ 9.54740964e-01 2.71729277e-01 -1.20966490e-01 -2.93045115e+01] [-2.68456579e-01 9.62336402e-01 4.28918948e-02 1.52329351e+01] [ 1.28065441e-01 -8.47639881e-03 9.91729496e-01 1.65629588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.039259763999997 meters Centerline goodness [0,1] 0.5389887170915169 Centerline is valid? [False, False] Translation: X:-29.26, Y:15.22, Z:16.57 [[ 9.56173707e-01 2.67426045e-01 -1.19227314e-01 -2.92552602e+01] [-2.63614614e-01 9.63484154e-01 4.69640207e-02 1.52167582e+01] [ 1.27433031e-01 -1.34756993e-02 9.91755629e-01 1.65685005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.069259763999998 meters Centerline goodness [0,1] 0.5411365091739289 Centerline is valid? [False, False] Translation: X:-29.21, Y:15.20, Z:16.58 [[ 9.57475639e-01 2.63693936e-01 -1.17072235e-01 -2.92070822e+01] [-2.59351982e-01 9.64426515e-01 5.11668606e-02 1.52025690e+01] [ 1.26399959e-01 -1.86281063e-02 9.91804438e-01 1.65750035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.099259764 meters Centerline goodness [0,1] 0.5446780001674902 Centerline is valid? [False, False] Translation: X:-29.17, Y:15.19, Z:16.59 [[ 9.57509755e-01 2.61206053e-01 -1.22255741e-01 -2.91671672e+01] [-2.57451961e-01 9.65203201e-01 4.58396023e-02 1.51941619e+01] [ 1.29975214e-01 -1.24168861e-02 9.91439491e-01 1.65878622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.129259763999997 meters Centerline goodness [0,1] 0.538416389502222 Centerline is valid? [False, False] Translation: X:-29.13, Y:15.19, Z:16.60 [[ 9.57680452e-01 2.58101783e-01 -1.27403381e-01 -2.91268468e+01] [-2.55029368e-01 9.66099348e-01 4.01506126e-02 1.51858365e+01] [ 1.33447268e-01 -5.95985307e-03 9.91037995e-01 1.66004198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.159259763999998 meters Centerline goodness [0,1] 0.5404528027313688 Centerline is valid? [False, False] Translation: X:-29.08, Y:15.17, Z:16.61 [[ 9.59396662e-01 2.52185062e-01 -1.26335819e-01 -2.90769459e+01] [-2.48687105e-01 9.67629067e-01 4.29966604e-02 1.51711779e+01] [ 1.33089326e-01 -9.83276328e-03 9.91055270e-01 1.66059268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.189259764 meters Centerline goodness [0,1] 0.5420926205239931 Centerline is valid? [False, False] Translation: X:-29.03, Y:15.16, Z:16.61 [[ 9.60719453e-01 2.47921610e-01 -1.24711700e-01 -2.90273897e+01] [-2.43797215e-01 9.68659517e-01 4.75568812e-02 1.51561254e+01] [ 1.32593554e-01 -1.52844556e-02 9.91052640e-01 1.66105531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.219259763999997 meters Centerline goodness [0,1] 0.5327005700485805 Centerline is valid? [False, False] Translation: X:-28.99, Y:15.15, Z:16.62 [[ 9.60091910e-01 2.48156555e-01 -1.29003292e-01 -2.89861164e+01] [-2.44561991e-01 9.68668580e-01 4.32505963e-02 1.51494940e+01] [ 1.35694355e-01 -9.97524562e-03 9.90700528e-01 1.66241727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.249259763999998 meters Centerline goodness [0,1] 0.5434849978870264 Centerline is valid? [False, False] Translation: X:-28.95, Y:15.14, Z:16.64 [[ 9.59786771e-01 2.47508786e-01 -1.32471714e-01 -2.89469404e+01] [-2.44347600e-01 9.68867699e-01 3.98702019e-02 1.51416609e+01] [ 1.38215790e-01 -5.89774699e-03 9.90384578e-01 1.66355197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.279259764 meters Centerline goodness [0,1] 0.5480565070916966 Centerline is valid? [False, False] Translation: X:-28.90, Y:15.13, Z:16.65 [[ 9.59043610e-01 2.47752575e-01 -1.37309928e-01 -2.89038105e+01] [-2.45110813e-01 9.68822861e-01 3.60964435e-02 1.51347743e+01] [ 1.41971984e-01 -9.61915422e-04 9.89870209e-01 1.66476575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.309259764 meters Centerline goodness [0,1] 0.5489255400686973 Centerline is valid? [False, False] Translation: X:-28.86, Y:15.13, Z:16.66 [[ 9.58706498e-01 2.46935959e-01 -1.41083245e-01 -2.88625537e+01] [-2.44843402e-01 9.69025129e-01 3.22801546e-02 1.51256826e+01] [ 1.44684340e-01 3.59610764e-03 9.89471328e-01 1.66583981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.339259763999998 meters Centerline goodness [0,1] 0.5476454372353425 Centerline is valid? [False, False] Translation: X:-28.81, Y:15.11, Z:16.67 [[ 9.59727098e-01 2.43482165e-01 -1.40143973e-01 -2.88100215e+01] [-2.40847564e-01 9.69905228e-01 3.57253427e-02 1.51121667e+01] [ 1.44624856e-01 -5.33244964e-04 9.89486416e-01 1.66652164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.369259764 meters Centerline goodness [0,1] 0.5411512641051278 Centerline is valid? [False, False] Translation: X:-28.76, Y:15.10, Z:16.67 [[ 9.60671277e-01 2.40010460e-01 -1.39662726e-01 -2.87570801e+01] [-2.36919271e-01 9.70762074e-01 3.86038087e-02 1.51005355e+01] [ 1.44844595e-01 -3.99677896e-03 9.89446345e-01 1.66736418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.399259764 meters Centerline goodness [0,1] 0.543430417012033 Centerline is valid? [False, False] Translation: X:-28.71, Y:15.09, Z:16.68 [[ 9.61902020e-01 2.35743817e-01 -1.38453446e-01 -2.87066740e+01] [-2.32057916e-01 9.71776511e-01 4.24209441e-02 1.50873814e+01] [ 1.44546282e-01 -8.67557367e-03 9.89460008e-01 1.66799952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.429259763999998 meters Centerline goodness [0,1] 0.5460068200704932 Centerline is valid? [False, False] Translation: X:-28.67, Y:15.08, Z:16.69 [[ 9.61719008e-01 2.34654091e-01 -1.41541538e-01 -2.86678855e+01] [-2.31475964e-01 9.72068497e-01 3.87519816e-02 1.50801376e+01] [ 1.46681381e-01 -4.50505336e-03 9.89173532e-01 1.66914120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.459259764 meters Centerline goodness [0,1] 0.5428374813625416 Centerline is valid? [False, False] Translation: X:-28.62, Y:15.07, Z:16.70 [[ 9.62710319e-01 2.31301984e-01 -1.40314764e-01 -2.86165828e+01] [-2.27427430e-01 9.72833189e-01 4.32706612e-02 1.50671799e+01] [ 1.46511450e-01 -9.74568575e-03 9.89160966e-01 1.66979148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.489259764 meters Centerline goodness [0,1] 0.5397600045932136 Centerline is valid? [False, False] Translation: X:-28.57, Y:15.06, Z:16.71 [[ 9.63882243e-01 2.27069774e-01 -1.39177365e-01 -2.85655756e+01] [-2.22696856e-01 9.73781226e-01 4.64352640e-02 1.50554556e+01] [ 1.46072350e-01 -1.37637649e-02 9.89178158e-01 1.67053186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.519259763999997 meters Centerline goodness [0,1] 0.5473451072887303 Centerline is valid? [False, False] Translation: X:-28.53, Y:15.05, Z:16.72 [[ 9.63631389e-01 2.26841358e-01 -1.41271170e-01 -2.85279262e+01] [-2.22929736e-01 9.73879608e-01 4.31374754e-02 1.50482658e+01] [ 1.47366476e-01 -1.00750807e-02 9.89030644e-01 1.67173895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.549259764 meters Centerline goodness [0,1] 0.5372996921660578 Centerline is valid? [False, False] Translation: X:-28.48, Y:15.04, Z:16.73 [[ 9.64619603e-01 2.23199016e-01 -1.40325410e-01 -2.84758117e+01] [-2.18787765e-01 9.74672730e-01 4.63139758e-02 1.50358010e+01] [ 1.47108585e-01 -1.39738861e-02 9.89021635e-01 1.67254353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.579259764 meters Centerline goodness [0,1] 0.541888968997837 Centerline is valid? [False, False] Translation: X:-28.44, Y:15.03, Z:16.74 [[ 9.64388965e-01 2.22503451e-01 -1.42989995e-01 -2.84387541e+01] [-2.18454241e-01 9.74871731e-01 4.36216886e-02 1.50288927e+01] [ 1.49102881e-01 -1.08315042e-02 9.88762362e-01 1.67379290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.609259763999997 meters Centerline goodness [0,1] 0.5419287816702256 Centerline is valid? [False, False] Translation: X:-28.39, Y:15.02, Z:16.75 [[ 9.65440533e-01 2.18192190e-01 -1.42536823e-01 -2.83858045e+01] [-2.13683322e-01 9.75800496e-01 4.63985904e-02 1.50169753e+01] [ 1.49211313e-01 -1.43373380e-02 9.88701383e-01 1.67465793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.639259764 meters Centerline goodness [0,1] 0.5414753861700592 Centerline is valid? [False, False] Translation: X:-28.33, Y:15.00, Z:16.75 [[ 9.66581947e-01 2.13520900e-01 -1.41873766e-01 -2.83334973e+01] [-2.08558892e-01 9.76774237e-01 4.91454756e-02 1.50048911e+01] [ 1.49072226e-01 -1.79140940e-02 9.88664026e-01 1.67546723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.669259764 meters Centerline goodness [0,1] 0.543897586713952 Centerline is valid? [False, False] Translation: X:-28.30, Y:15.00, Z:16.77 [[ 9.66904268e-01 2.09396218e-01 -1.45771605e-01 -2.82950332e+01] [-2.05252683e-01 9.77760483e-01 4.30787075e-02 1.49969184e+01] [ 1.51550233e-01 -1.17329732e-02 9.88379919e-01 1.67673698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.699259763999997 meters Centerline goodness [0,1] 0.5382013130357501 Centerline is valid? [False, False] Translation: X:-28.24, Y:14.98, Z:16.77 [[ 9.68143990e-01 2.03965651e-01 -1.45241965e-01 -2.82416854e+01] [-1.99504587e-01 9.78872158e-01 4.48019947e-02 1.49837206e+01] [ 1.51311384e-01 -1.43983437e-02 9.88381279e-01 1.67747892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.729259764 meters Centerline goodness [0,1] 0.5412077695454416 Centerline is valid? [False, False] Translation: X:-28.20, Y:14.97, Z:16.79 [[ 9.68035640e-01 2.00832384e-01 -1.50244313e-01 -2.82008420e+01] [-1.97066039e-01 9.79585833e-01 3.97060582e-02 1.49746218e+01] [ 1.55151463e-01 -8.82882786e-03 9.87851242e-01 1.67876287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.759259764 meters Centerline goodness [0,1] 0.5422773070757958 Centerline is valid? [False, False] Translation: X:-28.16, Y:14.96, Z:16.80 [[ 9.68373878e-01 1.98497085e-01 -1.51165274e-01 -2.81630134e+01] [-1.95211752e-01 9.80084539e-01 3.64234566e-02 1.49648167e+01] [ 1.55384698e-01 -5.76228586e-03 9.87837229e-01 1.67961345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.789259763999997 meters Centerline goodness [0,1] 0.5441644864065521 Centerline is valid? [False, False] Translation: X:-28.11, Y:14.95, Z:16.80 [[ 9.70056022e-01 1.89974587e-01 -1.51330668e-01 -2.81113591e+01] [-1.86411861e-01 9.81754843e-01 3.75239393e-02 1.49501661e+01] [ 1.55698211e-01 -8.19049185e-03 9.87770714e-01 1.68033593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.819259763999998 meters Centerline goodness [0,1] 0.5455963693093178 Centerline is valid? [False, False] Translation: X:-28.06, Y:14.94, Z:16.81 [[ 9.71481506e-01 1.82667680e-01 -1.51182678e-01 -2.80595763e+01] [-1.78798893e-01 9.83115655e-01 3.89174052e-02 1.49375529e+01] [ 1.55739009e-01 -1.07762440e-02 9.87739456e-01 1.68115707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.849259764 meters Centerline goodness [0,1] 0.5453595140556575 Centerline is valid? [False, False] Translation: X:-28.03, Y:14.93, Z:16.82 [[ 9.72293447e-01 1.80245786e-01 -1.48851975e-01 -2.80254507e+01] [-1.76805946e-01 9.83582066e-01 3.61383160e-02 1.49270467e+01] [ 1.52921912e-01 -8.81913363e-03 9.88198923e-01 1.68174058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.879259763999997 meters Centerline goodness [0,1] 0.5512849350503289 Centerline is valid? [False, False] Translation: X:-27.97, Y:14.91, Z:16.82 [[ 9.73058075e-01 1.76560412e-01 -1.48271387e-01 -2.79733117e+01] [-1.72293711e-01 9.84181675e-01 4.12469024e-02 1.49142731e+01] [ 1.53208552e-01 -1.45894039e-02 9.88086175e-01 1.68246740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.909259763999998 meters Centerline goodness [0,1] 0.5487983339899813 Centerline is valid? [False, False] Translation: X:-27.94, Y:14.91, Z:16.83 [[ 9.73095204e-01 1.75491162e-01 -1.49293593e-01 -2.79353493e+01] [-1.71498522e-01 9.84399719e-01 3.93122137e-02 1.49056517e+01] [ 1.53863517e-01 -1.26508961e-02 9.88011120e-01 1.68329186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.939259764 meters Centerline goodness [0,1] 0.5506088815141885 Centerline is valid? [False, False] Translation: X:-27.90, Y:14.90, Z:16.84 [[ 9.73278278e-01 1.70988074e-01 -1.53272540e-01 -2.78976522e+01] [-1.67554748e-01 9.85236251e-01 3.51416669e-02 1.48977392e+01] [ 1.57018469e-01 -8.52107925e-03 9.87558905e-01 1.68427471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.969259763999997 meters Centerline goodness [0,1] 0.5471109236609026 Centerline is valid? [False, False] Translation: X:-27.86, Y:14.89, Z:16.85 [[ 9.73771549e-01 1.68048067e-01 -1.53391060e-01 -2.78600876e+01] [-1.65280271e-01 9.85768275e-01 3.07138320e-02 1.48886898e+01] [ 1.56369441e-01 -4.55573980e-03 9.87688131e-01 1.68506105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.999259763999998 meters Centerline goodness [0,1] 0.5388378173231003 Centerline is valid? [False, False] Translation: X:-27.82, Y:14.88, Z:16.86 [[ 9.74240840e-01 1.65046305e-01 -1.53670110e-01 -2.78226707e+01] [-1.62926847e-01 9.86285600e-01 2.63734116e-02 1.48798358e+01] [ 1.55915451e-01 -6.57068081e-04 9.87770186e-01 1.68588118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.029259764 meters Centerline goodness [0,1] 0.5428281804358844 Centerline is valid? [False, False] Translation: X:-27.78, Y:14.87, Z:16.87 [[ 9.73635412e-01 1.65895242e-01 -1.56565812e-01 -2.77827459e+01] [-1.64223339e-01 9.86139716e-01 2.36464701e-02 1.48748786e+01] [ 1.58318603e-01 2.68871980e-03 9.87384419e-01 1.68711298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.059259763999997 meters Centerline goodness [0,1] 0.5468551236749117 Centerline is valid? [False, False] Translation: X:-27.74, Y:14.87, Z:16.88 [[ 9.73387955e-01 1.67465355e-01 -1.56432874e-01 -2.77448986e+01] [-1.66012559e-01 9.85869165e-01 2.24013339e-02 1.48682007e+01] [ 1.57973794e-01 4.16463315e-03 9.87434522e-01 1.68807581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.089259763999998 meters Centerline goodness [0,1] 0.5321142597535351 Centerline is valid? [False, False] Translation: X:-27.71, Y:14.86, Z:16.89 [[ 9.73280408e-01 1.68764345e-01 -1.55704348e-01 -2.77075240e+01] [-1.67713883e-01 9.85633716e-01 1.99557194e-02 1.48625479e+01] [ 1.56835269e-01 6.69127012e-03 9.87602109e-01 1.68911656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.119259764 meters Centerline goodness [0,1] 0.5286359889719467 Centerline is valid? [False, False] Translation: X:-27.67, Y:14.85, Z:16.90 [[ 9.73210153e-01 1.67977792e-01 -1.56988722e-01 -2.76688598e+01] [-1.67380292e-01 9.85743837e-01 1.71150764e-02 1.48548848e+01] [ 1.57625618e-01 9.62025202e-03 9.87452083e-01 1.69000388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.149259764 meters Centerline goodness [0,1] 0.5275110414588973 Centerline is valid? [False, False] Translation: X:-27.63, Y:14.85, Z:16.91 [[ 9.72864378e-01 1.67517320e-01 -1.59602162e-01 -2.76268659e+01] [-1.67482102e-01 9.85778951e-01 1.37697202e-02 1.48467959e+01] [ 1.59639119e-01 1.33344353e-02 9.87085379e-01 1.69095133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.179259763999998 meters Centerline goodness [0,1] 0.5368019582171116 Centerline is valid? [False, False] Translation: X:-27.57, Y:14.84, Z:16.92 [[ 9.73625730e-01 1.63030226e-01 -1.59606026e-01 -2.75719507e+01] [-1.62519477e-01 9.86570068e-01 1.63377043e-02 1.48367734e+01] [ 1.60126068e-01 1.00322787e-02 9.87045590e-01 1.69177673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.209259764 meters Centerline goodness [0,1] 0.5399470221310775 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.83, Z:16.92 [[ 9.73927757e-01 1.62843639e-01 -1.57945163e-01 -2.75351852e+01] [-1.62557649e-01 9.86587803e-01 1.48161603e-02 1.48283065e+01] [ 1.58239489e-01 1.12453246e-02 9.87336724e-01 1.69241258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.239259764 meters Centerline goodness [0,1] 0.5455898345830232 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.82, Z:16.93 [[ 9.73452283e-01 1.64803248e-01 -1.58841248e-01 -2.74941303e+01] [-1.64534995e-01 9.86258238e-01 1.49305950e-02 1.48200346e+01] [ 1.59119100e-01 1.16007222e-02 9.87191235e-01 1.69312372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.269259763999997 meters Centerline goodness [0,1] 0.5464023831347388 Centerline is valid? [False, False] Translation: X:-27.44, Y:14.81, Z:16.94 [[ 9.74150820e-01 1.61349628e-01 -1.58102743e-01 -2.74406585e+01] [-1.60410188e-01 9.86871943e-01 1.87707337e-02 1.48100498e+01] [ 1.59055812e-01 7.07576522e-03 9.87244236e-01 1.69389032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.299259764 meters Centerline goodness [0,1] 0.5479538360205045 Centerline is valid? [False, False] Translation: X:-27.39, Y:14.80, Z:16.95 [[ 9.74955771e-01 1.56819470e-01 -1.57698759e-01 -2.73864214e+01] [-1.55316502e-01 9.87622250e-01 2.18877957e-02 1.48000327e+01] [ 1.59179235e-01 3.15358675e-03 9.87244664e-01 1.69465021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.329259764 meters Centerline goodness [0,1] 0.5478922817159374 Centerline is valid? [False, False] Translation: X:-27.33, Y:14.79, Z:16.96 [[ 9.75560724e-01 1.52591873e-01 -1.58104378e-01 -2.73288556e+01] [-1.50834878e-01 9.88288451e-01 2.31252484e-02 1.47894690e+01] [ 1.59781456e-01 1.28757051e-03 9.87151573e-01 1.69564034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.359259763999997 meters Centerline goodness [0,1] 0.5462695116712015 Centerline is valid? [False, False] Translation: X:-27.27, Y:14.78, Z:16.96 [[ 9.76136417e-01 1.48748457e-01 -1.58213755e-01 -2.72727841e+01] [-1.46439956e-01 9.88872100e-01 2.62165857e-02 1.47788294e+01] [ 1.60352845e-01 -2.42214855e-03 9.87056786e-01 1.69646839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.389259764 meters Centerline goodness [0,1] 0.5462695116712015 Centerline is valid? [False, False] Translation: X:-27.24, Y:14.77, Z:16.97 [[ 9.76474976e-01 1.49030509e-01 -1.55841355e-01 -2.72361080e+01] [-1.46927317e-01 9.88831446e-01 2.49946837e-02 1.47700325e+01] [ 1.57825803e-01 -1.50933110e-03 9.87465816e-01 1.69705946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.419259764 meters Centerline goodness [0,1] 0.5475651999656466 Centerline is valid? [False, False] Translation: X:-27.20, Y:14.76, Z:16.98 [[ 9.76694212e-01 1.49496511e-01 -1.54010422e-01 -2.72004367e+01] [-1.47480238e-01 9.88761506e-01 2.45002972e-02 1.47616882e+01] [ 1.55942285e-01 -1.21580481e-03 9.87765420e-01 1.69768036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.449259763999997 meters Centerline goodness [0,1] 0.5496768289195217 Centerline is valid? [False, False] Translation: X:-27.15, Y:14.75, Z:16.99 [[ 9.77383090e-01 1.45030325e-01 -1.53910691e-01 -2.71456402e+01] [-1.42572498e-01 9.89417449e-01 2.69479997e-02 1.47523315e+01] [ 1.56190200e-01 -4.39508747e-03 9.87717219e-01 1.69854337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.479259764 meters Centerline goodness [0,1] 0.5483567002655549 Centerline is valid? [False, False] Translation: X:-27.09, Y:14.74, Z:16.99 [[ 9.78093639e-01 1.40244599e-01 -1.53832006e-01 -2.70905829e+01] [-1.37398663e-01 9.90090273e-01 2.90320271e-02 1.47429988e+01] [ 1.56379157e-01 -7.25972910e-03 9.87670418e-01 1.69938918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.509259764 meters Centerline goodness [0,1] 0.5465245836071193 Centerline is valid? [False, False] Translation: X:-27.05, Y:14.74, Z:17.00 [[ 9.78383266e-01 1.39392239e-01 -1.52761213e-01 -2.70490594e+01] [-1.37227277e-01 9.90232136e-01 2.46777495e-02 1.47350268e+01] [ 1.54708949e-01 -3.18129187e-03 9.87954969e-01 1.70014370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.539259763999997 meters Centerline goodness [0,1] 0.5429848791183758 Centerline is valid? [False, False] Translation: X:-26.99, Y:14.73, Z:17.01 [[ 9.79267431e-01 1.32865400e-01 -1.52912015e-01 -2.69946070e+01] [-1.30414450e-01 9.91118758e-01 2.59938142e-02 1.47255630e+01] [ 1.55007645e-01 -5.51295942e-03 9.87897888e-01 1.70087868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.569259763999998 meters Centerline goodness [0,1] 0.5454985066135685 Centerline is valid? [False, False] Translation: X:-26.96, Y:14.72, Z:17.01 [[ 9.79845125e-01 1.31552309e-01 -1.50324719e-01 -2.69565543e+01] [-1.29539612e-01 9.91304041e-01 2.31470736e-02 1.47167509e+01] [ 1.52062552e-01 -3.20754144e-03 9.88365667e-01 1.70136982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.599259764 meters Centerline goodness [0,1] 0.5448870729769606 Centerline is valid? [False, False] Translation: X:-26.90, Y:14.71, Z:17.02 [[ 9.80674446e-01 1.24912143e-01 -1.50580833e-01 -2.69025553e+01] [-1.22561630e-01 9.92150309e-01 2.48276121e-02 1.47075881e+01] [ 1.52500090e-01 -5.89237240e-03 9.88285891e-01 1.70212711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.629259763999997 meters Centerline goodness [0,1] 0.5501797695552473 Centerline is valid? [False, False] Translation: X:-26.87, Y:14.70, Z:17.02 [[ 9.81930833e-01 1.19252728e-01 -1.46937491e-01 -2.68739152e+01] [-1.17065989e-01 9.92846716e-01 2.34723957e-02 1.46976228e+01] [ 1.48685552e-01 -5.84688637e-03 9.88867241e-01 1.70219615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.659259763999998 meters Centerline goodness [0,1] 0.5428386041131831 Centerline is valid? [False, False] Translation: X:-26.85, Y:14.69, Z:17.02 [[ 9.82983187e-01 1.15353869e-01 -1.42959921e-01 -2.68454262e+01] [-1.13332505e-01 9.93308393e-01 2.22301423e-02 1.46892532e+01] [ 1.44567622e-01 -5.64985014e-03 9.89478793e-01 1.70247164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.689259764 meters Centerline goodness [0,1] 0.5324362883598623 Centerline is valid? [False, False] Translation: X:-26.80, Y:14.68, Z:17.03 [[ 9.84310809e-01 1.04560580e-01 -1.42124302e-01 -2.68004076e+01] [-1.02120172e-01 9.94473318e-01 2.43780791e-02 1.46778483e+01] [ 1.43887812e-01 -9.48184862e-03 9.89548580e-01 1.70316297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.719259763999997 meters Centerline goodness [0,1] 0.528515625 Centerline is valid? [False, False] Translation: X:-26.77, Y:14.67, Z:17.03 [[ 9.85111889e-01 1.02804901e-01 -1.37788672e-01 -2.67736000e+01] [-1.00224041e-01 9.94636579e-01 2.55581273e-02 1.46696358e+01] [ 1.39677154e-01 -1.13678775e-02 9.90131842e-01 1.70342071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.749259763999998 meters Centerline goodness [0,1] 0.5319811924435913 Centerline is valid? [False, False] Translation: X:-26.75, Y:14.66, Z:17.04 [[ 9.86049289e-01 1.00429737e-01 -1.32742859e-01 -2.67489155e+01] [-9.76631943e-02 9.94847562e-01 2.72071534e-02 1.46615701e+01] [ 1.34791317e-01 -1.38635026e-02 9.90777020e-01 1.70350688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.779259764 meters Centerline goodness [0,1] 0.5181395604697857 Centerline is valid? [False, False] Translation: X:-26.72, Y:14.65, Z:17.04 [[ 9.87298712e-01 9.37866144e-02 -1.28239322e-01 -2.67247646e+01] [-9.12068011e-02 9.95496230e-01 2.58568410e-02 1.46513465e+01] [ 1.30086787e-01 -1.38321274e-02 9.91406123e-01 1.70353725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.809259763999997 meters Centerline goodness [0,1] 0.5183413078149921 Centerline is valid? [False, False] Translation: X:-26.69, Y:14.64, Z:17.04 [[ 9.87545766e-01 9.13131990e-02 -1.28122054e-01 -2.66870763e+01] [-8.92453622e-02 9.95771054e-01 2.18007812e-02 1.46434637e+01] [ 1.29570931e-01 -1.00949701e-02 9.91518767e-01 1.70428459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.839259763999998 meters Centerline goodness [0,1] 0.501389721510709 Centerline is valid? [False, False] Translation: X:-26.67, Y:14.63, Z:17.04 [[ 9.88662259e-01 8.61692560e-02 -1.22970715e-01 -2.66660228e+01] [-8.40474556e-02 9.96211105e-01 2.23485930e-02 1.46338102e+01] [ 1.24430554e-01 -1.17598347e-02 9.92158628e-01 1.70434103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.869259764 meters Centerline goodness [0,1] 0.5091894246739457 Centerline is valid? [False, False] Translation: X:-26.64, Y:14.63, Z:17.04 [[ 9.89439119e-01 8.40952577e-02 -1.18060224e-01 -2.66412356e+01] [-8.18331325e-02 9.96359725e-01 2.38880219e-02 1.46264412e+01] [ 1.19639322e-01 -1.39745053e-02 9.92719067e-01 1.70448369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.899259764 meters Centerline goodness [0,1] 0.5090361445783133 Centerline is valid? [False, False] Translation: X:-26.62, Y:14.62, Z:17.05 [[ 9.90177781e-01 8.18564137e-02 -1.13346770e-01 -2.66161306e+01] [-7.94979446e-02 9.96516927e-01 2.51811632e-02 1.46184900e+01] [ 1.15013215e-01 -1.59229931e-02 9.93236336e-01 1.70465176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.929259763999998 meters Centerline goodness [0,1] 0.5000134672879575 Centerline is valid? [False, False] Translation: X:-26.60, Y:14.61, Z:17.04 [[ 9.91597818e-01 7.31614874e-02 -1.06682536e-01 -2.66024143e+01] [-7.08270487e-02 9.97162249e-01 2.55142634e-02 1.46104526e+01] [ 1.08246459e-01 -1.77438788e-02 9.93965723e-01 1.70447980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.959259764 meters Centerline goodness [0,1] 0.4935744372602152 Centerline is valid? [False, False] Translation: X:-26.58, Y:14.60, Z:17.04 [[ 9.92266109e-01 7.10578478e-02 -1.01777946e-01 -2.65766037e+01] [-6.85361231e-02 9.97253742e-01 2.80673030e-02 1.46013663e+01] [ 1.03492839e-01 -2.08747677e-02 9.94411120e-01 1.70432030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.989259764 meters Centerline goodness [0,1] 0.44951903861014153 Centerline is valid? [False, False] Translation: X:-26.56, Y:14.59, Z:17.04 [[ 9.93224960e-01 6.54009263e-02 -9.60567447e-02 -2.65575841e+01] [-6.27709620e-02 9.97572333e-01 3.01537224e-02 1.45916541e+01] [ 9.77956323e-02 -2.39198554e-02 9.94919019e-01 1.70407189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.019259763999997 meters Centerline goodness [0,1] 0.4784202278823936 Centerline is valid? [False, False] Translation: X:-26.54, Y:14.58, Z:17.04 [[ 0.99397577 0.0615388 -0.09069263 -26.5358109 ] [ -0.05877465 0.99773088 0.03284263 14.58296817] [ 0.09250793 -0.02731435 0.99533723 17.03865924] [ 0. 0. 0. 1. ]] SLAMing on 19.049259764 meters Centerline goodness [0,1] 0.4782493509246013 Centerline is valid? [False, False] Translation: X:-26.53, Y:14.58, Z:17.05 [[ 9.93976551e-01 5.80528778e-02 -9.29541802e-02 -2.65312412e+01] [-5.59495891e-02 9.98118606e-01 2.50777086e-02 1.45843972e+01] [ 9.42351299e-02 -1.97259061e-02 9.95354524e-01 1.70465759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.079259764 meters Centerline goodness [0,1] 0.4705465241484361 Centerline is valid? [False, False] Translation: X:-26.52, Y:14.58, Z:17.05 [[ 9.95054445e-01 4.94488572e-02 -8.61479043e-02 -2.65183673e+01] [-4.74358184e-02 9.98554821e-01 2.52608911e-02 1.45760172e+01] [ 8.72725273e-02 -2.10494657e-02 9.95962061e-01 1.70459708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.109259763999997 meters Centerline goodness [0,1] 0.43952941176470584 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.57, Z:17.04 [[ 9.95896177e-01 4.35280998e-02 -7.93480295e-02 -2.65032113e+01] [-4.14055480e-02 9.98744311e-01 2.82025290e-02 1.45689625e+01] [ 8.04759955e-02 -2.48013421e-02 9.96447945e-01 1.70427983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.139259764 meters Centerline goodness [0,1] 0.4602146078482193 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.56, Z:17.04 [[ 0.99666434 0.03712834 -0.07267521 -26.48947023] [ -0.03492926 0.99889953 0.0312999 14.56102363] [ 0.07375734 -0.028657 0.9968644 17.04069024] [ 0. 0. 0. 1. ]] SLAMing on 19.169259764 meters Centerline goodness [0,1] 0.4399463322754599 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.56, Z:17.04 [[ 9.96770048e-01 3.25344624e-02 -7.34232911e-02 -2.64890090e+01] [-3.06370803e-02 9.99170632e-01 2.68219430e-02 1.45624142e+01] [ 7.42350337e-02 -2.44858341e-02 9.96940120e-01 1.70422170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.199259763999997 meters Centerline goodness [0,1] 0.43800375968892435 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.57, Z:17.04 [[ 9.96918950e-01 2.42332381e-02 -7.46013223e-02 -2.64872465e+01] [-2.29180589e-02 9.99567355e-01 1.84354169e-02 1.45655151e+01] [ 7.50157963e-02 -1.66688990e-02 9.97043017e-01 1.70439232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.229259764 meters Centerline goodness [0,1] 0.41507748078935947 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.56, Z:17.04 [[ 9.97508876e-01 1.81505016e-02 -6.81659868e-02 -2.64711157e+01] [-1.66983598e-02 9.99622612e-01 2.18127810e-02 1.45562322e+01] [ 6.85361747e-02 -2.06201825e-02 9.97435512e-01 1.70393738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.259259764 meters Centerline goodness [0,1] 0.42539133970319165 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.56, Z:17.04 [[ 9.97556064e-01 1.36385905e-02 -6.85265504e-02 -2.64712849e+01] [-1.24777876e-02 9.99771805e-01 1.73390536e-02 1.45564893e+01] [ 6.87473932e-02 -1.64416183e-02 9.97498606e-01 1.70406763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.289259763999997 meters Centerline goodness [0,1] 0.4024871094934789 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.55, Z:17.04 [[ 9.98086143e-01 9.24300335e-03 -6.11442366e-02 -2.64587258e+01] [-7.87394857e-03 9.99713720e-01 2.25937617e-02 1.45480905e+01] [ 6.13355664e-02 -2.20690739e-02 9.97873190e-01 1.70371841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.319259763999998 meters Centerline goodness [0,1] 0.4271349166245578 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.55, Z:17.04 [[ 9.98080499e-01 4.93326634e-03 -6.17331317e-02 -2.64579500e+01] [-3.82881917e-03 9.99830724e-01 1.79961955e-02 1.45497507e+01] [ 6.18114618e-02 -1.77252868e-02 9.97930437e-01 1.70384306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.349259764 meters Centerline goodness [0,1] 0.42583190911832713 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.55, Z:17.04 [[ 9.98064119e-01 8.33460142e-04 -6.21877748e-02 -2.64567825e+01] [ 4.41939059e-05 9.99900444e-01 1.41102575e-02 1.45490740e+01] [ 6.21933440e-02 -1.40856901e-02 9.97964719e-01 1.70385196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.379259763999997 meters Centerline goodness [0,1] 0.40025572241582474 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.55, Z:17.04 [[ 9.98011848e-01 -2.91642201e-03 -6.29590845e-02 -2.64541488e+01] [ 3.56721734e-03 9.99941341e-01 1.02268679e-02 1.45505412e+01] [ 6.29255655e-02 -1.04311241e-02 9.97963709e-01 1.70381830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.409259763999998 meters Centerline goodness [0,1] 0.39205544116908553 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.55, Z:17.04 [[ 9.97956011e-01 -6.81898016e-03 -6.35397647e-02 -2.64519672e+01] [ 7.23397628e-03 9.99953967e-01 6.30351484e-03 1.45520308e+01] [ 6.34938562e-02 -6.75027568e-03 9.97959400e-01 1.70376956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.439259764 meters Centerline goodness [0,1] 0.4037511597001078 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.55, Z:17.04 [[ 9.97952335e-01 -6.27405745e-03 -6.36535463e-02 -2.64505816e+01] [ 6.73088686e-03 9.99953092e-01 6.96490830e-03 1.45508171e+01] [ 6.36068622e-02 -7.37909131e-03 9.97947752e-01 1.70363394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.469259763999997 meters Centerline goodness [0,1] 0.3987614701900416 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.55, Z:17.03 [[ 9.98767994e-01 -5.68402256e-03 -4.92969190e-02 -2.64465155e+01] [ 6.12288368e-03 9.99942920e-01 8.75596568e-03 1.45479060e+01] [ 4.92443360e-02 -9.04701758e-03 9.98745787e-01 1.70267508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.499259763999998 meters Centerline goodness [0,1] 0.4011438318366528 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.55, Z:17.03 [[ 9.98752131e-01 -5.64304789e-03 -4.96219461e-02 -2.64459379e+01] [ 6.05440640e-03 9.99948513e-01 8.14345207e-03 1.45503072e+01] [ 4.95734373e-02 -8.43372153e-03 9.98734873e-01 1.70275579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.529259764 meters Centerline goodness [0,1] 0.41427712051333465 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.55, Z:17.03 [[ 9.98746265e-01 -5.65480094e-03 -4.97385396e-02 -2.64456546e+01] [ 6.05673473e-03 9.99950183e-01 7.93392711e-03 1.45513447e+01] [ 4.96911970e-02 -8.22523320e-03 9.98730760e-01 1.70276955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.559259763999997 meters Centerline goodness [0,1] 0.40647626709573614 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.55, Z:17.03 [[ 9.98744812e-01 -5.76171446e-03 -4.97554283e-02 -2.64455832e+01] [ 6.14881449e-03 9.99951983e-01 7.63049949e-03 1.45524103e+01] [ 4.97090744e-02 -7.92685867e-03 9.98732283e-01 1.70277345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.589259763999998 meters Centerline goodness [0,1] 0.3898296580617646 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.55, Z:17.03 [[ 9.98685259e-01 -8.87027855e-03 -5.04883385e-02 -2.64421201e+01] [ 9.09869447e-03 9.99949377e-01 4.29609155e-03 1.45545768e+01] [ 5.04476751e-02 -4.74982127e-03 9.98715411e-01 1.70263872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.619259764 meters Centerline goodness [0,1] 0.3907575681510116 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.55, Z:17.03 [[ 9.98683341e-01 -8.55704767e-03 -5.05802459e-02 -2.64409776e+01] [ 8.80674785e-03 9.99950099e-01 4.71590618e-03 1.45542968e+01] [ 5.05373677e-02 -5.15514441e-03 9.98708866e-01 1.70252023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.649259764 meters Centerline goodness [0,1] 0.4047601114709648 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.55, Z:17.02 [[ 9.98980564e-01 -1.04569976e-02 -4.39145022e-02 -2.64257462e+01] [ 1.10394513e-02 9.99854010e-01 1.30418484e-02 1.45492237e+01] [ 4.37717125e-02 -1.35133451e-02 9.98950162e-01 1.70189139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.679259763999998 meters Centerline goodness [0,1] 0.4140128986925644 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.55, Z:17.02 [[ 9.98910636e-01 -1.40931180e-02 -4.44851102e-02 -2.64237172e+01] [ 1.45047158e-02 9.99854805e-01 8.94328815e-03 1.45520785e+01] [ 4.43526124e-02 -9.57878954e-03 9.98970016e-01 1.70190067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.709259764 meters Centerline goodness [0,1] 0.4091137586085558 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.55, Z:17.02 [[ 9.98921455e-01 -1.40359791e-02 -4.42596648e-02 -2.64237305e+01] [ 1.44533358e-02 9.99853918e-01 9.12385052e-03 1.45514648e+01] [ 4.41251370e-02 -9.75370984e-03 9.98978397e-01 1.70181970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.739259764 meters Centerline goodness [0,1] 0.4003322259136213 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.55, Z:17.02 [[ 9.98922685e-01 -1.39421906e-02 -4.42615598e-02 -2.64233657e+01] [ 1.43624091e-02 9.99854620e-01 9.19019904e-03 1.45514621e+01] [ 4.41269935e-02 -9.81600092e-03 9.98977705e-01 1.70177445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.769259763999997 meters Centerline goodness [0,1] 0.39695250527161363 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.55, Z:17.02 [[ 9.98850459e-01 -1.83579398e-02 -4.42803231e-02 -2.64234104e+01] [ 1.85871655e-02 9.99815863e-01 4.77050214e-03 1.45521238e+01] [ 4.41845929e-02 -5.58806394e-03 9.99007755e-01 1.70182202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.799259764 meters Centerline goodness [0,1] 0.400691798676559 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.55, Z:17.02 [[ 9.98851722e-01 -1.80189797e-02 -4.43909304e-02 -2.64226363e+01] [ 1.82624039e-02 9.99820302e-01 5.08418942e-03 1.45517709e+01] [ 4.42913416e-02 -5.88903645e-03 9.99001299e-01 1.70176273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.829259764 meters Centerline goodness [0,1] 0.4033111752163552 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.55, Z:17.01 [[ 9.99110781e-01 -1.98175294e-02 -3.72144158e-02 -2.64084088e+01] [ 2.03262098e-02 9.99704393e-01 1.33406421e-02 1.45465791e+01] [ 3.69390364e-02 -1.40852074e-02 9.99218252e-01 1.70114189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.859259763999997 meters Centerline goodness [0,1] 0.4210632046807121 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.55, Z:17.01 [[ 9.99102448e-01 -2.00974543e-02 -3.72879447e-02 -2.64087103e+01] [ 2.05855560e-02 9.99706760e-01 1.27526057e-02 1.45484342e+01] [ 3.70207155e-02 -1.35087526e-02 9.99223188e-01 1.70121692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.889259764 meters Centerline goodness [0,1] 0.3890807350086961 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.55, Z:17.01 [[ 9.99087246e-01 -2.03600034e-02 -3.75519043e-02 -2.64087321e+01] [ 2.08193443e-02 9.99712646e-01 1.18819148e-02 1.45517203e+01] [ 3.72991978e-02 -1.26528756e-02 9.99224036e-01 1.70134299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.919259764 meters Centerline goodness [0,1] 0.40227065844037624 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.55, Z:17.01 [[ 9.99084201e-01 -2.06721461e-02 -3.74622698e-02 -2.64094490e+01] [ 2.10990861e-02 9.99716464e-01 1.10372041e-02 1.45543115e+01] [ 3.72234852e-02 -1.18175159e-02 9.99237088e-01 1.70143871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.949259763999997 meters Centerline goodness [0,1] 0.4134581330634961 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.56, Z:17.02 [[ 9.99079183e-01 -2.10245899e-02 -3.73999005e-02 -2.64101543e+01] [ 2.14129600e-02 9.99720562e-01 1.00141386e-02 1.45570360e+01] [ 3.71789064e-02 -1.08057600e-02 9.99250201e-01 1.70154960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.979259764 meters Centerline goodness [0,1] 0.425644146885778 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.56, Z:17.02 [[ 9.99074143e-01 -2.11053801e-02 -3.74889167e-02 -2.64098184e+01] [ 2.14732611e-02 9.99724877e-01 9.43762880e-03 1.45594141e+01] [ 3.72794179e-02 -1.02339002e-02 9.99252477e-01 1.70156247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.009259764 meters Centerline goodness [0,1] 0.41665609378568347 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.56, Z:17.02 [[ 9.99067663e-01 -2.12430518e-02 -3.75837436e-02 -2.64095468e+01] [ 2.15934158e-02 9.99726855e-01 8.94094386e-03 1.45615276e+01] [ 3.73835448e-02 -9.74416929e-03 9.99253482e-01 1.70157568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.039259763999997 meters Centerline goodness [0,1] 0.42488712022652486 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.56, Z:17.01 [[ 9.99151885e-01 -1.69244945e-02 -3.75376189e-02 -2.64088879e+01] [ 1.74104779e-02 9.99768303e-01 1.26576654e-02 1.45640351e+01] [ 3.73146970e-02 -1.33004781e-02 9.99215047e-01 1.70147088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.069259763999998 meters Centerline goodness [0,1] 0.4219314194985787 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.57, Z:17.01 [[ 9.99159150e-01 -1.57804292e-02 -3.78414003e-02 -2.64050701e+01] [ 1.62907380e-02 9.99779960e-01 1.32152368e-02 1.45661577e+01] [ 3.76245316e-02 -1.38205891e-02 9.99196370e-01 1.70113626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.099259764 meters Centerline goodness [0,1] 0.4367265366778549 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.57, Z:17.01 [[ 9.99157941e-01 -1.52379421e-02 -3.80948100e-02 -2.64028434e+01] [ 1.57564735e-02 9.99786751e-01 1.33486160e-02 1.45677391e+01] [ 3.78832809e-02 -1.39376155e-02 9.99184968e-01 1.70096487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.129259763999997 meters Centerline goodness [0,1] 0.40880955438551436 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.57, Z:17.01 [[ 9.99155477e-01 -1.50544535e-02 -3.82321246e-02 -2.64015313e+01] [ 1.55691835e-02 9.99791640e-01 1.32014160e-02 1.45694173e+01] [ 3.80254184e-02 -1.37855101e-02 9.99181679e-01 1.70086380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.159259763999998 meters Centerline goodness [0,1] 0.4413919888143756 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.57, Z:17.01 [[ 9.99215808e-01 -1.04060390e-02 -3.82031922e-02 -2.63999009e+01] [ 1.10885244e-02 9.99781917e-01 1.76964075e-02 1.45702697e+01] [ 3.80107112e-02 -1.81061471e-02 9.99113284e-01 1.70061567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.189259764 meters Centerline goodness [0,1] 0.44555587310660194 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.57, Z:17.01 [[ 9.99201719e-01 -1.04352735e-02 -3.85620341e-02 -2.63987975e+01] [ 1.10992991e-02 9.99793100e-01 1.70458925e-02 1.45737989e+01] [ 3.83761770e-02 -1.74602966e-02 9.99110808e-01 1.70063279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.219259763999997 meters Centerline goodness [0,1] 0.4474713242961418 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.58, Z:17.01 [[ 9.99191541e-01 -1.08664383e-02 -3.87063925e-02 -2.63987720e+01] [ 1.14909849e-02 9.99806763e-01 1.59497265e-02 1.45780612e+01] [ 3.85255963e-02 -1.63816064e-02 9.99123326e-01 1.70071703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.249259763999998 meters Centerline goodness [0,1] 0.4558831257554259 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.58, Z:17.01 [[ 9.99175301e-01 -1.08430192e-02 -3.91298691e-02 -2.63970802e+01] [ 1.14300651e-02 9.99824992e-01 1.48100966e-02 1.45849612e+01] [ 3.89624349e-02 -1.52451396e-02 9.99124374e-01 1.70073331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.279259764 meters Centerline goodness [0,1] 0.4455828899541695 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.59, Z:17.01 [[ 9.99167010e-01 -1.04084693e-02 -3.94582139e-02 -2.63952053e+01] [ 1.09746972e-02 9.99839502e-01 1.41607198e-02 1.45900413e+01] [ 3.93044896e-02 -1.45819660e-02 9.99120875e-01 1.70069384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.309259763999997 meters Centerline goodness [0,1] 0.4455828899541695 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.59, Z:17.01 [[ 9.99167010e-01 -1.04084693e-02 -3.94582139e-02 -2.63952053e+01] [ 1.09746972e-02 9.99839502e-01 1.41607198e-02 1.45900413e+01] [ 3.93044896e-02 -1.45819660e-02 9.99120875e-01 1.70069384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.339259763999998 meters Centerline goodness [0,1] 0.4490676611614278 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.60, Z:17.01 [[ 9.99202704e-01 -5.97452537e-03 -3.94748287e-02 -2.63939036e+01] [ 6.63548214e-03 9.99839627e-01 1.66340044e-02 1.45979106e+01] [ 3.93691177e-02 -1.68826767e-02 9.99082103e-01 1.70068221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.369259764 meters Centerline goodness [0,1] 0.4732655294839967 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.60, Z:17.01 [[ 9.99190691e-01 -5.75018061e-03 -3.98107835e-02 -2.63926554e+01] [ 6.35715806e-03 9.99865223e-01 1.51367916e-02 1.46048105e+01] [ 3.97183786e-02 -1.53776247e-02 9.99092578e-01 1.70079688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.399259764 meters Centerline goodness [0,1] 0.4674018289402905 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.62, Z:17.01 [[ 9.99203478e-01 -2.64962913e-04 -3.99041275e-02 -2.63906522e+01] [ 8.77240548e-04 9.99882150e-01 1.53269889e-02 1.46154100e+01] [ 3.98953637e-02 -1.53497861e-02 9.99085954e-01 1.70126885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.429259763999998 meters Centerline goodness [0,1] 0.5163404001841172 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.62, Z:17.01 [[ 9.99187833e-01 -2.80114388e-04 -4.02938707e-02 -2.63898152e+01] [ 8.28962740e-04 9.99907103e-01 1.36050746e-02 1.46218417e+01] [ 4.02863165e-02 -1.36274272e-02 9.99095244e-01 1.70145141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.459259764 meters Centerline goodness [0,1] 0.5094693367388528 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.63, Z:17.02 [[ 9.99172146e-01 -4.89244339e-04 -4.06790200e-02 -2.63892648e+01] [ 9.81496933e-04 9.99926531e-01 1.20818054e-02 1.46275455e+01] [ 4.06701204e-02 -1.21117297e-02 9.99099218e-01 1.70162335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.489259764 meters Centerline goodness [0,1] 0.5070865710846011 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.64, Z:17.02 [[ 9.99150216e-01 9.34788096e-05 -4.12169489e-02 -2.63875336e+01] [ 2.43494137e-04 9.99966591e-01 8.17049576e-03 1.46376693e+01] [ 4.12163357e-02 -8.17358869e-03 9.99116813e-01 1.70220494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.519259763999997 meters Centerline goodness [0,1] 0.5150284098707145 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.64, Z:17.02 [[ 9.99126635e-01 3.65218686e-04 -4.17831771e-02 -2.63858482e+01] [-6.99975990e-05 9.99975027e-01 7.06679388e-03 1.46432503e+01] [ 4.17847146e-02 -7.05769727e-03 9.99101710e-01 1.70230498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.549259764 meters Centerline goodness [0,1] 0.5349757785467129 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.65, Z:17.02 [[ 9.99111318e-01 4.10474877e-03 -4.19490900e-02 -2.63859483e+01] [-3.70721596e-03 9.99947526e-01 9.54995563e-03 1.46494629e+01] [ 4.19860889e-02 -9.38595442e-03 9.99074107e-01 1.70246408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.579259764 meters Centerline goodness [0,1] 0.5252029816831546 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.65, Z:17.03 [[ 9.99086444e-01 4.14423484e-03 -4.25335459e-02 -2.63845943e+01] [-3.78632865e-03 9.99956776e-01 8.49179329e-03 1.46543791e+01] [ 4.25668994e-02 -8.32298958e-03 9.99058951e-01 1.70258637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.609259763999997 meters Centerline goodness [0,1] 0.5373038476573406 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.66, Z:17.03 [[ 9.99063571e-01 4.67549732e-03 -4.30130301e-02 -2.63823441e+01] [-4.36959064e-03 9.99964509e-01 7.20322548e-03 1.46611288e+01] [ 4.30451822e-02 -7.00853084e-03 9.99048544e-01 1.70266041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.639259764 meters Centerline goodness [0,1] 0.5447036499609331 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.66, Z:17.03 [[ 9.99051861e-01 4.64390511e-03 -4.32875618e-02 -2.63815045e+01] [-4.36487453e-03 9.99969099e-01 6.53826583e-03 1.46639597e+01] [ 4.33165873e-02 -6.34312187e-03 9.99041259e-01 1.70270075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.669259764 meters Centerline goodness [0,1] 0.543688775366997 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.67, Z:17.03 [[ 9.99026238e-01 4.90219825e-03 -4.38468160e-02 -2.63797523e+01] [-4.65290493e-03 9.99972437e-01 5.78580256e-03 1.46677962e+01] [ 4.38739706e-02 -5.57615350e-03 9.99021512e-01 1.70276079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.699259763999997 meters Centerline goodness [0,1] 0.5478732418234198 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.68, Z:17.03 [[ 9.98984619e-01 5.31341433e-03 -4.47381063e-02 -2.63778769e+01] [-5.19158363e-03 9.99982494e-01 2.83894712e-03 1.46759400e+01] [ 4.47524076e-02 -2.60380289e-03 9.98994716e-01 1.70326501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.729259764 meters Centerline goodness [0,1] 0.5457642516466046 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.68, Z:17.03 [[ 9.98971161e-01 5.17748142e-03 -4.50534516e-02 -2.63774786e+01] [-5.09193839e-03 9.99985009e-01 2.01325759e-03 1.46790440e+01] [ 4.50631998e-02 -1.78177687e-03 9.98982549e-01 1.70338031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.759259764 meters Centerline goodness [0,1] 0.5476962457337884 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.68, Z:17.03 [[ 9.98948744e-01 5.45001629e-03 -4.55159710e-02 -2.63758043e+01] [-5.37730970e-03 9.99984064e-01 1.71967481e-03 1.46814712e+01] [ 4.55246179e-02 -1.47311352e-03 9.98962131e-01 1.70337421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.789259763999997 meters Centerline goodness [0,1] 0.5494743439984044 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.69, Z:17.03 [[ 9.98932196e-01 1.84289389e-03 -4.61635242e-02 -2.63733835e+01] [-1.95903763e-03 9.99995029e-01 -2.47080430e-03 1.46850852e+01] [ 4.61587412e-02 2.55860204e-03 9.98930841e-01 1.70336482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.819259763999998 meters Centerline goodness [0,1] 0.5551960032927418 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.68, Z:17.02 [[ 9.99176097e-01 -1.10990192e-03 -4.05696458e-02 -2.63572397e+01] [ 1.38357925e-03 9.99976474e-01 6.71840964e-03 1.46807400e+01] [ 4.05612346e-02 -6.76900564e-03 9.99154126e-01 1.70243269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.849259764 meters Centerline goodness [0,1] 0.557096480236929 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.68, Z:17.02 [[ 9.99166042e-01 -1.18795839e-03 -4.08143282e-02 -2.63566059e+01] [ 1.44667981e-03 9.99979045e-01 6.31003498e-03 1.46826463e+01] [ 4.08059769e-02 -6.36381794e-03 9.99146823e-01 1.70245815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.879259763999997 meters Centerline goodness [0,1] 0.5609700493003904 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.68, Z:17.02 [[ 9.99151835e-01 -1.09677791e-03 -4.11631897e-02 -2.63555578e+01] [ 1.34770881e-03 9.99980677e-01 6.06874770e-03 1.46844718e+01] [ 4.11557382e-02 -6.11907639e-03 9.99134006e-01 1.70247058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.909259763999998 meters Centerline goodness [0,1] 0.5610939819572913 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:17.02 [[ 9.99137120e-01 -1.04603820e-03 -4.15201269e-02 -2.63545766e+01] [ 1.28421206e-03 9.99982873e-01 5.71008993e-03 1.46869169e+01] [ 4.15134428e-02 -5.75848345e-03 9.99121351e-01 1.70249796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.939259764 meters Centerline goodness [0,1] 0.5590880628451074 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:17.02 [[ 9.99134514e-01 -1.05039219e-03 -4.15826943e-02 -2.63542703e+01] [ 1.28197913e-03 9.99983816e-01 5.54303685e-03 1.46880432e+01] [ 4.15761989e-02 -5.59154758e-03 9.99119690e-01 1.70249136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.969259763999997 meters Centerline goodness [0,1] 0.5594303815530379 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:17.03 [[ 9.99134531e-01 -1.31163702e-03 -4.15748490e-02 -2.63548815e+01] [ 1.52397258e-03 9.99985956e-01 5.07602654e-03 1.46890024e+01] [ 4.15676072e-02 -5.13499233e-03 9.99122498e-01 1.70258318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.999259763999998 meters Centerline goodness [0,1] 0.5555523820404433 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.69, Z:17.02 [[ 9.99381688e-01 -3.52957560e-03 -3.49826156e-02 -2.63399634e+01] [ 4.00419623e-03 9.99900765e-01 1.35065674e-02 1.46859622e+01] [ 3.49314716e-02 -1.36382933e-02 9.99296647e-01 1.70189072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.029259764 meters Centerline goodness [0,1] 0.5517960139340985 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.69, Z:17.02 [[ 9.99334120e-01 -7.47110389e-03 -3.57141202e-02 -2.63384241e+01] [ 7.75268976e-03 9.99939896e-01 7.75246745e-03 1.46923484e+01] [ 3.56540542e-02 -8.02418574e-03 9.99331977e-01 1.70218231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.059259763999997 meters Centerline goodness [0,1] 0.555190350977478 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.70, Z:17.02 [[ 9.99326283e-01 -7.72447383e-03 -3.58791426e-02 -2.63384441e+01] [ 7.97622979e-03 9.99944528e-01 6.87894733e-03 1.46953045e+01] [ 3.58240161e-02 -7.16049315e-03 9.99332461e-01 1.70228982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.089259763999998 meters Centerline goodness [0,1] 0.5489227233553576 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.70, Z:17.02 [[ 9.99319969e-01 -8.17763510e-03 -3.59545086e-02 -2.63390443e+01] [ 8.38573753e-03 9.99948928e-01 5.64094792e-03 1.46990121e+01] [ 3.59065427e-02 -5.93861697e-03 9.99337507e-01 1.70246468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.119259764 meters Centerline goodness [0,1] 0.5461019490254873 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.70, Z:17.03 [[ 9.99322461e-01 -8.44219406e-03 -3.58238432e-02 -2.63397156e+01] [ 8.63141952e-03 9.99949586e-01 5.13074345e-03 1.47003367e+01] [ 3.57787224e-02 -5.43647779e-03 9.99344949e-01 1.70252397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.149259763999996 meters Centerline goodness [0,1] 0.5503406073201709 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.70, Z:17.03 [[ 9.99318927e-01 -8.58703753e-03 -3.58879556e-02 -2.63398064e+01] [ 8.75937971e-03 9.99950835e-01 4.64775930e-03 1.47018346e+01] [ 3.58462806e-02 -4.95895007e-03 9.99345012e-01 1.70258451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.179259763999998 meters Centerline goodness [0,1] 0.5446617412719108 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:17.03 [[ 9.99300377e-01 -8.85312645e-03 -3.63370018e-02 -2.63396285e+01] [ 8.97357288e-03 9.99954766e-01 3.15295071e-03 1.47065431e+01] [ 3.63074447e-02 -3.47681757e-03 9.99334619e-01 1.70283689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.209259764 meters Centerline goodness [0,1] 0.5473320359020536 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:17.03 [[ 9.99291554e-01 -9.01824549e-03 -3.65384881e-02 -2.63396744e+01] [ 9.11561839e-03 9.99955329e-01 2.49922303e-03 1.47087708e+01] [ 3.65143173e-02 -2.83052338e-03 9.99329121e-01 1.70294897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.239259764 meters Centerline goodness [0,1] 0.5444945454545455 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:17.03 [[ 9.99272627e-01 -8.74288791e-03 -3.71184339e-02 -2.63382672e+01] [ 8.81213492e-03 9.99959723e-01 1.70237372e-03 1.47121588e+01] [ 3.71020552e-02 -2.02822811e-03 9.99309423e-01 1.70306996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.269259763999997 meters Centerline goodness [0,1] 0.5457568773884887 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:17.03 [[ 9.99270490e-01 -8.73759181e-03 -3.71771803e-02 -2.63380534e+01] [ 8.79487375e-03 9.99960376e-01 1.37751736e-03 1.47134508e+01] [ 3.71636710e-02 -1.70348105e-03 9.99307740e-01 1.70308938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.299259764 meters Centerline goodness [0,1] 0.5468686280221381 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:17.03 [[ 9.99266560e-01 -8.36937875e-03 -3.73670511e-02 -2.63369962e+01] [ 8.43340968e-03 9.99963227e-01 1.55627181e-03 1.47134349e+01] [ 3.73526520e-02 -1.87026202e-03 9.99300396e-01 1.70303757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.329259764 meters Centerline goodness [0,1] 0.5461059008562941 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:17.03 [[ 9.99269586e-01 -7.82566792e-03 -3.74039154e-02 -2.63359089e+01] [ 7.90614411e-03 9.99966738e-01 2.00411466e-03 1.47125425e+01] [ 3.73869877e-02 -2.29837157e-03 9.99298219e-01 1.70292440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.359259763999997 meters Centerline goodness [0,1] 0.5470008431948361 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:17.03 [[ 9.99266783e-01 -7.41392734e-03 -3.75623463e-02 -2.63351905e+01] [ 7.51647879e-03 9.99968398e-01 2.58968225e-03 1.47109514e+01] [ 3.75419595e-02 -2.87012004e-03 9.99290930e-01 1.70287227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.389259764 meters Centerline goodness [0,1] 0.5465616462244958 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:17.03 [[ 9.99272086e-01 -7.33999756e-03 -3.74355790e-02 -2.63356393e+01] [ 7.45507072e-03 9.99967903e-01 2.93523175e-03 1.47095164e+01] [ 3.74128328e-02 -3.21218004e-03 9.99294732e-01 1.70286642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.419259764 meters Centerline goodness [0,1] 0.5443706303849613 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.70, Z:17.02 [[ 9.99458877e-01 -1.00453953e-02 -3.13216101e-02 -2.63207615e+01] [ 1.04109094e-02 9.99879346e-01 1.15285425e-02 1.47047363e+01] [ 3.12020223e-02 -1.18483906e-02 9.99442870e-01 1.70217534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.449259763999997 meters Centerline goodness [0,1] 0.5532449527770558 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.70, Z:17.02 [[ 9.99406340e-01 -1.51518979e-02 -3.09416773e-02 -2.63237553e+01] [ 1.53738154e-02 9.99857683e-01 6.94684367e-03 1.47034882e+01] [ 3.08320159e-02 -7.41841124e-03 9.99497051e-01 1.70242878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.479259764 meters Centerline goodness [0,1] 0.5422099415709639 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.70, Z:17.03 [[ 9.99324536e-01 -1.99714066e-02 -3.08482623e-02 -2.63253170e+01] [ 2.00533422e-02 9.99796152e-01 2.34896042e-03 1.47034237e+01] [ 3.07950619e-02 -2.96598454e-03 9.99521319e-01 1.70261670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.509259764 meters Centerline goodness [0,1] 0.5436096841029716 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.70, Z:17.02 [[ 9.99274033e-01 -2.89902815e-02 -2.47178080e-02 -2.63134272e+01] [ 2.91781383e-02 9.99547764e-01 7.27349778e-03 1.46951893e+01] [ 2.44957690e-02 -7.98943708e-03 9.99668008e-01 1.70183585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.539259763999997 meters Centerline goodness [0,1] 0.5439529197702848 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.70, Z:17.02 [[ 9.99271263e-01 -2.90693498e-02 -2.47369294e-02 -2.63138459e+01] [ 2.92521606e-02 9.99547127e-01 7.06063139e-03 1.46956561e+01] [ 2.45204787e-02 -7.77909468e-03 9.99669061e-01 1.70190649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.569259763999998 meters Centerline goodness [0,1] 0.5403710848842487 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.70, Z:17.02 [[ 9.99270877e-01 -2.93598412e-02 -2.44072696e-02 -2.63152941e+01] [ 2.95383263e-02 9.99539245e-01 6.98462858e-03 1.46950202e+01] [ 2.41909563e-02 -7.70048582e-03 9.99677698e-01 1.70196716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.599259764 meters Centerline goodness [0,1] 0.5451995012468828 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.69, Z:17.02 [[ 9.99270832e-01 -2.94777247e-02 -2.42665967e-02 -2.63162078e+01] [ 2.96530327e-02 9.99536462e-01 6.89631042e-03 1.46944741e+01] [ 2.40520607e-02 -7.61086004e-03 9.99681736e-01 1.70204052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.629259763999997 meters Centerline goodness [0,1] 0.5430407337164209 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.69, Z:17.02 [[ 9.99276140e-01 -2.94497955e-02 -2.40812395e-02 -2.63166230e+01] [ 2.96282195e-02 9.99535869e-01 7.08625920e-03 1.46934777e+01] [ 2.38613738e-02 -7.79461399e-03 9.99684890e-01 1.70201722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.659259763999998 meters Centerline goodness [0,1] 0.544532130777903 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.69, Z:17.02 [[ 9.99287714e-01 -2.94289182e-02 -2.36220803e-02 -2.63175777e+01] [ 2.96153706e-02 9.99532609e-01 7.58242346e-03 1.46904725e+01] [ 2.33878971e-02 -8.27659927e-03 9.99692205e-01 1.70195228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.689259764 meters Centerline goodness [0,1] 0.5427693695217158 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.69, Z:17.02 [[ 9.99283300e-01 -2.96539583e-02 -2.35271790e-02 -2.63183059e+01] [ 2.98318582e-02 9.99528661e-01 7.24678785e-03 1.46910827e+01] [ 2.33011938e-02 -7.94345355e-03 9.99696932e-01 1.70202150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.719259763999997 meters Centerline goodness [0,1] 0.5422875780239554 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.69, Z:17.02 [[ 9.99278210e-01 -3.00956793e-02 -2.31799298e-02 -2.63200250e+01] [ 3.02606763e-02 9.99518907e-01 6.80045268e-03 1.46916498e+01] [ 2.29641138e-02 -7.49698453e-03 9.99708180e-01 1.70212715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.749259763999998 meters Centerline goodness [0,1] 0.5389515219842165 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.69, Z:17.02 [[ 9.99266680e-01 -3.08273082e-02 -2.27107853e-02 -2.63228954e+01] [ 3.09749849e-02 9.99501057e-01 6.17958372e-03 1.46917991e+01] [ 2.25089540e-02 -6.87851833e-03 9.99722978e-01 1.70233057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.779259764 meters Centerline goodness [0,1] 0.5374683544303798 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.69, Z:17.02 [[ 9.99265258e-01 -3.11449119e-02 -2.23369199e-02 -2.63245145e+01] [ 3.12870193e-02 9.99492186e-01 6.04091082e-03 1.46910065e+01] [ 2.21374333e-02 -6.73532796e-03 9.99732249e-01 1.70240308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.809259763999997 meters Centerline goodness [0,1] 0.5334567278030176 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.69, Z:17.03 [[ 9.99249999e-01 -3.22759049e-02 -2.13940491e-02 -2.63288650e+01] [ 3.24063269e-02 9.99458077e-01 5.77769448e-03 1.46882565e+01] [ 2.11959749e-02 -6.46666376e-03 9.99754426e-01 1.70256597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.839259763999998 meters Centerline goodness [0,1] 0.5299960716089567 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.69, Z:17.03 [[ 9.99248764e-01 -3.24725458e-02 -2.11528205e-02 -2.63297424e+01] [ 3.26011132e-02 9.99451835e-01 5.76171856e-03 1.46879307e+01] [ 2.09541276e-02 -6.44699565e-03 9.99759652e-01 1.70258222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.869259764 meters Centerline goodness [0,1] 0.5323579065841306 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.69, Z:17.03 [[ 9.99243996e-01 -3.25516069e-02 -2.12562870e-02 -2.63299332e+01] [ 3.26750564e-02 9.99450970e-01 5.48632496e-03 1.46887190e+01] [ 2.10660280e-02 -6.17672766e-03 9.99759006e-01 1.70265236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.899259763999996 meters Centerline goodness [0,1] 0.5311620313027812 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.69, Z:17.03 [[ 9.99237865e-01 -3.30940720e-02 -2.06995707e-02 -2.63323922e+01] [ 3.32122439e-02 9.99433780e-01 5.39132969e-03 1.46875385e+01] [ 2.05094291e-02 -6.07469996e-03 9.99771204e-01 1.70274623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.929259763999998 meters Centerline goodness [0,1] 0.5311920418141967 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.69, Z:17.03 [[ 9.99234367e-01 -3.34978383e-02 -2.02132258e-02 -2.63342404e+01] [ 3.36127436e-02 9.99420495e-01 5.37184811e-03 1.46863421e+01] [ 2.00215669e-02 -6.04715723e-03 9.99781260e-01 1.70279279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.959259764 meters Centerline goodness [0,1] 0.5282264825890113 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.68, Z:17.03 [[ 9.99228089e-01 -3.40369346e-02 -1.96140945e-02 -2.63370067e+01] [ 3.41490247e-02 9.99402118e-01 5.40836270e-03 1.46839030e+01] [ 1.94182835e-02 -6.07399012e-03 9.99792997e-01 1.70290398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.989259764 meters Centerline goodness [0,1] 0.5255714245942259 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.68, Z:17.03 [[ 9.99229560e-01 -3.41713465e-02 -1.93029730e-02 -2.63382091e+01] [ 3.42823946e-02 9.99397318e-01 5.45149313e-03 1.46828149e+01] [ 1.91050546e-02 -6.10904522e-03 9.99798818e-01 1.70294404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.019259763999997 meters Centerline goodness [0,1] 0.5218501860181021 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.68, Z:17.03 [[ 9.99227531e-01 -3.45801897e-02 -1.86695477e-02 -2.63406585e+01] [ 3.46945108e-02 9.99380933e-01 5.83453105e-03 1.46790232e+01] [ 1.84562308e-02 -6.47775488e-03 9.99808685e-01 1.70298757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.049259764 meters Centerline goodness [0,1] 0.5243446729592826 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.68, Z:17.03 [[ 9.99228601e-01 -3.48214030e-02 -1.81569118e-02 -2.63423323e+01] [ 3.49382819e-02 9.99370487e-01 6.16007981e-03 1.46763620e+01] [ 1.79309792e-02 -6.78969923e-03 9.99816173e-01 1.70299022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.079259764 meters Centerline goodness [0,1] 0.5214055038781087 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.67, Z:17.03 [[ 9.99231842e-01 -3.48924267e-02 -1.78394168e-02 -2.63433554e+01] [ 3.50131295e-02 9.99365721e-01 6.49901928e-03 1.46742318e+01] [ 1.76013351e-02 -7.11864081e-03 9.99819743e-01 1.70298716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.109259763999997 meters Centerline goodness [0,1] 0.5139886993252509 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.67, Z:17.03 [[ 9.99206308e-01 -3.59310714e-02 -1.71962688e-02 -2.63468557e+01] [ 3.60465381e-02 9.99329282e-01 6.45236113e-03 1.46687048e+01] [ 1.69528947e-02 -7.06710590e-03 9.99831313e-01 1.70313962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.139259764 meters Centerline goodness [0,1] 0.5168357996662929 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.66, Z:17.03 [[ 9.99196013e-01 -3.66352422e-02 -1.62845701e-02 -2.63503040e+01] [ 3.67475911e-02 9.99302425e-01 6.65416410e-03 1.46645045e+01] [ 1.60294335e-02 -7.24723296e-03 9.99845255e-01 1.70322219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.169259764 meters Centerline goodness [0,1] 0.5115360518645637 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.66, Z:17.03 [[ 9.99174179e-01 -3.75336401e-02 -1.55623312e-02 -2.63539730e+01] [ 3.76434236e-02 9.99267945e-01 6.82246096e-03 1.46595064e+01] [ 1.52948669e-02 -7.40264625e-03 9.99855624e-01 1.70337069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.199259763999997 meters Centerline goodness [0,1] 0.5115360518645637 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.66, Z:17.03 [[ 9.99174179e-01 -3.75336401e-02 -1.55623312e-02 -2.63539730e+01] [ 3.76434236e-02 9.99267945e-01 6.82246096e-03 1.46595064e+01] [ 1.52948669e-02 -7.40264625e-03 9.99855624e-01 1.70337069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.229259764 meters Centerline goodness [0,1] 0.5067329098115871 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.66, Z:17.03 [[ 9.99160534e-01 -3.81798195e-02 -1.48502192e-02 -2.63570259e+01] [ 3.82862052e-02 9.99242668e-01 6.94673517e-03 1.46565082e+01] [ 1.45737476e-02 -7.50946216e-03 9.99865598e-01 1.70347278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.259259764 meters Centerline goodness [0,1] 0.4903692897857741 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.65, Z:17.04 [[ 9.99143753e-01 -3.88346145e-02 -1.42700025e-02 -2.63603125e+01] [ 3.89401748e-02 9.99215637e-01 7.19539314e-03 1.46523389e+01] [ 1.39793793e-02 -7.74490850e-03 9.99872289e-01 1.70363942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.289259763999997 meters Centerline goodness [0,1] 0.48485994435590607 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.65, Z:17.04 [[ 9.99122495e-01 -3.96663268e-02 -1.34470183e-02 -2.63636388e+01] [ 3.97666785e-02 9.99182478e-01 7.27925853e-03 1.46483919e+01] [ 1.31472836e-02 -7.80761420e-03 9.99883088e-01 1.70373361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.319259763999998 meters Centerline goodness [0,1] 0.4985126624681764 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.64, Z:17.04 [[ 9.99142189e-01 -3.93412757e-02 -1.29286373e-02 -2.63640961e+01] [ 3.94524549e-02 9.99185636e-01 8.45986681e-03 1.46428498e+01] [ 1.25852867e-02 -8.96267633e-03 9.99880633e-01 1.70355234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.349259764 meters Centerline goodness [0,1] 0.4747248049588544 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.64, Z:17.04 [[ 9.99134916e-01 -3.97314453e-02 -1.22813348e-02 -2.63659637e+01] [ 3.98430096e-02 9.99165627e-01 8.97683938e-03 1.46384594e+01] [ 1.19144248e-02 -9.45839900e-03 9.99884286e-01 1.70351082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.379259763999997 meters Centerline goodness [0,1] 0.4813726799305649 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.63, Z:17.03 [[ 9.99141429e-01 -3.97334650e-02 -1.17327250e-02 -2.63667524e+01] [ 3.98482977e-02 9.99158450e-01 9.72133953e-03 1.46349658e+01] [ 1.13365888e-02 -1.01805222e-02 9.99883913e-01 1.70337735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.409259763999998 meters Centerline goodness [0,1] 0.48677939022766614 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.63, Z:17.03 [[ 9.98990440e-01 -4.33332039e-02 -1.18463025e-02 -2.63649867e+01] [ 4.34145833e-02 9.99034670e-01 6.70087902e-03 1.46323135e+01] [ 1.15444963e-02 -7.20841637e-03 9.99907377e-01 1.70319012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.439259764 meters Centerline goodness [0,1] 0.4672386687628234 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.63, Z:17.03 [[ 9.98988591e-01 -4.33825875e-02 -1.18214602e-02 -2.63650794e+01] [ 4.34645470e-02 9.99032055e-01 6.76659706e-03 1.46322623e+01] [ 1.15164652e-02 -7.27356767e-03 9.99907229e-01 1.70317441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.469259763999997 meters Centerline goodness [0,1] 0.48029688167449813 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.63, Z:17.03 [[ 9.99163741e-01 -3.91994656e-02 -1.16284680e-02 -2.63646965e+01] [ 3.93289538e-02 9.99164397e-01 1.11239238e-02 1.46330703e+01] [ 1.11826994e-02 -1.15719568e-02 9.99870510e-01 1.70295017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.499259763999998 meters Centerline goodness [0,1] 0.4759478736525983 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.63, Z:17.03 [[ 9.99325506e-01 -3.48477774e-02 -1.15830021e-02 -2.63638773e+01] [ 3.50224176e-02 9.99270430e-01 1.52328159e-02 1.46349689e+01] [ 1.10437217e-02 -1.56282062e-02 9.99816881e-01 1.70276895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.529259764 meters Centerline goodness [0,1] 0.49472377405338297 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.64, Z:17.03 [[ 9.99464828e-01 -3.06161921e-02 -1.15197853e-02 -2.63630854e+01] [ 3.08312643e-02 9.99344383e-01 1.89799229e-02 1.46380434e+01] [ 1.09311397e-02 -1.93249349e-02 9.99753498e-01 1.70260408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.559259763999997 meters Centerline goodness [0,1] 0.5094164020584693 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.65, Z:17.03 [[ 9.99641230e-01 -1.99450924e-02 -1.78774946e-02 -2.63641393e+01] [ 2.01336378e-02 9.99742900e-01 1.04293110e-02 1.46519241e+01] [ 1.76648848e-02 -1.07855083e-02 9.99785789e-01 1.70318609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.589259763999998 meters Centerline goodness [0,1] 0.5389093731806714 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.66, Z:17.02 [[ 9.99914998e-01 -6.49849106e-03 -1.13033593e-02 -2.63698414e+01] [ 6.63475462e-03 9.99905267e-01 1.20597079e-02 1.46615378e+01] [ 1.12239186e-02 -1.21336778e-02 9.99863389e-01 1.70224412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.619259764 meters Centerline goodness [0,1] 0.5594749336684821 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.67, Z:17.02 [[ 9.99932297e-01 -2.21401460e-03 -1.14236562e-02 -2.63684636e+01] [ 2.38984034e-03 9.99878545e-01 1.54007471e-02 1.46663750e+01] [ 1.13881713e-02 -1.54270052e-02 9.99816142e-01 1.70215317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.649259763999996 meters Centerline goodness [0,1] 0.5608966235814254 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.67, Z:17.02 [[ 9.99931932e-01 1.87125300e-03 -1.15165036e-02 -2.63675055e+01] [-1.65613356e-03 9.99824506e-01 1.86605049e-02 1.46710515e+01] [ 1.15494011e-02 -1.86401619e-02 9.99759549e-01 1.70210063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.679259763999998 meters Centerline goodness [0,1] 0.570728789906872 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.68, Z:17.02 [[ 9.99904972e-01 7.28616243e-03 -1.17029588e-02 -2.63642331e+01] [-7.03026492e-03 9.99738498e-01 2.17603285e-02 1.46796159e+01] [ 1.18584478e-02 -2.16759857e-02 9.99694718e-01 1.70197675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.709259764 meters Centerline goodness [0,1] 0.5758582185701606 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.68, Z:17.02 [[ 9.99896770e-01 7.59876793e-03 -1.21946311e-02 -2.63622387e+01] [-7.34449173e-03 9.99757459e-01 2.07625265e-02 1.46846688e+01] [ 1.23494431e-02 -2.06708198e-02 9.99710062e-01 1.70199618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.739259764 meters Centerline goodness [0,1] 0.5838534326555265 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:17.02 [[ 9.99886834e-01 8.38930904e-03 -1.24875203e-02 -2.63595885e+01] [-8.14262349e-03 9.99773250e-01 1.96760230e-02 1.46914124e+01] [ 1.26497570e-02 -1.95721152e-02 9.99728421e-01 1.70194591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.769259763999997 meters Centerline goodness [0,1] 0.5848903800543761 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:17.02 [[ 9.99887231e-01 8.19012994e-03 -1.25875475e-02 -2.63593851e+01] [-7.95231471e-03 9.99791108e-01 1.88282229e-02 1.46944383e+01] [ 1.27391236e-02 -1.87259995e-02 9.99743493e-01 1.70199909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.799259764 meters Centerline goodness [0,1] 0.5894882673824573 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:17.02 [[ 9.99886779e-01 7.99925199e-03 -1.27452082e-02 -2.63590623e+01] [-7.76942493e-03 9.99808141e-01 1.79810317e-02 1.46974577e+01] [ 1.28865977e-02 -1.78799729e-02 9.99757092e-01 1.70206039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.829259764 meters Centerline goodness [0,1] 0.5912430037313433 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:17.02 [[ 9.99881123e-01 7.99387813e-03 -1.31847504e-02 -2.63579231e+01] [-7.77467996e-03 9.99832092e-01 1.65934247e-02 1.47038714e+01] [ 1.33151824e-02 -1.64889449e-02 9.99775385e-01 1.70218845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.859259763999997 meters Centerline goodness [0,1] 0.5957750999328918 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.71, Z:17.02 [[ 9.99880513e-01 7.74600170e-03 -1.33775907e-02 -2.63578152e+01] [-7.53497652e-03 9.99847513e-01 1.57535359e-02 1.47068119e+01] [ 1.34975777e-02 -1.56508537e-02 9.99786410e-01 1.70228508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.889259764 meters Centerline goodness [0,1] 0.6021775299921188 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.71, Z:17.02 [[ 9.99876073e-01 7.86062369e-03 -1.36399712e-02 -2.63567290e+01] [-7.65134036e-03 9.99853239e-01 1.53283244e-02 1.47091000e+01] [ 1.37584596e-02 -1.52220607e-02 9.99789475e-01 1.70227404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.919259764 meters Centerline goodness [0,1] 0.6011106239953237 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:17.02 [[ 9.99889179e-01 4.13571792e-03 -1.43012683e-02 -2.63546175e+01] [-3.98545009e-03 9.99936722e-01 1.05198924e-02 1.47138321e+01] [ 1.43438707e-02 -1.04617296e-02 9.99842390e-01 1.70233455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.949259763999997 meters Centerline goodness [0,1] 0.6052462276289625 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:17.02 [[ 9.99886640e-01 7.62814160e-04 -1.50374856e-02 -2.63517521e+01] [-6.74951394e-04 9.99982678e-01 5.84712545e-03 1.47189858e+01] [ 1.50416854e-02 -5.83631304e-03 9.99869834e-01 1.70236007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.979259764 meters Centerline goodness [0,1] 0.6096694651558738 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:17.02 [[ 9.99886423e-01 5.06195220e-04 -1.50626843e-02 -2.63519472e+01] [-4.25814893e-04 9.99985656e-01 5.33911668e-03 1.47206080e+01] [ 1.50651708e-02 -5.33209637e-03 9.99872297e-01 1.70240944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.009259764 meters Centerline goodness [0,1] 0.6152148971847144 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:17.03 [[ 9.99884297e-01 1.41313925e-04 -1.52109078e-02 -2.63521026e+01] [-7.37445926e-05 9.99990129e-01 4.44263226e-03 1.47233786e+01] [ 1.52113854e-02 -4.44099651e-03 9.99874438e-01 1.70251947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.039259763999997 meters Centerline goodness [0,1] 0.6246564005556705 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:17.03 [[ 9.99875155e-01 4.73826207e-04 -1.57939904e-02 -2.63501419e+01] [-4.15530923e-04 9.99993091e-01 3.69405613e-03 1.47275681e+01] [ 1.57956316e-02 -3.68703205e-03 9.99868443e-01 1.70256292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.069259763999998 meters Centerline goodness [0,1] 0.6254431576459466 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:17.03 [[ 9.99874064e-01 4.42612668e-04 -1.58637853e-02 -2.63496758e+01] [-3.91933224e-04 9.99994811e-01 3.19762933e-03 1.47298044e+01] [ 1.58651183e-02 -3.19100909e-03 9.99869049e-01 1.70256693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.099259764 meters Centerline goodness [0,1] 0.6315867596853199 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:17.03 [[ 9.99867411e-01 7.08516465e-04 -1.62683449e-02 -2.63482057e+01] [-6.73064760e-04 9.99997387e-01 2.18455504e-03 1.47344950e+01] [ 1.62698502e-02 -2.17331574e-03 9.99865275e-01 1.70264965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.129259763999997 meters Centerline goodness [0,1] 0.639381780353693 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.74, Z:17.03 [[ 9.99862744e-01 7.05636972e-04 -1.65528166e-02 -2.63474174e+01] [-6.79565950e-04 9.99998520e-01 1.58059216e-03 1.47371995e+01] [ 1.65539074e-02 -1.56912648e-03 9.99861743e-01 1.70269550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.159259763999998 meters Centerline goodness [0,1] 0.6454979129397733 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.74, Z:17.03 [[ 9.99861607e-01 4.56239045e-04 -1.66300636e-02 -2.63475182e+01] [-4.43075284e-04 9.99999586e-01 7.95239950e-04 1.47397761e+01] [ 1.66304195e-02 -7.87761524e-04 9.99861395e-01 1.70277940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.189259764 meters Centerline goodness [0,1] 0.6515219270786752 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.74, Z:17.03 [[ 9.99853554e-01 9.17939619e-04 -1.70888067e-02 -2.63455434e+01] [-9.12029614e-04 9.99999522e-01 3.53630822e-04 1.47430743e+01] [ 1.70891232e-02 -3.37993537e-04 9.99853913e-01 1.70276710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.219259763999997 meters Centerline goodness [0,1] 0.6572690116053581 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.75, Z:17.03 [[ 9.99847867e-01 1.25257265e-03 -1.73975532e-02 -2.63439262e+01] [-1.25215440e-03 9.99999215e-01 3.49336823e-05 1.47452213e+01] [ 1.73975833e-02 -1.31439449e-05 9.99848651e-01 1.70272341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.249259763999998 meters Centerline goodness [0,1] 0.6565626488804193 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.75, Z:17.03 [[ 9.99845380e-01 1.35692607e-03 -1.75320837e-02 -2.63434386e+01] [-1.35825422e-03 9.99999076e-01 -6.38481980e-05 1.47458752e+01] [ 1.75319809e-02 8.76513526e-05 9.99846299e-01 1.70272268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.279259764 meters Centerline goodness [0,1] 0.6608553121740426 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.75, Z:17.03 [[ 9.99846010e-01 9.44994041e-04 -1.75231951e-02 -2.63443662e+01] [-9.60217922e-04 9.99999169e-01 -8.60391206e-04 1.47478922e+01] [ 1.75223675e-02 8.77084801e-04 9.99846087e-01 1.70287214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.309259763999997 meters Centerline goodness [0,1] 0.651447561450256 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.75, Z:17.02 [[ 9.99983507e-01 5.14987937e-03 -2.54267680e-03 -2.63435670e+01] [-5.14921905e-03 9.99986707e-01 2.66174861e-04 1.47503219e+01] [ 2.54401377e-03 -2.53077671e-04 9.99996732e-01 1.70238176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.339259763999998 meters Centerline goodness [0,1] 0.6582225290392292 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.76, Z:17.03 [[ 9.99983077e-01 4.99036324e-03 -2.99036986e-03 -2.63437524e+01] [-4.99522722e-03 9.99986209e-01 -1.62129094e-03 1.47554673e+01] [ 2.98223780e-03 1.63620108e-03 9.99994215e-01 1.70276940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.369259764 meters Centerline goodness [0,1] 0.6852646205896569 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.76, Z:17.03 [[ 9.99956168e-01 8.89824524e-03 -2.91278104e-03 -2.63450027e+01] [-8.89878937e-03 9.99960390e-01 -1.73902297e-04 1.47617530e+01] [ 2.91111824e-03 1.99814900e-04 9.99995743e-01 1.70325804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.399259763999996 meters Centerline goodness [0,1] 0.7029589024501045 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.77, Z:17.03 [[ 9.99954613e-01 8.94442644e-03 -3.28158418e-03 -2.63442904e+01] [-8.94895559e-03 9.99959021e-01 -1.36809196e-03 1.47660417e+01] [ 3.26921291e-03 1.39739662e-03 9.99993680e-01 1.70342944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.429259763999998 meters Centerline goodness [0,1] 0.7211277897877781 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.77, Z:17.04 [[ 9.99951515e-01 9.13975832e-03 -3.66499583e-03 -2.63431392e+01] [-9.14736736e-03 9.99956030e-01 -2.06477744e-03 1.47689682e+01] [ 3.64596312e-03 2.09820240e-03 9.99991152e-01 1.70350176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.459259764 meters Centerline goodness [0,1] 0.7460433629128167 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.77, Z:17.03 [[ 9.99938492e-01 1.01855197e-02 -4.38944108e-03 -2.63395797e+01] [-1.01950795e-02 9.99945694e-01 -2.16107229e-03 1.47719078e+01] [ 4.36719106e-03 2.20569007e-03 9.99988031e-01 1.70341424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.489259764 meters Centerline goodness [0,1] 0.7520400990250313 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.77, Z:17.03 [[ 9.99936723e-01 1.02592250e-02 -4.61509192e-03 -2.63388887e+01] [-1.02713916e-02 9.99943815e-01 -2.62032255e-03 1.47737305e+01] [ 4.58795014e-03 2.66756016e-03 9.99985917e-01 1.70345676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.519259763999997 meters Centerline goodness [0,1] 0.7636830363964184 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.78, Z:17.03 [[ 9.99922967e-01 1.11935289e-02 -5.36330427e-03 -2.63359735e+01] [-1.12082924e-02 9.99933457e-01 -2.73058188e-03 1.47752945e+01] [ 5.33238253e-03 2.79048502e-03 9.99981889e-01 1.70345984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.549259764 meters Centerline goodness [0,1] 0.7673700305810398 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.78, Z:17.03 [[ 9.99917905e-01 1.15000470e-02 -5.65081072e-03 -2.63349045e+01] [-1.15156794e-02 9.99929934e-01 -2.74168434e-03 1.47757432e+01] [ 5.61888529e-03 2.80653218e-03 9.99980276e-01 1.70345016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.579259764 meters Centerline goodness [0,1] 0.7707855548420635 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.77, Z:17.03 [[ 9.99907105e-01 1.22575191e-02 -5.96113452e-03 -2.63328539e+01] [-1.22706438e-02 9.99922358e-01 -2.17014663e-03 1.47748072e+01] [ 5.93407107e-03 2.24309199e-03 9.99979877e-01 1.70330913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.609259763999997 meters Centerline goodness [0,1] 0.778393436600747 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.78, Z:17.03 [[ 9.99936348e-01 9.12616138e-03 -6.63429252e-03 -2.63301389e+01] [-9.16806615e-03 9.99938040e-01 -6.31365824e-03 1.47778762e+01] [ 6.57626200e-03 6.37408000e-03 9.99958061e-01 1.70330517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.639259764 meters Centerline goodness [0,1] 0.7730453114974487 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.78, Z:17.03 [[ 9.99932216e-01 9.50392949e-03 -6.72590491e-03 -2.63292743e+01] [-9.54297368e-03 9.99937662e-01 -5.79695921e-03 1.47766331e+01] [ 6.67039174e-03 5.86075140e-03 9.99960578e-01 1.70320176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.669259764 meters Centerline goodness [0,1] 0.7837945146906115 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.78, Z:17.03 [[ 9.99949987e-01 6.71101646e-03 -7.41527741e-03 -2.63260581e+01] [-6.78061364e-03 9.99932823e-01 -9.40071194e-03 1.47787465e+01] [ 7.35169093e-03 9.45052191e-03 9.99928318e-01 1.70312409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.699259763999997 meters Centerline goodness [0,1] 0.7824626751747932 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.78, Z:17.03 [[ 9.99947627e-01 6.97354770e-03 -7.49089173e-03 -2.63257148e+01] [-7.04080234e-03 9.99934804e-01 -8.98965488e-03 1.47778626e+01] [ 7.42771357e-03 9.04192595e-03 9.99931534e-01 1.70308455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.729259764 meters Centerline goodness [0,1] 0.7850054791184707 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.78, Z:17.03 [[ 9.99945861e-01 7.31333045e-03 -7.40198507e-03 -2.63259598e+01] [-7.37407383e-03 9.99939086e-01 -8.21261333e-03 1.47750556e+01] [ 7.34147263e-03 8.26675150e-03 9.99938880e-01 1.70304261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.759259764 meters Centerline goodness [0,1] 0.7849351593746212 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.77, Z:17.02 [[ 9.99990369e-01 4.22572922e-03 -1.18557745e-03 -2.63099830e+01] [-4.22608161e-03 9.99991027e-01 -2.94888335e-04 1.47718691e+01] [ 1.18432069e-03 2.99895842e-04 9.99999254e-01 1.70219606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.789259763999997 meters Centerline goodness [0,1] 0.7805954359981865 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.77, Z:17.02 [[ 9.99998609e-01 2.13308262e-04 -1.65423001e-03 -2.63093252e+01] [-2.21858792e-04 9.99986609e-01 -5.17042812e-03 1.47745673e+01] [ 1.65310497e-03 5.17078794e-03 9.99985265e-01 1.70237323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.819259763999998 meters Centerline goodness [0,1] 0.7716724780569917 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.77, Z:17.02 [[ 9.99999258e-01 1.97985860e-04 -1.20219062e-03 -2.63107255e+01] [-2.03108436e-04 9.99990895e-01 -4.26240895e-03 1.47695655e+01] [ 1.20133578e-03 4.26264997e-03 9.99990193e-01 1.70231310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.849259764 meters Centerline goodness [0,1] 0.7677060599718974 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.77, Z:17.02 [[ 9.99991560e-01 -3.69132030e-03 -1.80373642e-03 -2.63093445e+01] [ 3.67562972e-03 9.99956039e-01 -8.62616335e-03 1.47710834e+01] [ 1.83549906e-03 8.61946068e-03 9.99961167e-01 1.70239112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.879259763999997 meters Centerline goodness [0,1] 0.7597995346339717 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.77, Z:17.02 [[ 9.99992774e-01 -3.53361656e-03 -1.40230964e-03 -2.63102091e+01] [ 3.52283206e-03 9.99964763e-01 -7.61988678e-03 1.47671417e+01] [ 1.42918599e-03 7.61489161e-03 9.99969985e-01 1.70228663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.909259763999998 meters Centerline goodness [0,1] 0.739700430075634 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.76, Z:17.02 [[ 9.99990124e-01 -4.31837143e-03 -1.05023094e-03 -2.63124433e+01] [ 4.31148114e-03 9.99969731e-01 -6.47682033e-03 1.47598568e+01] [ 1.07816847e-03 6.47222832e-03 9.99978474e-01 1.70222251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.939259764 meters Centerline goodness [0,1] 0.6963991041961339 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:17.02 [[ 9.99958244e-01 -9.11873021e-03 -5.99545962e-04 -2.63154799e+01] [ 9.11190986e-03 9.99902989e-01 -1.05349916e-02 1.47565367e+01] [ 6.95553545e-04 1.05290887e-02 9.99944326e-01 1.70242478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.969259763999997 meters Centerline goodness [0,1] 0.6780283013328636 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.75, Z:17.02 [[ 9.99955174e-01 -9.46833522e-03 -3.39539597e-05 -2.63178204e+01] [ 9.46754724e-03 9.99907115e-01 -9.80446750e-03 1.47519330e+01] [ 1.26782791e-04 9.80370654e-03 9.99951934e-01 1.70243957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.999259763999998 meters Centerline goodness [0,1] 0.65810715956949 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.75, Z:17.02 [[ 9.99949526e-01 -1.00230209e-02 6.96310614e-04 -2.63205610e+01] [ 1.00290128e-02 9.99907266e-01 -9.21299590e-03 1.47475587e+01] [-6.03903991e-04 9.21951419e-03 9.99957317e-01 1.70244400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.029259764 meters Centerline goodness [0,1] 0.6443692774246224 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.74, Z:17.02 [[ 9.99942855e-01 -1.06048680e-02 1.35037457e-03 -2.63233297e+01] [ 1.06160786e-02 9.99906799e-01 -8.58446534e-03 1.47431815e+01] [-1.25921159e-03 8.59831046e-03 9.99962241e-01 1.70246814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.059259763999997 meters Centerline goodness [0,1] 0.6286409877401965 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:17.03 [[ 9.99875204e-01 -1.56711679e-02 1.99778401e-03 -2.63271568e+01] [ 1.56954132e-02 9.99795388e-01 -1.27607073e-02 1.47401026e+01] [-1.79740006e-03 1.27904708e-02 9.99916583e-01 1.70270668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.089259763999998 meters Centerline goodness [0,1] 0.6110677873090142 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:17.03 [[ 9.99864450e-01 -1.62450810e-02 2.67923285e-03 -2.63298121e+01] [ 1.62767653e-02 9.99792340e-01 -1.22615142e-02 1.47365745e+01] [-2.47948719e-03 1.23034614e-02 9.99921235e-01 1.70272220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.119259764 meters Centerline goodness [0,1] 0.6110677873090142 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:17.03 [[ 9.99913665e-01 -1.26658290e-02 3.49834586e-03 -2.63323237e+01] [ 1.26946695e-02 9.99884566e-01 -8.34865580e-03 1.47326672e+01] [-3.39219939e-03 8.39234537e-03 9.99959030e-01 1.70276802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.149259763999996 meters Centerline goodness [0,1] 0.5934942894318347 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:17.03 [[ 9.99837565e-01 -1.75768972e-02 3.98693463e-03 -2.63351572e+01] [ 1.76260459e-02 9.99764662e-01 -1.26468429e-02 1.47304056e+01] [-3.76370409e-03 1.27150625e-02 9.99912077e-01 1.70295979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.179259763999998 meters Centerline goodness [0,1] 0.5832036876980697 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:17.03 [[ 9.99825807e-01 -1.80951425e-02 4.57408363e-03 -2.63373858e+01] [ 1.81496284e-02 9.99761272e-01 -1.21650923e-02 1.47272860e+01] [-4.35286259e-03 1.22459911e-02 9.99915541e-01 1.70296071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.209259764 meters Centerline goodness [0,1] 0.5778475000719611 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:17.03 [[ 9.99814292e-01 -1.85466034e-02 5.23503912e-03 -2.63395590e+01] [ 1.86071206e-02 9.99757730e-01 -1.17582730e-02 1.47247639e+01] [-5.01569480e-03 1.18534984e-02 9.99917165e-01 1.70294800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.239259764 meters Centerline goodness [0,1] 0.5660138613291922 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:17.03 [[ 9.99791350e-01 -1.96036205e-02 5.74055504e-03 -2.63421236e+01] [ 1.96661018e-02 9.99745672e-01 -1.10379108e-02 1.47208543e+01] [-5.52271205e-03 1.11485021e-02 9.99922602e-01 1.70290029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.269259763999997 meters Centerline goodness [0,1] 0.5618924731182795 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:17.03 [[ 9.99786478e-01 -1.97531574e-02 6.06714785e-03 -2.63430472e+01] [ 1.98163034e-02 9.99748181e-01 -1.05303237e-02 1.47189214e+01] [-5.85761288e-03 1.06483037e-02 9.99926148e-01 1.70284301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.299259764 meters Centerline goodness [0,1] 0.5556065385718383 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:17.03 [[ 9.99759176e-01 -2.09150690e-02 6.64460883e-03 -2.63457247e+01] [ 2.09793914e-02 9.99732240e-01 -9.76284056e-03 1.47142756e+01] [-6.43863918e-03 9.89988928e-03 9.99930266e-01 1.70276197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.329259764 meters Centerline goodness [0,1] 0.5498150749734798 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:17.03 [[ 9.99747300e-01 -2.12609210e-02 7.30138012e-03 -2.63476332e+01] [ 2.13268658e-02 9.99731360e-01 -9.07596339e-03 1.47111717e+01] [-7.10645534e-03 9.22938544e-03 9.99932156e-01 1.70269126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.359259763999997 meters Centerline goodness [0,1] 0.5532701772353561 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:17.03 [[ 9.99624378e-01 -2.62289121e-02 7.94651555e-03 -2.63503913e+01] [ 2.63323277e-02 9.99566070e-01 -1.32015254e-02 1.47094736e+01] [-7.59680567e-03 1.34058168e-02 9.99881279e-01 1.70278918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.389259764 meters Centerline goodness [0,1] 0.5494268527976394 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:17.03 [[ 9.99602165e-01 -2.67997486e-02 8.79119990e-03 -2.63529598e+01] [ 2.69088192e-02 9.99559330e-01 -1.25324407e-02 1.47062007e+01] [-8.45145962e-03 1.27640156e-02 9.99882820e-01 1.70271475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.419259764 meters Centerline goodness [0,1] 0.5509696387177023 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:17.03 [[ 9.99580824e-01 -2.73974763e-02 9.35701526e-03 -2.63550341e+01] [ 2.75072765e-02 9.99551781e-01 -1.18146523e-02 1.47029606e+01] [-9.02912962e-03 1.20670859e-02 9.99886424e-01 1.70264907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.449259763999997 meters Centerline goodness [0,1] 0.5369398692443672 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:17.02 [[ 9.99451552e-01 -3.12624630e-02 1.09203188e-02 -2.63631931e+01] [ 3.13741172e-02 9.99455590e-01 -1.02072789e-02 1.46982223e+01] [-1.05952690e-02 1.05442961e-02 9.99888273e-01 1.70233204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.479259764 meters Centerline goodness [0,1] 0.5382197777528341 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.69, Z:17.02 [[ 9.99553089e-01 -2.75323440e-02 1.16444305e-02 -2.63651273e+01] [ 2.75912961e-02 9.99607117e-01 -4.93268015e-03 1.46937553e+01] [-1.15040473e-02 5.25176060e-03 9.99920035e-01 1.70212798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.509259764 meters Centerline goodness [0,1] 0.5423857653650159 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.69, Z:17.02 [[ 9.99640840e-01 -2.38058786e-02 1.23073685e-02 -2.63672034e+01] [ 2.38146355e-02 9.99716231e-01 -5.65432282e-04 1.46925853e+01] [-1.22904155e-02 8.58324698e-04 9.99924102e-01 1.70207664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.539259763999997 meters Centerline goodness [0,1] 0.5442923917328377 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.69, Z:17.02 [[ 9.99629700e-01 -2.41519571e-02 1.25357679e-02 -2.63683067e+01] [ 2.41677212e-02 9.99707304e-01 -1.10754742e-03 1.46939031e+01] [-1.25053493e-02 1.41009824e-03 9.99920811e-01 1.70215772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.569259763999998 meters Centerline goodness [0,1] 0.544532130777903 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.69, Z:17.02 [[ 9.99620690e-01 -2.44158524e-02 1.27413330e-02 -2.63691420e+01] [ 2.44376201e-02 9.99700147e-01 -1.55552867e-03 1.46948558e+01] [-1.26995329e-02 1.86630649e-03 9.99917616e-01 1.70220743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.599259764 meters Centerline goodness [0,1] 0.5450468238745345 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.70, Z:17.02 [[ 9.99614192e-01 -2.45378274e-02 1.30138859e-02 -2.63699273e+01] [ 2.45665524e-02 9.99696091e-01 -2.05198396e-03 1.46962466e+01] [-1.29595796e-02 2.37089860e-03 9.99913210e-01 1.70225056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.629259763999997 meters Centerline goodness [0,1] 0.5449319469101361 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.70, Z:17.02 [[ 9.99603022e-01 -2.48627132e-02 1.32530785e-02 -2.63709624e+01] [ 2.48978970e-02 9.99686882e-01 -2.49638919e-03 1.46973056e+01] [-1.31868617e-02 2.82537196e-03 9.99909058e-01 1.70231133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.659259763999998 meters Centerline goodness [0,1] 0.5485102052354837 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.70, Z:17.02 [[ 9.99676702e-01 -2.12187835e-02 1.40090680e-02 -2.63731651e+01] [ 2.11961600e-02 9.99773784e-01 1.76143617e-03 1.46953394e+01] [-1.40432744e-02 -1.46392825e-03 9.99900317e-01 1.70225566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.689259764 meters Centerline goodness [0,1] 0.5534628545572806 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.70, Z:17.02 [[ 9.99675331e-01 -2.12998311e-02 1.39838971e-02 -2.63731775e+01] [ 2.12814858e-02 9.99772458e-01 1.45939877e-03 1.46964806e+01] [-1.40118001e-02 -1.16132684e-03 9.99901156e-01 1.70227577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.719259763999997 meters Centerline goodness [0,1] 0.5509412597310687 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.70, Z:17.02 [[ 9.99670676e-01 -2.14512370e-02 1.40848848e-02 -2.63736821e+01] [ 2.14352183e-02 9.99769411e-01 1.28729875e-03 1.46968333e+01] [-1.41092511e-02 -9.84962229e-04 9.99899974e-01 1.70230498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.749259763999998 meters Centerline goodness [0,1] 0.5510557384493132 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.70, Z:17.02 [[ 9.99672170e-01 -2.14502748e-02 1.39798964e-02 -2.63737601e+01] [ 2.14373414e-02 9.99769617e-01 1.07435561e-03 1.46972808e+01] [-1.39997209e-02 -7.74311589e-04 9.99901699e-01 1.70236660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.779259764 meters Centerline goodness [0,1] 0.5463771402653361 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.69, Z:17.02 [[ 9.99729121e-01 -1.82213820e-02 1.44798283e-02 -2.63761097e+01] [ 1.81437226e-02 9.99820390e-01 5.47667942e-03 1.46931942e+01] [-1.45770203e-02 -5.21247791e-03 9.99880163e-01 1.70235358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.809259763999997 meters Centerline goodness [0,1] 0.5464157147311433 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.69, Z:17.02 [[ 9.99707434e-01 -1.88759532e-02 1.51243341e-02 -2.63787403e+01] [ 1.87968346e-02 9.99808976e-01 5.35641055e-03 1.46915828e+01] [-1.52225523e-02 -5.07055384e-03 9.99871273e-01 1.70244011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.839259763999998 meters Centerline goodness [0,1] 0.5447967893279069 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.69, Z:17.02 [[ 9.99698725e-01 -1.90721232e-02 1.54503699e-02 -2.63798162e+01] [ 1.89888762e-02 9.99804474e-01 5.51694356e-03 1.46903070e+01] [-1.55525688e-02 -5.22189628e-03 9.99865416e-01 1.70243888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.869259764 meters Centerline goodness [0,1] 0.5461553666732556 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:17.03 [[ 9.99763778e-01 -1.95534032e-02 9.48958909e-03 -2.63962693e+01] [ 1.96179301e-02 9.99784730e-01 -6.75497370e-03 1.46964507e+01] [-9.35546355e-03 6.93954413e-03 9.99932157e-01 1.70344235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.899259763999996 meters Centerline goodness [0,1] 0.5173490924440692 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:17.03 [[ 9.99756848e-01 -1.97227638e-02 9.86190645e-03 -2.63975300e+01] [ 1.97810974e-02 9.99787203e-01 -5.85289460e-03 1.46928333e+01] [-9.74437261e-03 6.04655079e-03 9.99934241e-01 1.70337709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.929259763999998 meters Centerline goodness [0,1] 0.5449150635617055 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:17.03 [[ 9.99818232e-01 -1.58594497e-02 1.05821261e-02 -2.63995941e+01] [ 1.58699041e-02 9.99873656e-01 -9.04685381e-04 1.46886456e+01] [-1.05664413e-02 1.07245826e-03 9.99943598e-01 1.70327961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.959259764 meters Centerline goodness [0,1] 0.54427119782773 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:17.03 [[ 9.99816496e-01 -1.57661545e-02 1.08812866e-02 -2.64007070e+01] [ 1.57697006e-02 9.99875622e-01 -2.40161598e-04 1.46853704e+01] [-1.08761467e-02 4.11712158e-04 9.99940768e-01 1.70328028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.989259764 meters Centerline goodness [0,1] 0.5429588918176209 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:17.03 [[ 9.99811042e-01 -1.57842256e-02 1.13463264e-02 -2.64019281e+01] [ 1.57827679e-02 9.99875421e-01 2.18013663e-04 1.46829085e+01] [-1.13483541e-02 -3.88960309e-05 9.99935605e-01 1.70325299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.019259763999997 meters Centerline goodness [0,1] 0.5376939203354298 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:17.03 [[ 9.99806802e-01 -1.56677673e-02 1.18692432e-02 -2.64030260e+01] [ 1.56565130e-02 9.99876888e-01 1.04052158e-03 1.46795096e+01] [-1.18840846e-02 -8.54489598e-04 9.99929017e-01 1.70316535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.049259764 meters Centerline goodness [0,1] 0.5391538653851495 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:17.03 [[ 9.99801648e-01 -1.56344333e-02 1.23381101e-02 -2.64042446e+01] [ 1.56136128e-02 9.99876512e-01 1.78202882e-03 1.46760442e+01] [-1.23644475e-02 -1.58903288e-03 9.99922295e-01 1.70311245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.079259764 meters Centerline goodness [0,1] 0.5292368406425435 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:17.03 [[ 9.99796719e-01 -1.57699047e-02 1.25630725e-02 -2.64052194e+01] [ 1.57448925e-02 9.99873863e-01 2.08735835e-03 1.46741952e+01] [-1.25944053e-02 -1.88912980e-03 9.99918903e-01 1.70313126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.109259763999997 meters Centerline goodness [0,1] 0.52401686172278 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:17.03 [[ 9.99797541e-01 -1.57362611e-02 1.25398526e-02 -2.64053322e+01] [ 1.57053095e-02 9.99873379e-01 2.56292570e-03 1.46730968e+01] [-1.25785957e-02 -2.36546454e-03 9.99918088e-01 1.70311130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.139259764 meters Centerline goodness [0,1] 0.5369851615587298 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:17.03 [[ 9.99799061e-01 -1.56602355e-02 1.25137488e-02 -2.64053977e+01] [ 1.56264132e-02 9.99873991e-01 2.79603660e-03 1.46721281e+01] [-1.25559585e-02 -2.59992976e-03 9.99917791e-01 1.70311281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.169259764 meters Centerline goodness [0,1] 0.5008305187974088 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:17.03 [[ 9.99802041e-01 -1.54332347e-02 1.25576047e-02 -2.64052529e+01] [ 1.53959556e-02 9.99876793e-01 3.05992907e-03 1.46711483e+01] [-1.26032821e-02 -2.86598700e-03 9.99916468e-01 1.70307869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.199259763999997 meters Centerline goodness [0,1] 0.5367496824783258 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:17.03 [[ 9.99807824e-01 -1.49564373e-02 1.26735580e-02 -2.64048470e+01] [ 1.49101947e-02 9.99881859e-01 3.73541653e-03 1.46688143e+01] [-1.27279293e-02 -3.54573345e-03 9.99912710e-01 1.70297233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.229259764 meters Centerline goodness [0,1] 0.5159687525878489 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:17.03 [[ 9.99805752e-01 -1.49621251e-02 1.28293645e-02 -2.64052550e+01] [ 1.49144779e-02 9.99881546e-01 3.80159075e-03 1.46679878e+01] [-1.28847247e-02 -3.60950903e-03 9.99910474e-01 1.70297319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.259259764 meters Centerline goodness [0,1] 0.5062137531068766 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:17.03 [[ 9.99804573e-01 -1.49656784e-02 1.29168553e-02 -2.64055073e+01] [ 1.49146548e-02 9.99880619e-01 4.03749407e-03 1.46670688e+01] [-1.29757371e-02 -3.84405459e-03 9.99908423e-01 1.70295387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.289259763999997 meters Centerline goodness [0,1] 0.5187291246860077 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:17.03 [[ 9.99798967e-01 -1.52096721e-02 1.30649167e-02 -2.64063742e+01] [ 1.51583226e-02 9.99877023e-01 4.02041613e-03 1.46664365e+01] [-1.31244592e-02 -3.82156567e-03 9.99906568e-01 1.70300146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.319259763999998 meters Centerline goodness [0,1] 0.5289304177148701 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99898299e-01 -1.23322331e-02 7.16289576e-03 -2.64235017e+01] [ 1.23679877e-02 9.99911167e-01 -4.96897485e-03 1.46736594e+01] [-7.10098090e-03 5.05706011e-03 9.99962000e-01 1.70399185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.349259764 meters Centerline goodness [0,1] 0.5268059470513458 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99938044e-01 -8.19691380e-03 7.53113603e-03 -2.64244619e+01] [ 8.20214289e-03 9.99966142e-01 -6.63704686e-04 1.46734237e+01] [-7.52544071e-03 7.25435020e-04 9.99971420e-01 1.70396193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.379259763999997 meters Centerline goodness [0,1] 0.5343175271438068 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99938994e-01 -8.15279454e-03 7.45257985e-03 -2.64241613e+01] [ 8.15967760e-03 9.99966310e-01 -8.93642017e-04 1.46746673e+01] [-7.44504310e-03 9.54398148e-04 9.99971830e-01 1.70396829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.409259763999998 meters Centerline goodness [0,1] 0.5427408412483039 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99941956e-01 -7.86662518e-03 7.36216414e-03 -2.64232408e+01] [ 7.87228739e-03 9.99968739e-01 -7.40432481e-04 1.46749866e+01] [-7.35610929e-03 7.98346575e-04 9.99972625e-01 1.70388316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.439259764 meters Centerline goodness [0,1] 0.5387820868985442 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99944932e-01 -7.51212907e-03 7.32811608e-03 -2.64222833e+01] [ 7.51491499e-03 9.99971700e-01 -3.52707215e-04 1.46745410e+01] [-7.32525911e-03 4.07757961e-04 9.99973087e-01 1.70375670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.469259763999997 meters Centerline goodness [0,1] 0.5378202634357806 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99943608e-01 -7.51217066e-03 7.50653886e-03 -2.64226731e+01] [ 7.51391481e-03 9.99971749e-01 -2.04176225e-04 1.46741080e+01] [-7.50479299e-03 2.60568205e-04 9.99971805e-01 1.70373190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.499259763999998 meters Centerline goodness [0,1] 0.5395165104181155 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:17.04 [[ 9.99946342e-01 -7.43668884e-03 7.21173371e-03 -2.64218448e+01] [ 7.44002345e-03 9.99972228e-01 -4.35669242e-04 1.46757552e+01] [-7.20829348e-03 4.89301332e-04 9.99973900e-01 1.70374592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.529259764 meters Centerline goodness [0,1] 0.5431632709709654 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:17.04 [[ 9.99949854e-01 -7.26390399e-03 6.89388565e-03 -2.64208262e+01] [ 7.26877797e-03 9.99973349e-01 -6.82208930e-04 1.46775696e+01] [-6.88874642e-03 7.32284844e-04 9.99976004e-01 1.70375041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.559259763999997 meters Centerline goodness [0,1] 0.5484947971732235 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:17.04 [[ 9.99952331e-01 -7.12226589e-03 6.67893288e-03 -2.64199318e+01] [ 7.12753425e-03 9.99974306e-01 -7.65331036e-04 1.46789651e+01] [-6.67331038e-03 8.12898877e-04 9.99977403e-01 1.70371723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.589259763999998 meters Centerline goodness [0,1] 0.5497118356210151 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:17.04 [[ 9.99957071e-01 -6.71792943e-03 6.38170102e-03 -2.64186640e+01] [ 6.72155214e-03 9.99977261e-01 -5.46392929e-04 1.46788341e+01] [-6.37788527e-03 5.89264409e-04 9.99979487e-01 1.70366440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.619259764 meters Centerline goodness [0,1] 0.5474068297030806 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:17.04 [[ 9.99957942e-01 -6.47333737e-03 6.49687160e-03 -2.64186433e+01] [ 6.47488880e-03 9.99979014e-01 -2.17791419e-04 1.46775744e+01] [-6.49532542e-03 2.59848780e-04 9.99978871e-01 1.70361859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.649259763999996 meters Centerline goodness [0,1] 0.5459219119077393 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:17.04 [[ 9.99957531e-01 -6.32248489e-03 6.70533237e-03 -2.64192981e+01] [ 6.32197957e-03 9.99980011e-01 9.65543306e-05 1.46758365e+01] [-6.70580880e-03 -5.41592558e-05 9.99977514e-01 1.70362960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.679259763999998 meters Centerline goodness [0,1] 0.5423389896409032 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:17.04 [[ 9.99956821e-01 -6.34330042e-03 6.79101710e-03 -2.64197353e+01] [ 6.34204432e-03 9.99979868e-01 2.06484146e-04 1.46753674e+01] [-6.79219017e-03 -1.63406299e-04 9.99976919e-01 1.70364944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.709259764 meters Centerline goodness [0,1] 0.5323705040966533 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99955290e-01 -6.44373657e-03 6.92065183e-03 -2.64203288e+01] [ 6.44199901e-03 9.99979213e-01 2.73330536e-04 1.46749307e+01] [-6.92226924e-03 -2.28735483e-04 9.99976015e-01 1.70367002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.739259763999996 meters Centerline goodness [0,1] 0.541424217234691 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99951378e-01 -6.72561768e-03 7.21167534e-03 -2.64215027e+01] [ 6.71948588e-03 9.99977042e-01 8.74153289e-04 1.46721096e+01] [-7.21738899e-03 -8.25652035e-04 9.99973613e-01 1.70364419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.769259763999997 meters Centerline goodness [0,1] 0.5390131797541255 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99954896e-01 -6.39957582e-03 7.01787002e-03 -2.64207390e+01] [ 6.39187077e-03 9.99978945e-01 1.11979946e-03 1.46717861e+01] [-7.02488850e-03 -1.07489163e-03 9.99974747e-01 1.70361672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.799259764 meters Centerline goodness [0,1] 0.5345486784507121 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99954046e-01 -6.19069402e-03 7.31986589e-03 -2.64214881e+01] [ 6.17796979e-03 9.99979368e-01 1.75964993e-03 1.46688362e+01] [-7.33060832e-03 -1.71434715e-03 9.99971661e-01 1.70358583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.829259764 meters Centerline goodness [0,1] 0.5370017928561578 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.03 [[ 9.99953453e-01 -5.93458221e-03 7.60740290e-03 -2.64218137e+01] [ 5.91601387e-03 9.99979472e-01 2.46100867e-03 1.46662551e+01] [-7.62185180e-03 -2.41588862e-03 9.99968035e-01 1.70349930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.859259763999997 meters Centerline goodness [0,1] 0.5297102048694405 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:17.03 [[ 9.99951360e-01 -5.82508949e-03 7.95902697e-03 -2.64225336e+01] [ 5.80121245e-03 9.99978613e-01 3.01979467e-03 1.46635029e+01] [-7.97644732e-03 -2.97347578e-03 9.99963767e-01 1.70344370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.889259764 meters Centerline goodness [0,1] 0.5175860080722661 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:17.04 [[ 9.99941793e-01 -7.01336096e-03 8.19897789e-03 -2.64248118e+01] [ 6.98743746e-03 9.99970512e-01 3.18617850e-03 1.46587480e+01] [-8.22108194e-03 -3.12870320e-03 9.99961312e-01 1.70350668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.919259764 meters Centerline goodness [0,1] 0.5254646789116767 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.04 [[ 9.99935102e-01 -7.31776031e-03 8.73162209e-03 -2.64266449e+01] [ 7.28612812e-03 9.99966798e-01 3.64904388e-03 1.46559575e+01] [-8.75803501e-03 -3.58518735e-03 9.99955221e-01 1.70350890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.949259763999997 meters Centerline goodness [0,1] 0.52203241108887 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99931934e-01 -7.41327253e-03 9.00952717e-03 -2.64277793e+01] [ 7.37777780e-03 9.99964917e-01 3.96655994e-03 1.46540611e+01] [-9.03861628e-03 -3.89981966e-03 9.99951546e-01 1.70353817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.979259764 meters Centerline goodness [0,1] 0.492724795640327 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99924786e-01 -7.88648406e-03 9.39281092e-03 -2.64298320e+01] [ 7.84460999e-03 9.99959165e-01 4.48662730e-03 1.46504593e+01] [-9.42781108e-03 -4.41260691e-03 9.99945821e-01 1.70359206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.009259764 meters Centerline goodness [0,1] 0.492724795640327 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99924786e-01 -7.88648406e-03 9.39281092e-03 -2.64298320e+01] [ 7.84460999e-03 9.99959165e-01 4.48662730e-03 1.46504593e+01] [-9.42781108e-03 -4.41260691e-03 9.99945821e-01 1.70359206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.039259763999997 meters Centerline goodness [0,1] 0.5032977215741852 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99922439e-01 -7.88400600e-03 9.64148641e-03 -2.64305349e+01] [ 7.83771164e-03 9.99957620e-01 4.82997540e-03 1.46487753e+01] [-9.67915735e-03 -4.75403359e-03 9.99941855e-01 1.70358159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.069259763999998 meters Centerline goodness [0,1] 0.5164697555398269 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99918883e-01 -7.86261685e-03 1.00203376e-02 -2.64314156e+01] [ 7.80582616e-03 9.99953322e-01 5.69410644e-03 1.46451802e+01] [-1.00646405e-02 -5.61542754e-03 9.99933583e-01 1.70350061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.099259764 meters Centerline goodness [0,1] 0.4949426287454457 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.03 [[ 9.99917372e-01 -7.75912247e-03 1.02491842e-02 -2.64317333e+01] [ 7.69572611e-03 9.99951101e-01 6.21052715e-03 1.46433239e+01] [-1.02968712e-02 -6.13113907e-03 9.99928189e-01 1.70343395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.129259763999997 meters Centerline goodness [0,1] 0.4996737179835772 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.03 [[ 9.99916684e-01 -7.67713919e-03 1.03772573e-02 -2.64319321e+01] [ 7.61030644e-03 9.99950145e-01 6.46452804e-03 1.46422588e+01] [-1.04263690e-02 -6.38501533e-03 9.99925258e-01 1.70340683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.159259763999998 meters Centerline goodness [0,1] 0.48313233376792697 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.03 [[ 9.99912239e-01 -7.94743944e-03 1.05996513e-02 -2.64329906e+01] [ 7.88165640e-03 9.99949510e-01 6.23355207e-03 1.46421122e+01] [-1.06486569e-02 -6.14946219e-03 9.99924392e-01 1.70347185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.189259764 meters Centerline goodness [0,1] 0.5043101111412307 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.04 [[ 9.99910601e-01 -8.05130533e-03 1.06754625e-02 -2.64335221e+01] [ 7.98596838e-03 9.99949207e-01 6.14886098e-03 1.46418870e+01] [-1.07244266e-02 -6.06305737e-03 9.99924110e-01 1.70351492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.219259763999997 meters Centerline goodness [0,1] 0.5018027054135379 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.04 [[ 9.99910736e-01 -8.10718372e-03 1.06204491e-02 -2.64336102e+01] [ 8.04577565e-03 9.99950741e-01 5.81208195e-03 1.46427256e+01] [-1.06670456e-02 -5.72611339e-03 9.99926710e-01 1.70357077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.249259763999998 meters Centerline goodness [0,1] 0.4959603079926256 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99918288e-01 -7.85309984e-03 1.00869749e-02 -2.64323778e+01] [ 7.80225176e-03 9.99956707e-01 5.07046310e-03 1.46458052e+01] [-1.01263571e-02 -4.99134766e-03 9.99936270e-01 1.70367542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.279259764 meters Centerline goodness [0,1] 0.5047717447456429 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99917184e-01 -8.02818288e-03 1.00585351e-02 -2.64325220e+01] [ 7.98233283e-03 9.99957605e-01 4.59020838e-03 1.46474575e+01] [-1.00949597e-02 -4.50953766e-03 9.99938876e-01 1.70372359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.309259763999997 meters Centerline goodness [0,1] 0.5050129058551827 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99926391e-01 -7.65719634e-03 9.41167941e-03 -2.64303294e+01] [ 7.61737345e-03 9.99961914e-01 4.25980987e-03 1.46501450e+01] [-9.44393915e-03 -4.18780404e-03 9.99946636e-01 1.70369966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.339259763999998 meters Centerline goodness [0,1] 0.5281945162959131 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99931428e-01 -7.43695136e-03 9.04605036e-03 -2.64290319e+01] [ 7.40119667e-03 9.99964692e-01 3.97959536e-03 1.46520019e+01] [-9.07532702e-03 -3.91237087e-03 9.99951165e-01 1.70368428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.369259764 meters Centerline goodness [0,1] 0.5029651795429815 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99933299e-01 -7.36846458e-03 8.89401159e-03 -2.64284048e+01] [ 7.33549692e-03 9.99966125e-01 3.73367330e-03 1.46532441e+01] [-8.92122174e-03 -3.66818226e-03 9.99953477e-01 1.70366982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.399259763999996 meters Centerline goodness [0,1] 0.5183350121144474 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99935554e-01 -7.15606617e-03 8.81353771e-03 -2.64276120e+01] [ 7.12219932e-03 9.99967156e-01 3.86800529e-03 1.46534351e+01] [-8.84092794e-03 -3.80498424e-03 9.99953679e-01 1.70359151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.429259763999998 meters Centerline goodness [0,1] 0.5068280739934712 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99937143e-01 -7.00349064e-03 8.75567440e-03 -2.64272254e+01] [ 6.96886059e-03 9.99967799e-01 3.97942697e-03 1.46532052e+01] [-8.78326234e-03 -3.91815976e-03 9.99953750e-01 1.70356270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.459259764 meters Centerline goodness [0,1] 0.5260675137699733 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99938538e-01 -6.90267091e-03 8.67603574e-03 -2.64269338e+01] [ 6.86897941e-03 9.99968775e-01 3.90710159e-03 1.46535602e+01] [-8.70273427e-03 -3.84726594e-03 9.99954729e-01 1.70356264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.489259763999996 meters Centerline goodness [0,1] 0.5009932783628596 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99937367e-01 -7.08429620e-03 8.66452605e-03 -2.64273984e+01] [ 7.05331698e-03 9.99968642e-01 3.60075572e-03 1.46542632e+01] [-8.68976317e-03 -3.53941655e-03 9.99955979e-01 1.70363610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.519259763999997 meters Centerline goodness [0,1] 0.5006266005557675 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.04 [[ 9.99936652e-01 -7.19088681e-03 8.65929785e-03 -2.64276052e+01] [ 7.16200376e-03 9.99968701e-01 3.36189916e-03 1.46550146e+01] [-8.68320186e-03 -3.29966826e-03 9.99956856e-01 1.70367475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.549259764 meters Centerline goodness [0,1] 0.5280727964145049 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.04 [[ 9.99938404e-01 -7.04720208e-03 8.57469583e-03 -2.64271527e+01] [ 7.01825250e-03 9.99969586e-01 3.40158330e-03 1.46552096e+01] [-8.59840668e-03 -3.34119439e-03 9.99957451e-01 1.70365134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.579259764 meters Centerline goodness [0,1] 0.5285915798611112 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99940752e-01 -6.81755518e-03 8.48608712e-03 -2.64266202e+01] [ 6.78753529e-03 9.99970623e-01 3.56133040e-03 1.46549181e+01] [-8.51011739e-03 -3.50351978e-03 9.99957651e-01 1.70361716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.609259763999997 meters Centerline goodness [0,1] 0.5247195905477513 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99939585e-01 -6.81623371e-03 8.62352680e-03 -2.64270740e+01] [ 6.78551719e-03 9.99970548e-01 3.58620301e-03 1.46541040e+01] [-8.64771722e-03 -3.52747126e-03 9.99956386e-01 1.70363332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.639259764 meters Centerline goodness [0,1] 0.5092177785018055 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99933279e-01 -6.98600547e-03 9.19959085e-03 -2.64285569e+01] [ 6.94839692e-03 9.99967398e-01 4.11370496e-03 1.46511870e+01] [-9.22802929e-03 -4.04950808e-03 9.99949221e-01 1.70357685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.669259764 meters Centerline goodness [0,1] 0.48119364185328606 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99929676e-01 -7.04142061e-03 9.54258539e-03 -2.64294534e+01] [ 6.99887286e-03 9.99965451e-01 4.48480721e-03 1.46495491e+01] [-9.57383511e-03 -4.41770448e-03 9.99944411e-01 1.70355060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.699259763999997 meters Centerline goodness [0,1] 0.5009498995820442 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99930762e-01 -7.17656546e-03 9.32565644e-03 -2.64294278e+01] [ 7.13930030e-03 9.99966422e-01 4.02314779e-03 1.46510037e+01] [-9.35421568e-03 -3.95629057e-03 9.99948422e-01 1.70364796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.729259764 meters Centerline goodness [0,1] 0.4869673709620549 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99930739e-01 -7.26710591e-03 9.25775170e-03 -2.64295458e+01] [ 7.23234206e-03 9.99966690e-01 3.78306721e-03 1.46518764e+01] [-9.28493528e-03 -3.71584997e-03 9.99949990e-01 1.70369596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.759259764 meters Centerline goodness [0,1] 0.49773288805625693 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99929041e-01 -7.42585758e-03 9.31504735e-03 -2.64300142e+01] [ 7.39309833e-03 9.99966382e-01 3.54632909e-03 1.46524688e+01] [-9.34106873e-03 -3.47721038e-03 9.99950325e-01 1.70374416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.789259763999997 meters Centerline goodness [0,1] 0.4971673307852864 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99929222e-01 -7.35936408e-03 9.34827040e-03 -2.64299172e+01] [ 7.32554808e-03 9.99966519e-01 3.64645991e-03 1.46523774e+01] [-9.37479304e-03 -3.57772062e-03 9.99949655e-01 1.70371484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.819259763999998 meters Centerline goodness [0,1] 0.507955471083356 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99929978e-01 -7.36284451e-03 9.26436821e-03 -2.64296408e+01] [ 7.33266010e-03 9.99967710e-01 3.28787806e-03 1.46536876e+01] [-9.28827721e-03 -3.21971537e-03 9.99951680e-01 1.70373381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.849259764 meters Centerline goodness [0,1] 0.49870934434692826 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.04 [[ 9.99929570e-01 -7.49520934e-03 9.20199755e-03 -2.64297000e+01] [ 7.46932229e-03 9.99968059e-01 2.84435044e-03 1.46553908e+01] [-9.22302263e-03 -2.77541742e-03 9.99953615e-01 1.70378187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.879259763999997 meters Centerline goodness [0,1] 0.5217792994755577 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.04 [[ 9.99934636e-01 -7.40436542e-03 8.71200507e-03 -2.64287093e+01] [ 7.38867272e-03 9.99971025e-01 1.83208332e-03 1.46594468e+01] [-8.72531806e-03 -1.76759341e-03 9.99960371e-01 1.70391725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.909259763999998 meters Centerline goodness [0,1] 0.5098423588989627 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.04 [[ 9.99937370e-01 -7.35607682e-03 8.43472417e-03 -2.64279460e+01] [ 7.34381174e-03 9.99971932e-01 1.48416948e-03 1.46613672e+01] [-8.44540509e-03 -1.42213350e-03 9.99963326e-01 1.70393325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.939259764 meters Centerline goodness [0,1] 0.5188271942288775 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.04 [[ 9.99938617e-01 -7.30503945e-03 8.33052708e-03 -2.64274087e+01] [ 7.29451741e-03 9.99972559e-01 1.29275647e-03 1.46627032e+01] [-8.33974212e-03 -1.23190994e-03 9.99964465e-01 1.70390857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.969259763999997 meters Centerline goodness [0,1] 0.5256666758023405 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.04 [[ 9.99942441e-01 -7.10234892e-03 8.04190909e-03 -2.64262767e+01] [ 7.09267829e-03 9.99974090e-01 1.23041169e-03 1.46639200e+01] [-8.05043953e-03 -1.17330220e-03 9.99966906e-01 1.70387302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.999259763999998 meters Centerline goodness [0,1] 0.53373124520863 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.04 [[ 9.99944447e-01 -7.03039070e-03 7.85348471e-03 -2.64257156e+01] [ 7.02199065e-03 9.99974744e-01 1.09665803e-03 1.46649358e+01] [-7.86099630e-03 -1.04145001e-03 9.99968560e-01 1.70387591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.029259764 meters Centerline goodness [0,1] 0.5338533798445354 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.04 [[ 9.99946045e-01 -7.12355149e-03 7.56060228e-03 -2.64252951e+01] [ 7.11873743e-03 9.99974441e-01 6.63451070e-04 1.46666138e+01] [-7.56513517e-03 -6.09593330e-04 9.99971198e-01 1.70394377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.059259763999997 meters Centerline goodness [0,1] 0.5339829878602692 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99950257e-01 -6.98627085e-03 7.11872393e-03 -2.64240298e+01] [ 6.98554974e-03 9.99975593e-01 1.26156631e-04 1.46697360e+01] [-7.11943155e-03 -7.64221552e-05 9.99974654e-01 1.70397719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.089259763999998 meters Centerline goodness [0,1] 0.5323246217331499 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99950782e-01 -6.96244882e-03 7.06814020e-03 -2.64238425e+01] [ 6.96225002e-03 9.99975762e-01 5.27314633e-05 1.46702777e+01] [-7.06833602e-03 -3.51870869e-06 9.99975019e-01 1.70397422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.119259764 meters Centerline goodness [0,1] 0.5364494702750178 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99952718e-01 -6.73266079e-03 7.01657012e-03 -2.64231767e+01] [ 6.73081151e-03 9.99977307e-01 2.87140584e-04 1.46698005e+01] [-7.01834411e-03 -2.39899796e-04 9.99975342e-01 1.70389635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.149259763999996 meters Centerline goodness [0,1] 0.5176732306171212 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99954584e-01 -6.58276526e-03 6.89185582e-03 -2.64224298e+01] [ 6.58128937e-03 9.99978315e-01 2.36807600e-04 1.46706665e+01] [-6.89326522e-03 -1.91439547e-04 9.99976223e-01 1.70385078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.179259763999998 meters Centerline goodness [0,1] 0.5370080899492664 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99955017e-01 -6.59598931e-03 6.81589684e-03 -2.64221414e+01] [ 6.59556435e-03 9.99978245e-01 8.48242711e-05 1.46717069e+01] [-6.81630806e-03 -3.98657693e-05 9.99976768e-01 1.70384558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.209259764 meters Centerline goodness [0,1] 0.5214269996699307 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99954767e-01 -6.80884151e-03 6.64102888e-03 -2.64223587e+01] [ 6.81157464e-03 9.99976725e-01 -3.89021221e-04 1.46734751e+01] [-6.63822553e-03 4.34239488e-04 9.99977872e-01 1.70395432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.239259763999996 meters Centerline goodness [0,1] 0.5358912253660685 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:17.04 [[ 9.99959984e-01 -6.56264868e-03 6.07958621e-03 -2.64208549e+01] [ 6.56771174e-03 9.99978102e-01 -8.13206573e-04 1.46760533e+01] [-6.07411628e-03 8.53103002e-04 9.99981188e-01 1.70399972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.269259763999997 meters Centerline goodness [0,1] 0.5331477244535106 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:17.04 [[ 9.99961893e-01 -6.53208909e-03 5.79175507e-03 -2.64201826e+01] [ 6.53944964e-03 9.99977833e-01 -1.25284018e-03 1.46783282e+01] [-5.78344302e-03 1.29066733e-03 9.99982443e-01 1.70404348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.299259764 meters Centerline goodness [0,1] 0.5389328990587651 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:17.04 [[ 9.99964794e-01 -6.34272719e-03 5.49376890e-03 -2.64190426e+01] [ 6.35008834e-03 9.99978962e-01 -1.32350386e-03 1.46799193e+01] [-5.48525870e-03 1.35834318e-03 9.99984033e-01 1.70400920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.329259764 meters Centerline goodness [0,1] 0.5377167989820475 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:17.04 [[ 9.99965827e-01 -6.11988637e-03 5.55806194e-03 -2.64186737e+01] [ 6.12486399e-03 9.99980857e-01 -8.78988641e-04 1.46788553e+01] [-5.55257623e-03 9.13000977e-04 9.99984168e-01 1.70391533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.359259763999997 meters Centerline goodness [0,1] 0.5350566768039813 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99962525e-01 -6.14076901e-03 6.10244383e-03 -2.64194056e+01] [ 6.14000389e-03 9.99981140e-01 1.44105862e-04 1.46749777e+01] [-6.10321365e-03 -1.06631433e-04 9.99981370e-01 1.70372032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.389259764 meters Centerline goodness [0,1] 0.5241099966934861 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99962274e-01 -6.08644981e-03 6.19730687e-03 -2.64195892e+01] [ 6.08337305e-03 9.99981363e-01 5.15196593e-04 1.46737179e+01] [-6.20032709e-03 -4.77476627e-04 9.99980664e-01 1.70368324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.419259764 meters Centerline goodness [0,1] 0.5262459940324897 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99961955e-01 -6.10796453e-03 6.22742282e-03 -2.64198281e+01] [ 6.10525916e-03 9.99981260e-01 4.53346276e-04 1.46739079e+01] [-6.23007514e-03 -4.15308998e-04 9.99980507e-01 1.70371025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.449259763999997 meters Centerline goodness [0,1] 0.5352299406159371 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99960477e-01 -6.34262874e-03 6.23020688e-03 -2.64208431e+01] [ 6.34162065e-03 9.99979875e-01 1.81548106e-04 1.46742168e+01] [-6.23123299e-03 -1.42031322e-04 9.99980576e-01 1.70386039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.479259764 meters Centerline goodness [0,1] 0.5329255127743793 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99959810e-01 -6.42698239e-03 6.25072993e-03 -2.64211970e+01] [ 6.42602703e-03 9.99979338e-01 1.72911416e-04 1.46740689e+01] [-6.25171208e-03 -1.32737107e-04 9.99980449e-01 1.70389793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.509259764 meters Centerline goodness [0,1] 0.5319912738519317 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99961636e-01 -6.28310460e-03 6.10325444e-03 -2.64207168e+01] [ 6.28125958e-03 9.99980221e-01 3.21422240e-04 1.46740761e+01] [-6.10515325e-03 -2.83073783e-04 9.99981323e-01 1.70388417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.539259763999997 meters Centerline goodness [0,1] 0.5378000221214467 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99965269e-01 -5.80343329e-03 5.98170858e-03 -2.64196537e+01] [ 5.79804247e-03 9.99982770e-01 9.18165267e-04 1.46727044e+01] [-5.98693403e-03 -8.83451178e-04 9.99981688e-01 1.70377390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.569259763999998 meters Centerline goodness [0,1] 0.5334198393197316 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99965968e-01 -5.59971381e-03 6.05863389e-03 -2.64195924e+01] [ 5.59127383e-03 9.99983376e-01 1.40909194e-03 1.46710262e+01] [-6.06642368e-03 -1.37516851e-03 9.99980654e-01 1.70371634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.599259764 meters Centerline goodness [0,1] 0.5348318934683322 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99964588e-01 -5.57822070e-03 6.30132285e-03 -2.64203239e+01] [ 5.56680049e-03 9.99982834e-01 1.82843810e-03 1.46690056e+01] [-6.31141411e-03 -1.79329514e-03 9.99978475e-01 1.70369593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.629259763999997 meters Centerline goodness [0,1] 0.5237389131449598 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99962934e-01 -5.67654346e-03 6.47366927e-03 -2.64211084e+01] [ 5.66471202e-03 9.99982254e-01 1.84449915e-03 1.46682618e+01] [-6.48402477e-03 -1.80775931e-03 9.99977344e-01 1.70373464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.659259763999998 meters Centerline goodness [0,1] 0.5344879808354215 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99961372e-01 -5.75215394e-03 6.64577438e-03 -2.64219063e+01] [ 5.73990289e-03 9.99981795e-01 1.86103947e-03 1.46674329e+01] [-6.65635838e-03 -1.82282149e-03 9.99976185e-01 1.70377990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.689259764 meters Centerline goodness [0,1] 0.5327823842732414 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99965114e-01 -5.41040264e-03 6.36387922e-03 -2.64211044e+01] [ 5.39824592e-03 9.99983575e-01 1.92589616e-03 1.46674596e+01] [-6.37419456e-03 -1.89147519e-03 9.99977896e-01 1.70379724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.719259763999997 meters Centerline goodness [0,1] 0.5188904436579143 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.04 [[ 9.99965098e-01 -5.29985065e-03 6.45870414e-03 -2.64213174e+01] [ 5.28593717e-03 9.99983676e-01 2.16939117e-03 1.46666424e+01] [-6.47009616e-03 -2.13517515e-03 9.99976789e-01 1.70378169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.749259763999998 meters Centerline goodness [0,1] 0.532506720798815 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:17.04 [[ 9.99963789e-01 -5.27551946e-03 6.67754884e-03 -2.64219283e+01] [ 5.25876745e-03 9.99982988e-01 2.52378333e-03 1.46648547e+01] [-6.69074951e-03 -2.48857627e-03 9.99974520e-01 1.70376076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.779259764 meters Centerline goodness [0,1] 0.5201812078705346 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:17.04 [[ 9.99941222e-01 -8.89894934e-03 6.19368960e-03 -2.64202797e+01] [ 8.90578551e-03 9.99959763e-01 -1.07702797e-03 1.46636084e+01] [-6.18385597e-03 1.13212433e-03 9.99980239e-01 1.70371738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.809259763999997 meters Centerline goodness [0,1] 0.5134634252698136 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:17.04 [[ 9.99941695e-01 -8.71922351e-03 6.37031886e-03 -2.64206242e+01] [ 8.72239036e-03 9.99961849e-01 -4.69512480e-04 1.46614162e+01] [-6.36598204e-03 5.25049513e-04 9.99979599e-01 1.70366987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.839259763999998 meters Centerline goodness [0,1] 0.5247178207076189 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:17.04 [[ 9.99931990e-01 -9.52052673e-03 6.73614887e-03 -2.64232342e+01] [ 9.52057138e-03 9.99954678e-01 2.54383412e-05 1.46573507e+01] [-6.73608576e-03 3.86953751e-05 9.99977312e-01 1.70375702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.869259764 meters Centerline goodness [0,1] 0.5069485912816893 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:17.04 [[ 9.99925809e-01 -9.73286322e-03 7.32443155e-03 -2.64249539e+01] [ 9.72872585e-03 9.99952495e-01 6.00291035e-04 1.46544489e+01] [-7.32992615e-03 -5.28989112e-04 9.99972996e-01 1.70372144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.899259763999996 meters Centerline goodness [0,1] 0.5034891269068484 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99918679e-01 -9.99607334e-03 7.91916197e-03 -2.64268196e+01] [ 9.98698455e-03 9.99949425e-01 1.18641236e-03 1.46512418e+01] [-7.93062092e-03 -1.10722733e-03 9.99967939e-01 1.70369704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.929259763999998 meters Centerline goodness [0,1] 0.5034891269068484 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99918679e-01 -9.99607334e-03 7.91916197e-03 -2.64268196e+01] [ 9.98698455e-03 9.99949425e-01 1.18641236e-03 1.46512418e+01] [-7.93062092e-03 -1.10722733e-03 9.99967939e-01 1.70369704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.959259764 meters Centerline goodness [0,1] 0.4915322689211383 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.04 [[ 9.99904418e-01 -1.12713036e-02 8.00704633e-03 -2.64288783e+01] [ 1.12583995e-02 9.99935253e-01 1.65484951e-03 1.46459545e+01] [-8.02518021e-03 -1.56454481e-03 9.99966574e-01 1.70373279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.989259763999996 meters Centerline goodness [0,1] 0.48190343122766477 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.04 [[ 9.99904231e-01 -1.11708189e-02 8.16951579e-03 -2.64292178e+01] [ 1.11543591e-02 9.99935671e-01 2.05757411e-03 1.46444347e+01] [-8.19197504e-03 -1.96625135e-03 9.99964512e-01 1.70370164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.019259763999997 meters Centerline goodness [0,1] 0.462093572271703 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.04 [[ 9.99897881e-01 -1.14717477e-02 8.52212159e-03 -2.64308204e+01] [ 1.14513203e-02 9.99931450e-01 2.44192869e-03 1.46421575e+01] [-8.54955059e-03 -2.34408978e-03 9.99960704e-01 1.70373697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.049259764 meters Centerline goodness [0,1] 0.47697880332707276 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.04 [[ 9.99898009e-01 -1.14645321e-02 8.51676025e-03 -2.64309512e+01] [ 1.14434454e-02 9.99931345e-01 2.52051562e-03 1.46418235e+01] [-8.54507206e-03 -2.42279747e-03 9.99960555e-01 1.70374922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.079259764 meters Centerline goodness [0,1] 0.4930235054201997 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.04 [[ 9.99900070e-01 -1.13128459e-02 8.47754885e-03 -2.64306942e+01] [ 1.12904207e-02 9.99932647e-01 2.68845063e-03 1.46414906e+01] [-8.50739189e-03 -2.59246688e-03 9.99960451e-01 1.70372721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.109259763999997 meters Centerline goodness [0,1] 0.4886784353704996 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.04 [[ 9.99900973e-01 -1.11896829e-02 8.53437097e-03 -2.64308750e+01] [ 1.11648016e-02 9.99933298e-01 2.95751760e-03 1.46403178e+01] [-8.56689540e-03 -2.86194017e-03 9.99959208e-01 1.70372160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.139259764 meters Centerline goodness [0,1] 0.4917386406308675 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.04 [[ 9.99903567e-01 -1.08598979e-02 8.65561322e-03 -2.64307091e+01] [ 1.08289161e-02 9.99934819e-01 3.61825128e-03 1.46382053e+01] [-8.69434288e-03 -3.52417145e-03 9.99955993e-01 1.70363183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.169259764 meters Centerline goodness [0,1] 0.4707900096473363 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.04 [[ 9.99906077e-01 -1.06566229e-02 8.61815746e-03 -2.64303023e+01] [ 1.06238145e-02 9.99936178e-01 3.84375604e-03 1.46378194e+01] [-8.65856889e-03 -3.75183732e-03 9.99955475e-01 1.70358560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.199259763999997 meters Centerline goodness [0,1] 0.46961296370697736 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.04 [[ 9.99907009e-01 -1.05240352e-02 8.67282615e-03 -2.64301628e+01] [ 1.04885253e-02 9.99936466e-01 4.12974796e-03 1.46370977e+01] [-8.71573674e-03 -4.03839878e-03 9.99953863e-01 1.70353410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.229259764 meters Centerline goodness [0,1] 0.4855227882037534 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.03 [[ 9.99904090e-01 -1.05747332e-02 8.94349590e-03 -2.64307957e+01] [ 1.05353120e-02 9.99934629e-01 4.44349683e-03 1.46353239e+01] [-8.98990004e-03 -4.34884813e-03 9.99950133e-01 1.70349867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.259259764 meters Centerline goodness [0,1] 0.47377421509686035 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.03 [[ 9.99907539e-01 -1.04247758e-02 8.73136854e-03 -2.64301217e+01] [ 1.03866762e-02 9.99936387e-01 4.39757251e-03 1.46360224e+01] [-8.77665682e-03 -4.30647601e-03 9.99952211e-01 1.70349396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.289259763999997 meters Centerline goodness [0,1] 0.4869476564805624 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.04 [[ 9.99930764e-01 -7.04358614e-03 9.42626104e-03 -2.64328986e+01] [ 6.96728287e-03 9.99942895e-01 8.10325863e-03 1.46359731e+01] [-9.48279876e-03 -8.03702217e-03 9.99922738e-01 1.70358449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.319259763999998 meters Centerline goodness [0,1] 0.47932954910570846 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.04 [[ 9.99928070e-01 -7.28534517e-03 9.52782068e-03 -2.64336749e+01] [ 7.21086091e-03 9.99943356e-01 7.82868019e-03 1.46363919e+01] [-9.58431563e-03 -7.75941328e-03 9.99923963e-01 1.70365696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.349259764 meters Centerline goodness [0,1] 0.4791923303518826 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:17.04 [[ 9.99924311e-01 -7.43600803e-03 9.80191976e-03 -2.64345428e+01] [ 7.35937818e-03 9.99942257e-01 7.83086395e-03 1.46356708e+01] [-9.85958413e-03 -7.75813521e-03 9.99921297e-01 1.70366977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.379259763999997 meters Centerline goodness [0,1] 0.4652423640560417 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.05 [[ 9.99983943e-01 -4.36542814e-03 3.61330717e-03 -2.64505477e+01] [ 4.36856742e-03 9.99990087e-01 -8.61374235e-04 1.46431205e+01] [-3.60951108e-03 8.77145380e-04 9.99993101e-01 1.70450188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.409259763999998 meters Centerline goodness [0,1] 0.47649779498763045 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99984072e-01 -4.33797586e-03 3.61075270e-03 -2.64503160e+01] [ 4.34118028e-03 9.99990190e-01 -8.80102203e-04 1.46438399e+01] [-3.60689941e-03 8.95763113e-04 9.99993094e-01 1.70446802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.439259764 meters Centerline goodness [0,1] 0.4749030590262818 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99983593e-01 -4.32565003e-03 3.75527302e-03 -2.64505583e+01] [ 4.32868466e-03 9.99990311e-01 -8.00346276e-04 1.46436376e+01] [-3.75177461e-03 8.16588538e-04 9.99992629e-01 1.70444340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.469259763999997 meters Centerline goodness [0,1] 0.4761776726177672 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99986107e-01 -3.98244933e-03 3.45339914e-03 -2.64491912e+01] [ 3.98527486e-03 9.99991729e-01 -8.11693451e-04 1.46447711e+01] [-3.45013805e-03 8.25444919e-04 9.99993708e-01 1.70439223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.499259763999998 meters Centerline goodness [0,1] 0.498134832675569 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99987542e-01 -3.87174466e-03 3.15041303e-03 -2.64482097e+01] [ 3.87568801e-03 9.99991713e-01 -1.24655198e-03 1.46470370e+01] [-3.14556059e-03 1.25874647e-03 9.99994260e-01 1.70440850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.529259764 meters Centerline goodness [0,1] 0.4824802937047835 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99989813e-01 -3.61800633e-03 2.69885023e-03 -2.64468103e+01] [ 3.62211696e-03 9.99992285e-01 -1.51977387e-03 1.46494399e+01] [-2.69333086e-03 1.52953394e-03 9.99995203e-01 1.70441533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.559259763999997 meters Centerline goodness [0,1] 0.4745721600862417 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99990303e-01 -3.52224829e-03 2.64350985e-03 -2.64466065e+01] [ 3.52624661e-03 9.99992644e-01 -1.50937383e-03 1.46497383e+01] [-2.63817402e-03 1.51868087e-03 9.99995367e-01 1.70441126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.589259763999998 meters Centerline goodness [0,1] 0.4839031761880347 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99990460e-01 -3.42067654e-03 2.71645358e-03 -2.64465603e+01] [ 3.42436229e-03 9.99993221e-01 -1.35333229e-03 1.46493870e+01] [-2.71180586e-03 1.36262150e-03 9.99995395e-01 1.70437406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.619259764 meters Centerline goodness [0,1] 0.4999189758548047 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99990819e-01 -3.29358768e-03 2.74103141e-03 -2.64462924e+01] [ 3.29664450e-03 9.99993948e-01 -1.11143751e-03 1.46489529e+01] [-2.73735420e-03 1.12046351e-03 9.99995626e-01 1.70431757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.649259763999996 meters Centerline goodness [0,1] 0.4950607287449392 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99991386e-01 -3.08992443e-03 2.77145901e-03 -2.64462244e+01] [ 3.09187157e-03 9.99994976e-01 -6.98559301e-04 1.46476439e+01] [-2.76928660e-03 7.07122278e-04 9.99995916e-01 1.70428091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.679259763999998 meters Centerline goodness [0,1] 0.4962223421478683 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99992164e-01 -2.94779800e-03 2.64251813e-03 -2.64458722e+01] [ 2.94956181e-03 9.99995430e-01 -6.63823776e-04 1.46479354e+01] [-2.64054924e-03 6.71612844e-04 9.99996288e-01 1.70428476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.709259764 meters Centerline goodness [0,1] 0.492209230104507 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99991818e-01 -3.02828257e-03 2.68189210e-03 -2.64462228e+01] [ 3.03042854e-03 9.99995091e-01 -7.96470193e-04 1.46483264e+01] [-2.67946699e-03 8.04590959e-04 9.99996087e-01 1.70431997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.739259763999996 meters Centerline goodness [0,1] 0.5032137841633358 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99992241e-01 -2.92698582e-03 2.63635595e-03 -2.64459330e+01] [ 2.92873937e-03 9.99995492e-01 -6.61524676e-04 1.46484075e+01] [-2.63440779e-03 6.69240743e-04 9.99996306e-01 1.70429148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.769259763999997 meters Centerline goodness [0,1] 0.5045093552295059 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99992437e-01 -2.82314395e-03 2.67520658e-03 -2.64457682e+01] [ 2.82451112e-03 9.99995882e-01 -5.07411306e-04 1.46482424e+01] [-2.67376307e-03 5.14963619e-04 9.99996293e-01 1.70424765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.799259764 meters Centerline goodness [0,1] 0.5061924505950137 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99991659e-01 -2.70723696e-03 3.05821038e-03 -2.64462642e+01] [ 2.70700116e-03 9.99996333e-01 8.12402091e-05 1.46459965e+01] [-3.05841910e-03 -7.29609524e-05 9.99995320e-01 1.70413957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.829259763999996 meters Centerline goodness [0,1] 0.512453501536471 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99993303e-01 -2.35294950e-03 2.80311772e-03 -2.64451353e+01] [ 2.35240849e-03 9.99997214e-01 1.96286002e-04 1.46464830e+01] [-2.80357176e-03 -1.89690609e-04 9.99996052e-01 1.70409317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.859259763999997 meters Centerline goodness [0,1] 0.5103829557713053 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99993494e-01 -2.21469520e-03 2.84713047e-03 -2.64450098e+01] [ 2.21365720e-03 9.99997482e-01 3.67676056e-04 1.46461491e+01] [-2.84793759e-03 -3.61371093e-04 9.99995879e-01 1.70405636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.889259764 meters Centerline goodness [0,1] 0.48377636676711144 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99991566e-01 -2.38269858e-03 3.34534989e-03 -2.64465135e+01] [ 2.38002868e-03 9.99996846e-01 8.01847478e-04 1.46435724e+01] [-3.34724990e-03 -7.93878687e-04 9.99994083e-01 1.70403550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.919259764 meters Centerline goodness [0,1] 0.5022289059562812 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99990222e-01 -2.49763230e-03 3.64948203e-03 -2.64474524e+01] [ 2.49387295e-03 9.99996355e-01 1.03429281e-03 1.46420254e+01] [-3.65205201e-03 -1.02518135e-03 9.99992806e-01 1.70402899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.949259763999997 meters Centerline goodness [0,1] 0.5136113718653614 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99989809e-01 -2.60626495e-03 3.68626148e-03 -2.64479515e+01] [ 2.60303285e-03 9.99996224e-01 8.81324336e-04 1.46423164e+01] [-3.68854452e-03 -8.71719895e-04 9.99992817e-01 1.70408802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.979259764 meters Centerline goodness [0,1] 0.48805698371893746 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99989810e-01 -2.71631943e-03 3.60589735e-03 -2.64481558e+01] [ 2.71376188e-03 9.99996063e-01 7.13972949e-04 1.46429815e+01] [-3.60782253e-03 -7.04180126e-04 9.99993244e-01 1.70414627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.009259764 meters Centerline goodness [0,1] 0.49371508379888274 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99991385e-01 -2.56527640e-03 3.26345468e-03 -2.64472690e+01] [ 2.56428044e-03 9.99996664e-01 3.09332031e-04 1.46451157e+01] [-3.26423731e-03 -3.00960953e-04 9.99994627e-01 1.70419301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.039259763999997 meters Centerline goodness [0,1] 0.5190648931882306 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99991654e-01 -2.28004201e-03 3.39031745e-03 -2.64469792e+01] [ 2.27742715e-03 9.99997106e-01 7.74932724e-04 1.46440032e+01] [-3.39207452e-03 -7.67205055e-04 9.99993953e-01 1.70409461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.069259763999998 meters Centerline goodness [0,1] 0.4914780364535728 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99991115e-01 -2.08657127e-03 3.66270532e-03 -2.64470799e+01] [ 2.08206260e-03 9.99997071e-01 1.23434759e-03 1.46424218e+01] [-3.66527014e-03 -1.22671064e-03 9.99992530e-01 1.70399191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.099259764 meters Centerline goodness [0,1] 0.4842088301643571 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99991417e-01 -1.66145048e-03 3.79549541e-03 -2.64466098e+01] [ 1.65464005e-03 9.99997017e-01 1.79677985e-03 1.46406068e+01] [-3.79846934e-03 -1.79048424e-03 9.99991183e-01 1.70387017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.129259763999997 meters Centerline goodness [0,1] 0.47989773950484393 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99990862e-01 -1.84734485e-03 3.85538560e-03 -2.64470341e+01] [ 1.84137466e-03 9.99997101e-01 1.55150857e-03 1.46413010e+01] [-3.85824059e-03 -1.54439518e-03 9.99991364e-01 1.70390961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.159259763999998 meters Centerline goodness [0,1] 0.4840100223617211 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99991585e-01 -1.98941544e-03 3.58784267e-03 -2.64468190e+01] [ 1.98594801e-03 9.99997558e-01 9.69741117e-04 1.46436741e+01] [-3.58976312e-03 -9.62607687e-04 9.99993093e-01 1.70401252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.189259764 meters Centerline goodness [0,1] 0.47750390183520797 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99991744e-01 -1.98779251e-03 3.54409980e-03 -2.64467370e+01] [ 1.98502640e-03 9.99997723e-01 7.83829582e-04 1.46446743e+01] [-3.54564982e-03 -7.76787979e-04 9.99993412e-01 1.70402831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.219259763999997 meters Centerline goodness [0,1] 0.49730777514538016 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99991417e-01 -2.10152887e-03 3.57052220e-03 -2.64471398e+01] [ 2.09941511e-03 9.99997619e-01 5.95648825e-04 1.46448706e+01] [-3.57176547e-03 -5.88147705e-04 9.99993448e-01 1.70407444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.249259763999998 meters Centerline goodness [0,1] 0.49077341666442176 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99991362e-01 -1.93014691e-03 3.68105551e-03 -2.64470446e+01] [ 1.92688780e-03 9.99997749e-01 8.88713699e-04 1.46440850e+01] [-3.68276257e-03 -8.81613042e-04 9.99992830e-01 1.70401362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.279259764 meters Centerline goodness [0,1] 0.4880012884522468 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99990949e-01 -1.82966524e-03 3.84123928e-03 -2.64470954e+01] [ 1.82438850e-03 9.99997388e-01 1.37676406e-03 1.46423867e+01] [-3.84374826e-03 -1.36974368e-03 9.99991675e-01 1.70392944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.309259763999997 meters Centerline goodness [0,1] 0.48835651311734596 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99991239e-01 -1.74232786e-03 3.80603153e-03 -2.64468291e+01] [ 1.73643491e-03 9.99997289e-01 1.55107684e-03 1.46421900e+01] [-3.80872370e-03 -1.54445433e-03 9.99991554e-01 1.70389644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.339259763999998 meters Centerline goodness [0,1] 0.4898546050686662 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99990788e-01 -1.86801128e-03 3.86444052e-03 -2.64473005e+01] [ 1.86237089e-03 9.99997196e-01 1.46264442e-03 1.46422434e+01] [-3.86716192e-03 -1.45543392e-03 9.99991463e-01 1.70393386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.369259764 meters Centerline goodness [0,1] 0.4816352774131326 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99979322e-01 -5.56906765e-03 3.21589448e-03 -2.64453805e+01] [ 5.57787645e-03 9.99980699e-01 -2.73670291e-03 1.46444381e+01] [-3.20059153e-03 2.75458418e-03 9.99991084e-01 1.70395129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.399259763999996 meters Centerline goodness [0,1] 0.47216262604591286 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99980052e-01 -5.40783488e-03 3.26343568e-03 -2.64452676e+01] [ 5.41571394e-03 9.99982430e-01 -2.41035652e-03 1.46436180e+01] [-3.25034353e-03 2.42798227e-03 9.99991770e-01 1.70390714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.429259763999998 meters Centerline goodness [0,1] 0.4683055123181794 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.64, Z:17.04 [[ 9.99981368e-01 -5.14078920e-03 3.29167703e-03 -2.64449074e+01] [ 5.14710832e-03 9.99984922e-01 -1.91414200e-03 1.46424351e+01] [-3.28178720e-03 1.93104896e-03 9.99992750e-01 1.70382265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.459259764 meters Centerline goodness [0,1] 0.48212560386473435 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.64, Z:17.04 [[ 9.99982526e-01 -4.94602019e-03 3.23791341e-03 -2.64444194e+01] [ 4.95161185e-03 9.99986259e-01 -1.72120239e-03 1.46424252e+01] [-3.22935582e-03 1.73720520e-03 9.99993277e-01 1.70377138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.489259763999996 meters Centerline goodness [0,1] 0.46654891886105754 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99981119e-01 -5.06172094e-03 3.48424367e-03 -2.64450443e+01] [ 5.06657542e-03 9.99986205e-01 -1.38585237e-03 1.46413285e+01] [-3.47718081e-03 1.40347939e-03 9.99992970e-01 1.70373043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.519259763999997 meters Centerline goodness [0,1] 0.48532519998929824 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99981474e-01 -4.99580328e-03 3.47767834e-03 -2.64450902e+01] [ 5.00006869e-03 9.99986757e-01 -1.21889892e-03 1.46410100e+01] [-3.47154291e-03 1.23626497e-03 9.99993210e-01 1.70372974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.549259764 meters Centerline goodness [0,1] 0.46570977157700233 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99980804e-01 -5.01060993e-03 3.64503564e-03 -2.64458006e+01] [ 5.01453865e-03 9.99986855e-01 -1.06948815e-03 1.46402551e+01] [-3.63962894e-03 1.08774579e-03 9.99992785e-01 1.70375545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.579259763999996 meters Centerline goodness [0,1] 0.460720109058833 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99978459e-01 -5.20476646e-03 3.99902721e-03 -2.64474583e+01] [ 5.20900898e-03 9.99985880e-01 -1.05120575e-03 1.46389172e+01] [-3.99349947e-03 1.07201407e-03 9.99991451e-01 1.70384249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.609259763999997 meters Centerline goodness [0,1] 0.4928749030826405 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99979078e-01 -5.06437824e-03 4.02434674e-03 -2.64474379e+01] [ 5.06829067e-03 9.99986693e-01 -9.62588333e-04 1.46388170e+01] [-4.01941828e-03 9.82964753e-04 9.99991439e-01 1.70383443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.639259764 meters Centerline goodness [0,1] 0.45351564582333814 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99979153e-01 -4.92420951e-03 4.17681370e-03 -2.64476383e+01] [ 4.92682107e-03 9.99987674e-01 -6.15192890e-04 1.46376303e+01] [-4.17373287e-03 6.35758479e-04 9.99991088e-01 1.70379055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.669259764 meters Centerline goodness [0,1] 0.47433379339632653 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:17.04 [[ 9.99975293e-01 -5.20534615e-03 4.72424713e-03 -2.64491717e+01] [ 5.20531858e-03 9.99986452e-01 1.81300598e-05 1.46336944e+01] [-4.72427750e-03 6.46159952e-06 9.99988841e-01 1.70372327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.699259763999997 meters Centerline goodness [0,1] 0.474887417218543 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:17.04 [[ 9.99975912e-01 -4.95103695e-03 4.86440306e-03 -2.64492085e+01] [ 4.94775413e-03 9.99987524e-01 6.86668477e-04 1.46313510e+01] [-4.86774209e-03 -6.62584067e-04 9.99987933e-01 1.70364892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.729259764 meters Centerline goodness [0,1] 0.4671109823239641 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:17.04 [[ 9.99972299e-01 -5.30486327e-03 5.22112718e-03 -2.64510660e+01] [ 5.29868285e-03 9.99985246e-01 1.19685525e-03 1.46279827e+01] [-5.22739930e-03 -1.16915700e-03 9.99985654e-01 1.70369528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.759259764 meters Centerline goodness [0,1] 0.4621106584308057 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:17.04 [[ 9.99972071e-01 -5.29337720e-03 5.27617308e-03 -2.64515724e+01] [ 5.28598231e-03 9.99985029e-01 1.41452578e-03 1.46267711e+01] [-5.28358171e-03 -1.38659651e-03 9.99985080e-01 1.70373153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.789259763999997 meters Centerline goodness [0,1] 0.4764919100651397 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.62, Z:17.04 [[ 9.99970448e-01 -5.32736725e-03 5.54278868e-03 -2.64525866e+01] [ 5.31778480e-03 9.99984343e-01 1.74211667e-03 1.46249934e+01] [-5.55198279e-03 -1.71258983e-03 9.99983121e-01 1.70374983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.819259763999998 meters Centerline goodness [0,1] 0.4764919100651397 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.62, Z:17.04 [[ 9.99970448e-01 -5.32736725e-03 5.54278868e-03 -2.64525866e+01] [ 5.31778480e-03 9.99984343e-01 1.74211667e-03 1.46249934e+01] [-5.55198279e-03 -1.71258983e-03 9.99983121e-01 1.70374983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.849259764 meters Centerline goodness [0,1] 0.46523812018651434 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.62, Z:17.04 [[ 9.99965001e-01 -5.78057447e-03 6.04828151e-03 -2.64547561e+01] [ 5.76749034e-03 9.99980995e-01 2.17849023e-03 1.46207438e+01] [-6.06075949e-03 -2.14353058e-03 9.99979336e-01 1.70378882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.879259763999997 meters Centerline goodness [0,1] 0.44602420953772304 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:17.04 [[ 9.99961193e-01 -5.92855853e-03 6.51642925e-03 -2.64562200e+01] [ 5.91175959e-03 9.99979160e-01 2.59418139e-03 1.46181628e+01] [-6.53167321e-03 -2.55555716e-03 9.99975403e-01 1.70378018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.909259763999998 meters Centerline goodness [0,1] 0.4520823010926539 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:17.04 [[ 9.99960673e-01 -5.86433226e-03 6.65302347e-03 -2.64569353e+01] [ 5.84482897e-03 9.99978576e-01 2.94715846e-03 1.46158295e+01] [-6.67016405e-03 -2.90815677e-03 9.99973525e-01 1.70381739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.939259764 meters Centerline goodness [0,1] 0.43833046740659687 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:17.04 [[ 9.99959437e-01 -5.92156064e-03 6.78665547e-03 -2.64575852e+01] [ 5.90073688e-03 9.99977834e-01 3.08426530e-03 1.46151061e+01] [-6.80476870e-03 -3.04409393e-03 9.99972214e-01 1.70384445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.969259763999997 meters Centerline goodness [0,1] 0.44134034576129977 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.61, Z:17.04 [[ 9.99956905e-01 -6.04899212e-03 7.04260861e-03 -2.64585745e+01] [ 6.02567660e-03 9.99976310e-01 3.32716184e-03 1.46134535e+01] [-7.06256774e-03 -3.28458197e-03 9.99969665e-01 1.70386411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.999259763999998 meters Centerline goodness [0,1] 0.44946615528143463 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.61, Z:17.04 [[ 9.99958972e-01 -5.51546548e-03 7.18572078e-03 -2.64581419e+01] [ 5.48372270e-03 9.99975153e-01 4.42971838e-03 1.46094391e+01] [-7.20997420e-03 -4.39013213e-03 9.99964371e-01 1.70371820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.029259764 meters Centerline goodness [0,1] 0.43195342820181115 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.61, Z:17.04 [[ 9.99957337e-01 -5.47192644e-03 7.44194476e-03 -2.64589347e+01] [ 5.43705078e-03 9.99974181e-01 4.69854858e-03 1.46077476e+01] [-7.46746273e-03 -4.65788589e-03 9.99961270e-01 1.70372089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.059259763999997 meters Centerline goodness [0,1] 0.42923343775079603 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.61, Z:17.04 [[ 9.99953671e-01 -5.68816203e-03 7.76534785e-03 -2.64603275e+01] [ 5.65135909e-03 9.99972735e-01 4.75312431e-03 1.46060977e+01] [-7.79217267e-03 -4.70901934e-03 9.99958553e-01 1.70377869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.089259763999998 meters Centerline goodness [0,1] 0.43113075849232196 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.60, Z:17.04 [[ 9.99951447e-01 -5.75373599e-03 7.99985873e-03 -2.64610808e+01] [ 5.71356929e-03 9.99971003e-01 5.03474838e-03 1.46044851e+01] [-8.02859537e-03 -4.98879618e-03 9.99955326e-01 1.70377265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.119259764 meters Centerline goodness [0,1] 0.4381874855096731 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.60, Z:17.04 [[ 9.99949079e-01 -5.76423397e-03 8.28324624e-03 -2.64620306e+01] [ 5.71952929e-03 9.99969006e-01 5.41059169e-03 1.46021003e+01] [-8.31417742e-03 -5.36293991e-03 9.99951055e-01 1.70377948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.149259763999996 meters Centerline goodness [0,1] 0.4203854477996496 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.60, Z:17.04 [[ 9.99945199e-01 -6.05608617e-03 8.53953198e-03 -2.64633389e+01] [ 6.01144765e-03 9.99968185e-01 5.24329498e-03 1.46015381e+01] [-8.57101414e-03 -5.19167269e-03 9.99949791e-01 1.70386334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.179259763999998 meters Centerline goodness [0,1] 0.4358301158301159 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.60, Z:17.04 [[ 9.99945146e-01 -6.08221361e-03 8.52712397e-03 -2.64636727e+01] [ 6.03814506e-03 9.99968331e-01 5.18429787e-03 1.46014573e+01] [-8.55838594e-03 -5.13252548e-03 9.99950204e-01 1.70391870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.209259764 meters Centerline goodness [0,1] 0.4208850193902971 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.60, Z:17.04 [[ 9.99943558e-01 -6.10449985e-03 8.69578335e-03 -2.64641115e+01] [ 6.05827103e-03 9.99967429e-01 5.33269272e-03 1.46006687e+01] [-8.72805355e-03 -5.27971032e-03 9.99947972e-01 1.70391019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.239259763999996 meters Centerline goodness [0,1] 0.43664004122648803 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.60, Z:17.04 [[ 9.99945224e-01 -6.15565296e-03 8.46509760e-03 -2.64637207e+01] [ 6.11354400e-03 9.99968855e-01 4.99133255e-03 1.46019574e+01] [-8.49555887e-03 -4.93930739e-03 9.99951713e-01 1.70395389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.269259763999997 meters Centerline goodness [0,1] 0.43922993660120613 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.60, Z:17.04 [[ 9.99945922e-01 -6.09099271e-03 8.42934007e-03 -2.64632817e+01] [ 6.04926217e-03 9.99969366e-01 4.96730176e-03 1.46028475e+01] [-8.45933764e-03 -4.91604185e-03 9.99952135e-01 1.70390851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.299259764 meters Centerline goodness [0,1] 0.44448170889015015 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.60, Z:17.04 [[ 9.99947240e-01 -6.12900981e-03 8.24331323e-03 -2.64628791e+01] [ 6.09040008e-03 9.99970405e-01 4.70073995e-03 1.46039361e+01] [-8.27188015e-03 -4.65028686e-03 9.99954974e-01 1.70393125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.329259763999996 meters Centerline goodness [0,1] 0.44316147279379325 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.61, Z:17.04 [[ 9.99951212e-01 -5.94267342e-03 7.89037169e-03 -2.64616030e+01] [ 5.90925820e-03 9.99973502e-01 4.25151788e-03 1.46065835e+01] [-7.91542799e-03 -4.20468421e-03 9.99959833e-01 1.70392696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.359259763999997 meters Centerline goodness [0,1] 0.4384205741005326 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.61, Z:17.04 [[ 9.99956435e-01 -5.63237905e-03 7.44347212e-03 -2.64599624e+01] [ 5.60260926e-03 9.99976248e-01 4.01426740e-03 1.46087491e+01] [-7.46590519e-03 -3.97238965e-03 9.99964240e-01 1.70389763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.389259764 meters Centerline goodness [0,1] 0.43374754741661214 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.61, Z:17.04 [[ 9.99965244e-01 -4.44321316e-03 7.05469207e-03 -2.64573206e+01] [ 4.41683908e-03 9.99983215e-01 3.74970533e-03 1.46138664e+01] [-7.07123440e-03 -3.71841557e-03 9.99968085e-01 1.70382770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.419259764 meters Centerline goodness [0,1] 0.4610455841200931 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:17.04 [[ 9.99966872e-01 -4.43662707e-03 6.82437862e-03 -2.64565290e+01] [ 4.41306071e-03 9.99984261e-01 3.46445188e-03 1.46158072e+01] [-6.83964169e-03 -3.43422071e-03 9.99970712e-01 1.70381670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.449259763999997 meters Centerline goodness [0,1] 0.4363325889925128 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:17.04 [[ 9.99968522e-01 -4.38272352e-03 6.61405947e-03 -2.64556902e+01] [ 4.36150922e-03 9.99985309e-01 3.21847693e-03 1.46174132e+01] [-6.62806800e-03 -3.18952834e-03 9.99972947e-01 1.70379298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.479259764 meters Centerline goodness [0,1] 0.4465570129045906 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.62, Z:17.04 [[ 9.99975401e-01 -3.56260615e-03 6.04199174e-03 -2.64529586e+01] [ 3.54586848e-03 9.99989853e-01 2.77867864e-03 1.46215968e+01] [-6.05182977e-03 -2.75718618e-03 9.99977886e-01 1.70374127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.509259764 meters Centerline goodness [0,1] 0.46468008664870286 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.62, Z:17.04 [[ 9.99978549e-01 -3.34173447e-03 5.63333224e-03 -2.64515674e+01] [ 3.32828081e-03 9.99991591e-01 2.39590936e-03 1.46241337e+01] [-5.64129137e-03 -2.37710865e-03 9.99981262e-01 1.70374218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.539259763999997 meters Centerline goodness [0,1] 0.4659791622368701 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:17.04 [[ 9.99983038e-01 -2.15553108e-03 5.41094477e-03 -2.64494502e+01] [ 2.14702169e-03 9.99996450e-01 1.57794165e-03 1.46308538e+01] [-5.41432686e-03 -1.56629747e-03 9.99984116e-01 1.70376462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.569259763999998 meters Centerline goodness [0,1] 0.48142431339152647 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:17.04 [[ 9.99985367e-01 -2.01027835e-03 5.02242144e-03 -2.64481615e+01] [ 2.00400249e-03 9.99997205e-01 1.25428880e-03 1.46333799e+01] [-5.02492887e-03 -1.24420550e-03 9.99986601e-01 1.70375595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.599259764 meters Centerline goodness [0,1] 0.4897452331357154 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99985823e-01 -2.16041033e-03 4.86680208e-03 -2.64477586e+01] [ 2.15696193e-03 9.99997419e-01 7.13692885e-04 1.46358027e+01] [-4.86833138e-03 -7.03185261e-04 9.99987902e-01 1.70377885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.629259763999997 meters Centerline goodness [0,1] 0.48099297624792237 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99989563e-01 -1.73929793e-03 4.22488443e-03 -2.64454330e+01] [ 1.73865126e-03 9.99998476e-01 1.56731746e-04 1.46396676e+01] [-4.22515060e-03 -1.49384509e-04 9.99991063e-01 1.70377233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.659259763999998 meters Centerline goodness [0,1] 0.4722572340368473 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.64, Z:17.04 [[ 9.99992090e-01 -1.44293200e-03 3.70650623e-03 -2.64436680e+01] [ 1.44392971e-03 9.99998922e-01 -2.66514873e-04 1.46430386e+01] [-3.70611767e-03 2.71864699e-04 9.99993095e-01 1.70376899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.689259764 meters Centerline goodness [0,1] 0.49636947661079167 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.65, Z:17.04 [[ 9.99994423e-01 -4.86366590e-04 3.30410218e-03 -2.64415482e+01] [ 4.89902098e-04 9.99999308e-01 -1.06931069e-03 1.46502436e+01] [-3.30357982e-03 1.07092342e-03 9.99993970e-01 1.70382752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.719259763999997 meters Centerline goodness [0,1] 0.4913246444858199 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.65, Z:17.04 [[ 9.99995876e-01 -3.02149343e-04 2.85603014e-03 -2.64401072e+01] [ 3.06087435e-04 9.99999003e-01 -1.37853246e-03 1.46530433e+01] [-2.85561077e-03 1.37940097e-03 9.99994971e-01 1.70382347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.749259763999998 meters Centerline goodness [0,1] 0.4935972060535506 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.04 [[ 9.99996686e-01 -1.85434544e-04 2.56791024e-03 -2.64390544e+01] [ 1.89695442e-04 9.99998606e-01 -1.65914207e-03 1.46550881e+01] [-2.56759900e-03 1.65962369e-03 9.99995327e-01 1.70380968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.779259764 meters Centerline goodness [0,1] 0.5039581413002223 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.04 [[ 9.99997429e-01 4.23266246e-05 2.26727418e-03 -2.64377454e+01] [-3.78168334e-05 9.99998021e-01 -1.98908663e-03 1.46575104e+01] [-2.26735388e-03 1.98899577e-03 9.99995451e-01 1.70378345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.809259763999997 meters Centerline goodness [0,1] 0.48968288444830577 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.04 [[ 9.99997557e-01 3.98789818e-05 2.21017975e-03 -2.64376357e+01] [-3.50040497e-05 9.99997567e-01 -2.20566700e-03 1.46586321e+01] [-2.21026233e-03 2.20558424e-03 9.99995125e-01 1.70380150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.839259763999998 meters Centerline goodness [0,1] 0.5063762677760557 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.04 [[ 9.99997757e-01 -9.02608108e-05 2.11605743e-03 -2.64376059e+01] [ 9.57832051e-05 9.99996590e-01 -2.60980028e-03 1.46604739e+01] [-2.11581465e-03 2.60999711e-03 9.99994356e-01 1.70384699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.869259764 meters Centerline goodness [0,1] 0.501326042378674 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:17.04 [[ 9.99998952e-01 2.71216265e-04 1.42230913e-03 -2.64358390e+01] [-2.66252698e-04 9.99993879e-01 -3.48882347e-03 1.46668276e+01] [-1.42324665e-03 3.48844112e-03 9.99992903e-01 1.70397698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.899259763999996 meters Centerline goodness [0,1] 0.5040603566529492 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.04 [[ 9.99999441e-01 3.11093090e-04 1.01104907e-03 -2.64349721e+01] [-3.07096015e-04 9.99992147e-01 -3.95114677e-03 1.46697387e+01] [-1.01227030e-03 3.95083407e-03 9.99991683e-01 1.70403865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.929259763999998 meters Centerline goodness [0,1] 0.5136167523152602 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.04 [[ 9.99999571e-01 4.84887978e-04 7.88811979e-04 -2.64340224e+01] [-4.81633664e-04 9.99991394e-01 -4.12056093e-03 1.46713751e+01] [-7.90803201e-04 4.12017925e-03 9.99991199e-01 1.70401537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.959259764 meters Centerline goodness [0,1] 0.5064051570429297 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.04 [[ 9.99999398e-01 8.03948485e-04 7.46337532e-04 -2.64330988e+01] [-8.00994180e-04 9.99991877e-01 -3.95029835e-03 1.46716488e+01] [-7.49507306e-04 3.94969816e-03 9.99991919e-01 1.70391488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.989259763999996 meters Centerline goodness [0,1] 0.5200362547721717 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.04 [[ 9.99999053e-01 1.13224179e-03 7.82638089e-04 -2.64323469e+01] [-1.12949432e-03 9.99993230e-01 -3.50210023e-03 1.46708796e+01] [-7.86598015e-04 3.50121292e-03 9.99993561e-01 1.70379151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.019259763999997 meters Centerline goodness [0,1] 0.5208327596177678 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.04 [[ 9.99998941e-01 1.30386070e-03 6.46835628e-04 -2.64314044e+01] [-1.30155752e-03 9.99992857e-01 -3.54841615e-03 1.46717144e+01] [-6.51457649e-04 3.54757049e-03 9.99993495e-01 1.70372728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.049259764 meters Centerline goodness [0,1] 0.5237506185056903 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.04 [[ 9.99998865e-01 1.49314693e-03 2.03127857e-04 -2.64301230e+01] [-1.49239606e-03 9.99992233e-01 -3.64781595e-03 1.46733218e+01] [-2.08573005e-04 3.64750866e-03 9.99993326e-01 1.70372895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.079259763999996 meters Centerline goodness [0,1] 0.5248047519524806 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.04 [[ 9.99999082e-01 1.34471555e-03 -1.68807012e-04 -2.64298518e+01] [-1.34540723e-03 9.99990415e-01 -4.16648144e-03 1.46759996e+01] [ 1.63202661e-04 4.16670472e-03 9.99991306e-01 1.70385244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.109259763999997 meters Centerline goodness [0,1] 0.5089845151674073 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.04 [[ 9.99999220e-01 1.24866484e-03 -3.64499550e-05 -2.64304346e+01] [-1.24880503e-03 9.99990653e-01 -4.13940801e-03 1.46758591e+01] [ 3.12808811e-05 4.13945030e-03 9.99991432e-01 1.70387356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.139259764 meters Centerline goodness [0,1] 0.5213050552966161 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.04 [[ 9.99999110e-01 1.33418298e-03 -2.50587868e-05 -2.64304314e+01] [-1.33427295e-03 9.99991025e-01 -4.02107617e-03 1.46755811e+01] [ 1.96937105e-05 4.02110603e-03 9.99991915e-01 1.70386617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.169259764 meters Centerline goodness [0,1] 0.518112146440977 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.04 [[ 9.99999123e-01 1.32298120e-03 6.12220320e-05 -2.64304866e+01] [-1.32273092e-03 9.99991434e-01 -3.92198602e-03 1.46757203e+01] [-6.64102213e-05 3.92190160e-03 9.99992307e-01 1.70382654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.199259763999997 meters Centerline goodness [0,1] 0.5191191910261369 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.04 [[ 9.99998884e-01 1.48351465e-03 -1.76814428e-04 -2.64294469e+01] [-1.48421040e-03 9.99990890e-01 -4.00200642e-03 1.46771848e+01] [ 1.70875782e-04 4.00226439e-03 9.99991976e-01 1.70378660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.229259764 meters Centerline goodness [0,1] 0.5246819479475595 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.04 [[ 9.99998815e-01 1.48194388e-03 -4.17478204e-04 -2.64288798e+01] [-1.48376947e-03 9.99989188e-01 -4.40706424e-03 1.46795822e+01] [ 4.10942669e-04 4.40767846e-03 9.99990202e-01 1.70382313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.259259764 meters Centerline goodness [0,1] 0.524088883969339 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.04 [[ 9.99998834e-01 1.48745234e-03 -3.46174968e-04 -2.64290817e+01] [-1.48892937e-03 9.99989619e-01 -4.30632716e-03 1.46793195e+01] [ 3.39765918e-04 4.30683757e-03 9.99990668e-01 1.70381638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.289259763999997 meters Centerline goodness [0,1] 0.5257503599512681 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.04 [[ 9.99998433e-01 1.67125012e-03 -5.83051378e-04 -2.64283106e+01] [-1.67382111e-03 9.99988754e-01 -4.43728019e-03 1.46805334e+01] [ 5.75629017e-04 4.43824917e-03 9.99989985e-01 1.70381922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.319259763999998 meters Centerline goodness [0,1] 0.5153404839111998 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.04 [[ 9.99998436e-01 1.71414674e-03 -4.34511643e-04 -2.64285152e+01] [-1.71602933e-03 9.99988979e-01 -4.36995038e-03 1.46805768e+01] [ 4.27016118e-04 4.37068918e-03 9.99990357e-01 1.70378964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.349259764 meters Centerline goodness [0,1] 0.5103549476715211 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.04 [[ 9.99998234e-01 1.77328003e-03 -6.21863135e-04 -2.64280554e+01] [-1.77604988e-03 9.99988378e-01 -4.48221243e-03 1.46814284e+01] [ 6.13907690e-04 4.48330898e-03 9.99989761e-01 1.70380572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.379259763999997 meters Centerline goodness [0,1] 0.5271027518863738 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.04 [[ 9.99997862e-01 1.89120888e-03 -8.36692361e-04 -2.64273193e+01] [-1.89503519e-03 9.99987642e-01 -4.59622250e-03 1.46828798e+01] [ 8.27989604e-04 4.59779823e-03 9.99989087e-01 1.70379386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.409259763999998 meters Centerline goodness [0,1] 0.5196021227529104 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.04 [[ 9.99997709e-01 1.85768377e-03 -1.06319486e-03 -2.64270288e+01] [-1.86295622e-03 9.99985866e-01 -4.97974662e-03 1.46845563e+01] [ 1.05392904e-03 4.98171590e-03 9.99987036e-01 1.70386159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.439259764 meters Centerline goodness [0,1] 0.5242961766589624 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.69, Z:17.04 [[ 9.99997800e-01 1.80462389e-03 -1.06880324e-03 -2.64270557e+01] [-1.81010812e-03 9.99985087e-01 -5.15264383e-03 1.46855138e+01] [ 1.05948872e-03 5.15456715e-03 9.99986154e-01 1.70387358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.469259763999997 meters Centerline goodness [0,1] 0.526846293452464 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.69, Z:17.04 [[ 9.99997735e-01 1.75472505e-03 -1.20481927e-03 -2.64270585e+01] [-1.76129851e-03 9.99983451e-01 -5.47676190e-03 1.46869305e+01] [ 1.19518912e-03 5.47887154e-03 9.99984277e-01 1.70394102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.499259763999998 meters Centerline goodness [0,1] 0.5293920616312175 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.69, Z:17.04 [[ 9.99997587e-01 1.75606598e-03 -1.32026284e-03 -2.64267033e+01] [-1.76345069e-03 9.99982691e-01 -5.61316489e-03 1.46880627e+01] [ 1.31038290e-03 5.61547956e-03 9.99983375e-01 1.70394250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.529259764 meters Centerline goodness [0,1] 0.5310649234551347 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.69, Z:17.04 [[ 9.99996687e-01 1.96711751e-03 -1.66044270e-03 -2.64254171e+01] [-1.97659676e-03 9.99981649e-01 -5.72666466e-03 1.46899168e+01] [ 1.64914720e-03 5.72992771e-03 9.99982224e-01 1.70391329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.559259763999997 meters Centerline goodness [0,1] 0.5340521816861277 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:17.04 [[ 9.99994605e-01 2.48111128e-03 -2.15285861e-03 -2.64233808e+01] [-2.49366390e-03 9.99979793e-01 -5.84771696e-03 1.46923033e+01] [ 2.13830627e-03 5.85305392e-03 9.99980585e-01 1.70387257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.589259763999998 meters Centerline goodness [0,1] 0.5346659211629857 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:17.04 [[ 9.99992859e-01 2.86539952e-03 -2.46388405e-03 -2.64219692e+01] [-2.87999423e-03 9.99978208e-01 -5.94045241e-03 1.46938980e+01] [ 2.44680859e-03 5.94750596e-03 9.99979320e-01 1.70383422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.619259764 meters Centerline goodness [0,1] 0.5289751561493432 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.70, Z:17.04 [[ 9.99989207e-01 3.59118300e-03 -2.94768408e-03 -2.64196243e+01] [-3.60841430e-03 9.99976312e-01 -5.86135678e-03 1.46958695e+01] [ 2.92656505e-03 5.87192999e-03 9.99978478e-01 1.70374912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.649259763999996 meters Centerline goodness [0,1] 0.5326875157488031 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.70, Z:17.04 [[ 9.99987941e-01 3.74632184e-03 -3.17548223e-03 -2.64188520e+01] [-3.76509482e-03 9.99975349e-01 -5.92663279e-03 1.46968811e+01] [ 3.15320088e-03 5.93851731e-03 9.99977395e-01 1.70374263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.679259763999998 meters Centerline goodness [0,1] 0.526730223009646 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.70, Z:17.04 [[ 9.99988224e-01 3.71847308e-03 -3.11834899e-03 -2.64189108e+01] [-3.73714024e-03 9.99975005e-01 -6.00192498e-03 1.46976288e+01] [ 3.09595305e-03 6.01350801e-03 9.99977126e-01 1.70372923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.709259764 meters Centerline goodness [0,1] 0.5330825590208573 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.70, Z:17.04 [[ 9.99988401e-01 3.70540809e-03 -3.07704161e-03 -2.64193012e+01] [-3.72338286e-03 9.99975918e-01 -5.85653849e-03 1.46969986e+01] [ 3.05526665e-03 5.86792756e-03 9.99978116e-01 1.70374795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.739259763999996 meters Centerline goodness [0,1] 0.5330825590208573 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.70, Z:17.04 [[ 9.99988401e-01 3.70540809e-03 -3.07704161e-03 -2.64193012e+01] [-3.72338286e-03 9.99975918e-01 -5.85653849e-03 1.46969986e+01] [ 3.05526665e-03 5.86792756e-03 9.99978116e-01 1.70374795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.769259763999997 meters Centerline goodness [0,1] 0.5339337497211689 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:17.03 [[ 9.99995099e-01 1.27533234e-03 2.85918934e-03 -2.64019160e+01] [-1.27906088e-03 9.99998334e-01 1.30260582e-03 1.46931049e+01] [-2.85752332e-03 -1.30625652e-03 9.99995064e-01 1.70310542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.799259764 meters Centerline goodness [0,1] 0.5310565096797691 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:17.03 [[ 9.99995014e-01 8.77299650e-04 3.03340551e-03 -2.64031420e+01] [-8.79389184e-04 9.99999377e-01 6.87575912e-04 1.46941757e+01] [-3.03280041e-03 -6.90240028e-04 9.99995163e-01 1.70322856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.829259763999996 meters Centerline goodness [0,1] 0.5311137202281113 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:17.03 [[ 9.99993588e-01 -2.84551465e-03 2.17410258e-03 -2.64009012e+01] [ 2.85399879e-03 9.99988286e-01 -3.90927883e-03 1.46981149e+01] [-2.16295320e-03 3.91545865e-03 9.99989995e-01 1.70330877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.859259763999997 meters Centerline goodness [0,1] 0.5298837079279883 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:17.03 [[ 9.99993669e-01 -2.76376395e-03 2.24133852e-03 -2.64009483e+01] [ 2.77203741e-03 9.99989325e-01 -3.69663678e-03 1.46974419e+01] [-2.23109796e-03 3.70282645e-03 9.99990656e-01 1.70327886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.889259764 meters Centerline goodness [0,1] 0.5318649373881932 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:17.03 [[ 9.99991382e-01 -3.13850548e-03 2.71759965e-03 -2.64022913e+01] [ 3.14753871e-03 9.99989515e-01 -3.32610168e-03 1.46958594e+01] [-2.70713217e-03 3.33462677e-03 9.99990776e-01 1.70320841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.919259764 meters Centerline goodness [0,1] 0.5351389082786542 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:17.03 [[ 9.99990704e-01 -3.22201767e-03 2.86542388e-03 -2.64027246e+01] [ 3.23075706e-03 9.99990128e-01 -3.05056419e-03 1.46949448e+01] [-2.85556662e-03 3.05979332e-03 9.99991242e-01 1.70318045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.949259763999997 meters Centerline goodness [0,1] 0.5419010045048827 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:17.03 [[ 9.99993110e-01 -2.97742457e-03 2.21695091e-03 -2.64009142e+01] [ 2.98458184e-03 9.99990323e-01 -3.23215122e-03 1.46976335e+01] [-2.20730597e-03 3.23874563e-03 9.99992319e-01 1.70319162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.979259764 meters Centerline goodness [0,1] 0.5406615548217384 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:17.03 [[ 9.99993457e-01 -3.04067750e-03 1.95949382e-03 -2.64003197e+01] [ 3.04757696e-03 9.99989134e-01 -3.52772813e-03 1.46996087e+01] [-1.94874584e-03 3.53367675e-03 9.99991858e-01 1.70321375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.009259764 meters Centerline goodness [0,1] 0.5439260193358554 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:17.03 [[ 9.99993620e-01 -3.08793145e-03 1.79581636e-03 -2.63998396e+01] [ 3.09462140e-03 9.99988238e-01 -3.73453091e-03 1.47012390e+01] [-1.78426326e-03 3.74006445e-03 9.99991414e-01 1.70321321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.039259764 meters Centerline goodness [0,1] 0.5507917789757413 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:17.03 [[ 9.99994988e-01 -2.76117038e-03 1.54948722e-03 -2.63984035e+01] [ 2.76675475e-03 9.99989644e-01 -3.61351346e-03 1.47022797e+01] [-1.53949364e-03 3.61778240e-03 9.99992271e-01 1.70311640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.069259764 meters Centerline goodness [0,1] 0.5484015955952581 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:17.03 [[ 9.99997062e-01 -2.15816511e-03 1.10418256e-03 -2.63962954e+01] [ 2.16218709e-03 9.99990985e-01 -3.65435925e-03 1.47042225e+01] [-1.09628589e-03 3.65673596e-03 9.99992713e-01 1.70304812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.099259764 meters Centerline goodness [0,1] 0.5496572927537867 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:17.03 [[ 9.99998404e-01 -1.67207748e-03 6.29210383e-04 -2.63942359e+01] [ 1.67444521e-03 9.99991448e-01 -3.78149819e-03 1.47067305e+01] [-6.22882044e-04 3.78254573e-03 9.99992652e-01 1.70298849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.129259764000004 meters Centerline goodness [0,1] 0.5579849521977711 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:17.03 [[ 9.99999464e-01 -1.03311878e-03 6.09796510e-05 -2.63915487e+01] [ 1.03336306e-03 9.99990847e-01 -4.15192978e-03 1.47112971e+01] [-5.66896562e-05 4.15199057e-03 9.99991379e-01 1.70292530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.159259764 meters Centerline goodness [0,1] 0.5556782155797102 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:17.03 [[ 9.99999509e-01 -9.74181379e-04 -1.80479998e-04 -2.63907308e+01] [ 9.73375195e-04 9.99989783e-01 -4.41438564e-03 1.47132402e+01] [ 1.84778567e-04 4.41420780e-03 9.99990240e-01 1.70292066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.189259764 meters Centerline goodness [0,1] 0.5536596445403441 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:17.03 [[ 9.99999559e-01 -7.63031391e-04 -5.47756450e-04 -2.63895922e+01] [ 7.60333496e-04 9.99987663e-01 -4.90878112e-03 1.47161911e+01] [ 5.51495246e-04 4.90836248e-03 9.99987802e-01 1.70296121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.219259764 meters Centerline goodness [0,1] 0.548082110104767 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:17.03 [[ 9.99999547e-01 -7.70102751e-04 -5.59374256e-04 -2.63895751e+01] [ 7.67220142e-04 9.99986520e-01 -5.13533798e-03 1.47171426e+01] [ 5.63321454e-04 5.13490649e-03 9.99986658e-01 1.70298078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.249259764 meters Centerline goodness [0,1] 0.5523470839260313 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:17.03 [[ 9.99999587e-01 -7.60084354e-04 -4.97758293e-04 -2.63896024e+01] [ 7.57503960e-04 9.99986380e-01 -5.16386069e-03 1.47176189e+01] [ 5.01676483e-04 5.16348150e-03 9.99986543e-01 1.70296117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.279259764 meters Centerline goodness [0,1] 0.5504757021591751 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:17.03 [[ 9.99999649e-01 -5.98589077e-04 -5.85418749e-04 -2.63890122e+01] [ 5.95645173e-04 9.99987242e-01 -5.01602645e-03 1.47178899e+01] [ 5.88413819e-04 5.01567599e-03 9.99987248e-01 1.70290462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.309259764000004 meters Centerline goodness [0,1] 0.5501167492454012 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:17.03 [[ 9.99999856e-01 -4.60361497e-04 -2.76398348e-04 -2.63896592e+01] [ 4.59160718e-04 9.99990525e-01 -4.32883561e-03 1.47151726e+01] [ 2.78388559e-04 4.32870807e-03 9.99990592e-01 1.70283125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.339259764000005 meters Centerline goodness [0,1] 0.5533015115354017 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:17.03 [[ 9.99999868e-01 -5.04304313e-04 9.99679278e-05 -2.63908119e+01] [ 5.04692521e-04 9.99992181e-01 -3.92210123e-03 1.47131112e+01] [-9.79892136e-05 3.92215117e-03 9.99992304e-01 1.70281391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.369259764 meters Centerline goodness [0,1] 0.5505334241289297 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:17.03 [[ 9.99999784e-01 -4.84586248e-04 4.43655823e-04 -2.63917901e+01] [ 4.86099228e-04 9.99994046e-01 -3.41652389e-03 1.47108785e+01] [-4.41997581e-04 3.41673881e-03 9.99994065e-01 1.70278485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.399259764 meters Centerline goodness [0,1] 0.5521939888388431 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:17.03 [[ 9.99999430e-01 -5.85896210e-04 8.92427768e-04 -2.63932770e+01] [ 5.88273050e-04 9.99996275e-01 -2.66541161e-03 1.47073155e+01] [-8.90862789e-04 2.66593508e-03 9.99996050e-01 1.70274226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.429259764 meters Centerline goodness [0,1] 0.547567812446911 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:17.03 [[ 9.99999290e-01 -4.87537270e-04 1.08745782e-03 -2.63939759e+01] [ 4.89909801e-04 9.99997498e-01 -2.18252397e-03 1.47051851e+01] [-1.08639104e-03 2.18305518e-03 9.99997027e-01 1.70273830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.459259764 meters Centerline goodness [0,1] 0.5458217978416859 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:17.03 [[ 9.99998696e-01 -6.20687175e-04 1.49108990e-03 -2.63954555e+01] [ 6.23320245e-04 9.99998246e-01 -1.76605395e-03 1.47028550e+01] [-1.48999111e-03 1.76698107e-03 9.99997329e-01 1.70275047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.489259764 meters Centerline goodness [0,1] 0.5451455219687605 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:17.03 [[ 9.99985667e-01 -5.09804971e-03 1.63599667e-03 -2.63970342e+01] [ 5.10736348e-03 9.99970482e-01 -5.74026347e-03 1.47005342e+01] [-1.60668423e-03 5.74853683e-03 9.99982186e-01 1.70287615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.519259764000005 meters Centerline goodness [0,1] 0.5427578085571694 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:17.03 [[ 9.99983815e-01 -5.25007202e-03 2.19259133e-03 -2.63987167e+01] [ 5.26118953e-03 9.99973176e-01 -5.09587943e-03 1.46970381e+01] [-2.16577878e-03 5.10733259e-03 9.99984612e-01 1.70284300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.549259764 meters Centerline goodness [0,1] 0.5449157044202757 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:17.03 [[ 9.99985206e-01 -4.97149378e-03 2.20746368e-03 -2.63985068e+01] [ 4.98143611e-03 9.99977370e-01 -4.52153726e-03 1.46953998e+01] [-2.18493493e-03 4.53246670e-03 9.99987341e-01 1.70278600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.579259764 meters Centerline goodness [0,1] 0.5336459292751682 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:17.03 [[ 9.99983188e-01 -5.14554005e-03 2.67332580e-03 -2.64000566e+01] [ 5.15570023e-03 9.99979460e-01 -3.80769082e-03 1.46921013e+01] [-2.65367826e-03 3.82140967e-03 9.99989177e-01 1.70274579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.609259764 meters Centerline goodness [0,1] 0.5342767822251996 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:17.03 [[ 9.99984603e-01 -4.78876357e-03 2.80394537e-03 -2.63998410e+01] [ 4.79728616e-03 9.99983870e-01 -3.04070067e-03 1.46896723e+01] [-2.78933894e-03 3.05410518e-03 9.99991446e-01 1.70263840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.639259764 meters Centerline goodness [0,1] 0.5397814177257432 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:17.02 [[ 9.99987284e-01 -4.05925763e-03 2.99244815e-03 -2.63989846e+01] [ 4.06459988e-03 9.99990153e-01 -1.78132930e-03 1.46857590e+01] [-2.98518780e-03 1.79346975e-03 9.99993936e-01 1.70241722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.669259764 meters Centerline goodness [0,1] 0.5390045299169053 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:17.02 [[ 9.99987755e-01 -3.85032656e-03 3.10878572e-03 -2.63991397e+01] [ 3.85420280e-03 9.99991801e-01 -1.24183763e-03 1.46839254e+01] [-3.10397875e-03 1.25380431e-03 9.99994397e-01 1.70237110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.699259764000004 meters Centerline goodness [0,1] 0.5304311543810849 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:17.02 [[ 9.99987196e-01 -3.81686500e-03 3.32263438e-03 -2.63998344e+01] [ 3.81994458e-03 9.99992280e-01 -9.20996994e-04 1.46824552e+01] [-3.31909340e-03 9.33677480e-04 9.99994056e-01 1.70236942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.729259764 meters Centerline goodness [0,1] 0.5353160879789736 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:17.02 [[ 9.99963524e-01 -7.98258267e-03 3.03793002e-03 -2.63996592e+01] [ 7.99841877e-03 9.99954299e-01 -5.23684263e-03 1.46830619e+01] [-2.99598766e-03 5.26095025e-03 9.99981673e-01 1.70247409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.759259764 meters Centerline goodness [0,1] 0.5310803324099723 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:17.02 [[ 9.99961648e-01 -8.06661385e-03 3.41050741e-03 -2.64006541e+01] [ 8.08291351e-03 9.99955847e-01 -4.79278764e-03 1.46810608e+01] [-3.37169526e-03 4.82017067e-03 9.99982699e-01 1.70243491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.789259764 meters Centerline goodness [0,1] 0.5295501079076974 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:17.02 [[ 9.99962107e-01 -7.96114401e-03 3.52204305e-03 -2.64006915e+01] [ 7.97610155e-03 9.99959144e-01 -4.25336962e-03 1.46797027e+01] [-3.48803747e-03 4.28130062e-03 9.99984752e-01 1.70236265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.819259764 meters Centerline goodness [0,1] 0.534931411944021 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:17.02 [[ 9.99963055e-01 -7.88977547e-03 3.41172815e-03 -2.64003013e+01] [ 7.90424886e-03 9.99959730e-01 -4.24977695e-03 1.46804316e+01] [-3.37806097e-03 4.27658709e-03 9.99985150e-01 1.70235121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.849259764 meters Centerline goodness [0,1] 0.5225745543399789 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:17.02 [[ 9.99982891e-01 -4.20271371e-03 4.06873341e-03 -2.64022494e+01] [ 4.20115523e-03 9.99991098e-01 3.91510811e-04 1.46772035e+01] [-4.07034260e-03 -3.74410732e-04 9.99991646e-01 1.70227484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.879259764000004 meters Centerline goodness [0,1] 0.5209202132066613 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:17.02 [[ 9.99984278e-01 -3.93008506e-03 3.99972869e-03 -2.64016694e+01] [ 3.92732958e-03 9.99992045e-01 6.96536953e-04 1.46766387e+01] [-4.00243433e-03 -6.80817749e-04 9.99991758e-01 1.70221725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.909259764 meters Centerline goodness [0,1] 0.5077173702957175 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:17.02 [[ 9.99984620e-01 -3.64119467e-03 4.18349546e-03 -2.64015960e+01] [ 3.63639912e-03 9.99992723e-01 1.15333873e-03 1.46749833e+01] [-4.18766455e-03 -1.13810813e-03 9.99990584e-01 1.70213473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.939259764 meters Centerline goodness [0,1] 0.5114606865392033 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:17.02 [[ 9.99983068e-01 -3.48762817e-03 4.65827010e-03 -2.64026246e+01] [ 3.47922217e-03 9.99992307e-01 1.81141927e-03 1.46709063e+01] [-4.66455182e-03 -1.79518144e-03 9.99987510e-01 1.70207018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.969259764 meters Centerline goodness [0,1] 0.5092325050221524 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:17.02 [[ 9.99981644e-01 -3.46614212e-03 4.96970647e-03 -2.64035637e+01] [ 3.45544888e-03 9.99991700e-01 2.15865795e-03 1.46688728e+01] [-4.97714744e-03 -2.14144576e-03 9.99985321e-01 1.70206515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.999259764 meters Centerline goodness [0,1] 0.4808495439059237 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:17.02 [[ 9.99979623e-01 -3.59532187e-03 5.27520262e-03 -2.64048629e+01] [ 3.58322592e-03 9.99990934e-01 2.30064404e-03 1.46671727e+01] [-5.28342635e-03 -2.28169491e-03 9.99983440e-01 1.70212026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.029259764 meters Centerline goodness [0,1] 0.504539736367117 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:17.02 [[ 9.99956846e-01 -7.83798837e-03 4.98723242e-03 -2.64051556e+01] [ 7.84822010e-03 9.99967131e-01 -2.03533065e-03 1.46674589e+01] [-4.97111560e-03 2.07438371e-03 9.99985492e-01 1.70228247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.059259764000004 meters Centerline goodness [0,1] 0.5065733961185661 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.66, Z:17.02 [[ 9.99953500e-01 -7.94755156e-03 5.46211876e-03 -2.64065455e+01] [ 7.95509060e-03 9.99967433e-01 -1.35990403e-03 1.46644862e+01] [-5.45113297e-03 1.40329245e-03 9.99984158e-01 1.70224042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.089259764000005 meters Centerline goodness [0,1] 0.47694641599393184 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.66, Z:17.02 [[ 9.99950114e-01 -8.16957947e-03 5.74690548e-03 -2.64080020e+01] [ 8.17152196e-03 9.99966563e-01 -3.14605889e-04 1.46588591e+01] [-5.74414312e-03 3.61551159e-04 9.99983437e-01 1.70221514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.119259764 meters Centerline goodness [0,1] 0.48003691338924626 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.66, Z:17.02 [[ 9.99946563e-01 -8.25686203e-03 6.22062077e-03 -2.64092982e+01] [ 8.25528174e-03 9.99965885e-01 2.79675730e-04 1.46559338e+01] [-6.22271780e-03 -2.28307808e-04 9.99980613e-01 1.70217711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.149259764 meters Centerline goodness [0,1] 0.4754178159987019 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.65, Z:17.02 [[ 9.99943851e-01 -8.25859647e-03 6.64007704e-03 -2.64106348e+01] [ 8.25179840e-03 9.99965401e-01 1.05053967e-03 1.46522734e+01] [-6.64852329e-03 -9.95688109e-04 9.99977403e-01 1.70215090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.179259764 meters Centerline goodness [0,1] 0.47364156854272443 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.65, Z:17.02 [[ 9.99942940e-01 -8.18208383e-03 6.86808104e-03 -2.64113907e+01] [ 8.17192725e-03 9.99965476e-01 1.50557226e-03 1.46503416e+01] [-6.88016264e-03 -1.44936089e-03 9.99975281e-01 1.70214606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.209259764 meters Centerline goodness [0,1] 0.4720325949110925 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.65, Z:17.02 [[ 9.99939923e-01 -8.28921365e-03 7.17213846e-03 -2.64126547e+01] [ 8.27696261e-03 9.99964238e-01 1.73614319e-03 1.46484588e+01] [-7.18627323e-03 -1.67667537e-03 9.99972773e-01 1.70218870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.239259764 meters Centerline goodness [0,1] 0.47116392869626 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.64, Z:17.02 [[ 9.99929765e-01 -9.01887586e-03 7.68922818e-03 -2.64153011e+01] [ 9.00357561e-03 9.99957422e-01 2.02212869e-03 1.46442258e+01] [-7.70713812e-03 -1.95275612e-03 9.99968393e-01 1.70226443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.269259764000005 meters Centerline goodness [0,1] 0.4687785234899329 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.64, Z:17.02 [[ 9.99934013e-01 -8.69731455e-03 7.50513023e-03 -2.64145000e+01] [ 8.68033302e-03 9.99959698e-01 2.29227122e-03 1.46436205e+01] [-7.52476437e-03 -2.22697293e-03 9.99969209e-01 1.70222616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.299259764 meters Centerline goodness [0,1] 0.48532525664048887 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.64, Z:17.02 [[ 9.99934838e-01 -8.65902830e-03 7.43917235e-03 -2.64144129e+01] [ 8.64175421e-03 9.99959895e-01 2.35106009e-03 1.46436543e+01] [-7.45923190e-03 -2.28661939e-03 9.99969565e-01 1.70223570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.329259764 meters Centerline goodness [0,1] 0.4831175085616438 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.64, Z:17.02 [[ 9.99933208e-01 -8.70933047e-03 7.59782232e-03 -2.64149292e+01] [ 8.69021466e-03 9.99959000e-01 2.54535702e-03 1.46427883e+01] [-7.61967916e-03 -2.47916030e-03 9.99967897e-01 1.70222968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.359259764 meters Centerline goodness [0,1] 0.4533290601714606 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.64, Z:17.02 [[ 9.99931715e-01 -8.67906769e-03 7.82552348e-03 -2.64153818e+01] [ 8.65689668e-03 9.99958431e-01 2.86260281e-03 1.46414898e+01] [-7.85004290e-03 -2.79466259e-03 9.99965283e-01 1.70218970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.389259764 meters Centerline goodness [0,1] 0.48377517990422947 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.64, Z:17.02 [[ 9.99933578e-01 -8.54995585e-03 7.72903015e-03 -2.64150210e+01] [ 8.52778289e-03 9.99959441e-01 2.89720825e-03 1.46415517e+01] [-7.75348767e-03 -2.83110432e-03 9.99965934e-01 1.70218189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.419259764 meters Centerline goodness [0,1] 0.46873745886507745 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.64, Z:17.02 [[ 9.99933170e-01 -8.61515190e-03 7.70934979e-03 -2.64153144e+01] [ 8.59409796e-03 9.99959261e-01 2.75993570e-03 1.46419191e+01] [-7.73281298e-03 -2.69349635e-03 9.99966474e-01 1.70223382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.449259764000004 meters Centerline goodness [0,1] 0.4662689920821742 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.64, Z:17.02 [[ 9.99933611e-01 -8.64350530e-03 7.61993472e-03 -2.64154469e+01] [ 8.62521379e-03 9.99959849e-01 2.43008512e-03 1.46428654e+01] [-7.64063323e-03 -2.36420022e-03 9.99968015e-01 1.70230815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.479259764 meters Centerline goodness [0,1] 0.47180762852404645 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.64, Z:17.02 [[ 9.99934168e-01 -8.54745255e-03 7.65507861e-03 -2.64152154e+01] [ 8.52831798e-03 9.99960436e-01 2.52875607e-03 1.46430450e+01] [-7.67639017e-03 -2.46330466e-03 9.99967502e-01 1.70225941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.509259764 meters Centerline goodness [0,1] 0.4782643610471653 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.64, Z:17.02 [[ 9.99935813e-01 -8.40962415e-03 7.59269512e-03 -2.64146400e+01] [ 8.38929777e-03 9.99961151e-01 2.70498857e-03 1.46432709e+01] [-7.61514808e-03 -2.64111757e-03 9.99967516e-01 1.70219459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.539259764 meters Centerline goodness [0,1] 0.47445998820817925 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.64, Z:17.02 [[ 9.99941128e-01 -8.12123275e-03 7.19618873e-03 -2.64130484e+01] [ 8.10220737e-03 9.99963615e-01 2.66903399e-03 1.46449835e+01] [-7.21760274e-03 -2.61057185e-03 9.99970545e-01 1.70213736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.569259764 meters Centerline goodness [0,1] 0.47793623935755913 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.65, Z:17.02 [[ 9.99941127e-01 -8.19459215e-03 7.11277613e-03 -2.64130842e+01] [ 8.17819027e-03 9.99963839e-01 2.33200614e-03 1.46462736e+01] [-7.13162876e-03 -2.27369921e-03 9.99971985e-01 1.70218731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.599259764 meters Centerline goodness [0,1] 0.4917582417582418 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.65, Z:17.02 [[ 9.99944330e-01 -8.05672723e-03 6.81371102e-03 -2.64124666e+01] [ 8.04521486e-03 9.99966166e-01 1.71531405e-03 1.46488982e+01] [-6.82730030e-03 -1.66040079e-03 9.99975315e-01 1.70227324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.629259764000004 meters Centerline goodness [0,1] 0.4866860715825787 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.65, Z:17.02 [[ 9.99945213e-01 -8.06780734e-03 6.66942192e-03 -2.64122363e+01] [ 8.05868447e-03 9.99966557e-01 1.39360975e-03 1.46504319e+01] [-6.68044225e-03 -1.33978663e-03 9.99976788e-01 1.70231346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.659259764 meters Centerline goodness [0,1] 0.4866860715825787 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.65, Z:17.02 [[ 9.99945213e-01 -8.06780734e-03 6.66942192e-03 -2.64122363e+01] [ 8.05868447e-03 9.99966557e-01 1.39360975e-03 1.46504319e+01] [-6.68044225e-03 -1.33978663e-03 9.99976788e-01 1.70231346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.689259764 meters Centerline goodness [0,1] 0.4975576845230063 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.65, Z:17.02 [[ 9.99945122e-01 -8.15126089e-03 6.58103265e-03 -2.64122998e+01] [ 8.14480446e-03 9.99966323e-01 1.00727299e-03 1.46517085e+01] [-6.58902157e-03 -9.53616487e-04 9.99977837e-01 1.70237358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.719259764 meters Centerline goodness [0,1] 0.49415417847981635 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.65, Z:17.02 [[ 9.99944685e-01 -8.16915427e-03 6.62514367e-03 -2.64122797e+01] [ 8.16370074e-03 9.99966315e-01 8.49781830e-04 1.46526530e+01] [-6.63186251e-03 -7.95649134e-04 9.99977692e-01 1.70236249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.749259764 meters Centerline goodness [0,1] 0.49876830621802337 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.65, Z:17.02 [[ 9.99945119e-01 -8.06336562e-03 6.68882254e-03 -2.64121094e+01] [ 8.05677414e-03 9.99967032e-01 1.01180926e-03 1.46525374e+01] [-6.69676061e-03 -9.57863400e-04 9.99977118e-01 1.70231147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.779259764 meters Centerline goodness [0,1] 0.4994705259442287 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.65, Z:17.02 [[ 9.99951688e-01 -7.57641979e-03 6.26247532e-03 -2.64101100e+01] [ 7.56917522e-03 9.99970657e-01 1.17971561e-03 1.46538011e+01] [-6.27122958e-03 -1.13225684e-03 9.99979695e-01 1.70221310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.809259764000004 meters Centerline goodness [0,1] 0.49817127685513807 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.66, Z:17.02 [[ 9.99954897e-01 -7.38243698e-03 5.97528760e-03 -2.64092467e+01] [ 7.37606059e-03 9.99972204e-01 1.08846136e-03 1.46550329e+01] [-5.98315701e-03 -1.04433818e-03 9.99981555e-01 1.70221323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.839259764000005 meters Centerline goodness [0,1] 0.5002300717282446 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.66, Z:17.02 [[ 9.99955930e-01 -7.28529298e-03 5.92134342e-03 -2.64090246e+01] [ 7.27883098e-03 9.99972891e-01 1.11212526e-03 1.46552013e+01] [-5.92928506e-03 -1.06897579e-03 9.99981850e-01 1.70220512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.869259764 meters Centerline goodness [0,1] 0.49069249972864426 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.65, Z:17.02 [[ 9.99954212e-01 -7.21680153e-03 6.28431427e-03 -2.64099064e+01] [ 7.20762618e-03 9.99972927e-01 1.48146512e-03 1.46526300e+01] [-6.29483557e-03 -1.43610229e-03 9.99979156e-01 1.70217886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.899259764 meters Centerline goodness [0,1] 0.5006368736280116 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.65, Z:17.02 [[ 9.99956749e-01 -6.96488570e-03 6.16367333e-03 -2.64094108e+01] [ 6.95511072e-03 9.99974523e-01 1.60591741e-03 1.46525153e+01] [-6.17470133e-03 -1.56297892e-03 9.99979715e-01 1.70216401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.929259764 meters Centerline goodness [0,1] 0.4738309157826369 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.65, Z:17.02 [[ 9.99954509e-01 -7.16813503e-03 6.29265407e-03 -2.64107303e+01] [ 7.15809327e-03 9.99973073e-01 1.61686536e-03 1.46517345e+01] [-6.30407454e-03 -1.57174840e-03 9.99978894e-01 1.70228106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.959259764 meters Centerline goodness [0,1] 0.4977009628908363 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.65, Z:17.02 [[ 9.99953453e-01 -7.17344536e-03 6.45245669e-03 -2.64114193e+01] [ 7.16150391e-03 9.99972604e-01 1.87188776e-03 1.46502998e+01] [-6.46570780e-03 -1.82559133e-03 9.99977431e-01 1.70230347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.989259764 meters Centerline goodness [0,1] 0.4804847765061542 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.65, Z:17.02 [[ 9.99951988e-01 -7.13453456e-03 6.71712582e-03 -2.64122317e+01] [ 7.11888732e-03 9.99971898e-01 2.35048960e-03 1.46481343e+01] [-6.73370671e-03 -2.30255829e-03 9.99974677e-01 1.70229028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.019259764000005 meters Centerline goodness [0,1] 0.49815338994473646 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.64, Z:17.02 [[ 9.99946517e-01 -7.37829939e-03 7.24726856e-03 -2.64143347e+01] [ 7.35721896e-03 9.99968639e-01 2.93110900e-03 1.46442724e+01] [-7.26866789e-03 -2.87763250e-03 9.99969442e-01 1.70232220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.049259764 meters Centerline goodness [0,1] 0.4674853549739345 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.64, Z:17.02 [[ 9.99943700e-01 -7.39266098e-03 7.61217947e-03 -2.64154081e+01] [ 7.36654819e-03 9.99966906e-01 3.45273838e-03 1.46417585e+01] [-7.63745248e-03 -3.39646850e-03 9.99965066e-01 1.70230174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.079259764 meters Centerline goodness [0,1] 0.4788955376069981 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.64, Z:17.02 [[ 9.99931694e-01 -8.61733975e-03 7.89616292e-03 -2.64179880e+01] [ 8.59012345e-03 9.99957069e-01 3.47423284e-03 1.46371637e+01] [-7.92576257e-03 -3.40616651e-03 9.99962789e-01 1.70240864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.109259764 meters Centerline goodness [0,1] 0.45695116409612146 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.64, Z:17.02 [[ 9.99933452e-01 -8.45948662e-03 7.84403390e-03 -2.64178863e+01] [ 8.42983321e-03 9.99957226e-01 3.80576640e-03 1.46360452e+01] [-7.87589321e-03 -3.73938923e-03 9.99961993e-01 1.70240134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.139259764 meters Centerline goodness [0,1] 0.4623931623931624 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.64, Z:17.02 [[ 9.99933687e-01 -8.41175895e-03 7.86536364e-03 -2.64180725e+01] [ 8.38093686e-03 9.99957103e-01 3.94349513e-03 1.46355326e+01] [-7.89819797e-03 -3.87731451e-03 9.99961292e-01 1.70241130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.169259764 meters Centerline goodness [0,1] 0.45432033018239915 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.63, Z:17.03 [[ 9.99923666e-01 -9.12861384e-03 8.32644378e-03 -2.64207030e+01] [ 9.09572449e-03 9.99950715e-01 3.97934094e-03 1.46320263e+01] [-8.36235928e-03 -3.90330214e-03 9.99957417e-01 1.70253971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.199259764000004 meters Centerline goodness [0,1] 0.45195805124120536 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.63, Z:17.03 [[ 9.99918712e-01 -9.19962668e-03 8.82819061e-03 -2.64220858e+01] [ 9.16010098e-03 9.99947887e-01 4.50725416e-03 1.46289891e+01] [-8.86919560e-03 -4.42602066e-03 9.99950873e-01 1.70251149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.229259764 meters Centerline goodness [0,1] 0.4490341360148188 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.63, Z:17.03 [[ 9.99919378e-01 -9.02620263e-03 8.93111620e-03 -2.64226383e+01] [ 8.98232746e-03 9.99947453e-01 4.94059582e-03 1.46264334e+01] [-8.97524171e-03 -4.85997529e-03 9.99947911e-01 1.70253787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.259259764 meters Centerline goodness [0,1] 0.4407379060990737 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.63, Z:17.03 [[ 9.99914774e-01 -9.20642452e-03 9.25674564e-03 -2.64239116e+01] [ 9.15959315e-03 9.99945101e-01 5.08889275e-03 1.46250995e+01] [-9.30308796e-03 -5.00367101e-03 9.99944206e-01 1.70257420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.289259764 meters Centerline goodness [0,1] 0.44688075809423533 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.62, Z:17.03 [[ 9.99910144e-01 -9.33462878e-03 9.62128660e-03 -2.64251564e+01] [ 9.28284018e-03 9.99942260e-01 5.41338693e-03 1.46232341e+01] [-9.67126303e-03 -5.32358764e-03 9.99939061e-01 1.70258857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.319259764 meters Centerline goodness [0,1] 0.44676425675319886 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.62, Z:17.03 [[ 9.99898805e-01 -9.92618095e-03 1.01907348e-02 -2.64278827e+01] [ 9.87237866e-03 9.99937134e-01 5.31633008e-03 1.46207091e+01] [-1.02428650e-02 -5.21518530e-03 9.99933941e-01 1.70272705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.349259764 meters Centerline goodness [0,1] 0.44261043542357714 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.62, Z:17.03 [[ 9.99897416e-01 -9.90220269e-03 1.03491231e-02 -2.64285303e+01] [ 9.84531291e-03 9.99936222e-01 5.53363020e-03 1.46193551e+01] [-1.04032581e-02 -5.43117218e-03 9.99931135e-01 1.70274726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.379259764000004 meters Centerline goodness [0,1] 0.43769482645710545 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.62, Z:17.03 [[ 9.99895815e-01 -9.84133798e-03 1.05597151e-02 -2.64292008e+01] [ 9.77982371e-03 9.99934998e-01 5.86128200e-03 1.46176013e+01] [-1.06167116e-02 -5.75739919e-03 9.99927066e-01 1.70274938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.409259764 meters Centerline goodness [0,1] 0.4475551844700726 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.61, Z:17.03 [[ 9.99886784e-01 -1.01824227e-02 1.10787378e-02 -2.64315397e+01] [ 1.01176834e-02 9.99931503e-01 5.88400458e-03 1.46148546e+01] [-1.11378924e-02 -5.77124725e-03 9.99921317e-01 1.70286544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.439259764 meters Centerline goodness [0,1] 0.4488133652545019 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.61, Z:17.03 [[ 9.99881579e-01 -1.02361112e-02 1.14913079e-02 -2.64327744e+01] [ 1.01633348e-02 9.99928038e-01 6.37380079e-03 1.46124236e+01] [-1.15557239e-02 -6.25625599e-03 9.99913659e-01 1.70285283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.469259764 meters Centerline goodness [0,1] 0.44542596586037564 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.62, Z:17.04 [[ 9.99918946e-01 -1.17330696e-02 4.94324433e-03 -2.64495206e+01] [ 1.17583669e-02 9.99917760e-01 -5.11994452e-03 1.46167689e+01] [-4.88276514e-03 5.17765401e-03 9.99974675e-01 1.70365557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.499259764 meters Centerline goodness [0,1] 0.4421383484427358 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.04 [[ 9.99917955e-01 -1.16868705e-02 5.24400114e-03 -2.64502390e+01] [ 1.17105978e-02 9.99921226e-01 -4.51700324e-03 1.46144082e+01] [-5.19079841e-03 4.57804303e-03 9.99976048e-01 1.70360515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.529259764 meters Centerline goodness [0,1] 0.43762617112686997 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.04 [[ 9.99918814e-01 -1.15449963e-02 5.39245516e-03 -2.64505139e+01] [ 1.15666061e-02 9.99925130e-01 -3.99355355e-03 1.46126456e+01] [-5.34594587e-03 4.05560173e-03 9.99977486e-01 1.70356326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.559259764000004 meters Centerline goodness [0,1] 0.4401439444933465 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99951710e-01 -7.79795621e-03 5.98071069e-03 -2.64522903e+01] [ 7.79354933e-03 9.99969341e-01 7.59802239e-04 1.46098019e+01] [-5.98645223e-03 -7.13154585e-04 9.99981827e-01 1.70348566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.589259764000005 meters Centerline goodness [0,1] 0.44819089612242247 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99952953e-01 -7.73018871e-03 5.85975767e-03 -2.64519368e+01] [ 7.72576551e-03 9.99969854e-01 7.77103662e-04 1.46103251e+01] [-5.86558818e-03 -7.31795988e-04 9.99982530e-01 1.70348022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.619259764 meters Centerline goodness [0,1] 0.4395084820616736 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99958027e-01 -7.25353567e-03 5.59732326e-03 -2.64503561e+01] [ 7.24747024e-03 9.99973128e-01 1.10315442e-03 1.46107477e+01] [-5.60517462e-03 -1.06254168e-03 9.99983726e-01 1.70336594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.649259764 meters Centerline goodness [0,1] 0.44237406897983544 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99959602e-01 -7.07433814e-03 5.54511511e-03 -2.64497689e+01] [ 7.06827887e-03 9.99974402e-01 1.11155957e-03 1.46114788e+01] [-5.55283671e-03 -1.07232024e-03 9.99984008e-01 1.70331396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.679259764 meters Centerline goodness [0,1] 0.4215721930690497 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99960434e-01 -7.05582995e-03 5.41725713e-03 -2.64492479e+01] [ 7.05073041e-03 9.99974683e-01 9.59873757e-04 1.46127330e+01] [-5.42389268e-03 -9.21640159e-04 9.99984866e-01 1.70329353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.709259764 meters Centerline goodness [0,1] 0.43376636928053425 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99978995e-01 -3.12984831e-03 5.67573535e-03 -2.64496741e+01] [ 3.10281251e-03 9.99983829e-01 4.76596665e-03 1.46143490e+01] [-5.69056032e-03 -4.74825579e-03 9.99972535e-01 1.70325294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.739259764 meters Centerline goodness [0,1] 0.43343596701805653 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.62, Z:17.03 [[ 9.99980639e-01 -3.20020382e-03 5.33662875e-03 -2.64489869e+01] [ 3.17867987e-03 9.99986800e-01 4.03686311e-03 1.46173345e+01] [-5.34947709e-03 -4.01982152e-03 9.99977612e-01 1.70332371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.769259764000005 meters Centerline goodness [0,1] 0.45302408283868945 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.62, Z:17.03 [[ 9.99983673e-01 -2.91118320e-03 4.91722039e-03 -2.64475633e+01] [ 2.89613213e-03 9.99991108e-01 3.06524298e-03 1.46219430e+01] [-4.92610015e-03 -3.05095202e-03 9.99983212e-01 1.70338789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.799259764 meters Centerline goodness [0,1] 0.45461229419951155 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.62, Z:17.03 [[ 9.99985620e-01 -2.74743334e-03 4.60552009e-03 -2.64464417e+01] [ 2.73483682e-03 9.99992509e-01 2.73916246e-03 1.46241455e+01] [-4.61301126e-03 -2.72652772e-03 9.99985643e-01 1.70337499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.829259764 meters Centerline goodness [0,1] 0.4610266659653921 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:17.03 [[ 9.99987404e-01 -2.67138464e-03 4.24913365e-03 -2.64453997e+01] [ 2.66154032e-03 9.99993765e-01 2.32075204e-03 1.46265772e+01] [-4.25530678e-03 -2.30941357e-03 9.99988279e-01 1.70338614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.859259764 meters Centerline goodness [0,1] 0.4714338565614925 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.63, Z:17.03 [[ 9.99991795e-01 -1.74825434e-03 3.65413540e-03 -2.64425980e+01] [ 1.74155139e-03 9.99996797e-01 1.83672492e-03 1.46317193e+01] [-3.65733476e-03 -1.83034599e-03 9.99991637e-01 1.70335294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.889259764 meters Centerline goodness [0,1] 0.4735616365849785 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.63, Z:17.03 [[ 9.99993521e-01 -1.57072435e-03 3.23892341e-03 -2.64415001e+01] [ 1.56603900e-03 9.99997725e-01 1.44860430e-03 1.46341966e+01] [-3.24119140e-03 -1.44352264e-03 9.99993705e-01 1.70338390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.919259764 meters Centerline goodness [0,1] 0.4788161415966721 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.64, Z:17.03 [[ 9.99992681e-01 -1.81403128e-03 3.36845016e-03 -2.64422965e+01] [ 1.81120200e-03 9.99998005e-01 8.42796839e-04 1.46355420e+01] [-3.36997230e-03 -8.36689727e-04 9.99993972e-01 1.70347229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.949259764000004 meters Centerline goodness [0,1] 0.46484984786347405 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.63, Z:17.03 [[ 9.99992194e-01 -1.74210560e-03 3.54628045e-03 -2.64428194e+01] [ 1.73816240e-03 9.99997868e-01 1.11470396e-03 1.46341068e+01] [-3.54821483e-03 -1.10853125e-03 9.99993091e-01 1.70346691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.979259764 meters Centerline goodness [0,1] 0.4670592273771488 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.63, Z:17.03 [[ 9.99990322e-01 -1.90391562e-03 3.96622387e-03 -2.64440898e+01] [ 1.89847952e-03 9.99997254e-01 1.37391365e-03 1.46321176e+01] [-3.96882880e-03 -1.36637056e-03 9.99991191e-01 1.70345944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.009259764 meters Centerline goodness [0,1] 0.48043896905584715 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.63, Z:17.03 [[ 9.99990922e-01 -1.75189801e-03 3.88410486e-03 -2.64440048e+01] [ 1.74543504e-03 9.99997088e-01 1.66671939e-03 1.46309677e+01] [-3.88701347e-03 -1.65992480e-03 9.99991068e-01 1.70346753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.039259764 meters Centerline goodness [0,1] 0.45842245636272416 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.63, Z:17.04 [[ 9.99990854e-01 -1.84797121e-03 3.85709416e-03 -2.64443314e+01] [ 1.84182887e-03 9.99997031e-01 1.59542413e-03 1.46310746e+01] [-3.86003100e-03 -1.58830543e-03 9.99991289e-01 1.70351751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.069259764 meters Centerline goodness [0,1] 0.45842554536832125 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.63, Z:17.04 [[ 9.99991030e-01 -1.82920028e-03 3.82032601e-03 -2.64443104e+01] [ 1.82304233e-03 9.99997035e-01 1.61475365e-03 1.46310747e+01] [-3.82326839e-03 -1.60777455e-03 9.99991399e-01 1.70352559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.099259764 meters Centerline goodness [0,1] 0.4619959651007415 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.63, Z:17.03 [[ 9.99990957e-01 -1.65167689e-03 3.91880593e-03 -2.64445287e+01] [ 1.64355548e-03 9.99996497e-01 2.07473409e-03 1.46286849e+01] [-3.92221900e-03 -2.06827455e-03 9.99990169e-01 1.70349967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.129259764000004 meters Centerline goodness [0,1] 0.4459201047806156 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:17.03 [[ 9.99989324e-01 -1.64691149e-03 4.31724706e-03 -2.64456147e+01] [ 1.63673930e-03 9.99995879e-01 2.35865137e-03 1.46265233e+01] [-4.32111376e-03 -2.35155998e-03 9.99987899e-01 1.70349094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.159259764 meters Centerline goodness [0,1] 0.45398757053332295 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.62, Z:17.04 [[ 9.99973512e-01 -5.72593804e-03 4.49313231e-03 -2.64463720e+01] [ 5.73223664e-03 9.99982604e-01 -1.39020358e-03 1.46240090e+01] [-4.48509393e-03 1.41592245e-03 9.99988939e-01 1.70351981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.189259764 meters Centerline goodness [0,1] 0.45250889079251355 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.62, Z:17.03 [[ 9.99971461e-01 -5.73162277e-03 4.92197605e-03 -2.64475071e+01] [ 5.73576829e-03 9.99983207e-01 -8.28544149e-04 1.46211830e+01] [-4.91714449e-03 8.56751817e-04 9.99987544e-01 1.70348498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.219259764 meters Centerline goodness [0,1] 0.45321750820858864 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.62, Z:17.03 [[ 9.99967393e-01 -6.06777876e-03 5.32874906e-03 -2.64492271e+01] [ 6.06872823e-03 9.99981572e-01 -1.62026221e-04 1.46174445e+01] [-5.32766772e-03 1.94359667e-04 9.99985789e-01 1.70348787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.249259764 meters Centerline goodness [0,1] 0.41973205296987537 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.62, Z:17.03 [[ 9.99966911e-01 -6.02170083e-03 5.46949086e-03 -2.64496659e+01] [ 6.02070545e-03 9.99981856e-01 1.98434384e-04 1.46160491e+01] [-5.47058653e-03 -1.65497625e-04 9.99985023e-01 1.70347825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.279259764 meters Centerline goodness [0,1] 0.4482270962433468 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99964765e-01 -6.06488894e-03 5.80388598e-03 -2.64506532e+01] [ 6.06156717e-03 9.99981455e-01 5.89755797e-04 1.46142746e+01] [-5.80735515e-03 -5.54554372e-04 9.99982983e-01 1.70346593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.309259764000004 meters Centerline goodness [0,1] 0.4384870194900239 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99965488e-01 -5.89802433e-03 5.85118726e-03 -2.64508832e+01] [ 5.89371179e-03 9.99982348e-01 7.54006182e-04 1.46127752e+01] [-5.85553112e-03 -7.19494949e-04 9.99982597e-01 1.70348476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.339259764 meters Centerline goodness [0,1] 0.4314142293704861 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99967514e-01 -5.63049670e-03 5.76783817e-03 -2.64504554e+01] [ 5.62539036e-03 9.99983771e-01 9.01154895e-04 1.46126119e+01] [-5.77281851e-03 -8.68679279e-04 9.99982960e-01 1.70346422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.369259764 meters Centerline goodness [0,1] 0.42465788463997955 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99963467e-01 -5.92610160e-03 6.15998222e-03 -2.64519211e+01] [ 5.92011436e-03 9.99981986e-01 9.89736874e-04 1.46108876e+01] [-6.16573654e-03 -9.53232917e-04 9.99980537e-01 1.70348975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.399259764 meters Centerline goodness [0,1] 0.4440173116089613 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99963272e-01 -5.76959600e-03 6.33774056e-03 -2.64520088e+01] [ 5.76089986e-03 9.99982440e-01 1.38951943e-03 1.46095421e+01] [-6.34564624e-03 -1.35295730e-03 9.99978951e-01 1.70342326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.429259764 meters Centerline goodness [0,1] 0.42933101561900866 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99962714e-01 -5.71677543e-03 6.47216842e-03 -2.64523073e+01] [ 5.70736450e-03 9.99982630e-01 1.47159908e-03 1.46088731e+01] [-6.48046880e-03 -1.43460518e-03 9.99977972e-01 1.70341899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.459259764 meters Centerline goodness [0,1] 0.43531361550229475 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.04 [[ 9.99955651e-01 -6.43314942e-03 6.87833688e-03 -2.64544291e+01] [ 6.42375475e-03 9.99978405e-01 1.38705576e-03 1.46076232e+01] [-6.88711148e-03 -1.34280950e-03 9.99975382e-01 1.70350376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.489259764 meters Centerline goodness [0,1] 0.42145955600918605 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99956519e-01 -6.40145560e-03 6.78096656e-03 -2.64541236e+01] [ 6.39183958e-03 9.99978537e-01 1.43881285e-03 1.46076650e+01] [-6.79003151e-03 -1.39540744e-03 9.99975974e-01 1.70349369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.519259764000005 meters Centerline goodness [0,1] 0.40819672131147544 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99960785e-01 -6.17483943e-03 6.34818699e-03 -2.64527144e+01] [ 6.16613878e-03 9.99980024e-01 1.38923282e-03 1.46096698e+01] [-6.35663847e-03 -1.35003454e-03 9.99978885e-01 1.70346796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.549259764 meters Centerline goodness [0,1] 0.40819672131147544 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99960785e-01 -6.17483943e-03 6.34818699e-03 -2.64527144e+01] [ 6.16613878e-03 9.99980024e-01 1.38923282e-03 1.46096698e+01] [-6.35663847e-03 -1.35003454e-03 9.99978885e-01 1.70346796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.579259764 meters Centerline goodness [0,1] 0.409527231661619 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99960070e-01 -6.23230751e-03 6.40449619e-03 -2.64528832e+01] [ 6.22315163e-03 9.99979587e-01 1.44853656e-03 1.46097514e+01] [-6.41339318e-03 -1.40862257e-03 9.99978442e-01 1.70345974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.609259764 meters Centerline goodness [0,1] 0.4155440148087207 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99961902e-01 -6.01230317e-03 6.32823175e-03 -2.64523148e+01] [ 6.00205802e-03 9.99980648e-01 1.63670779e-03 1.46097277e+01] [-6.33794967e-03 -1.59866302e-03 9.99978637e-01 1.70341132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.639259764 meters Centerline goodness [0,1] 0.42387605691895236 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99964359e-01 -5.51930294e-03 6.38896449e-03 -2.64518477e+01] [ 5.50587036e-03 9.99982599e-01 2.11814873e-03 1.46080182e+01] [-6.40054402e-03 -2.08289642e-03 9.99977347e-01 1.70332912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.669259764 meters Centerline goodness [0,1] 0.4051317721616817 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.61, Z:17.03 [[ 9.99963069e-01 -5.42319494e-03 6.66711718e-03 -2.64523627e+01] [ 5.40654966e-03 9.99982229e-01 2.51211651e-03 1.46063557e+01] [-6.68062240e-03 -2.47597764e-03 9.99974619e-01 1.70328060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.699259764000004 meters Centerline goodness [0,1] 0.42788844621513944 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.60, Z:17.03 [[ 9.99963106e-01 -5.20541839e-03 6.83296500e-03 -2.64526144e+01] [ 5.18262388e-03 9.99980961e-01 3.34943951e-03 1.46027707e+01] [-6.85027014e-03 -3.31390325e-03 9.99971046e-01 1.70321101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.729259764 meters Centerline goodness [0,1] 0.4187801622343157 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.60, Z:17.03 [[ 9.99963277e-01 -4.99607417e-03 6.96302242e-03 -2.64527779e+01] [ 4.96812164e-03 9.99979555e-01 4.02595629e-03 1.46002742e+01] [-6.98299403e-03 -3.99121530e-03 9.99967653e-01 1.70315631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.759259764 meters Centerline goodness [0,1] 0.40993278949258627 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.60, Z:17.03 [[ 9.99959752e-01 -5.17278700e-03 7.33054203e-03 -2.64541387e+01] [ 5.14053856e-03 9.99977058e-01 4.41122331e-03 1.45974783e+01] [-7.35319217e-03 -4.37336283e-03 9.99963401e-01 1.70317564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.789259764 meters Centerline goodness [0,1] 0.4119798811156836 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.59, Z:17.03 [[ 9.99926798e-01 -9.52201558e-03 7.46525948e-03 -2.64552899e+01] [ 9.51236235e-03 9.99953875e-01 1.32752883e-03 1.45920887e+01] [-7.47755589e-03 -1.25641940e-03 9.99971253e-01 1.70318692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.819259764 meters Centerline goodness [0,1] 0.39403663929248267 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.59, Z:17.03 [[ 9.99917295e-01 -1.02010701e-02 7.83211942e-03 -2.64572403e+01] [ 1.01859315e-02 9.99946181e-01 1.97034602e-03 1.45866518e+01] [-7.85179754e-03 -1.89040563e-03 9.99967387e-01 1.70319220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.849259764 meters Centerline goodness [0,1] 0.38895727096887633 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.58, Z:17.03 [[ 9.99907498e-01 -1.07517736e-02 8.33032029e-03 -2.64589312e+01] [ 1.07315482e-02 9.99939368e-01 2.46882863e-03 1.45788468e+01] [-8.35635949e-03 -2.37920302e-03 9.99962255e-01 1.70316446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.879259764000004 meters Centerline goodness [0,1] 0.40301195777255217 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.58, Z:17.03 [[ 9.99903265e-01 -1.07985771e-02 8.76652203e-03 -2.64602044e+01] [ 1.07711434e-02 9.99936963e-01 3.17057335e-03 1.45755625e+01] [-8.80020709e-03 -3.07584118e-03 9.99956547e-01 1.70313381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.909259764 meters Centerline goodness [0,1] 0.3723217861433721 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.57, Z:17.03 [[ 9.99889746e-01 -1.14551632e-02 9.44853095e-03 -2.64630997e+01] [ 1.14267707e-02 9.99930050e-01 3.05349245e-03 1.45728526e+01] [-9.48284828e-03 -2.94518960e-03 9.99950700e-01 1.70325745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.939259764 meters Centerline goodness [0,1] 0.38836544437538845 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.57, Z:17.03 [[ 9.99879039e-01 -1.19268057e-02 9.98295405e-03 -2.64649215e+01] [ 1.18900329e-02 9.99922336e-01 3.73484503e-03 1.45688086e+01] [-1.00267235e-02 -3.61569560e-03 9.99943194e-01 1.70322004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.969259764 meters Centerline goodness [0,1] 0.32496540818343544 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.56, Z:17.03 [[ 9.99812677e-01 -1.62864217e-02 1.04577243e-02 -2.64662231e+01] [ 1.62824722e-02 9.99867325e-01 4.62699217e-04 1.45638770e+01] [-1.04638725e-02 -2.92334938e-04 9.99945209e-01 1.70316011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.999259764 meters Centerline goodness [0,1] 0.3800953926341152 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.56, Z:17.03 [[ 9.99812264e-01 -1.61079395e-02 1.07690014e-02 -2.64665651e+01] [ 1.60938427e-02 9.99869513e-01 1.39440808e-03 1.45604064e+01] [-1.07900572e-02 -1.22083168e-03 9.99941040e-01 1.70303183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.029259764 meters Centerline goodness [0,1] 0.22662171473570236 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.56, Z:17.03 [[ 9.99811802e-01 -1.61643341e-02 1.07272734e-02 -2.64665714e+01] [ 1.61531149e-02 9.99868889e-01 1.13167575e-03 1.45615135e+01] [-1.07441597e-02 -9.58183887e-04 9.99941821e-01 1.70305534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.059259764000004 meters Centerline goodness [0,1] 0.3791603864495565 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.56, Z:17.03 [[ 9.99860547e-01 -1.23636766e-02 1.12261412e-02 -2.64680766e+01] [ 1.23071773e-02 9.99911319e-01 5.08804624e-03 1.45613621e+01] [-1.12880526e-02 -4.94917458e-03 9.99924040e-01 1.70305541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.089259764 meters Centerline goodness [0,1] 0.373171699142248 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.57, Z:17.03 [[ 9.99871998e-01 -1.19090250e-02 1.06846557e-02 -2.64658270e+01] [ 1.18568044e-02 9.99917515e-01 4.93754313e-03 1.45653605e+01] [-1.07425757e-02 -4.81022524e-03 9.99930727e-01 1.70298043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.119259764 meters Centerline goodness [0,1] 0.40462843536065085 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.57, Z:17.03 [[ 9.99870530e-01 -1.19997117e-02 1.07205236e-02 -2.64659213e+01] [ 1.19500189e-02 9.99917609e-01 4.68739424e-03 1.45661363e+01] [-1.07758877e-02 -4.55867690e-03 9.99931547e-01 1.70298861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.149259764 meters Centerline goodness [0,1] 0.3777233115468409 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.57, Z:17.03 [[ 9.99878161e-01 -1.15880358e-02 1.04585048e-02 -2.64645554e+01] [ 1.15389612e-02 9.99922187e-01 4.74052677e-03 1.45672753e+01] [-1.05126243e-02 -4.61926891e-03 9.99934071e-01 1.70291339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.179259764 meters Centerline goodness [0,1] 0.4003594697820715 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.57, Z:17.03 [[ 9.99913822e-01 -7.61362667e-03 1.06949194e-02 -2.64654092e+01] [ 7.52969208e-03 9.99940709e-01 7.86654545e-03 1.45706294e+01] [-1.07541782e-02 -7.78533808e-03 9.99911864e-01 1.70299839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.209259764 meters Centerline goodness [0,1] 0.3540013517234474 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.57, Z:17.03 [[ 9.99914067e-01 -7.87120061e-03 1.04834680e-02 -2.64652738e+01] [ 7.79819905e-03 9.99945189e-01 6.98626192e-03 1.45741078e+01] [-1.05378837e-02 -6.90390940e-03 9.99920641e-01 1.70309067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.239259764 meters Centerline goodness [0,1] 0.3706470779953368 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.58, Z:17.03 [[ 9.99918262e-01 -7.84671950e-03 1.00944397e-02 -2.64638160e+01] [ 7.78210498e-03 9.99949081e-01 6.42443400e-03 1.45780923e+01] [-1.01443365e-02 -6.34535290e-03 9.99928412e-01 1.70306536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.269259764000005 meters Centerline goodness [0,1] 0.37502517116391465 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.59, Z:17.04 [[ 9.99982237e-01 -4.90738164e-03 3.38282321e-03 -2.64790094e+01] [ 4.91331842e-03 9.99986400e-01 -1.74890899e-03 1.45862884e+01] [-3.37419465e-03 1.76549881e-03 9.99992749e-01 1.70381418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.299259764 meters Centerline goodness [0,1] 0.3798886902213604 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.59, Z:17.04 [[ 9.99983664e-01 -4.75540658e-03 3.17141868e-03 -2.64780020e+01] [ 4.76157874e-03 9.99986779e-01 -1.94147891e-03 1.45884207e+01] [-3.16214423e-03 1.95654815e-03 9.99993086e-01 1.70377600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.329259764 meters Centerline goodness [0,1] 0.3950914340712224 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.59, Z:17.04 [[ 9.99987369e-01 -4.13841327e-03 2.85209685e-03 -2.64759594e+01] [ 4.14484390e-03 9.99988873e-01 -2.25249381e-03 1.45925910e+01] [-2.84274337e-03 2.26428686e-03 9.99993396e-01 1.70370082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.359259764 meters Centerline goodness [0,1] 0.4051361354763474 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.59, Z:17.04 [[ 9.99988998e-01 -3.93073878e-03 2.55977892e-03 -2.64746904e+01] [ 3.93710217e-03 9.99989160e-01 -2.48563978e-03 1.45949879e+01] [-2.54998078e-03 2.49569054e-03 9.99993635e-01 1.70366040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.389259764 meters Centerline goodness [0,1] 0.4209516990973945 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.60, Z:17.04 [[ 9.99996638e-01 3.92607279e-04 2.56305320e-03 -2.64736522e+01] [-3.95860202e-04 9.99999117e-01 1.26877557e-03 1.45979366e+01] [-2.56255281e-03 -1.26978592e-03 9.99995910e-01 1.70355109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.419259764 meters Centerline goodness [0,1] 0.420678182981446 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.60, Z:17.04 [[ 9.99997530e-01 5.97891924e-04 2.14072635e-03 -2.64721491e+01] [-5.99668461e-04 9.99999476e-01 8.29330152e-04 1.46011281e+01] [-2.14022938e-03 -8.30611829e-04 9.99997365e-01 1.70354214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.449259764000004 meters Centerline goodness [0,1] 0.4246367883361569 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.60, Z:17.04 [[ 9.99997823e-01 4.33400522e-04 2.04095768e-03 -2.64719916e+01] [-4.34126632e-04 9.99999843e-01 3.55339567e-04 1.46034801e+01] [-2.04080336e-03 -3.56224828e-04 9.99997854e-01 1.70357511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.479259764 meters Centerline goodness [0,1] 0.4382524673177285 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.61, Z:17.04 [[ 9.99997456e-01 1.50044079e-03 1.68415950e-03 -2.64696187e+01] [-1.50008388e-03 9.99998852e-01 -2.13163167e-04 1.46092212e+01] [-1.68447740e-03 2.10636244e-04 9.99998559e-01 1.70355852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.509259764 meters Centerline goodness [0,1] 0.40862897985705005 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.61, Z:17.03 [[ 9.99979691e-01 6.18334430e-03 1.54378734e-03 -2.64680789e+01] [-6.18932400e-03 9.99973244e-01 3.89914058e-03 1.46111265e+01] [-1.51963631e-03 -3.90861639e-03 9.99991207e-01 1.70344697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.539259764 meters Centerline goodness [0,1] 0.4601081989600294 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.61, Z:17.03 [[ 9.99876360e-01 1.56429957e-02 1.60063656e-03 -2.64656049e+01] [-1.56611734e-02 9.99804674e-01 1.20557285e-02 1.46145750e+01] [-1.41173621e-03 -1.20793057e-02 9.99926046e-01 1.70324988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.569259764 meters Centerline goodness [0,1] 0.48572935900817726 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:17.03 [[ 9.99859440e-01 1.67107504e-02 1.36023421e-03 -2.64633237e+01] [-1.67254065e-02 9.99792944e-01 1.15900770e-02 1.46189518e+01] [-1.16627368e-03 -1.16111984e-02 9.99931908e-01 1.70319332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.599259764 meters Centerline goodness [0,1] 0.45813824299658756 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:17.03 [[ 9.99842194e-01 1.77292043e-02 1.12347023e-03 -2.64610799e+01] [-1.77408428e-02 9.99777950e-01 1.13715590e-02 1.46220411e+01] [-9.21612072e-04 -1.13896958e-02 9.99934711e-01 1.70310495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.629259764000004 meters Centerline goodness [0,1] 0.4544684903963173 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.63, Z:17.03 [[ 9.99831756e-01 1.83228266e-02 8.56105846e-04 -2.64593626e+01] [-1.83311287e-02 9.99771654e-01 1.09822634e-02 1.46250004e+01] [-6.54684251e-04 -1.09961091e-02 9.99939327e-01 1.70305634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.659259764 meters Centerline goodness [0,1] 0.5236183843270688 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:17.03 [[ 9.99768839e-01 2.14922086e-02 -5.95212000e-04 -2.64525191e+01] [-2.14863785e-02 9.99733014e-01 8.49918662e-03 1.46307674e+01] [ 7.77719379e-04 -8.48443298e-03 9.99963704e-01 1.70349440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.689259764 meters Centerline goodness [0,1] 0.49506268132336106 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:17.04 [[ 9.99762674e-01 2.17640021e-02 -9.61484846e-04 -2.64513978e+01] [-2.17558126e-02 9.99732612e-01 7.83512948e-03 1.46341901e+01] [ 1.13175153e-03 -7.81235212e-03 9.99968843e-01 1.70355743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.719259764 meters Centerline goodness [0,1] 0.5115064162670453 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99741637e-01 2.27020247e-02 -1.12994361e-03 -2.64499030e+01] [-2.26936458e-02 9.99718341e-01 6.94536414e-03 1.46394677e+01] [ 1.28729918e-03 -6.91792717e-03 9.99975242e-01 1.70364318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.749259764 meters Centerline goodness [0,1] 0.5172802404207363 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.04 [[ 9.99738614e-01 2.28258041e-02 -1.29867019e-03 -2.64492447e+01] [-2.28167411e-02 9.99717805e-01 6.61112439e-03 1.46412023e+01] [ 1.44920794e-03 -6.57976491e-03 9.99977303e-01 1.70365199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.779259764 meters Centerline goodness [0,1] 0.5216516959377933 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99796066e-01 2.01306969e-02 -1.60693865e-03 -2.64469435e+01] [-2.01264618e-02 9.99794037e-01 2.60957244e-03 1.46451008e+01] [ 1.65914019e-03 -2.57669827e-03 9.99995304e-01 1.70360078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.809259764000004 meters Centerline goodness [0,1] 0.5284354471108728 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99786510e-01 2.05896134e-02 -1.73241600e-03 -2.64457334e+01] [-2.05849676e-02 9.99784574e-01 2.65808089e-03 1.46457503e+01] [ 1.78677164e-03 -2.62185169e-03 9.99994967e-01 1.70351789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.839259764 meters Centerline goodness [0,1] 0.5222558282701213 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99786057e-01 2.06123349e-02 -1.72419041e-03 -2.64456942e+01] [-2.06080451e-02 9.99784581e-01 2.46980039e-03 1.46465663e+01] [ 1.77472734e-03 -2.43373980e-03 9.99995464e-01 1.70352350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.869259764 meters Centerline goodness [0,1] 0.5310964971144813 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.65, Z:17.04 [[ 9.99853752e-01 1.69416563e-02 -2.33561507e-03 -2.64440276e+01] [-1.69468337e-02 9.99853939e-01 -2.21504323e-03 1.46508098e+01] [ 2.29774743e-03 2.25430057e-03 9.99994819e-01 1.70359999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.899259764 meters Centerline goodness [0,1] 0.5287593431028478 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.65, Z:17.04 [[ 9.99855444e-01 1.68790107e-02 -2.04678838e-03 -2.64448900e+01] [-1.68833672e-02 9.99855197e-01 -2.13018941e-03 1.46499095e+01] [ 2.01053651e-03 2.16443816e-03 9.99995636e-01 1.70360285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.929259764 meters Centerline goodness [0,1] 0.5165771686569955 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.65, Z:17.04 [[ 9.99916210e-01 1.27355745e-02 -2.31922906e-03 -2.64445361e+01] [-1.27503213e-02 9.99897852e-01 -6.45878054e-03 1.46508904e+01] [ 2.23673588e-03 6.48781027e-03 9.99976452e-01 1.70364969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.959259764 meters Centerline goodness [0,1] 0.5248965425176879 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.65, Z:17.04 [[ 9.99917555e-01 1.26529037e-02 -2.18804720e-03 -2.64448667e+01] [-1.26663026e-02 9.99900419e-01 -6.22231086e-03 1.46501028e+01] [ 2.10909901e-03 6.24951233e-03 9.99978247e-01 1.70361714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.989259764 meters Centerline goodness [0,1] 0.525945541111646 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99919292e-01 1.25443301e-02 -2.01241351e-03 -2.64452415e+01] [-1.25563484e-02 9.99902712e-01 -6.07495454e-03 1.46497387e+01] [ 1.93601149e-03 6.09973281e-03 9.99979522e-01 1.70358314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.019259764000005 meters Centerline goodness [0,1] 0.5102603205179657 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99929463e-01 1.17611249e-02 -1.65696871e-03 -2.64468574e+01] [-1.17711793e-02 9.99911528e-01 -6.19485805e-03 1.46495335e+01] [ 1.58396362e-03 6.21392556e-03 9.99979439e-01 1.70360372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.049259764 meters Centerline goodness [0,1] 0.5244867408041061 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99934211e-01 1.14003084e-02 -1.26737457e-03 -2.64480669e+01] [-1.14079181e-02 9.99915900e-01 -6.16857943e-03 1.46488519e+01] [ 1.19694427e-03 6.18263171e-03 9.99980171e-01 1.70359488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.079259764 meters Centerline goodness [0,1] 0.5009460864003411 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99976810e-01 6.71029111e-03 -1.16232380e-03 -2.64488837e+01] [-6.72223617e-03 9.99921250e-01 -1.05974034e-02 1.46496130e+01] [ 1.09112060e-03 1.06049711e-02 9.99943170e-01 1.70363007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.109259764 meters Centerline goodness [0,1] 0.46488588244693596 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99996605e-01 2.22472053e-03 -1.35655157e-03 -2.64489208e+01] [-2.24517313e-03 9.99880939e-01 -1.52665483e-02 1.46517627e+01] [ 1.32242625e-03 1.52695421e-02 9.99882539e-01 1.70371435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.139259764 meters Centerline goodness [0,1] 0.47879449428928944 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.04 [[ 9.99998376e-01 1.62759893e-03 -7.73899998e-04 -2.64510496e+01] [-1.63915255e-03 9.99883578e-01 -1.51704920e-02 1.46502644e+01] [ 7.49118422e-04 1.51717359e-02 9.99884622e-01 1.70372635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.169259764 meters Centerline goodness [0,1] 0.466679106466919 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.03 [[ 9.99968670e-01 -5.85559961e-03 5.32639415e-03 -2.64502816e+01] [ 5.87348127e-03 9.99977147e-01 -3.34775403e-03 1.46464099e+01] [-5.30666932e-03 3.37893362e-03 9.99980211e-01 1.70296180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.199259764000004 meters Centerline goodness [0,1] 0.4847852826354351 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.03 [[ 9.99969456e-01 -5.88067648e-03 5.14825407e-03 -2.64495542e+01] [ 5.89867778e-03 9.99976518e-01 -3.48840875e-03 1.46481442e+01] [-5.12761898e-03 3.51867009e-03 9.99980663e-01 1.70293468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.229259764 meters Centerline goodness [0,1] 0.47789795754046005 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.03 [[ 9.99983926e-01 -1.69829653e-03 5.40960088e-03 -2.64496751e+01] [ 1.69398825e-03 9.99998244e-01 8.00895323e-04 1.46487900e+01] [-5.41095154e-03 -7.91718649e-04 9.99985047e-01 1.70283640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.259259764 meters Centerline goodness [0,1] 0.4792378696950941 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:17.03 [[ 9.99985873e-01 -1.61423038e-03 5.06448423e-03 -2.64484927e+01] [ 1.61248014e-03 9.99998639e-01 3.49655464e-04 1.46523810e+01] [-5.06504176e-03 -3.41484144e-04 9.99987114e-01 1.70283290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.289259764 meters Centerline goodness [0,1] 0.5072973924345401 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.66, Z:17.03 [[ 9.99988107e-01 -8.38803182e-04 4.80429932e-03 -2.64460314e+01] [ 8.38690294e-04 9.99999648e-01 2.55120936e-05 1.46568847e+01] [-4.80431903e-03 -2.14824709e-05 9.99988459e-01 1.70270389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.319259764 meters Centerline goodness [0,1] 0.4972883111220123 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.02 [[ 9.99989478e-01 9.15648162e-04 4.49508889e-03 -2.64422161e+01] [-9.15936046e-04 9.99999579e-01 6.19860027e-05 1.46610784e+01] [-4.49503024e-03 -6.61025644e-05 9.99989895e-01 1.70249197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.349259764 meters Centerline goodness [0,1] 0.518397294274882 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.03 [[ 9.99990799e-01 1.06798577e-03 4.15479277e-03 -2.64410727e+01] [-1.06622886e-03 9.99999341e-01 -4.25056068e-04 1.46638400e+01] [-4.15524399e-03 4.20622197e-04 9.99991278e-01 1.70250534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.379259764000004 meters Centerline goodness [0,1] 0.5064007877892664 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:17.03 [[ 9.99991489e-01 1.10950701e-03 3.97366191e-03 -2.64403786e+01] [-1.10592820e-03 9.99998981e-01 -9.02716839e-04 1.46664526e+01] [-3.97465944e-03 8.98314571e-04 9.99991698e-01 1.70251359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.409259764 meters Centerline goodness [0,1] 0.5123874182156642 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:17.03 [[ 9.99992350e-01 1.24203558e-03 3.70912566e-03 -2.64395133e+01] [-1.23699724e-03 9.99998310e-01 -1.36034996e-03 1.46690566e+01] [-3.71080900e-03 1.35575137e-03 9.99992196e-01 1.70253957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.439259764 meters Centerline goodness [0,1] 0.5123874182156642 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:17.03 [[ 9.99992350e-01 1.24203558e-03 3.70912566e-03 -2.64395133e+01] [-1.23699724e-03 9.99998310e-01 -1.36034996e-03 1.46690566e+01] [-3.71080900e-03 1.35575137e-03 9.99992196e-01 1.70253957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.469259764 meters Centerline goodness [0,1] 0.5304299889746417 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:17.03 [[ 9.99992941e-01 1.89347020e-03 3.24537266e-03 -2.64374226e+01] [-1.88683841e-03 9.99996128e-01 -2.04530396e-03 1.46745688e+01] [-3.24923282e-03 2.03916603e-03 9.99992642e-01 1.70256115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.499259764 meters Centerline goodness [0,1] 0.5177116982799084 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:17.03 [[ 9.99992950e-01 2.04250045e-03 3.15091834e-03 -2.64368647e+01] [-2.03551350e-03 9.99995466e-01 -2.21904751e-03 1.46762721e+01] [-3.15543646e-03 2.21261813e-03 9.99992574e-01 1.70254694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.529259764 meters Centerline goodness [0,1] 0.5205558932419738 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:17.02 [[ 9.99992035e-01 2.14130788e-03 3.36830805e-03 -2.64371420e+01] [-2.13480576e-03 9.99995853e-01 -1.93279304e-03 1.46754326e+01] [-3.37243279e-03 1.92558696e-03 9.99992459e-01 1.70249000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.559259764000004 meters Centerline goodness [0,1] 0.5106119073869901 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:17.03 [[ 9.99995001e-01 -1.58716245e-03 2.73462619e-03 -2.64352457e+01] [ 1.60462370e-03 9.99978265e-01 -6.39492475e-03 1.46786162e+01] [-2.72441697e-03 6.39928083e-03 9.99975813e-01 1.70252982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.589259764 meters Centerline goodness [0,1] 0.5169722873293809 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:17.02 [[ 9.99994864e-01 -1.53626323e-03 2.81275934e-03 -2.64353409e+01] [ 1.55359915e-03 9.99979749e-01 -6.17153590e-03 1.46780691e+01] [-2.80322128e-03 6.17587411e-03 9.99977000e-01 1.70249765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.619259764 meters Centerline goodness [0,1] 0.5237385858920246 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:17.03 [[ 9.99995053e-01 -1.45975614e-03 2.78610000e-03 -2.64353273e+01] [ 1.47750144e-03 9.99978570e-01 -6.37782841e-03 1.46793914e+01] [-2.77673022e-03 6.38191333e-03 9.99975780e-01 1.70253020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.649259764 meters Centerline goodness [0,1] 0.5258099262573536 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:17.03 [[ 9.99995271e-01 -1.45195102e-03 2.71111451e-03 -2.64353453e+01] [ 1.46964715e-03 9.99977556e-01 -6.53671037e-03 1.46803255e+01] [-2.70156268e-03 6.54066384e-03 9.99974960e-01 1.70257039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.679259764 meters Centerline goodness [0,1] 0.5168760028772201 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:17.03 [[ 9.99995176e-01 -1.43244827e-03 2.75607849e-03 -2.64355852e+01] [ 1.45030582e-03 9.99977899e-01 -6.48828240e-03 1.46803304e+01] [-2.74672345e-03 6.49224825e-03 9.99975153e-01 1.70258327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.709259764 meters Centerline goodness [0,1] 0.5179719180160547 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:17.03 [[ 9.99994834e-01 -1.34035707e-03 2.92149973e-03 -2.64358557e+01] [ 1.35852163e-03 9.99979705e-01 -6.22445604e-03 1.46796214e+01] [-2.91309744e-03 6.22839280e-03 9.99976360e-01 1.70254969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.739259764 meters Centerline goodness [0,1] 0.5306516049042568 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:17.02 [[ 9.99994580e-01 -1.14805638e-03 3.08585887e-03 -2.64358838e+01] [ 1.16587980e-03 9.99982615e-01 -5.78025609e-03 1.46785307e+01] [-3.07916916e-03 5.78382250e-03 9.99978533e-01 1.70247591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.769259764000005 meters Centerline goodness [0,1] 0.5294085266837311 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:17.02 [[ 9.99995050e-01 -8.37665525e-04 3.03284673e-03 -2.64352331e+01] [ 8.54087590e-04 9.99984961e-01 -5.41749627e-03 1.46781660e+01] [-3.02826307e-03 5.42005977e-03 9.99980726e-01 1.70240331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.799259764 meters Centerline goodness [0,1] 0.5252075430205069 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:17.02 [[ 9.99995007e-01 -7.81317905e-04 3.06191508e-03 -2.64351596e+01] [ 7.97757532e-04 9.99985255e-01 -5.37152878e-03 1.46784966e+01] [-3.05767306e-03 5.37394463e-03 9.99980885e-01 1.70237924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.829259764 meters Centerline goodness [0,1] 0.5286480539128042 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:17.02 [[ 9.99995186e-01 -7.43237679e-04 3.01257035e-03 -2.64350029e+01] [ 7.59663671e-04 9.99984833e-01 -5.45501232e-03 1.46792777e+01] [-3.00847029e-03 5.45727460e-03 9.99980583e-01 1.70238386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.859259764 meters Centerline goodness [0,1] 0.5320060414664287 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99995352e-01 -6.96740059e-04 2.96813082e-03 -2.64349361e+01] [ 7.13326296e-04 9.99984117e-01 -5.59071974e-03 1.46800650e+01] [-2.96418840e-03 5.59281100e-03 9.99979967e-01 1.70240352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.889259764 meters Centerline goodness [0,1] 0.5261128250330542 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99995399e-01 -6.92722570e-04 2.95338922e-03 -2.64348117e+01] [ 7.09310237e-04 9.99983961e-01 -5.61914240e-03 1.46808640e+01] [-2.94944934e-03 5.62121141e-03 9.99979851e-01 1.70238748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.919259764 meters Centerline goodness [0,1] 0.5013655549118596 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996704e-01 -1.45337402e-04 2.56319024e-03 -2.64331498e+01] [ 1.59777206e-04 9.99984115e-01 -5.63422338e-03 1.46830225e+01] [-2.56233066e-03 5.63461435e-03 9.99980843e-01 1.70235350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.949259764000004 meters Centerline goodness [0,1] 0.5329029053886267 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996625e-01 -6.88921239e-05 2.59710795e-03 -2.64331226e+01] [ 8.35616190e-05 9.99984042e-01 -5.64871109e-03 1.46834331e+01] [-2.59667736e-03 5.64890904e-03 9.99980673e-01 1.70234583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.979259764 meters Centerline goodness [0,1] 0.5311259373621526 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996356e-01 1.02134289e-04 2.69771974e-03 -2.64331132e+01] [-8.76593243e-05 9.99985603e-01 -5.36520301e-03 1.46827900e+01] [-2.69822887e-03 5.36494698e-03 9.99981968e-01 1.70229076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.009259764 meters Centerline goodness [0,1] 0.5310151152225985 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99995746e-01 2.31523144e-04 2.90751585e-03 -2.64332610e+01] [-2.16970919e-04 9.99987455e-01 -5.00435544e-03 1.46818858e+01] [-2.90863800e-03 5.00370331e-03 9.99983251e-01 1.70221648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.039259764 meters Centerline goodness [0,1] 0.5259093792228565 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996062e-01 4.06783696e-04 2.77683196e-03 -2.64327066e+01] [-3.93512904e-04 9.99988508e-01 -4.77798721e-03 1.46820281e+01] [-2.77874365e-03 4.77687567e-03 9.99984730e-01 1.70218058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.069259764 meters Centerline goodness [0,1] 0.5326806398234969 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996391e-01 3.96610477e-04 2.65718571e-03 -2.64326576e+01] [-3.83242565e-04 9.99987279e-01 -5.02947541e-03 1.46833348e+01] [-2.65914665e-03 5.02843892e-03 9.99983822e-01 1.70223494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.099259764 meters Centerline goodness [0,1] 0.5248234774933804 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996448e-01 3.49545206e-04 2.64234920e-03 -2.64328736e+01] [-3.36075583e-04 9.99986957e-01 -5.09632048e-03 1.46839955e+01] [-2.64409613e-03 5.09541435e-03 9.99983523e-01 1.70226606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.129259764000004 meters Centerline goodness [0,1] 0.5174420207925434 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99995605e-01 4.46877988e-04 2.93090730e-03 -2.64333563e+01] [-4.33892093e-04 9.99990094e-01 -4.42981436e-03 1.46816593e+01] [-2.93285785e-03 4.42852319e-03 9.99985893e-01 1.70217487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.159259764 meters Centerline goodness [0,1] 0.531152862212197 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99994562e-01 7.22753398e-04 3.21779035e-03 -2.64335278e+01] [-7.10605131e-04 9.99992623e-01 -3.77488866e-03 1.46795428e+01] [-3.22049493e-03 3.77258156e-03 9.99987698e-01 1.70206617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.189259764 meters Centerline goodness [0,1] 0.5157120509372342 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99993804e-01 8.77867255e-04 3.40886840e-03 -2.64339308e+01] [-8.66528120e-04 9.99994092e-01 -3.32641683e-03 1.46778281e+01] [-3.41176842e-03 3.32344234e-03 9.99988657e-01 1.70202678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.219259764 meters Centerline goodness [0,1] 0.5282935820197519 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99993119e-01 8.26617339e-04 3.61655061e-03 -2.64347352e+01] [-8.15286724e-04 9.99994759e-01 -3.13334284e-03 1.46769341e+01] [-3.61912173e-03 3.13037275e-03 9.99988551e-01 1.70203920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.249259764 meters Centerline goodness [0,1] 0.5125082471959534 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:17.02 [[ 9.99992091e-01 8.34343174e-04 3.88879006e-03 -2.64354945e+01] [-8.23783628e-04 9.99995972e-01 -2.71619215e-03 1.46752906e+01] [-3.89104063e-03 2.71296715e-03 9.99988750e-01 1.70201046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.279259764 meters Centerline goodness [0,1] 0.4922050831640775 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:17.02 [[ 9.99991588e-01 1.02354228e-03 3.97197036e-03 -2.64356161e+01] [-1.01517017e-03 9.99997260e-01 -2.10924124e-03 1.46733449e+01] [-3.97411838e-03 2.10519127e-03 9.99989887e-01 1.70195725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.309259764000004 meters Centerline goodness [0,1] 0.514478446857519 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:17.02 [[ 9.99991167e-01 9.68647859e-04 4.08993275e-03 -2.64361787e+01] [-9.60276023e-04 9.99997441e-01 -2.04840517e-03 1.46728947e+01] [-4.09190646e-03 2.04445961e-03 9.99989538e-01 1.70198001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.339259764 meters Centerline goodness [0,1] 0.5120225148915241 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:17.02 [[ 9.99991240e-01 5.51552409e-04 4.14920446e-03 -2.64372963e+01] [-5.41368036e-04 9.99996839e-01 -2.45525898e-03 1.46736164e+01] [-4.15054555e-03 2.45299122e-03 9.99988378e-01 1.70210501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.369259764 meters Centerline goodness [0,1] 0.5180117438208385 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:17.02 [[ 9.99991507e-01 4.85595865e-04 4.09278213e-03 -2.64374490e+01] [-4.74890164e-04 9.99996465e-01 -2.61631769e-03 1.46742383e+01] [-4.09403813e-03 2.61435185e-03 9.99988202e-01 1.70215161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.399259764 meters Centerline goodness [0,1] 0.5161175471749788 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:17.02 [[ 9.99992496e-01 7.09038377e-04 3.80853368e-03 -2.64364830e+01] [-6.98764989e-04 9.99996116e-01 -2.69811918e-03 1.46754987e+01] [-3.81043195e-03 2.69543766e-03 9.99989108e-01 1.70214428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.429259764 meters Centerline goodness [0,1] 0.5269035532994923 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:17.02 [[ 9.99992805e-01 9.66940541e-04 3.66810041e-03 -2.64357822e+01] [-9.57185384e-04 9.99996003e-01 -2.66028137e-03 1.46762211e+01] [-3.67065809e-03 2.65675118e-03 9.99989734e-01 1.70211565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.459259764 meters Centerline goodness [0,1] 0.5308394811178455 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:17.02 [[ 9.99992464e-01 1.13514753e-03 3.71272176e-03 -2.64356393e+01] [-1.12654697e-03 9.99996679e-01 -2.31778089e-03 1.46752887e+01] [-3.71534046e-03 2.31358087e-03 9.99990422e-01 1.70206189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.489259764 meters Centerline goodness [0,1] 0.5292099991767967 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:17.02 [[ 9.99992556e-01 1.28072551e-03 3.63984003e-03 -2.64351326e+01] [-1.27247603e-03 9.99996619e-01 -2.26785154e-03 1.46755810e+01] [-3.64273222e-03 2.26320304e-03 9.99990804e-01 1.70202136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.519259764000005 meters Centerline goodness [0,1] 0.5138820301783265 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99992633e-01 1.39876719e-03 3.57442670e-03 -2.64346795e+01] [-1.39122163e-03 9.99996801e-01 -2.11260107e-03 1.46758569e+01] [-3.57737030e-03 2.10761269e-03 9.99991380e-01 1.70197628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.549259764 meters Centerline goodness [0,1] 0.5349751257455405 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99993089e-01 1.46904127e-03 3.41523422e-03 -2.64341663e+01] [-1.46154430e-03 9.99996519e-01 -2.19661561e-03 1.46768370e+01] [-3.41844925e-03 2.19160891e-03 9.99991755e-01 1.70197267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.579259764 meters Centerline goodness [0,1] 0.5345003165166653 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99993610e-01 1.47215010e-03 3.25758792e-03 -2.64339676e+01] [-1.46452227e-03 9.99996183e-01 -2.34270839e-03 1.46776607e+01] [-3.26102430e-03 2.33792261e-03 9.99991950e-01 1.70201348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.609259764 meters Centerline goodness [0,1] 0.5326362135388002 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99993373e-01 1.50988610e-03 3.31270443e-03 -2.64341506e+01] [-1.50251769e-03 9.99996394e-01 -2.22564924e-03 1.46773136e+01] [-3.31605297e-03 2.22065709e-03 9.99992036e-01 1.70200843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.639259764 meters Centerline goodness [0,1] 0.5316552877628801 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99994366e-01 -1.95917555e-03 2.72574957e-03 -2.64319733e+01] [ 1.97625763e-03 9.99978338e-01 -6.27841691e-03 1.46793727e+01] [-2.71339001e-03 6.28376832e-03 9.99976576e-01 1.70198444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.669259764 meters Centerline goodness [0,1] 0.5302909798974302 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99994533e-01 -1.83765521e-03 2.74915612e-03 -2.64318486e+01] [ 1.85417458e-03 9.99980170e-01 -6.01845353e-03 1.46788134e+01] [-2.73804176e-03 6.02351804e-03 9.99978110e-01 1.70194711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.699259764000004 meters Centerline goodness [0,1] 0.5316796092528058 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99994999e-01 -1.69732288e-03 2.66862461e-03 -2.64314351e+01] [ 1.71302269e-03 9.99981176e-01 -5.89187242e-03 1.46789786e+01] [-2.65857397e-03 5.89641437e-03 9.99979082e-01 1.70191837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.729259764 meters Centerline goodness [0,1] 0.5226362289414477 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996195e-01 -1.53869996e-03 2.28976691e-03 -2.64305065e+01] [ 1.55276142e-03 9.99979871e-01 -6.15194555e-03 1.46810908e+01] [-2.28025482e-03 6.15547760e-03 9.99978455e-01 1.70196108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.759259764 meters Centerline goodness [0,1] 0.5264788964155445 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996448e-01 -1.52258263e-03 2.18754106e-03 -2.64304268e+01] [ 1.53645565e-03 9.99978631e-01 -6.35421322e-03 1.46821609e+01] [-2.17781950e-03 6.35755171e-03 9.99977419e-01 1.70200129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.789259764 meters Centerline goodness [0,1] 0.5339371483463702 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996553e-01 -1.36143879e-03 2.24489799e-03 -2.64304869e+01] [ 1.37535949e-03 9.99979764e-01 -6.21120118e-03 1.46818593e+01] [-2.23639639e-03 6.21426731e-03 9.99978190e-01 1.70199010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.819259764 meters Centerline goodness [0,1] 0.5204867487050182 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996687e-01 -1.14731484e-03 2.30420317e-03 -2.64304290e+01] [ 1.16068431e-03 9.99982452e-01 -5.80927699e-03 1.46807392e+01] [-2.29749767e-03 5.81193220e-03 9.99980471e-01 1.70194547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.849259764 meters Centerline goodness [0,1] 0.5213911804204236 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996673e-01 -1.00105120e-03 2.37751852e-03 -2.64305837e+01] [ 1.01403044e-03 9.99984557e-01 -5.46423966e-03 1.46795226e+01] [-2.37201182e-03 5.46663236e-03 9.99982245e-01 1.70192447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.879259764000004 meters Centerline goodness [0,1] 0.5127959752829879 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99995462e-01 -1.26001939e-03 2.73658362e-03 -2.64321402e+01] [ 1.27382061e-03 9.99986451e-01 -5.04735759e-03 1.46771784e+01] [-2.73018677e-03 5.05082060e-03 9.99983518e-01 1.70194210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.909259764 meters Centerline goodness [0,1] 0.5179103254187273 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99995175e-01 -1.28617021e-03 2.82776354e-03 -2.64326323e+01] [ 1.29964864e-03 9.99987780e-01 -4.76980272e-03 1.46761432e+01] [-2.82159420e-03 4.77345480e-03 9.99984626e-01 1.70194811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.939259764 meters Centerline goodness [0,1] 0.5290869327501366 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99995423e-01 -1.23272881e-03 2.76289811e-03 -2.64324910e+01] [ 1.24578466e-03 9.99988044e-01 -4.72868792e-03 1.46765042e+01] [-2.75703588e-03 4.73210825e-03 9.99985003e-01 1.70194841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.969259764 meters Centerline goodness [0,1] 0.5153835635170245 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996120e-01 -1.11090743e-03 2.55440605e-03 -2.64321290e+01] [ 1.12286551e-03 9.99988396e-01 -4.68469441e-03 1.46770144e+01] [-2.54917215e-03 4.68754449e-03 9.99985764e-01 1.70197687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.999259764 meters Centerline goodness [0,1] 0.5143835616438357 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996022e-01 -1.00360401e-03 2.63622103e-03 -2.64321566e+01] [ 1.01529084e-03 9.99989647e-01 -4.43558451e-03 1.46764970e+01] [-2.63174216e-03 4.43824339e-03 9.99986688e-01 1.70193680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.029259764 meters Centerline goodness [0,1] 0.5009297238173367 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.02 [[ 9.99995826e-01 -8.30416655e-04 2.76739541e-03 -2.64321629e+01] [ 8.41319060e-04 9.99991881e-01 -3.94075807e-03 1.46748109e+01] [-2.76410048e-03 3.94306988e-03 9.99988406e-01 1.70185736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.059259764000004 meters Centerline goodness [0,1] 0.5030425409992633 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.02 [[ 9.99995998e-01 -6.65965025e-04 2.74958725e-03 -2.64317922e+01] [ 6.75997981e-04 9.99993112e-01 -3.64957992e-03 1.46743832e+01] [-2.74713781e-03 3.65142403e-03 9.99989560e-01 1.70179925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.089259764 meters Centerline goodness [0,1] 0.5096654071518536 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.02 [[ 9.99996265e-01 -5.83845450e-04 2.67016283e-03 -2.64314038e+01] [ 5.93479005e-04 9.99993313e-01 -3.60848512e-03 1.46748206e+01] [-2.66803818e-03 3.61005633e-03 9.99989924e-01 1.70177364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.119259764 meters Centerline goodness [0,1] 0.5116737915159487 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996678e-01 -5.39675303e-04 2.52037311e-03 -2.64310093e+01] [ 5.48952535e-04 9.99993072e-01 -3.68165602e-03 1.46758586e+01] [-2.51836875e-03 3.68302736e-03 9.99990047e-01 1.70177954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.149259764 meters Centerline goodness [0,1] 0.515027808981068 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996593e-01 -4.54105428e-04 2.57074167e-03 -2.64311008e+01] [ 4.62970475e-04 9.99993945e-01 -3.44889521e-03 1.46754144e+01] [-2.56915995e-03 3.45007364e-03 9.99990748e-01 1.70175973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.179259764 meters Centerline goodness [0,1] 0.5000410835090794 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996125e-01 -6.01026994e-04 2.71831623e-03 -2.64316537e+01] [ 6.10336960e-04 9.99993947e-01 -3.42536975e-03 1.46752988e+01] [-2.71624104e-03 3.42701557e-03 9.99990439e-01 1.70175904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.209259764 meters Centerline goodness [0,1] 0.5129197902078699 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996757e-01 -5.79800906e-04 2.48001715e-03 -2.64312439e+01] [ 5.88767335e-04 9.99993288e-01 -3.61626954e-03 1.46766830e+01] [-2.47790379e-03 3.61771796e-03 9.99990386e-01 1.70179733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.239259764 meters Centerline goodness [0,1] 0.5153500356340113 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996805e-01 -6.95125167e-04 2.43026098e-03 -2.64313165e+01] [ 7.04688319e-04 9.99992004e-01 -3.93639168e-03 1.46782223e+01] [-2.42750526e-03 3.93809168e-03 9.99989299e-01 1.70183655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.269259764000005 meters Centerline goodness [0,1] 0.513988324705364 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99997459e-01 -6.35163838e-04 2.16295910e-03 -2.64305079e+01] [ 6.43953071e-04 9.99991529e-01 -4.06525349e-03 1.46800075e+01] [-2.16035867e-03 4.06663601e-03 9.99989398e-01 1.70183000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.299259764 meters Centerline goodness [0,1] 0.5030907442512157 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99997518e-01 -3.59158772e-04 2.19890564e-03 -2.64300209e+01] [ 3.67254325e-04 9.99993153e-01 -3.68233230e-03 1.46791285e+01] [-2.19756804e-03 3.68313072e-03 9.99990803e-01 1.70173884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.329259764 meters Centerline goodness [0,1] 0.526161033250893 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99997897e-01 2.52476787e-04 2.03549610e-03 -2.64285881e+01] [-2.45679388e-04 9.99994395e-01 -3.33898979e-03 1.46790236e+01] [-2.03632771e-03 3.33848269e-03 9.99992354e-01 1.70162574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.359259764 meters Centerline goodness [0,1] 0.5173257796600848 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99997847e-01 1.20656098e-04 2.07168596e-03 -2.64291081e+01] [-1.13253870e-04 9.99993611e-01 -3.57279064e-03 1.46798277e+01] [-2.07210380e-03 3.57254832e-03 9.99991472e-01 1.70168664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.389259764 meters Centerline goodness [0,1] 0.5173257796600848 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99997847e-01 1.20656098e-04 2.07168596e-03 -2.64291081e+01] [-1.13253870e-04 9.99993611e-01 -3.57279064e-03 1.46798277e+01] [-2.07210380e-03 3.57254832e-03 9.99991472e-01 1.70168664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.419259764 meters Centerline goodness [0,1] 0.5268034414295168 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99997648e-01 -1.89676162e-04 2.16054815e-03 -2.64301859e+01] [ 1.98134484e-04 9.99992315e-01 -3.91535532e-03 1.46805173e+01] [-2.15978889e-03 3.91577419e-03 9.99990001e-01 1.70179922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.449259764000004 meters Centerline goodness [0,1] 0.5102300024850208 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99997286e-01 -5.54964114e-04 2.26260996e-03 -2.64314970e+01] [ 5.64480551e-04 9.99990989e-01 -4.20748874e-03 1.46812475e+01] [-2.26025456e-03 4.20875452e-03 9.99988589e-01 1.70192482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.479259764 meters Centerline goodness [0,1] 0.5126277231540389 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99997425e-01 -3.18641586e-04 2.24677059e-03 -2.64314739e+01] [ 3.27082890e-04 9.99992886e-01 -3.75771689e-03 1.46799250e+01] [-2.24555724e-03 3.75844210e-03 9.99990416e-01 1.70190378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.509259764 meters Centerline goodness [0,1] 0.5167387650511117 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99997467e-01 -4.39611933e-05 2.25053061e-03 -2.64310709e+01] [ 5.16239799e-05 9.99994202e-01 -3.40493509e-03 1.46791023e+01] [-2.25036788e-03 3.40504264e-03 9.99991671e-01 1.70184036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.539259764 meters Centerline goodness [0,1] 0.5242590197319537 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99997355e-01 3.35966907e-04 2.27528020e-03 -2.64304987e+01] [-3.29628234e-04 9.99996066e-01 -2.78568884e-03 1.46775697e+01] [-2.27620714e-03 2.78493147e-03 9.99993531e-01 1.70173420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.569259764 meters Centerline goodness [0,1] 0.51580913660962 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99997239e-01 5.59245855e-04 2.28235369e-03 -2.64302688e+01] [-5.53519040e-04 9.99996699e-01 -2.50903187e-03 1.46767193e+01] [-2.28374932e-03 2.50776162e-03 9.99994248e-01 1.70169642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.599259764 meters Centerline goodness [0,1] 0.4935253374216333 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996956e-01 3.95723709e-04 2.43561196e-03 -2.64314289e+01] [-3.89348594e-04 9.99996499e-01 -2.61737701e-03 1.46763862e+01] [-2.43663919e-03 2.61642074e-03 9.99993609e-01 1.70179457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.629259764000004 meters Centerline goodness [0,1] 0.5208794814997129 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99996802e-01 3.39968142e-04 2.50618073e-03 -2.64320557e+01] [-3.33355545e-04 9.99996464e-01 -2.63846108e-03 1.46760614e+01] [-2.50706886e-03 2.63761719e-03 9.99993379e-01 1.70184869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.659259764 meters Centerline goodness [0,1] 0.5107157520186123 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99997045e-01 6.06548159e-04 2.35404790e-03 -2.64315984e+01] [-6.00753470e-04 9.99996790e-01 -2.46151182e-03 1.46756544e+01] [-2.35553337e-03 2.46009035e-03 9.99994200e-01 1.70184944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.689259764 meters Centerline goodness [0,1] 0.5163504128615957 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.02 [[ 9.99996734e-01 8.46594966e-04 2.41166171e-03 -2.64313320e+01] [-8.41958631e-04 9.99997797e-01 -1.92283178e-03 1.46740024e+01] [-2.41328426e-03 1.92079498e-03 9.99995243e-01 1.70176954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.719259764 meters Centerline goodness [0,1] 0.5143285616905249 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.02 [[ 9.99996166e-01 1.06372441e-03 2.55682415e-03 -2.64313898e+01] [-1.06065673e-03 9.99998716e-01 -1.20085777e-03 1.46708038e+01] [-2.55809825e-03 1.19814125e-03 9.99996010e-01 1.70168301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.749259764 meters Centerline goodness [0,1] 0.5097761944905229 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.02 [[ 9.99993880e-01 -2.83790146e-03 2.04617384e-03 -2.64304906e+01] [ 2.84901971e-03 9.99981083e-01 -5.45139541e-03 1.46717455e+01] [-2.03066461e-03 5.45719164e-03 9.99983048e-01 1.70177083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.779259764 meters Centerline goodness [0,1] 0.5080677966101694 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.02 [[ 9.99992826e-01 -2.85936914e-03 2.48419001e-03 -2.64318343e+01] [ 2.87181106e-03 9.99983279e-01 -5.01939470e-03 1.46692191e+01] [-2.46979617e-03 5.02649281e-03 9.99984317e-01 1.70176646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.809259764000004 meters Centerline goodness [0,1] 0.510038746037337 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.02 [[ 9.99992832e-01 -2.83321374e-03 2.51166889e-03 -2.64326718e+01] [ 2.84568411e-03 9.99983574e-01 -4.97538226e-03 1.46683802e+01] [-2.49753131e-03 4.98249401e-03 9.99984468e-01 1.70187057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.839259764 meters Centerline goodness [0,1] 0.5026742301458671 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.02 [[ 9.99991969e-01 -2.98282732e-03 2.67669779e-03 -2.64336659e+01] [ 2.99593834e-03 9.99983470e-01 -4.90764064e-03 1.46677781e+01] [-2.66201490e-03 4.91562045e-03 9.99984375e-01 1.70192752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.869259764 meters Centerline goodness [0,1] 0.5069731056621078 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.02 [[ 9.99988647e-01 -3.47951516e-03 3.25556029e-03 -2.64361797e+01] [ 3.49417990e-03 9.99983726e-01 -4.50973078e-03 1.46644869e+01] [-3.23981564e-03 4.52105510e-03 9.99984532e-01 1.70198064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.899259764 meters Centerline goodness [0,1] 0.46695193498035414 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.02 [[ 9.99986882e-01 -3.52977032e-03 3.71176557e-03 -2.64373408e+01] [ 3.54457630e-03 9.99985758e-01 -3.98994597e-03 1.46619756e+01] [-3.69762912e-03 4.00305026e-03 9.99985151e-01 1.70193535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.929259764 meters Centerline goodness [0,1] 0.4638510518255823 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.02 [[ 9.99985862e-01 -3.47246975e-03 4.02717594e-03 -2.64380177e+01] [ 3.48612971e-03 9.99988178e-01 -3.38990049e-03 1.46595789e+01] [-4.01535701e-03 3.40389182e-03 9.99986145e-01 1.70187458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.959259764 meters Centerline goodness [0,1] 0.4599441580756014 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.02 [[ 9.99983920e-01 -3.58536070e-03 4.39377904e-03 -2.64389174e+01] [ 3.59679732e-03 9.99990157e-01 -2.59778086e-03 1.46562190e+01] [-4.38442181e-03 2.61354262e-03 9.99986973e-01 1.70178489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.989259764 meters Centerline goodness [0,1] 0.48519789767242305 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.65, Z:17.02 [[ 9.99982972e-01 -3.55540551e-03 4.62770805e-03 -2.64393678e+01] [ 3.56534028e-03 9.99991354e-01 -2.14032503e-03 1.46546214e+01] [-4.62005832e-03 2.15678794e-03 9.99987002e-01 1.70173064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.019259764000005 meters Centerline goodness [0,1] 0.4764104344111286 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.65, Z:17.02 [[ 9.99981310e-01 -3.67260279e-03 4.88797558e-03 -2.64402678e+01] [ 3.68097844e-03 9.99991771e-01 -1.70562945e-03 1.46523756e+01] [-4.88167126e-03 1.72359010e-03 9.99986599e-01 1.70171196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.049259764 meters Centerline goodness [0,1] 0.4578287486299356 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.65, Z:17.02 [[ 9.99980689e-01 -3.64295594e-03 5.03484199e-03 -2.64408134e+01] [ 3.65131679e-03 9.99991969e-01 -1.65240451e-03 1.46519891e+01] [-5.02878192e-03 1.67075640e-03 9.99985960e-01 1.70173264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.079259764 meters Centerline goodness [0,1] 0.477247828991316 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.65, Z:17.02 [[ 9.99979532e-01 -3.65660605e-03 5.25018590e-03 -2.64416457e+01] [ 3.66466455e-03 9.99992121e-01 -1.52609890e-03 1.46509923e+01] [-5.24456419e-03 1.54530783e-03 9.99985053e-01 1.70176245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.109259764 meters Centerline goodness [0,1] 0.4809274495138369 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.65, Z:17.02 [[ 9.99981755e-01 -3.28827483e-03 5.06716918e-03 -2.64410594e+01] [ 3.29482104e-03 9.99993748e-01 -1.28408261e-03 1.46506769e+01] [-5.06291509e-03 1.30075460e-03 9.99986337e-01 1.70175731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.139259764 meters Centerline goodness [0,1] 0.4560537757742271 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.65, Z:17.02 [[ 9.99982454e-01 -3.04158902e-03 5.08344415e-03 -2.64409103e+01] [ 3.04628542e-03 9.99994940e-01 -9.16375480e-04 1.46496433e+01] [-5.08063119e-03 9.31845023e-04 9.99986659e-01 1.70172099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.169259764 meters Centerline goodness [0,1] 0.46240991410259824 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.64, Z:17.02 [[ 9.99978069e-01 -3.43715351e-03 5.66104045e-03 -2.64427400e+01] [ 3.43805690e-03 9.99994079e-01 -1.49856759e-04 1.46445325e+01] [-5.66049185e-03 1.69316451e-04 9.99983965e-01 1.70164782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.199259764000004 meters Centerline goodness [0,1] 0.450291159343568 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.64, Z:17.02 [[ 9.99973803e-01 -3.69980278e-03 6.22139444e-03 -2.64446485e+01] [ 3.69747244e-03 9.99993090e-01 3.86029378e-04 1.46408660e+01] [-6.22277969e-03 -3.63015831e-04 9.99980572e-01 1.70164282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.229259764 meters Centerline goodness [0,1] 0.44912967567853557 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.02 [[ 9.99971156e-01 -3.87098216e-03 6.53479932e-03 -2.64459946e+01] [ 3.86703520e-03 9.99992333e-01 6.16518456e-04 1.46389454e+01] [-6.53713575e-03 -5.91230374e-04 9.99978458e-01 1.70168995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.259259764 meters Centerline goodness [0,1] 0.45007798250019826 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.02 [[ 9.99965527e-01 -4.60541202e-03 6.90901512e-03 -2.64488760e+01] [ 4.60209578e-03 9.99989287e-01 4.95807948e-04 1.46373193e+01] [-6.91122451e-03 -4.63994907e-04 9.99976010e-01 1.70189298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.289259764 meters Centerline goodness [0,1] 0.4482731305449936 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.02 [[ 9.99963503e-01 -4.68188115e-03 7.14652319e-03 -2.64498832e+01] [ 4.67671319e-03 9.99988791e-01 7.39683595e-04 1.46359016e+01] [-7.14990619e-03 -7.06234360e-04 9.99974190e-01 1.70192736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.319259764 meters Centerline goodness [0,1] 0.4501503402437095 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:17.02 [[ 9.99964556e-01 -4.38520626e-03 7.18725305e-03 -2.64497825e+01] [ 4.37549161e-03 9.99989493e-01 1.36681676e-03 1.46338188e+01] [-7.19317131e-03 -1.33532054e-03 9.99973237e-01 1.70187329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.349259764 meters Centerline goodness [0,1] 0.462499670471621 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:17.02 [[ 9.99963918e-01 -4.14096534e-03 7.41728243e-03 -2.64497689e+01] [ 4.12661314e-03 9.99989586e-01 1.94922755e-03 1.46319984e+01] [-7.42527687e-03 -1.91854896e-03 9.99970592e-01 1.70176335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.379259764000004 meters Centerline goodness [0,1] 0.45251014065216244 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:17.02 [[ 9.99964162e-01 -3.90307758e-03 7.51275264e-03 -2.64495867e+01] [ 3.88526700e-03 9.99989611e-01 2.38385018e-03 1.46305097e+01] [-7.52197895e-03 -2.35457570e-03 9.99968937e-01 1.70168963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.409259764 meters Centerline goodness [0,1] 0.4540868605659336 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:17.02 [[ 9.99968104e-01 -3.32019471e-03 7.26410166e-03 -2.64481139e+01] [ 3.30042660e-03 9.99990823e-01 2.73163962e-03 1.46303914e+01] [-7.27310457e-03 -2.70757786e-03 9.99969885e-01 1.70159508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.439259764 meters Centerline goodness [0,1] 0.47643328929986795 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:17.02 [[ 9.99967430e-01 -3.49967963e-03 7.27257088e-03 -2.64483831e+01] [ 3.48232936e-03 9.99991064e-01 2.39700891e-03 1.46313581e+01] [-7.28089466e-03 -2.37160536e-03 9.99970682e-01 1.70163740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.469259764 meters Centerline goodness [0,1] 0.46690855160359124 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:17.02 [[ 9.99969564e-01 -3.47671371e-03 6.98453320e-03 -2.64475937e+01] [ 3.46258268e-03 9.99991936e-01 2.03426383e-03 1.46332226e+01] [-6.99154943e-03 -2.01001739e-03 9.99973539e-01 1.70165791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.499259764 meters Centerline goodness [0,1] 0.46561505832449623 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:17.02 [[ 9.99970550e-01 -3.38377889e-03 6.88833647e-03 -2.64473884e+01] [ 3.37042137e-03 9.99992419e-01 1.94983579e-03 1.46335746e+01] [-6.89488206e-03 -1.92656178e-03 9.99974374e-01 1.70167844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.529259764 meters Centerline goodness [0,1] 0.4727894764758924 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.64, Z:17.02 [[ 9.99973209e-01 -3.15211041e-03 6.60640016e-03 -2.64463708e+01] [ 3.14103958e-03 9.99993646e-01 1.68548021e-03 1.46354986e+01] [-6.61167100e-03 -1.66468409e-03 9.99976757e-01 1.70167651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.559259764000004 meters Centerline goodness [0,1] 0.459602402593951 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.64, Z:17.02 [[ 9.99976870e-01 -2.85503852e-03 6.17311336e-03 -2.64449969e+01] [ 2.84803364e-03 9.99995291e-01 1.14323358e-03 1.46388473e+01] [-6.17634827e-03 -1.12562590e-03 9.99980293e-01 1.70171336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.589259764 meters Centerline goodness [0,1] 0.47887511307401687 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.64, Z:17.02 [[ 9.99976977e-01 -2.86043614e-03 6.15326994e-03 -2.64449472e+01] [ 2.85444207e-03 9.99995443e-01 9.82689365e-04 1.46394109e+01] [-6.15605282e-03 -9.65102589e-04 9.99980586e-01 1.70172313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.619259764 meters Centerline goodness [0,1] 0.46730284956925117 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.64, Z:17.02 [[ 9.99978373e-01 -2.50576896e-03 6.08059665e-03 -2.64439931e+01] [ 2.49790401e-03 9.99996034e-01 1.30070146e-03 1.46388193e+01] [-6.08383179e-03 -1.28548459e-03 9.99980667e-01 1.70161599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.649259764 meters Centerline goodness [0,1] 0.48129921259842523 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.64, Z:17.02 [[ 9.99980073e-01 -2.37236903e-03 5.85019483e-03 -2.64432180e+01] [ 2.36570678e-03 9.99996546e-01 1.14546618e-03 1.46398821e+01] [-5.85289209e-03 -1.13160351e-03 9.99982231e-01 1.70160895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.679259764 meters Centerline goodness [0,1] 0.4814844373503592 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.64, Z:17.02 [[ 9.99982129e-01 -2.13314421e-03 5.58496461e-03 -2.64421552e+01] [ 2.12795684e-03 9.99997299e-01 9.34586990e-04 1.46418513e+01] [-5.58694314e-03 -9.22685724e-04 9.99983967e-01 1.70159300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.709259764 meters Centerline goodness [0,1] 0.48822286982327623 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.65, Z:17.02 [[ 9.99986472e-01 -1.37050237e-03 5.01767986e-03 -2.64400259e+01] [ 1.36928734e-03 9.99999032e-01 2.45577389e-04 1.46465716e+01] [-5.01801157e-03 -2.38703421e-04 9.99987381e-01 1.70166031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.739259764 meters Centerline goodness [0,1] 0.4979546001443812 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.65, Z:17.02 [[ 9.99987380e-01 -1.30216249e-03 4.85222583e-03 -2.64395213e+01] [ 1.30223282e-03 9.99999152e-01 -1.13352159e-05 1.46482152e+01] [-4.85220696e-03 1.76538005e-05 9.99988228e-01 1.70167039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.769259764000005 meters Centerline goodness [0,1] 0.479680890935375 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.65, Z:17.02 [[ 9.99987289e-01 -1.20926548e-03 4.89493557e-03 -2.64391782e+01] [ 1.21048715e-03 9.99999237e-01 -2.46624717e-04 1.46492314e+01] [-4.89463360e-03 2.52546839e-04 9.99987989e-01 1.70163019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.799259764 meters Centerline goodness [0,1] 0.48086833462390854 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.65, Z:17.02 [[ 9.99987003e-01 -1.14122481e-03 4.96903798e-03 -2.64392141e+01] [ 1.14241708e-03 9.99999319e-01 -2.37108054e-04 1.46491300e+01] [-4.96876400e-03 2.42781686e-04 9.99987626e-01 1.70161253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.829259764 meters Centerline goodness [0,1] 0.4738529781150629 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.65, Z:17.02 [[ 9.99986415e-01 -1.20105575e-03 5.07228479e-03 -2.64394232e+01] [ 1.20281560e-03 9.99999217e-01 -3.43916577e-04 1.46496968e+01] [-5.07186776e-03 3.50012928e-04 9.99987077e-01 1.70160495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.859259764 meters Centerline goodness [0,1] 0.4846694947108414 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.02 [[ 9.99990549e-01 -5.29912729e-04 4.31514087e-03 -2.64370668e+01] [ 5.36285374e-04 9.99998767e-01 -1.47578714e-03 1.46565757e+01] [-4.31435351e-03 1.47808734e-03 9.99989601e-01 1.70174825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.889259764 meters Centerline goodness [0,1] 0.4930800032248529 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.02 [[ 9.99992202e-01 -3.78565123e-04 3.93094464e-03 -2.64358375e+01] [ 3.85848322e-04 9.99998210e-01 -1.85219307e-03 1.46600783e+01] [-3.93023642e-03 1.85369538e-03 9.99990558e-01 1.70175319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.919259764 meters Centerline goodness [0,1] 0.489073035989926 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.02 [[ 9.99993906e-01 -8.20117042e-05 3.49006992e-03 -2.64339599e+01] [ 9.05529926e-05 9.99997001e-01 -2.44722392e-03 1.46642004e+01] [-3.48985875e-03 2.44752504e-03 9.99990915e-01 1.70172736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.949259764000004 meters Centerline goodness [0,1] 0.4982383869044392 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.02 [[ 9.99994210e-01 1.26571028e-04 3.40046469e-03 -2.64328784e+01] [-1.18216336e-04 9.99996975e-01 -2.45701518e-03 1.46654583e+01] [-3.40076538e-03 2.45659896e-03 9.99991200e-01 1.70162017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.979259764 meters Centerline goodness [0,1] 0.5081517308841911 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.01 [[ 9.99995138e-01 5.49228251e-04 3.06958317e-03 -2.64308619e+01] [-5.41756661e-04 9.99996890e-01 -2.43437493e-03 1.46675460e+01] [-3.07091065e-03 2.43270013e-03 9.99992326e-01 1.70149117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.009259764 meters Centerline goodness [0,1] 0.5203559206023272 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.01 [[ 9.99983803e-01 4.82296388e-03 3.02193678e-03 -2.64293290e+01] [-4.82656963e-03 9.99987648e-01 1.18703737e-03 1.46718874e+01] [-3.01617441e-03 -1.20160373e-03 9.99994729e-01 1.70135066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.039259764 meters Centerline goodness [0,1] 0.5257234283192187 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99985227e-01 4.77693021e-03 2.59367980e-03 -2.64283409e+01] [-4.77654500e-03 9.99988580e-01 -1.54692388e-04 1.46775004e+01] [-2.59438914e-03 1.42301274e-04 9.99996624e-01 1.70148620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.069259764 meters Centerline goodness [0,1] 0.5330706913772056 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99981162e-01 5.76921044e-03 2.09544155e-03 -2.64253423e+01] [-5.76706501e-03 9.99982841e-01 -1.02846052e-03 1.46848098e+01] [-2.10133900e-03 1.01635660e-03 9.99997276e-01 1.70146341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.099259764 meters Centerline goodness [0,1] 0.5349699063753901 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:17.01 [[ 9.99980184e-01 6.02951570e-03 1.81031607e-03 -2.64237787e+01] [-6.02686916e-03 9.99980767e-01 -1.46383071e-03 1.46880116e+01] [-1.81910744e-03 1.45289116e-03 9.99997290e-01 1.70140932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.129259764000004 meters Centerline goodness [0,1] 0.5379223680536163 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:17.01 [[ 9.99978445e-01 6.41709485e-03 1.38911403e-03 -2.64218005e+01] [-6.41442864e-03 9.99977593e-01 -1.91538353e-03 1.46915512e+01] [-1.40137411e-03 1.90643187e-03 9.99997201e-01 1.70136040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.159259764 meters Centerline goodness [0,1] 0.5382996042327448 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.70, Z:17.01 [[ 9.99934597e-01 1.13599817e-02 1.32398342e-03 -2.64196063e+01] [-1.13614845e-02 9.99934814e-01 1.13311524e-03 1.46981936e+01] [-1.31102495e-03 -1.14808355e-03 9.99998482e-01 1.70131301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.189259764 meters Centerline goodness [0,1] 0.5349452529062404 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.70, Z:17.01 [[ 9.99930658e-01 1.17424148e-02 8.91862155e-04 -2.64180091e+01] [-1.17426498e-02 9.99931019e-01 2.58742114e-04 1.47030635e+01] [-8.88762377e-04 -2.69196997e-04 9.99999569e-01 1.70137643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.219259764 meters Centerline goodness [0,1] 0.5340134121391225 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.71, Z:17.01 [[ 9.99922154e-01 1.24585651e-02 6.86232781e-04 -2.64163598e+01] [-1.24578313e-02 9.99921833e-01 -1.06344331e-03 1.47090954e+01] [-6.99428118e-04 1.05481156e-03 9.99999199e-01 1.70147185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.249259764 meters Centerline goodness [0,1] 0.5343383107260914 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.71, Z:17.01 [[ 9.99919778e-01 1.26550846e-02 5.34895077e-04 -2.64154664e+01] [-1.26543435e-02 9.99918996e-01 -1.36695207e-03 1.47109691e+01] [-5.52150643e-04 1.36007367e-03 9.99998923e-01 1.70144922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.279259764 meters Centerline goodness [0,1] 0.5343383107260914 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.71, Z:17.01 [[ 9.99919778e-01 1.26550846e-02 5.34895077e-04 -2.64154664e+01] [-1.26543435e-02 9.99918996e-01 -1.36695207e-03 1.47109691e+01] [-5.52150643e-04 1.36007367e-03 9.99998923e-01 1.70144922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.309259764000004 meters Centerline goodness [0,1] 0.5390528993169672 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:17.01 [[ 9.99915897e-01 1.29691285e-02 3.87897529e-05 -2.64134820e+01] [-1.29690356e-02 9.99914219e-01 -1.83289994e-03 1.47139927e+01] [-6.25575404e-05 1.83224272e-03 9.99998319e-01 1.70142446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.339259764 meters Centerline goodness [0,1] 0.5405982905982907 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:17.01 [[ 9.99915427e-01 1.30053236e-02 3.54700513e-06 -2.64132016e+01] [-1.30052931e-02 9.99913599e-01 -1.91209469e-03 1.47147731e+01] [-2.84141090e-05 1.91188685e-03 9.99998172e-01 1.70140689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.369259764 meters Centerline goodness [0,1] 0.5390424622399543 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.72, Z:17.01 [[ 9.99916882e-01 1.28926232e-02 9.94216933e-05 -2.64136458e+01] [-1.28923880e-02 9.99914717e-01 -2.08471185e-03 1.47151347e+01] [-1.26290619e-04 2.08325679e-03 9.99997822e-01 1.70143596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.399259764 meters Centerline goodness [0,1] 0.5370549977179371 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.72, Z:17.02 [[ 9.99960925e-01 8.82478317e-03 -5.22001586e-04 -2.64128051e+01] [-8.82817274e-03 9.99937273e-01 -6.89298808e-03 1.47187099e+01] [ 4.61139717e-04 6.89732706e-03 9.99976107e-01 1.70160239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.429259764 meters Centerline goodness [0,1] 0.5378191974464204 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.72, Z:17.02 [[ 9.99962148e-01 8.69490663e-03 -3.18633609e-04 -2.64136717e+01] [-8.69688925e-03 9.99938623e-01 -6.86397222e-03 1.47181835e+01] [ 2.58932455e-04 6.86648353e-03 9.99976392e-01 1.70163249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.459259764 meters Centerline goodness [0,1] 0.5377355808863242 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.72, Z:17.02 [[ 9.99990989e-01 4.21421245e-03 -5.11707985e-04 -2.64140430e+01] [-4.21983065e-03 9.99924677e-01 -1.15253223e-02 1.47204958e+01] [ 4.63099285e-04 1.15273778e-02 9.99933450e-01 1.70175673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.489259764 meters Centerline goodness [0,1] 0.5354776327389585 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.72, Z:17.02 [[ 9.99991372e-01 4.14908169e-03 -2.02342779e-04 -2.64148623e+01] [-4.15106110e-03 9.99930558e-01 -1.10294002e-02 1.47187393e+01] [ 1.56566845e-04 1.10301450e-02 9.99939154e-01 1.70170381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.519259764000005 meters Centerline goodness [0,1] 0.5417282127031019 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.72, Z:17.02 [[ 9.99991008e-01 4.23570745e-03 -2.04681257e-04 -2.64147656e+01] [-4.23766713e-03 9.99932964e-01 -1.07754050e-02 1.47182893e+01] [ 1.59026073e-04 1.07761755e-02 9.99941923e-01 1.70167334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.549259764 meters Centerline goodness [0,1] 0.5421566956422931 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.72, Z:17.02 [[ 9.99991409e-01 4.14233137e-03 -1.51772032e-04 -2.64153144e+01] [-4.14373423e-03 9.99932558e-01 -1.08494134e-02 1.47186908e+01] [ 1.06819931e-04 1.08499491e-02 9.99941132e-01 1.70172589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.579259764 meters Centerline goodness [0,1] 0.5380283292564992 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.72, Z:17.02 [[ 9.99991685e-01 4.07772817e-03 4.48877568e-05 -2.64160276e+01] [-4.07700822e-03 9.99933689e-01 -1.07701098e-02 1.47184335e+01] [-8.88023602e-05 1.07698372e-02 9.99942000e-01 1.70173756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.609259764 meters Centerline goodness [0,1] 0.5377934205671142 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.72, Z:17.02 [[ 9.99989716e-01 4.53202769e-03 1.69405727e-04 -2.64156840e+01] [-4.53008137e-03 9.99938533e-01 -1.01196927e-02 1.47166004e+01] [-2.15258041e-04 1.01188212e-02 9.99948780e-01 1.70163136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.639259764 meters Centerline goodness [0,1] 0.5347496378766793 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.72, Z:17.02 [[ 9.99988698e-01 4.74368174e-03 3.17964198e-04 -2.64157074e+01] [-4.74033608e-03 9.99940687e-01 -9.80572145e-03 1.47159806e+01] [-3.64460560e-04 9.80410337e-03 9.99951872e-01 1.70157378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.669259764 meters Centerline goodness [0,1] 0.5330867709815078 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.72, Z:17.02 [[ 9.99988186e-01 4.84861012e-03 3.44802878e-04 -2.64157745e+01] [-4.84504849e-03 9.99941481e-01 -9.67260711e-03 1.47156933e+01] [-3.91681401e-04 9.67082225e-03 9.99953160e-01 1.70156856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.699259764000004 meters Centerline goodness [0,1] 0.5343567874911159 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.71, Z:17.02 [[ 9.99987473e-01 4.98054173e-03 4.97563445e-04 -2.64163952e+01] [-4.97566093e-03 9.99943710e-01 -9.37121715e-03 1.47141476e+01] [-5.44209175e-04 9.36862405e-03 9.99955965e-01 1.70158886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.729259764 meters Centerline goodness [0,1] 0.5354028799454684 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.71, Z:17.02 [[ 9.99986406e-01 5.17556647e-03 6.33851136e-04 -2.64166760e+01] [-5.16974038e-03 9.99947280e-01 -8.87197400e-03 1.47123274e+01] [-6.79735211e-04 8.86857655e-03 9.99960442e-01 1.70155232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.759259764 meters Centerline goodness [0,1] 0.5313774354327141 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.71, Z:17.02 [[ 9.99988366e-01 4.63871863e-03 1.32309811e-03 -2.64194545e+01] [-4.62739705e-03 9.99953715e-01 -8.43528725e-03 1.47080852e+01] [-1.36216579e-03 8.42906661e-03 9.99963547e-01 1.70158450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.789259764 meters Centerline goodness [0,1] 0.5307256235827664 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.71, Z:17.02 [[ 9.99987234e-01 4.74798244e-03 1.72887920e-03 -2.64205342e+01] [-4.73455251e-03 9.99959216e-01 -7.69095107e-03 1.47050558e+01] [-1.76532519e-03 7.68266741e-03 9.99968930e-01 1.70153580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.819259764 meters Centerline goodness [0,1] 0.525668222316504 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.70, Z:17.02 [[ 9.99986402e-01 4.74941281e-03 2.15395129e-03 -2.64217963e+01] [-4.73409052e-03 9.99963845e-01 -7.06373709e-03 1.47023099e+01] [-2.18742202e-03 7.05344404e-03 9.99972732e-01 1.70150534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.849259764 meters Centerline goodness [0,1] 0.5333464655560558 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.70, Z:17.01 [[ 9.99985450e-01 4.75737643e-03 2.54293961e-03 -2.64230353e+01] [-4.74076583e-03 9.99967646e-01 -6.49864173e-03 1.46997532e+01] [-2.57377382e-03 6.48649169e-03 9.99975650e-01 1.70149087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.879259764000004 meters Centerline goodness [0,1] 0.5270902822546739 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.70, Z:17.02 [[ 9.99996891e-01 5.69126268e-04 2.42793212e-03 -2.64238298e+01] [-5.43644695e-04 9.99944905e-01 -1.04829567e-02 1.46983176e+01] [-2.43376448e-03 1.04816042e-02 9.99942105e-01 1.70162800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.909259764 meters Centerline goodness [0,1] 0.5297191560709795 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.69, Z:17.02 [[ 9.99995069e-01 3.18236520e-04 3.12416721e-03 -2.64260911e+01] [-2.87506636e-04 9.99951626e-01 -9.83171062e-03 1.46947485e+01] [-3.12714489e-03 9.83076392e-03 9.99946787e-01 1.70160826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.939259764 meters Centerline goodness [0,1] 0.4759211511270066 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.69, Z:17.02 [[ 9.99993867e-01 -5.00233801e-04 3.46634916e-03 -2.64286006e+01] [ 5.31106254e-04 9.99960154e-01 -8.91114177e-03 1.46882260e+01] [-3.46175338e-03 8.91292812e-03 9.99954287e-01 1.70162144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.969259764 meters Centerline goodness [0,1] 0.5213587946354655 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.69, Z:17.02 [[ 9.99992284e-01 -4.86533280e-04 3.89801047e-03 -2.64297376e+01] [ 5.18542261e-04 9.99966123e-01 -8.21482201e-03 1.46853312e+01] [-3.89388163e-03 8.21677991e-03 9.99958660e-01 1.70156805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.999259764 meters Centerline goodness [0,1] 0.5152023773491456 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99991807e-01 -3.24146465e-04 4.03497088e-03 -2.64301688e+01] [ 3.54981737e-04 9.99970724e-01 -7.64363710e-03 1.46832879e+01] [-4.03237509e-03 7.64500681e-03 9.99962646e-01 1.70154641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.029259764 meters Centerline goodness [0,1] 0.5203544192681187 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99990145e-01 -4.04893792e-04 4.42114512e-03 -2.64319860e+01] [ 4.35084160e-04 9.99976582e-01 -6.82980558e-03 1.46789098e+01] [-4.41827624e-03 6.83166184e-03 9.99966903e-01 1.70157522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.059259764000004 meters Centerline goodness [0,1] 0.4721106282965757 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.02 [[ 9.99987848e-01 -4.22020373e-04 4.91173642e-03 -2.64334336e+01] [ 4.52097621e-04 9.99981146e-01 -6.12404821e-03 1.46754957e+01] [-4.90905934e-03 6.12619438e-03 9.99969185e-01 1.70153800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.089259764 meters Centerline goodness [0,1] 0.5143460944485085 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.02 [[ 9.99976842e-01 -4.54034784e-03 5.06962267e-03 -2.64342531e+01] [ 4.58754455e-03 9.99945884e-01 -9.33721950e-03 1.46713000e+01] [-5.02695410e-03 9.36026038e-03 9.99943556e-01 1.70151359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.119259764 meters Centerline goodness [0,1] 0.4878496102705181 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:17.01 [[ 9.99971305e-01 -4.94341217e-03 5.74035273e-03 -2.64364379e+01] [ 4.99296950e-03 9.99950113e-01 -8.65115212e-03 1.46673534e+01] [-5.69730015e-03 8.67956528e-03 9.99946102e-01 1.70147490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.149259764 meters Centerline goodness [0,1] 0.49818152428675344 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.01 [[ 9.99967708e-01 -5.16484788e-03 6.15689027e-03 -2.64381012e+01] [ 5.21366983e-03 9.99954885e-01 -7.94014443e-03 1.46637455e+01] [-6.11560286e-03 7.97198802e-03 9.99949522e-01 1.70146790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.179259764 meters Centerline goodness [0,1] 0.4564068160472293 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.01 [[ 9.99965766e-01 -5.21897872e-03 6.42092379e-03 -2.64389659e+01] [ 5.26788601e-03 9.99957064e-01 -7.62367453e-03 1.46624444e+01] [-6.38086031e-03 7.65723824e-03 9.99950324e-01 1.70145966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.209259764 meters Centerline goodness [0,1] 0.4800900369794737 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.01 [[ 9.99964868e-01 -5.17642839e-03 6.59290975e-03 -2.64394869e+01] [ 5.22415777e-03 9.99960123e-01 -7.24297285e-03 1.46610019e+01] [-6.55515412e-03 7.27716079e-03 9.99952035e-01 1.70144190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.239259764 meters Centerline goodness [0,1] 0.486784671826045 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.01 [[ 9.99960924e-01 -5.38603679e-03 7.01013709e-03 -2.64412383e+01] [ 5.43489049e-03 9.99960949e-01 -6.96871677e-03 1.46590945e+01] [-6.97232957e-03 7.00654378e-03 9.99951146e-01 1.70149548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.269259764 meters Centerline goodness [0,1] 0.48239794553528437 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.02 [[ 9.99960559e-01 -5.38253441e-03 7.06460052e-03 -2.64416617e+01] [ 5.43240926e-03 9.99960324e-01 -7.05972560e-03 1.46593183e+01] [-7.02632100e-03 7.09782496e-03 9.99950125e-01 1.70154630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.299259764 meters Centerline goodness [0,1] 0.48412613575628005 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.02 [[ 9.99958179e-01 -5.57252546e-03 7.25171458e-03 -2.64426488e+01] [ 5.62481258e-03 9.99958188e-01 -7.21000267e-03 1.46594848e+01] [-7.21123344e-03 7.25049068e-03 9.99947713e-01 1.70160882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.329259764 meters Centerline goodness [0,1] 0.4824862085587275 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.01 [[ 9.99967600e-01 -1.50901956e-03 7.90708295e-03 -2.64438955e+01] [ 1.52827456e-03 9.99995881e-01 -2.42968213e-03 1.46565760e+01] [-7.90338394e-03 2.44168761e-03 9.99965787e-01 1.70148089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.359259764 meters Centerline goodness [0,1] 0.49699457950947246 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.01 [[ 9.99969696e-01 -1.24933582e-03 7.68411806e-03 -2.64427821e+01] [ 1.26790781e-03 9.99996286e-01 -2.41253463e-03 1.46577943e+01] [-7.68107546e-03 2.42220428e-03 9.99967566e-01 1.70142264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.389259764 meters Centerline goodness [0,1] 0.5003497255999139 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.01 [[ 9.99971489e-01 -1.03658869e-03 7.47977606e-03 -2.64415999e+01] [ 1.05539287e-03 9.99996292e-01 -2.51049398e-03 1.46595177e+01] [-7.47714597e-03 2.51831651e-03 9.99968875e-01 1.70135874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.419259764 meters Centerline goodness [0,1] 0.4848729326341267 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.01 [[ 9.99971944e-01 -1.09284142e-03 7.41057901e-03 -2.64416014e+01] [ 1.11300771e-03 9.99995688e-01 -2.71770643e-03 1.46603060e+01] [-7.40757703e-03 2.72587822e-03 9.99968848e-01 1.70139222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.449259764000004 meters Centerline goodness [0,1] 0.48839897835730606 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.66, Z:17.01 [[ 9.99976455e-01 -6.64914596e-04 6.82988371e-03 -2.64399567e+01] [ 6.87787192e-04 9.99994162e-01 -3.34709721e-03 1.46642687e+01] [-6.82761830e-03 3.35171591e-03 9.99971074e-01 1.70147534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.479259764 meters Centerline goodness [0,1] 0.4968741579089194 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:17.01 [[ 9.99976202e-01 -8.03781708e-04 6.85200976e-03 -2.64400767e+01] [ 8.28574549e-04 9.99993118e-01 -3.61626074e-03 1.46657007e+01] [-6.84905592e-03 3.62185208e-03 9.99969986e-01 1.70148852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.509259764 meters Centerline goodness [0,1] 0.49255221544605754 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:17.01 [[ 9.99977584e-01 -6.55578921e-04 6.66352384e-03 -2.64393435e+01] [ 6.79297357e-04 9.99993440e-01 -3.55780365e-03 1.46661014e+01] [-6.66114771e-03 3.56225041e-03 9.99971469e-01 1.70145833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.539259764 meters Centerline goodness [0,1] 0.5032105990408844 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:17.01 [[ 9.99981793e-01 8.62806588e-05 6.03376801e-03 -2.64364586e+01] [-6.62913289e-05 9.99994510e-01 -3.31303144e-03 1.46680321e+01] [-6.03402074e-03 3.31257114e-03 9.99976308e-01 1.70132838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.569259764 meters Centerline goodness [0,1] 0.5077909430287291 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:17.01 [[ 9.99982249e-01 2.41186788e-04 5.95347182e-03 -2.64359988e+01] [-2.22474943e-04 9.99995035e-01 -3.14347608e-03 1.46681064e+01] [-5.95420042e-03 3.14209578e-03 9.99977337e-01 1.70128838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.599259764 meters Centerline goodness [0,1] 0.5036175920656858 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:17.01 [[ 9.99981869e-01 3.14641181e-04 6.01355604e-03 -2.64361542e+01] [-2.96945510e-04 9.99995624e-01 -2.94329659e-03 1.46675140e+01] [-6.01445581e-03 2.94145753e-03 9.99977587e-01 1.70127549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.629259764000004 meters Centerline goodness [0,1] 0.5066243144920454 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:17.01 [[ 9.99982254e-01 2.60057161e-04 5.95182816e-03 -2.64363249e+01] [-2.41112696e-04 9.99994904e-01 -3.18346194e-03 1.46683575e+01] [-5.95262571e-03 3.18197038e-03 9.99977220e-01 1.70133473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.659259764 meters Centerline goodness [0,1] 0.5134128774495148 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.01 [[ 9.99985631e-01 7.35566910e-04 5.31004716e-03 -2.64343472e+01] [-7.17816881e-04 9.99994152e-01 -3.34385751e-03 1.46710244e+01] [-5.31247574e-03 3.33999782e-03 9.99980311e-01 1.70134545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.689259764 meters Centerline goodness [0,1] 0.5236598234055931 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99988695e-01 1.18107395e-03 4.60591532e-03 -2.64322994e+01] [-1.16472906e-03 9.99993021e-01 -3.54974362e-03 1.46751703e+01] [-4.61007569e-03 3.54433885e-03 9.99983092e-01 1.70136816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.719259764 meters Centerline goodness [0,1] 0.4997400038315225 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99989093e-01 1.13629992e-03 4.53025971e-03 -2.64321901e+01] [-1.11942691e-03 9.99992434e-01 -3.72530897e-03 1.46760744e+01] [-4.53445851e-03 3.72019704e-03 9.99982799e-01 1.70138462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.749259764 meters Centerline goodness [0,1] 0.5029029961110807 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99988953e-01 1.33646449e-03 4.50633679e-03 -2.64317451e+01] [-1.32065642e-03 9.99992971e-01 -3.50911752e-03 1.46759404e+01] [-4.51099492e-03 3.50312743e-03 9.99983689e-01 1.70132783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.779259764 meters Centerline goodness [0,1] 0.5265101772816809 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.01 [[ 9.99988132e-01 1.56844298e-03 4.61247570e-03 -2.64312952e+01] [-1.55513771e-03 9.99994624e-01 -2.88679929e-03 1.46744441e+01] [-4.61697868e-03 2.87959199e-03 9.99985196e-01 1.70119148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.809259764000004 meters Centerline goodness [0,1] 0.518521565079104 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.01 [[ 9.99987298e-01 1.66032151e-03 4.75880036e-03 -2.64313616e+01] [-1.64876195e-03 9.99995684e-01 -2.43198529e-03 1.46731068e+01] [-4.76281770e-03 2.42410827e-03 9.99985720e-01 1.70111652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.839259764 meters Centerline goodness [0,1] 0.5254125774439389 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99988899e-01 1.99996831e-03 4.26635559e-03 -2.64295834e+01] [-1.98913251e-03 9.99994789e-01 -2.54255711e-03 1.46753645e+01] [-4.27141839e-03 2.53404254e-03 9.99987667e-01 1.70108793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.869259764 meters Centerline goodness [0,1] 0.5348007465144362 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99990300e-01 2.21547453e-03 3.80666566e-03 -2.64282415e+01] [-2.20506358e-03 9.99993823e-01 -2.73694979e-03 1.46777507e+01] [-3.81270579e-03 2.72852930e-03 9.99989009e-01 1.70109337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.899259764 meters Centerline goodness [0,1] 0.5332930281128913 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99991090e-01 2.24305545e-03 3.57619633e-03 -2.64277463e+01] [-2.23217762e-03 9.99992879e-01 -3.04282746e-03 1.46794550e+01] [-3.58299609e-03 3.03481765e-03 9.99988976e-01 1.70112962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.929259764 meters Centerline goodness [0,1] 0.5213376933857272 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99990951e-01 2.39873521e-03 3.51330877e-03 -2.64272920e+01] [-2.38788794e-03 9.99992380e-01 -3.08842932e-03 1.46801345e+01] [-3.52069032e-03 3.08001199e-03 9.99989059e-01 1.70110304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.959259764 meters Centerline goodness [0,1] 0.5269421487603305 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99991183e-01 2.56280585e-03 3.32667127e-03 -2.64263526e+01] [-2.55232304e-03 9.99991777e-01 -3.15157078e-03 1.46812377e+01] [-3.33472078e-03 3.14305225e-03 9.99989500e-01 1.70105897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.989259764 meters Centerline goodness [0,1] 0.5306663719748038 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:17.01 [[ 9.99991713e-01 2.93600204e-03 2.82041161e-03 -2.64245257e+01] [-2.92678664e-03 9.99990384e-01 -3.26598488e-03 1.46835236e+01] [-2.82997343e-03 3.25770307e-03 9.99990689e-01 1.70103303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.019259764 meters Centerline goodness [0,1] 0.5306274488162905 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:17.01 [[ 9.99991554e-01 2.96093769e-03 2.85032171e-03 -2.64245835e+01] [-2.95198836e-03 9.99990717e-01 -3.13886420e-03 1.46835280e+01] [-2.85958923e-03 3.13042358e-03 9.99991012e-01 1.70101823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.049259764 meters Centerline goodness [0,1] 0.5312026032043681 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99991020e-01 3.04501614e-03 2.94741171e-03 -2.64250007e+01] [-3.03647967e-03 9.99991195e-01 -2.89641157e-03 1.46822881e+01] [-2.95620538e-03 2.88743581e-03 9.99991462e-01 1.70102921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.079259764 meters Centerline goodness [0,1] 0.5257374204742626 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99991873e-01 1.96470689e-03 3.52060094e-03 -2.64284688e+01] [-1.95319438e-03 9.99992744e-01 -3.27049960e-03 1.46795729e+01] [-3.52700097e-03 3.26359661e-03 9.99988455e-01 1.70120636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.109259764 meters Centerline goodness [0,1] 0.523609047383193 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99991528e-01 1.89499610e-03 3.65415969e-03 -2.64292192e+01] [-1.88372753e-03 9.99993468e-01 -3.08474280e-03 1.46785863e+01] [-3.65998140e-03 3.07783322e-03 9.99988566e-01 1.70123874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.139259764 meters Centerline goodness [0,1] 0.5245599559955996 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99991644e-01 1.78943622e-03 3.67548591e-03 -2.64297831e+01] [-1.77858023e-03 9.99994053e-01 -2.95476735e-03 1.46782258e+01] [-3.68075142e-03 2.94820551e-03 9.99988880e-01 1.70128090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.169259764 meters Centerline goodness [0,1] 0.5227060567788699 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99991654e-01 2.08075329e-03 3.51611829e-03 -2.64289091e+01] [-2.07147463e-03 9.99994368e-01 -2.64047790e-03 1.46781287e+01] [-3.52159267e-03 2.63317232e-03 9.99990332e-01 1.70121305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.199259764000004 meters Centerline goodness [0,1] 0.5227060567788699 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99991654e-01 2.08075329e-03 3.51611829e-03 -2.64289091e+01] [-2.07147463e-03 9.99994368e-01 -2.64047790e-03 1.46781287e+01] [-3.52159267e-03 2.63317232e-03 9.99990332e-01 1.70121305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.229259764 meters Centerline goodness [0,1] 0.5322407677289851 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99991531e-01 2.35937208e-03 3.37204838e-03 -2.64280097e+01] [-2.35099318e-03 9.99994145e-01 -2.48661629e-03 1.46782824e+01] [-3.37789549e-03 2.47866757e-03 9.99991223e-01 1.70114993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.259259764 meters Centerline goodness [0,1] 0.5330802453852714 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99990594e-01 2.70353889e-03 3.39159585e-03 -2.64274224e+01] [-2.69687733e-03 9.99994429e-01 -1.96717680e-03 1.46766755e+01] [-3.39689529e-03 1.95801158e-03 9.99992314e-01 1.70104433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.289259764 meters Centerline goodness [0,1] 0.5268743298600611 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99990333e-01 2.89923101e-03 3.30578469e-03 -2.64268406e+01] [-2.89308971e-03 9.99994083e-01 -1.86101484e-03 1.46768567e+01] [-3.31116064e-03 1.85143292e-03 9.99992804e-01 1.70100187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.319259764 meters Centerline goodness [0,1] 0.5343982374001652 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99990434e-01 2.87931759e-03 3.29255886e-03 -2.64269572e+01] [-2.87289344e-03 9.99993964e-01 -1.95417999e-03 1.46770704e+01] [-3.29816569e-03 1.94470213e-03 9.99992670e-01 1.70102549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.349259764 meters Centerline goodness [0,1] 0.5194712200495731 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99990505e-01 2.79367108e-03 3.34438063e-03 -2.64272933e+01] [-2.78734542e-03 9.99994321e-01 -1.89459882e-03 1.46768673e+01] [-3.34965453e-03 1.88525889e-03 9.99992613e-01 1.70103606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.379259764000004 meters Centerline goodness [0,1] 0.5227341493604731 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99991342e-01 2.89898904e-03 2.98532690e-03 -2.64262440e+01] [-2.89271782e-03 9.99993605e-01 -2.10286050e-03 1.46787960e+01] [-2.99140398e-03 2.09420659e-03 9.99993333e-01 1.70103955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.409259764 meters Centerline goodness [0,1] 0.5342064544650751 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99992143e-01 2.90333028e-03 2.69909982e-03 -2.64257033e+01] [-2.89653812e-03 9.99992637e-01 -2.51696630e-03 1.46805584e+01] [-2.70638753e-03 2.50912848e-03 9.99993190e-01 1.70109695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.439259764 meters Centerline goodness [0,1] 0.5329922566371681 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:17.01 [[ 9.99992559e-01 2.87816281e-03 2.56880573e-03 -2.64253689e+01] [-2.87100044e-03 9.99991993e-01 -2.78755910e-03 1.46820945e+01] [-2.57680821e-03 2.78016331e-03 9.99992815e-01 1.70111115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.469259764 meters Centerline goodness [0,1] 0.5333924513661807 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:17.01 [[ 9.99992498e-01 3.14835580e-03 2.25628817e-03 -2.64240144e+01] [-3.14173407e-03 9.99990765e-01 -2.93234663e-03 1.46843673e+01] [-2.26549941e-03 2.92523597e-03 9.99993155e-01 1.70106823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.499259764 meters Centerline goodness [0,1] 0.5399872218672741 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:17.01 [[ 9.99990411e-01 4.05232815e-03 1.66033647e-03 -2.64209086e+01] [-4.04697009e-03 9.99986634e-01 -3.21784350e-03 1.46883722e+01] [-1.67335404e-03 3.21109331e-03 9.99993444e-01 1.70097547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.529259764 meters Centerline goodness [0,1] 0.5423247263307429 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:17.01 [[ 9.99988444e-01 4.61646411e-03 1.34145711e-03 -2.64187914e+01] [-4.61199571e-03 9.99983869e-01 -3.31522635e-03 1.46906397e+01] [-1.35674010e-03 3.30900125e-03 9.99993605e-01 1.70085806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.559259764000004 meters Centerline goodness [0,1] 0.5431569571631363 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:17.01 [[ 9.99988392e-01 4.64148930e-03 1.29340761e-03 -2.64186108e+01] [-4.63697162e-03 9.99983214e-01 -3.47422549e-03 1.46915447e+01] [-1.30951148e-03 3.46818767e-03 9.99993128e-01 1.70085979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.589259764 meters Centerline goodness [0,1] 0.5418255713609665 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:17.01 [[ 9.99988587e-01 4.59932730e-03 1.29343259e-03 -2.64185729e+01] [-4.59455844e-03 9.99982725e-01 -3.66609174e-03 1.46926922e+01] [-1.31027180e-03 3.66010715e-03 9.99992443e-01 1.70086049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.619259764 meters Centerline goodness [0,1] 0.5327415843242338 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:17.01 [[ 9.99988763e-01 4.59593970e-03 1.16281661e-03 -2.64183217e+01] [-4.59147224e-03 9.99982179e-01 -3.81586451e-03 1.46936285e+01] [-1.18033337e-03 3.81048258e-03 9.99992043e-01 1.70087833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.649259764 meters Centerline goodness [0,1] 0.5414418695664328 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:17.01 [[ 9.99988271e-01 4.72092786e-03 1.08233590e-03 -2.64179637e+01] [-4.71691315e-03 9.99982095e-01 -3.68232390e-03 1.46937942e+01] [-1.09970051e-03 3.67717543e-03 9.99992634e-01 1.70085015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.679259764 meters Centerline goodness [0,1] 0.5416178521617852 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:17.01 [[ 9.99987404e-01 4.88215383e-03 1.16455404e-03 -2.64180202e+01] [-4.87790205e-03 9.99981528e-01 -3.62631141e-03 1.46937495e+01] [-1.18223674e-03 3.62058516e-03 9.99992747e-01 1.70083653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.709259764 meters Centerline goodness [0,1] 0.5404245834958489 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.70, Z:17.01 [[ 9.99998965e-01 1.33536375e-03 5.35790585e-04 -2.64160593e+01] [-1.33116141e-03 9.99968939e-01 -7.76841651e-03 1.46962792e+01] [-5.46147604e-04 7.76769524e-03 9.99969682e-01 1.70084875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.739259764 meters Centerline goodness [0,1] 0.5362125507198043 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:17.01 [[ 9.99998534e-01 1.47342373e-03 8.71853264e-04 -2.64168225e+01] [-1.46707935e-03 9.99972763e-01 -7.23332695e-03 1.46940130e+01] [-8.82487273e-04 7.23203727e-03 9.99973459e-01 1.70080068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.769259764 meters Centerline goodness [0,1] 0.5302866638969672 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:17.01 [[ 9.99998549e-01 8.58638519e-04 1.47157060e-03 -2.64196862e+01] [-8.48510821e-04 9.99976047e-01 -6.86909794e-03 1.46898042e+01] [-1.47743342e-03 6.86783932e-03 9.99975325e-01 1.70086997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.799259764 meters Centerline goodness [0,1] 0.5264597028116886 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:17.01 [[ 9.99997818e-01 5.96172952e-04 2.00197913e-03 -2.64215900e+01] [-5.83200592e-04 9.99978873e-01 -6.47411161e-03 1.46872420e+01] [-2.00579652e-03 6.47292993e-03 9.99977039e-01 1.70088245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.829259764 meters Centerline goodness [0,1] 0.5276293317172607 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:17.01 [[ 9.99997666e-01 7.44090280e-04 2.02827699e-03 -2.64218755e+01] [-7.32101100e-04 9.99982295e-01 -5.90536418e-03 1.46854013e+01] [-2.03263520e-03 5.90386550e-03 9.99980506e-01 1.70087071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.859259764 meters Centerline goodness [0,1] 0.5280963935149443 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:17.01 [[ 9.99997288e-01 8.45513183e-04 2.17022269e-03 -2.64222496e+01] [-8.33718530e-04 9.99984910e-01 -5.42992961e-03 1.46839081e+01] [-2.17478102e-03 5.42810553e-03 9.99982903e-01 1.70084108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.889259764 meters Centerline goodness [0,1] 0.5274607409037155 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:17.01 [[ 9.99996546e-01 9.76413901e-04 2.44030916e-03 -2.64229317e+01] [-9.64856583e-04 9.99988335e-01 -4.73270420e-03 1.46811987e+01] [-2.44490177e-03 4.73033330e-03 9.99985823e-01 1.70079354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.919259764 meters Centerline goodness [0,1] 0.5267219597934747 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:17.01 [[ 9.99991372e-01 -3.11626055e-03 2.74691615e-03 -2.64240274e+01] [ 3.13928463e-03 9.99959643e-01 -8.41771323e-03 1.46782355e+01] [-2.72057351e-03 8.42626395e-03 9.99960798e-01 1.70080703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.949259764000004 meters Centerline goodness [0,1] 0.5189651871906364 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.01 [[ 9.99988449e-01 -3.33028104e-03 3.46565388e-03 -2.64261011e+01] [ 3.35699619e-03 9.99964477e-01 -7.73149242e-03 1.46742966e+01] [-3.43978273e-03 7.74303731e-03 9.99964106e-01 1.70075456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.979259764 meters Centerline goodness [0,1] 0.5175698848634965 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.01 [[ 9.99985979e-01 -3.55086683e-03 3.92861542e-03 -2.64278825e+01] [ 3.57875814e-03 9.99968281e-01 -7.11542260e-03 1.46710051e+01] [-3.90322489e-03 7.12938240e-03 9.99966968e-01 1.70076060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.009259764 meters Centerline goodness [0,1] 0.5173267326732673 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.01 [[ 9.99986321e-01 -3.43003611e-03 3.94875391e-03 -2.64280099e+01] [ 3.45743349e-03 9.99969854e-01 -6.95244179e-03 1.46707868e+01] [-3.92478775e-03 6.96599924e-03 9.99968035e-01 1.70076805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.039259764 meters Centerline goodness [0,1] 0.49771565321440225 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.01 [[ 9.99985446e-01 -3.39613061e-03 4.19224859e-03 -2.64286873e+01] [ 3.42369563e-03 9.99972453e-01 -6.58566573e-03 1.46694937e+01] [-4.16976733e-03 6.59992286e-03 9.99969527e-01 1.70074968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.069259764 meters Centerline goodness [0,1] 0.49153827407868733 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.01 [[ 9.99980514e-01 -4.25745463e-03 4.56567697e-03 -2.64309453e+01] [ 4.28396846e-03 9.99973927e-01 -5.81323550e-03 1.46638439e+01] [-4.54080834e-03 5.83268144e-03 9.99972680e-01 1.70072652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.099259764 meters Centerline goodness [0,1] 0.48764948843236244 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.01 [[ 9.99978229e-01 -4.27200682e-03 5.02910460e-03 -2.64321022e+01] [ 4.29730547e-03 9.99978114e-01 -5.03043777e-03 1.46600770e+01] [-5.00750447e-03 5.05193985e-03 9.99974701e-01 1.70065027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.129259764000004 meters Centerline goodness [0,1] 0.48987024198117024 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.01 [[ 9.99977282e-01 -4.12125482e-03 5.33398246e-03 -2.64326488e+01] [ 4.14423467e-03 9.99982149e-01 -4.30434030e-03 1.46574721e+01] [-5.31614796e-03 4.32634778e-03 9.99976510e-01 1.70057045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.159259764 meters Centerline goodness [0,1] 0.48958277109084036 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.01 [[ 9.99977150e-01 -4.01436579e-03 5.43910753e-03 -2.64327238e+01] [ 4.03593143e-03 9.99984016e-01 -3.95976419e-03 1.46568269e+01] [-5.42312464e-03 3.98162558e-03 9.99977368e-01 1.70052422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.189259764 meters Centerline goodness [0,1] 0.48538720538720537 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.01 [[ 9.99976220e-01 -4.03098160e-03 5.59551987e-03 -2.64332408e+01] [ 4.05196630e-03 9.99984782e-01 -3.74401105e-03 1.46559963e+01] [-5.58034267e-03 3.76659487e-03 9.99977336e-01 1.70051936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.219259764 meters Centerline goodness [0,1] 0.4900382316514996 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.00 [[ 9.99974757e-01 -3.89750499e-03 5.94087399e-03 -2.64338837e+01] [ 3.91528858e-03 9.99987881e-01 -2.98474438e-03 1.46532273e+01] [-5.92916893e-03 3.00792928e-03 9.99977898e-01 1.70043124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.249259764 meters Centerline goodness [0,1] 0.4902772921653533 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.00 [[ 9.99973390e-01 -3.75935878e-03 6.25187115e-03 -2.64343401e+01] [ 3.77491010e-03 9.99989806e-01 -2.47752993e-03 1.46514113e+01] [-6.24249349e-03 2.50106426e-03 9.99977388e-01 1.70035452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.279259764 meters Centerline goodness [0,1] 0.4747122427624695 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.00 [[ 9.99973118e-01 -3.53541772e-03 6.42372678e-03 -2.64342970e+01] [ 3.54871388e-03 9.99991582e-01 -2.05963445e-03 1.46503457e+01] [-6.41639104e-03 2.08237505e-03 9.99977247e-01 1.70027295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.309259764000004 meters Centerline goodness [0,1] 0.48765797257327237 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.00 [[ 9.99974362e-01 -3.52656460e-03 6.23205185e-03 -2.64338727e+01] [ 3.54071902e-03 9.99991174e-01 -2.26165815e-03 1.46517363e+01] [-6.22402096e-03 2.28366611e-03 9.99978023e-01 1.70029450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.339259764 meters Centerline goodness [0,1] 0.47607269598881596 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.00 [[ 9.99975349e-01 -3.47604562e-03 6.10061705e-03 -2.64334026e+01] [ 3.49108981e-03 9.99990887e-01 -2.45709754e-03 1.46531558e+01] [-6.09202047e-03 2.47833477e-03 9.99978372e-01 1.70029435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.369259764 meters Centerline goodness [0,1] 0.47149075666380047 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:17.00 [[ 9.99975935e-01 -3.42240031e-03 6.03457663e-03 -2.64328521e+01] [ 3.43863543e-03 9.99990491e-01 -2.68202902e-03 1.46548499e+01] [-6.02534027e-03 2.70271519e-03 9.99978195e-01 1.70026714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.399259764 meters Centerline goodness [0,1] 0.4772166165736368 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.00 [[ 9.99975921e-01 -3.32730555e-03 6.08982291e-03 -2.64326613e+01] [ 3.34351380e-03 9.99990890e-01 -2.65328908e-03 1.46551538e+01] [-6.08093913e-03 2.67358660e-03 9.99977937e-01 1.70022381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.429259764 meters Centerline goodness [0,1] 0.5010901456219213 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.00 [[ 9.99977511e-01 -3.10953479e-03 5.94210380e-03 -2.64317073e+01] [ 3.12694631e-03 9.99990839e-01 -2.92315342e-03 1.46573371e+01] [-5.93295971e-03 2.94166832e-03 9.99978073e-01 1.70018564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.459259764 meters Centerline goodness [0,1] 0.5083865062057453 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.00 [[ 9.99977458e-01 -3.12103607e-03 5.94497659e-03 -2.64316165e+01] [ 3.13990530e-03 9.99990055e-01 -3.16729435e-03 1.46587148e+01] [-5.93503222e-03 3.18588962e-03 9.99977312e-01 1.70018736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.489259764 meters Centerline goodness [0,1] 0.5021243200822667 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.00 [[ 9.99981599e-01 -2.58851851e-03 5.48649220e-03 -2.64297911e+01] [ 2.60786207e-03 9.99990399e-01 -3.52145294e-03 1.46625565e+01] [-5.47732418e-03 3.53569616e-03 9.99978749e-01 1.70018376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.519259764 meters Centerline goodness [0,1] 0.5079761258817146 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.00 [[ 9.99983943e-01 -2.30493646e-03 5.17699865e-03 -2.64285793e+01] [ 2.32427263e-03 9.99990335e-01 -3.73210802e-03 1.46649456e+01] [-5.16834634e-03 3.74408085e-03 9.99979635e-01 1.70016560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.549259764 meters Centerline goodness [0,1] 0.4775387966240131 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.00 [[ 9.99985179e-01 -2.24017664e-03 4.96211695e-03 -2.64280625e+01] [ 2.26021362e-03 9.99989301e-01 -4.03607006e-03 1.46667491e+01] [-4.95302235e-03 4.04722568e-03 9.99979544e-01 1.70019721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.579259764 meters Centerline goodness [0,1] 0.5174068318748126 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.00 [[ 9.99986314e-01 -1.89255207e-03 4.87755003e-03 -2.64268306e+01] [ 1.91148751e-03 9.99990644e-01 -3.88042822e-03 1.46677474e+01] [-4.87016049e-03 3.88969848e-03 9.99980576e-01 1.70007446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.609259764 meters Centerline goodness [0,1] 0.5096841071525997 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.00 [[ 9.99986425e-01 -1.71421820e-03 4.92057125e-03 -2.64264583e+01] [ 1.73222088e-03 9.99991814e-01 -3.65672794e-03 1.46675744e+01] [-4.91426254e-03 3.66520182e-03 9.99981208e-01 1.70000315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.639259764 meters Centerline goodness [0,1] 0.4966151662390129 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.00 [[ 9.99985861e-01 -1.66669309e-03 5.04967415e-03 -2.64263238e+01] [ 1.68461862e-03 9.99992288e-01 -3.54766871e-03 1.46679760e+01] [-5.04372233e-03 3.55612532e-03 9.99980957e-01 1.69993038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.669259764 meters Centerline goodness [0,1] 0.5118489904386181 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.00 [[ 9.99986031e-01 -1.62625404e-03 5.02929599e-03 -2.64263639e+01] [ 1.64409744e-03 9.99992362e-01 -3.54579589e-03 1.46681738e+01] [-5.02349121e-03 3.55401501e-03 9.99981067e-01 1.69994095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.699259764000004 meters Centerline goodness [0,1] 0.5162971905179983 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.00 [[ 9.99987866e-01 -1.46557920e-03 4.70321429e-03 -2.64255173e+01] [ 1.48338436e-03 9.99991739e-01 -3.78448868e-03 1.46699541e+01] [-4.69762897e-03 3.79141943e-03 9.99981779e-01 1.69997029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.729259764 meters Centerline goodness [0,1] 0.499615278922781 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.00 [[ 9.99989211e-01 -1.22115348e-03 4.48171890e-03 -2.64248719e+01] [ 1.23888842e-03 9.99991405e-01 -3.95653243e-03 1.46713960e+01] [-4.47684885e-03 3.96204209e-03 9.99982130e-01 1.69999685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.759259764 meters Centerline goodness [0,1] 0.5017432124523018 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:17.00 [[ 9.99988755e-01 -9.64652715e-04 4.64321539e-03 -2.64248954e+01] [ 9.80577277e-04 9.99993642e-01 -3.42858732e-03 1.46697602e+01] [-4.63987847e-03 3.43310180e-03 9.99983343e-01 1.69992153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.789259764 meters Centerline goodness [0,1] 0.5076036803451006 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:17.00 [[ 9.99985768e-01 -1.10170239e-03 5.22020162e-03 -2.64262406e+01] [ 1.11559225e-03 9.99995844e-01 -2.65862558e-03 1.46651166e+01] [-5.21725091e-03 2.66441136e-03 9.99982840e-01 1.69981325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.819259764 meters Centerline goodness [0,1] 0.5086675220441703 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.00 [[ 9.99984499e-01 -9.94363077e-04 5.47832954e-03 -2.64265144e+01] [ 1.00542071e-03 9.99997462e-01 -2.01604644e-03 1.46630518e+01] [-5.47631096e-03 2.02152322e-03 9.99982962e-01 1.69971243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.849259764 meters Centerline goodness [0,1] 0.5095644094660328 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.00 [[ 9.99985649e-01 -7.26713320e-04 5.30793553e-03 -2.64256406e+01] [ 7.34388547e-04 9.99998688e-01 -1.44418507e-03 1.46624887e+01] [-5.30687906e-03 1.44806243e-03 9.99984870e-01 1.69962319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.879259764000004 meters Centerline goodness [0,1] 0.5093635000681478 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.00 [[ 9.99985073e-01 -7.56385453e-04 5.41127096e-03 -2.64260073e+01] [ 7.62985988e-04 9.99998967e-01 -1.21781486e-03 1.46617950e+01] [-5.41034424e-03 1.22192541e-03 9.99984617e-01 1.69961361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.909259764 meters Centerline goodness [0,1] 0.5084002722940776 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.00 [[ 9.99984023e-01 -8.45029208e-04 5.58927957e-03 -2.64266102e+01] [ 8.50902072e-04 9.99999088e-01 -1.04844282e-03 1.46610195e+01] [-5.58838851e-03 1.05318200e-03 9.99983830e-01 1.69960946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.939259764 meters Centerline goodness [0,1] 0.5066104461371055 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:17.00 [[ 9.99984490e-01 -4.35467128e-04 5.55246736e-03 -2.64258867e+01] [ 4.39528466e-04 9.99999637e-01 -7.30248243e-04 1.46605861e+01] [-5.55214734e-03 7.32677384e-04 9.99984318e-01 1.69953617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.969259764 meters Centerline goodness [0,1] 0.4947831757417672 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:16.99 [[ 9.99983466e-01 -3.06048343e-04 5.74227845e-03 -2.64259906e+01] [ 3.08600183e-04 9.99999854e-01 -4.43514275e-04 1.46597827e+01] [-5.74214188e-03 4.45279010e-04 9.99983415e-01 1.69946674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.999259764 meters Centerline goodness [0,1] 0.4980878244595731 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.66, Z:16.99 [[ 9.99982190e-01 -8.51973442e-05 5.96755879e-03 -2.64258221e+01] [ 8.45678662e-05 9.99999991e-01 1.05735584e-04 1.46580958e+01] [-5.96756775e-03 -1.05229037e-04 9.99982188e-01 1.69933113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.029259764 meters Centerline goodness [0,1] 0.4938697838792986 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:16.99 [[ 9.99984505e-01 3.80976104e-04 5.55376137e-03 -2.64239377e+01] [-3.81157027e-04 9.99999927e-01 3.15181848e-05 1.46598927e+01] [-5.55374896e-03 -3.36345516e-05 9.99984577e-01 1.69926863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.059259764000004 meters Centerline goodness [0,1] 0.48851712263767255 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:16.99 [[ 9.99987342e-01 7.22659951e-04 4.97935587e-03 -2.64220928e+01] [-7.21275214e-04 9.99999701e-01 -2.79885815e-04 1.46623335e+01] [-4.97955664e-03 2.76290786e-04 9.99987564e-01 1.69927217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.089259764 meters Centerline goodness [0,1] 0.48851712263767255 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:16.99 [[ 9.99987342e-01 7.22659951e-04 4.97935587e-03 -2.64220928e+01] [-7.21275214e-04 9.99999701e-01 -2.79885815e-04 1.46623335e+01] [-4.97955664e-03 2.76290786e-04 9.99987564e-01 1.69927217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.119259764 meters Centerline goodness [0,1] 0.5148721563948917 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:16.99 [[ 9.99989085e-01 8.49896512e-04 4.59422482e-03 -2.64209602e+01] [-8.46077177e-04 9.99999295e-01 -8.33213601e-04 1.46652790e+01] [-4.59492972e-03 8.29317438e-04 9.99989099e-01 1.69931121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.149259764 meters Centerline goodness [0,1] 0.5103991311430899 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:16.99 [[ 9.99988485e-01 9.27931095e-04 4.70830407e-03 -2.64209378e+01] [-9.24511298e-04 9.99999307e-01 -7.28457520e-04 1.46648564e+01] [-4.70897677e-03 7.24096251e-04 9.99988651e-01 1.69926260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.179259764 meters Centerline goodness [0,1] 0.5126052695713397 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:16.99 [[ 9.99987739e-01 1.05856313e-03 4.83746810e-03 -2.64206292e+01] [-1.05580817e-03 9.99999279e-01 -5.72023777e-04 1.46645868e+01] [-4.83807013e-03 5.66909325e-04 9.99988136e-01 1.69916573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.209259764 meters Centerline goodness [0,1] 0.49604737714270186 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:16.99 [[ 9.99988944e-01 1.28155192e-03 4.52440618e-03 -2.64194837e+01] [-1.27729685e-03 9.99998739e-01 -9.43234292e-04 1.46672776e+01] [-4.52560928e-03 9.37444854e-04 9.99989320e-01 1.69917168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.239259764 meters Centerline goodness [0,1] 0.49405878674171355 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:16.99 [[ 9.99990319e-01 1.17659391e-03 4.24006311e-03 -2.64190969e+01] [-1.17012264e-03 9.99998147e-01 -1.52837785e-03 1.46701783e+01] [-4.24185354e-03 1.52340166e-03 9.99989843e-01 1.69925676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.269259764 meters Centerline goodness [0,1] 0.499441857932424 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:16.99 [[ 9.99991088e-01 8.41776952e-04 4.13718534e-03 -2.64194179e+01] [-8.32179266e-04 9.99996960e-01 -2.32103321e-03 1.46736288e+01] [-4.13912656e-03 2.31756964e-03 9.99988748e-01 1.69936876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.299259764 meters Centerline goodness [0,1] 0.5111916900678863 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.99 [[ 9.99991981e-01 1.33616023e-03 3.77537680e-03 -2.64175866e+01] [-1.32711592e-03 9.99996246e-01 -2.39709366e-03 1.46752285e+01] [-3.77856553e-03 2.39206407e-03 9.99990000e-01 1.69930307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.329259764 meters Centerline goodness [0,1] 0.519840728720648 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.99 [[ 9.99992752e-01 1.46171037e-03 3.51567263e-03 -2.64167032e+01] [-1.45223407e-03 9.99995310e-01 -2.69648786e-03 1.46771709e+01] [-3.51959762e-03 2.69136273e-03 9.99990184e-01 1.69930733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.359259764 meters Centerline goodness [0,1] 0.5104243517228189 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.99 [[ 9.99993400e-01 1.57404848e-03 3.27455914e-03 -2.64157847e+01] [-1.56439521e-03 9.99994430e-01 -2.94843502e-03 1.46793901e+01] [-3.27918188e-03 2.94329285e-03 9.99990292e-01 1.69929395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.389259764 meters Centerline goodness [0,1] 0.5182039832342547 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.68, Z:16.99 [[ 9.99993391e-01 2.54400359e-03 2.59722191e-03 -2.64126731e+01] [-2.53522819e-03 9.99991086e-01 -3.37648110e-03 1.46839857e+01] [-2.60578853e-03 3.36987423e-03 9.99990927e-01 1.69927163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.419259764 meters Centerline goodness [0,1] 0.5176415715539947 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.69, Z:16.99 [[ 9.99993383e-01 2.98526812e-03 2.07893721e-03 -2.64107739e+01] [-2.97772554e-03 9.99989008e-01 -3.62178691e-03 1.46864277e+01] [-2.08972636e-03 3.61557244e-03 9.99991280e-01 1.69926100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.449259764000004 meters Centerline goodness [0,1] 0.5251985002205558 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.69, Z:16.99 [[ 9.99991492e-01 3.81915034e-03 1.55891987e-03 -2.64080308e+01] [-3.81331003e-03 9.99985764e-01 -3.73231906e-03 1.46896697e+01] [-1.57315197e-03 3.72634266e-03 9.99991820e-01 1.69916920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.479259764 meters Centerline goodness [0,1] 0.5261534223936097 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.69, Z:16.99 [[ 9.99991078e-01 3.99625220e-03 1.36903441e-03 -2.64071711e+01] [-3.99105028e-03 9.99984885e-01 -3.78159319e-03 1.46906338e+01] [-1.38412592e-03 3.77609557e-03 9.99991913e-01 1.69913702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.509259764 meters Centerline goodness [0,1] 0.5279664292418972 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.69, Z:16.99 [[ 9.99990406e-01 4.20942811e-03 1.21156840e-03 -2.64062815e+01] [-4.20497621e-03 9.99984484e-01 -3.65387925e-03 1.46911508e+01] [-1.22693034e-03 3.64874958e-03 9.99992591e-01 1.69907816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.539259764 meters Centerline goodness [0,1] 0.5309298333056433 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.69, Z:16.99 [[ 9.99990208e-01 4.27228377e-03 1.15347694e-03 -2.64057483e+01] [-4.26815364e-03 9.99984556e-01 -3.55962062e-03 1.46917042e+01] [-1.16866684e-03 3.55466255e-03 9.99992999e-01 1.69902000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.569259764 meters Centerline goodness [0,1] 0.5253452387554767 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.69, Z:16.99 [[ 9.99990369e-01 4.18155241e-03 1.33323285e-03 -2.64063139e+01] [-4.17690758e-03 9.99985264e-01 -3.46783654e-03 1.46910704e+01] [-1.34771414e-03 3.46223435e-03 9.99993098e-01 1.69901517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.599259764 meters Centerline goodness [0,1] 0.5249280655157149 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.69, Z:16.99 [[ 9.99999512e-01 -3.73098201e-04 9.14506436e-04 -2.64063522e+01] [ 3.80824465e-04 9.99964116e-01 -8.46299860e-03 1.46942556e+01] [-9.11316090e-04 8.46334274e-03 9.99963770e-01 1.69920084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.629259764000004 meters Centerline goodness [0,1] 0.5282621934340919 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.69, Z:16.99 [[ 9.99999225e-01 -5.57483858e-04 1.11353538e-03 -2.64071902e+01] [ 5.66744552e-04 9.99965115e-01 -8.33355036e-03 1.46938209e+01] [-1.10885072e-03 8.33417499e-03 9.99964655e-01 1.69921076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.659259764 meters Centerline goodness [0,1] 0.5229749590970855 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.69, Z:16.99 [[ 9.99999364e-01 -5.61641108e-04 9.77626015e-04 -2.64068758e+01] [ 5.69766591e-04 9.99965133e-01 -8.33110382e-03 1.46944872e+01] [-9.72912839e-04 8.33165554e-03 9.99964818e-01 1.69921144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.689259764 meters Centerline goodness [0,1] 0.533678756476684 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.70, Z:16.99 [[ 9.99999917e-01 -2.67121564e-04 3.06499755e-04 -2.64050831e+01] [ 2.69795301e-04 9.99961622e-01 -8.75683250e-03 1.46982941e+01] [-3.04148854e-04 8.75691447e-03 9.99961611e-01 1.69926973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.719259764 meters Centerline goodness [0,1] 0.5309069579062038 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.70, Z:16.99 [[ 9.99999862e-01 -3.80983777e-04 3.62967856e-04 -2.64054720e+01] [ 3.84195087e-04 9.99960420e-01 -8.88876407e-03 1.46988299e+01] [-3.59567015e-04 8.88890229e-03 9.99960428e-01 1.69929853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.749259764 meters Centerline goodness [0,1] 0.5262332717397391 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:16.99 [[ 9.99999940e-01 -1.98364054e-04 2.84493253e-04 -2.64048635e+01] [ 2.00851702e-04 9.99961514e-01 -8.77092948e-03 1.46991365e+01] [-2.82742467e-04 8.77098610e-03 9.99961494e-01 1.69924548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.779259764 meters Centerline goodness [0,1] 0.5291153415453527 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:16.99 [[ 9.99999981e-01 5.79788533e-05 1.87526420e-04 -2.64041352e+01] [-5.63537523e-05 9.99962548e-01 -8.65441101e-03 1.46994913e+01] [-1.88021169e-04 8.65440027e-03 9.99962532e-01 1.69919247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.809259764000004 meters Centerline goodness [0,1] 0.5248240867931934 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:16.99 [[ 9.99999935e-01 -7.28429087e-05 3.53074370e-04 -2.64047365e+01] [ 7.58783548e-05 9.99962975e-01 -8.60481097e-03 1.46995489e+01] [-3.52434498e-04 8.60483720e-03 9.99962916e-01 1.69918726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.839259764 meters Centerline goodness [0,1] 0.5322711845390031 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.70, Z:16.99 [[ 9.99999903e-01 -2.11944785e-04 3.87094064e-04 -2.64051425e+01] [ 2.15271278e-04 9.99962878e-01 -8.61377189e-03 1.46996954e+01] [-3.85254050e-04 8.61385438e-03 9.99962826e-01 1.69921119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.869259764 meters Centerline goodness [0,1] 0.5385784658691062 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:16.99 [[ 9.99999980e-01 -1.91792689e-04 5.48708371e-05 -2.64044230e+01] [ 1.92272957e-04 9.99960457e-01 -8.89084844e-03 1.47019222e+01] [-5.31634676e-05 8.89085881e-03 9.99960474e-01 1.69925207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.899259764 meters Centerline goodness [0,1] 0.5438551903309612 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:16.99 [[ 9.99999971e-01 -1.31359619e-05 -2.41737368e-04 -2.64035191e+01] [ 1.09504704e-05 9.99959151e-01 -9.03854999e-03 1.47035769e+01] [ 2.41846223e-04 9.03854708e-03 9.99959122e-01 1.69926186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.929259764 meters Centerline goodness [0,1] 0.5430888336347197 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99999742e-01 3.04655682e-04 -6.50820194e-04 -2.64023503e+01] [-3.10623803e-04 9.99957724e-01 -9.18982105e-03 1.47052828e+01] [ 6.47992949e-04 9.19002084e-03 9.99957561e-01 1.69928593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.959259764 meters Centerline goodness [0,1] 0.5358337585757216 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99999417e-01 6.13397427e-04 -8.88483641e-04 -2.64014931e+01] [-6.21641264e-04 9.99956485e-01 -9.30818161e-03 1.47065480e+01] [ 8.82735364e-04 9.30872850e-03 9.99956283e-01 1.69929684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.989259764 meters Centerline goodness [0,1] 0.5452844099132308 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99999409e-01 6.96559297e-04 -8.34896926e-04 -2.64014638e+01] [-7.04224819e-04 9.99957279e-01 -9.21654365e-03 1.47065011e+01] [ 8.28441389e-04 9.21712616e-03 9.99957178e-01 1.69926921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.019259764 meters Centerline goodness [0,1] 0.5449132357944879 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99998527e-01 1.32259489e-03 -1.09436880e-03 -2.63998099e+01] [-1.33222513e-03 9.99959983e-01 -8.84637783e-03 1.47063669e+01] [ 1.08262483e-03 8.84782274e-03 9.99960271e-01 1.69916323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.049259764 meters Centerline goodness [0,1] 0.5477344214911162 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99997619e-01 1.65845551e-03 -1.41806735e-03 -2.63984342e+01] [-1.67096081e-03 9.99959324e-01 -8.86331730e-03 1.47076874e+01] [ 1.40331025e-03 8.86566573e-03 9.99959715e-01 1.69912175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.079259764 meters Centerline goodness [0,1] 0.5458696083713808 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99996680e-01 1.91268717e-03 -1.72648581e-03 -2.63973223e+01] [-1.92803516e-03 9.99958248e-01 -8.93227955e-03 1.47093135e+01] [ 1.70932907e-03 8.93557863e-03 9.99958616e-01 1.69910286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.109259764 meters Centerline goodness [0,1] 0.5456867921314825 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99994540e-01 2.45575303e-03 -2.21116854e-03 -2.63953733e+01] [-2.47579911e-03 9.99955445e-01 -9.10920052e-03 1.47120392e+01] [ 2.18870008e-03 9.11462520e-03 9.99956066e-01 1.69908108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.139259764 meters Centerline goodness [0,1] 0.5477479520394569 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.99 [[ 9.99993998e-01 2.63215190e-03 -2.25314120e-03 -2.63949911e+01] [-2.65224307e-03 9.99956333e-01 -8.96090850e-03 1.47121747e+01] [ 2.22945634e-03 8.96683059e-03 9.99957312e-01 1.69904142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.169259764 meters Centerline goodness [0,1] 0.5434339430318817 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99994491e-01 2.71707977e-03 -1.90646433e-03 -2.63956163e+01] [-2.73286514e-03 9.99961598e-01 -8.32675116e-03 1.47098027e+01] [ 1.88376667e-03 8.33191540e-03 9.99963515e-01 1.69894529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.199259764000004 meters Centerline goodness [0,1] 0.5416737300107363 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99995384e-01 2.64368501e-03 -1.49732275e-03 -2.63966568e+01] [-2.65537368e-03 9.99965592e-01 -7.85894487e-03 1.47079478e+01] [ 1.47649466e-03 7.86288455e-03 9.99967997e-01 1.69888602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.229259764 meters Centerline goodness [0,1] 0.5410688057846571 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99995681e-01 2.63173970e-03 -1.30862393e-03 -2.63972561e+01] [-2.64146166e-03 9.99968508e-01 -7.48375926e-03 1.47065882e+01] [ 1.28888741e-03 7.48718361e-03 9.99971140e-01 1.69886038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.259259764 meters Centerline goodness [0,1] 0.5466889196910978 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99995460e-01 2.61466030e-03 -1.49785566e-03 -2.63970528e+01] [-2.62597884e-03 9.99967633e-01 -7.60503267e-03 1.47078108e+01] [ 1.47792261e-03 7.60893148e-03 9.99969960e-01 1.69890661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.289259764 meters Centerline goodness [0,1] 0.5454776566295689 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99995872e-01 2.49480595e-03 -1.42572577e-03 -2.63975611e+01] [-2.50563103e-03 9.99967660e-01 -7.64201693e-03 1.47081463e+01] [ 1.40661431e-03 7.64555773e-03 9.99969783e-01 1.69893804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.319259764 meters Centerline goodness [0,1] 0.548334135363886 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99995412e-01 2.67506887e-03 -1.42155462e-03 -2.63972185e+01] [-2.68535753e-03 9.99969853e-01 -7.28567666e-03 1.47074822e+01] [ 1.40202208e-03 7.28946062e-03 9.99972449e-01 1.69886895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.349259764 meters Centerline goodness [0,1] 0.5485362964634215 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99994169e-01 3.04387260e-03 -1.54795804e-03 -2.63961498e+01] [-3.05465501e-03 9.99970753e-01 -7.01157926e-03 1.47073457e+01] [ 1.52657041e-03 7.01626685e-03 9.99974220e-01 1.69877839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.379259764000004 meters Centerline goodness [0,1] 0.5498217620098456 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99993346e-01 3.32012277e-03 -1.51120519e-03 -2.63956351e+01] [-3.33019668e-03 9.99971921e-01 -6.71317578e-03 1.47070643e+01] [ 1.48887419e-03 6.71816373e-03 9.99976324e-01 1.69869259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.409259764 meters Centerline goodness [0,1] 0.5453853311902546 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99992904e-01 3.44752234e-03 -1.51888706e-03 -2.63954471e+01] [-3.45764906e-03 9.99971471e-01 -6.71580166e-03 1.47074530e+01] [ 1.49569085e-03 6.72100579e-03 9.99976295e-01 1.69867571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.439259764 meters Centerline goodness [0,1] 0.5446677754912187 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99992901e-01 3.46323527e-03 -1.48475808e-03 -2.63955635e+01] [-3.47315317e-03 9.99971321e-01 -6.73009184e-03 1.47078744e+01] [ 1.46140760e-03 6.73520086e-03 9.99976250e-01 1.69868015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.469259764 meters Centerline goodness [0,1] 0.5441342040081063 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99993690e-01 3.29815849e-03 -1.31956567e-03 -2.63962913e+01] [-3.30697181e-03 9.99971862e-01 -6.73347432e-03 1.47079480e+01] [ 1.29732047e-03 6.73779560e-03 9.99976459e-01 1.69869909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.499259764 meters Centerline goodness [0,1] 0.5480769230769231 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99993952e-01 3.25707026e-03 -1.21975010e-03 -2.63966597e+01] [-3.26504342e-03 9.99972937e-01 -6.59279053e-03 1.47076783e+01] [ 1.19824391e-03 6.59673319e-03 9.99977523e-01 1.69869220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.529259764 meters Centerline goodness [0,1] 0.5471184347191421 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99994061e-01 3.24625262e-03 -1.15712503e-03 -2.63969515e+01] [-3.25377529e-03 9.99973191e-01 -6.55969276e-03 1.47076483e+01] [ 1.13579959e-03 6.56341883e-03 9.99977816e-01 1.69870204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.559259764000004 meters Centerline goodness [0,1] 0.5482553718775522 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99992904e-01 3.52329408e-03 -1.33336054e-03 -2.63960861e+01] [-3.53199976e-03 9.99972087e-01 -6.58409341e-03 1.47088778e+01] [ 1.31012562e-03 6.58875612e-03 9.99977436e-01 1.69867425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.589259764 meters Centerline goodness [0,1] 0.546001525380639 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99992844e-01 3.53634119e-03 -1.34372295e-03 -2.63959565e+01] [-3.54512977e-03 9.99971966e-01 -6.59536702e-03 1.47094203e+01] [ 1.32036181e-03 6.60008350e-03 9.99977348e-01 1.69865375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.619259764 meters Centerline goodness [0,1] 0.5474947071277346 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99992276e-01 3.69552017e-03 -1.33826728e-03 -2.63958178e+01] [-3.70413877e-03 9.99972041e-01 -6.49595028e-03 1.47093374e+01] [ 1.31422395e-03 6.50085724e-03 9.99978006e-01 1.69863798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.649259764 meters Centerline goodness [0,1] 0.5511759889318688 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99991721e-01 3.86350106e-03 -1.27748619e-03 -2.63957184e+01] [-3.87141173e-03 9.99972981e-01 -6.24899379e-03 1.47090141e+01] [ 1.25330868e-03 6.25388773e-03 9.99979659e-01 1.69859147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.679259764 meters Centerline goodness [0,1] 0.5491782410681452 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99991931e-01 3.85864381e-03 -1.11757570e-03 -2.63961223e+01] [-3.86541968e-03 9.99973767e-01 -6.12567529e-03 1.47087075e+01] [ 1.09390958e-03 6.12994576e-03 9.99980613e-01 1.69857551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.709259764 meters Centerline goodness [0,1] 0.5529684365198225 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99991283e-01 4.02023551e-03 -1.12749456e-03 -2.63958321e+01] [-4.02683289e-03 9.99974419e-01 -5.91143752e-03 1.47084862e+01] [ 1.10370035e-03 5.91592623e-03 9.99981892e-01 1.69853035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.739259764 meters Centerline goodness [0,1] 0.5567587435324719 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.99 [[ 9.99990539e-01 4.17528534e-03 -1.21980913e-03 -2.63955175e+01] [-4.18238350e-03 9.99973992e-01 -5.87565404e-03 1.47087158e+01] [ 1.19524487e-03 5.88070016e-03 9.99981994e-01 1.69852763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.769259764 meters Centerline goodness [0,1] 0.5545718555276736 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.98 [[ 9.99989670e-01 4.38354276e-03 -1.20157281e-03 -2.63951209e+01] [-4.39016315e-03 9.99974886e-01 -5.56365357e-03 1.47082585e+01] [ 1.17715412e-03 5.56887120e-03 9.99983801e-01 1.69845817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.799259764 meters Centerline goodness [0,1] 0.5545257345691186 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.98 [[ 9.99989389e-01 4.48487079e-03 -1.05257099e-03 -2.63951531e+01] [-4.49038168e-03 9.99975910e-01 -5.29302882e-03 1.47071402e+01] [ 1.02880708e-03 5.29769910e-03 9.99985438e-01 1.69839855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.829259764 meters Centerline goodness [0,1] 0.5547799271096159 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.98 [[ 9.99998315e-01 8.88856466e-04 -1.60599553e-03 -2.63930305e+01] [-9.03599067e-04 9.99957248e-01 -9.20244076e-03 1.47076678e+01] [ 1.59774722e-03 9.20387644e-03 9.99956367e-01 1.69834026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.859259764 meters Centerline goodness [0,1] 0.5547426841574168 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.98 [[ 9.99998528e-01 9.86904240e-04 -1.40321895e-03 -2.63933057e+01] [-9.99208653e-04 9.99960822e-01 -8.79521144e-03 1.47065281e+01] [ 1.39448394e-03 8.79660061e-03 9.99960337e-01 1.69827348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.889259764 meters Centerline goodness [0,1] 0.5548104710866699 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.98 [[ 9.99998752e-01 9.45876162e-04 -1.26529818e-03 -2.63937877e+01] [-9.56741476e-04 9.99962439e-01 -8.61429305e-03 1.47061329e+01] [ 1.25710260e-03 8.61549286e-03 9.99962096e-01 1.69826533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.919259764 meters Centerline goodness [0,1] 0.5585847841907854 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.98 [[ 9.99998197e-01 1.12031591e-03 -1.53345393e-03 -2.63931237e+01] [-1.13393400e-03 9.99959673e-01 -8.90879464e-03 1.47080658e+01] [ 1.52341143e-03 8.91051741e-03 9.99959140e-01 1.69831845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.949259764000004 meters Centerline goodness [0,1] 0.5559696264955589 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.98 [[ 9.99997900e-01 1.30506543e-03 -1.58012423e-03 -2.63928211e+01] [-1.31888279e-03 9.99960627e-01 -8.77524386e-03 1.47083000e+01] [ 1.56860975e-03 8.77730944e-03 9.99960248e-01 1.69829567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.979259764 meters Centerline goodness [0,1] 0.5559696264955589 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.98 [[ 9.99997900e-01 1.30506543e-03 -1.58012423e-03 -2.63928211e+01] [-1.31888279e-03 9.99960627e-01 -8.77524386e-03 1.47083000e+01] [ 1.56860975e-03 8.77730944e-03 9.99960248e-01 1.69829567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.009259764 meters Centerline goodness [0,1] 0.5572296748536701 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.98 [[ 9.99997874e-01 1.62708079e-03 -1.26687501e-03 -2.63930469e+01] [-1.63735607e-03 9.99965428e-01 -8.15237894e-03 1.47060131e+01] [ 1.25356663e-03 8.15443593e-03 9.99965966e-01 1.69818986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.039259764 meters Centerline goodness [0,1] 0.5547224709042077 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.70, Z:16.98 [[ 9.99997813e-01 1.85946395e-03 -9.57383982e-04 -2.63934709e+01] [-1.86661359e-03 9.99969968e-01 -7.52195673e-03 1.47037183e+01] [ 9.43368422e-04 7.52372735e-03 9.99971251e-01 1.69810446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.069259764 meters Centerline goodness [0,1] 0.5487652086755576 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:16.98 [[ 9.99999020e-01 1.31654482e-03 -4.75927443e-04 -2.63957606e+01] [-1.31980419e-03 9.99975225e-01 -6.91426108e-03 1.46993507e+01] [ 4.66812717e-04 6.91488244e-03 9.99975983e-01 1.69811047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.099259764 meters Centerline goodness [0,1] 0.5481337588455668 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:16.98 [[ 9.99999393e-01 1.10166553e-03 3.21745766e-05 -2.63976189e+01] [-1.10143352e-03 9.99978333e-01 -6.48995823e-03 1.46967997e+01] [-3.93236427e-05 6.48991885e-03 9.99978939e-01 1.69812558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.129259764000004 meters Centerline goodness [0,1] 0.5479527951687074 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.98 [[ 9.99999502e-01 7.70834309e-04 6.34185647e-04 -2.63998257e+01] [-7.66963842e-04 9.99981218e-01 -6.08082278e-03 1.46939775e+01] [-6.38861042e-04 6.08033335e-03 9.99981311e-01 1.69814409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.159259764 meters Centerline goodness [0,1] 0.5449827467218771 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.98 [[ 9.99999412e-01 1.74839845e-04 1.07022475e-03 -2.64020730e+01] [-1.69016164e-04 9.99985193e-01 -5.43922399e-03 1.46897414e+01] [-1.07115990e-03 5.43903991e-03 9.99984635e-01 1.69815588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.189259764 meters Centerline goodness [0,1] 0.5221160991990311 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.98 [[ 9.99999371e-01 3.17492709e-04 1.07604065e-03 -2.64020557e+01] [-3.11968496e-04 9.99986792e-01 -5.13011850e-03 1.46891147e+01] [-1.07765521e-03 5.12977958e-03 9.99986262e-01 1.69813419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.219259764 meters Centerline goodness [0,1] 0.5418344272240914 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.98 [[ 9.99998557e-01 -2.38743424e-04 1.68210529e-03 -2.64047231e+01] [ 2.46535080e-04 9.99989235e-01 -4.63340190e-03 1.46855479e+01] [-1.68098099e-03 4.63380991e-03 9.99987851e-01 1.69817070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.249259764 meters Centerline goodness [0,1] 0.5355991957473765 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.68, Z:16.98 [[ 9.99997340e-01 -4.48473244e-04 2.26229509e-03 -2.64065727e+01] [ 4.57903936e-04 9.99991201e-01 -4.16984517e-03 1.46824120e+01] [-2.26040512e-03 4.17087000e-03 9.99988747e-01 1.69815394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.279259764 meters Centerline goodness [0,1] 0.5377832715286361 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.68, Z:16.98 [[ 9.99996475e-01 -2.28575935e-04 2.64532215e-03 -2.64074178e+01] [ 2.37715538e-04 9.99994002e-01 -3.45520700e-03 1.46788467e+01] [-2.64451651e-03 3.45582366e-03 9.99990532e-01 1.69808991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.309259764000004 meters Centerline goodness [0,1] 0.5132272228320527 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.68, Z:16.98 [[ 9.99995827e-01 -2.56545383e-04 2.87740689e-03 -2.64081472e+01] [ 2.65896801e-04 9.99994683e-01 -3.25003470e-03 1.46778153e+01] [-2.87655781e-03 3.25078623e-03 9.99990579e-01 1.69808800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.339259764 meters Centerline goodness [0,1] 0.5220727262762721 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.68, Z:16.98 [[ 9.99994898e-01 -3.08810255e-04 3.17942290e-03 -2.64090046e+01] [ 3.18066669e-04 9.99995712e-01 -2.91125655e-03 1.46764131e+01] [-3.17851024e-03 2.91225297e-03 9.99990708e-01 1.69806183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.369259764 meters Centerline goodness [0,1] 0.5305820858761392 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:16.98 [[ 9.99995308e-01 2.94634483e-04 3.04897483e-03 -2.64074960e+01] [-2.88047566e-04 9.99997624e-01 -2.16058490e-03 1.46749913e+01] [-3.04960417e-03 2.15969652e-03 9.99993018e-01 1.69789335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.399259764 meters Centerline goodness [0,1] 0.5265200163956825 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:16.98 [[ 9.99994970e-01 4.36810101e-04 3.14146595e-03 -2.64075719e+01] [-4.31133532e-04 9.99998274e-01 -1.80743103e-03 1.46737827e+01] [-3.14225003e-03 1.80606755e-03 9.99993432e-01 1.69784788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.429259764 meters Centerline goodness [0,1] 0.5246495168095822 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:16.98 [[ 9.99993086e-01 -1.44017316e-04 3.71577841e-03 -2.64101597e+01] [ 1.50570164e-04 9.99998434e-01 -1.76330002e-03 1.46708400e+01] [-3.71551864e-03 1.76384731e-03 9.99991542e-01 1.69793383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.459259764 meters Centerline goodness [0,1] 0.524400847780012 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:16.98 [[ 9.99991645e-01 -2.15463349e-04 4.08212099e-03 -2.64114307e+01] [ 2.20967188e-04 9.99999067e-01 -1.34787632e-03 1.46685406e+01] [-4.08182676e-03 1.34876708e-03 9.99990760e-01 1.69793471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.489259764 meters Centerline goodness [0,1] 0.5146170310764312 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:16.98 [[ 9.99989818e-01 -4.06332724e-04 4.49430935e-03 -2.64127864e+01] [ 4.11304851e-04 9.99999304e-01 -1.10544728e-03 1.46669152e+01] [-4.49385705e-03 1.10728455e-03 9.99989290e-01 1.69793467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.519259764 meters Centerline goodness [0,1] 0.5240911791713931 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.66, Z:16.98 [[ 9.99988477e-01 -3.78003047e-04 4.78562520e-03 -2.64138299e+01] [ 3.81376825e-04 9.99999679e-01 -7.04088801e-04 1.46647086e+01] [-4.78535752e-03 7.05905815e-04 9.99988301e-01 1.69794698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.549259764 meters Centerline goodness [0,1] 0.5030933405376199 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.66, Z:16.98 [[ 9.99986764e-01 -4.04797098e-04 5.12922090e-03 -2.64148823e+01] [ 4.07190567e-04 9.99999809e-01 -4.65598327e-04 1.46631941e+01] [-5.12903145e-03 4.67680735e-04 9.99986737e-01 1.69794780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.579259764 meters Centerline goodness [0,1] 0.49311723508734273 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.66, Z:16.98 [[ 9.99980363e-01 -4.10370753e-03 4.73639271e-03 -2.64140924e+01] [ 4.12479776e-03 9.99981584e-01 -4.45165832e-03 1.46623233e+01] [-4.71803718e-03 4.47110756e-03 9.99978874e-01 1.69802633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.609259764 meters Centerline goodness [0,1] 0.4802078311639616 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.66, Z:16.98 [[ 9.99979031e-01 -3.96956174e-03 5.11666969e-03 -2.64149915e+01] [ 3.98883132e-03 9.99984971e-01 -3.76135224e-03 1.46594482e+01] [-5.10166187e-03 3.78168290e-03 9.99979836e-01 1.69796868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.639259764 meters Centerline goodness [0,1] 0.4983823096874248 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:16.98 [[ 9.99975795e-01 -4.05243256e-03 5.65565394e-03 -2.64165354e+01] [ 4.06976244e-03 9.99987049e-01 -3.05603138e-03 1.46561176e+01] [-5.64319633e-03 3.07897457e-03 9.99979337e-01 1.69791825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.669259764 meters Centerline goodness [0,1] 0.487004505104897 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99944709e-01 -8.57128711e-03 6.09191457e-03 -2.64185725e+01] [ 8.61210003e-03 9.99940434e-01 -6.70516670e-03 1.46525817e+01] [-6.03407979e-03 6.75726014e-03 9.99958964e-01 1.69798005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.699259764000004 meters Centerline goodness [0,1] 0.4673578701739499 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99936470e-01 -9.26412066e-03 6.42123352e-03 -2.64205122e+01] [ 9.30211668e-03 9.99939253e-01 -5.91285548e-03 1.46484638e+01] [-6.36606604e-03 5.97221090e-03 9.99961902e-01 1.69796207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.729259764 meters Centerline goodness [0,1] 0.47101603142584136 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.64, Z:16.98 [[ 9.99956995e-01 -6.14445840e-03 6.94655501e-03 -2.64232490e+01] [ 6.15545150e-03 9.99979835e-01 -1.56225497e-03 1.46449334e+01] [-6.93681572e-03 1.60494697e-03 9.99974652e-01 1.69799197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.759259764 meters Centerline goodness [0,1] 0.46528403967538323 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.64, Z:16.98 [[ 9.99955532e-01 -6.26391519e-03 7.04962571e-03 -2.64240144e+01] [ 6.27526535e-03 9.99979048e-01 -1.58907081e-03 1.46448617e+01] [-7.03952420e-03 1.63323842e-03 9.99973888e-01 1.69804843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.789259764 meters Centerline goodness [0,1] 0.49280127270316854 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:16.98 [[ 9.99952058e-01 -6.30375962e-03 7.49290116e-03 -2.64255758e+01] [ 6.31369786e-03 9.99979219e-01 -1.30343962e-03 1.46428876e+01] [-7.48452888e-03 1.35068505e-03 9.99971078e-01 1.69807758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.819259764 meters Centerline goodness [0,1] 0.4719909059666376 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:16.98 [[ 9.99952310e-01 -6.05892920e-03 7.65945890e-03 -2.64257770e+01] [ 6.06526677e-03 9.99981283e-01 -8.04459802e-04 1.46411071e+01] [-7.65444137e-03 8.50878099e-04 9.99970342e-01 1.69802447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.849259764 meters Centerline goodness [0,1] 0.4771850050230001 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:16.98 [[ 9.99951273e-01 -5.84275977e-03 7.95696088e-03 -2.64260920e+01] [ 5.84409749e-03 9.99982913e-01 -1.44878589e-04 1.46388116e+01] [-7.95597843e-03 1.91372785e-04 9.99968332e-01 1.69792461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.879259764000004 meters Centerline goodness [0,1] 0.47653524997357577 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:16.98 [[ 9.99948225e-01 -5.97996916e-03 8.23327722e-03 -2.64270782e+01] [ 5.97992558e-03 9.99982120e-01 2.99110862e-05 1.46376989e+01] [-8.23330887e-03 1.93248475e-05 9.99966106e-01 1.69793460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.909259764 meters Centerline goodness [0,1] 0.47135994087213595 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:16.98 [[ 9.99946788e-01 -6.07067834e-03 8.34072013e-03 -2.64276554e+01] [ 6.07017056e-03 9.99981573e-01 8.61939340e-05 1.46371713e+01] [-8.34108969e-03 -3.55597537e-05 9.99965212e-01 1.69796218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.939259764 meters Centerline goodness [0,1] 0.47554297505357 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:16.98 [[ 9.99952477e-01 -5.70615508e-03 7.90469834e-03 -2.64264262e+01] [ 5.71048645e-03 9.99983557e-01 -5.25487117e-04 1.46405667e+01] [-7.90156985e-03 5.70601817e-04 9.99968619e-01 1.69804349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.969259764 meters Centerline goodness [0,1] 0.4697383420375918 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:16.98 [[ 9.99951853e-01 -5.84230050e-03 7.88417151e-03 -2.64261785e+01] [ 5.85013532e-03 9.99982416e-01 -9.71044464e-04 1.46429581e+01] [-7.87835974e-03 1.01712118e-03 9.99968448e-01 1.69803210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.999259764 meters Centerline goodness [0,1] 0.4736842105263158 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:16.98 [[ 9.99953098e-01 -5.74788291e-03 7.79506447e-03 -2.64254403e+01] [ 5.75651037e-03 9.99982843e-01 -1.08480019e-03 1.46443497e+01] [-7.78869542e-03 1.12962168e-03 9.99969030e-01 1.69797426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.029259764 meters Centerline goodness [0,1] 0.46497086448660296 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99957593e-01 -5.41818252e-03 7.44689178e-03 -2.64237965e+01] [ 5.42622882e-03 9.99984715e-01 -1.06071164e-03 1.46462262e+01] [-7.44103083e-03 1.10107519e-03 9.99971709e-01 1.69789006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.059259764000004 meters Centerline goodness [0,1] 0.4724375768593274 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99961160e-01 -5.21436038e-03 7.10561441e-03 -2.64225703e+01] [ 5.22273764e-03 9.99985688e-01 -1.16091847e-03 1.46481572e+01] [-7.09945927e-03 1.19798414e-03 9.99974081e-01 1.69785810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.089259764 meters Centerline goodness [0,1] 0.48258586508064083 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99962880e-01 -5.19117394e-03 6.87676945e-03 -2.64221528e+01] [ 5.20332528e-03 9.99984931e-01 -1.75030069e-03 1.46509525e+01] [-6.86757970e-03 1.78601779e-03 9.99974823e-01 1.69793111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.119259764 meters Centerline goodness [0,1] 0.47992038088065203 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99964809e-01 -4.95086984e-03 6.77272214e-03 -2.64215775e+01] [ 4.96337514e-03 9.99986006e-01 -1.83086125e-03 1.46518758e+01] [-6.76356301e-03 1.86441238e-03 9.99975389e-01 1.69791691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.149259764 meters Centerline goodness [0,1] 0.48298605502611314 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99965613e-01 -4.76381590e-03 6.78814833e-03 -2.64211871e+01] [ 4.77477854e-03 9.99987321e-01 -1.59967808e-03 1.46520087e+01] [-6.78044169e-03 1.63203497e-03 9.99975681e-01 1.69784614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.179259764 meters Centerline goodness [0,1] 0.4769849626090008 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99966078e-01 -4.66304936e-03 6.78957447e-03 -2.64209990e+01] [ 4.67338602e-03 9.99987944e-01 -1.50736376e-03 1.46521058e+01] [-6.78246370e-03 1.53904293e-03 9.99975814e-01 1.69781267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.209259764 meters Centerline goodness [0,1] 0.48157852087947706 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99965790e-01 -4.60393305e-03 6.87184849e-03 -2.64212621e+01] [ 4.61304582e-03 9.99988501e-01 -1.31084183e-03 1.46514973e+01] [-6.86573444e-03 1.34249714e-03 9.99975529e-01 1.69780289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.239259764 meters Centerline goodness [0,1] 0.48253351676512635 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99965240e-01 -4.55065244e-03 6.98649739e-03 -2.64215276e+01] [ 4.55843346e-03 9.99989007e-01 -1.09820318e-03 1.46509022e+01] [-6.98142305e-03 1.13001249e-03 9.99974991e-01 1.69778291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.269259764 meters Centerline goodness [0,1] 0.4710516376193816 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99964843e-01 -4.45066141e-03 7.10661319e-03 -2.64218960e+01] [ 4.45682693e-03 9.99989705e-01 -8.51974808e-04 1.46500796e+01] [-7.10274818e-03 8.83617800e-04 9.99974385e-01 1.69778160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.299259764 meters Centerline goodness [0,1] 0.47410165101974744 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99963944e-01 -4.41432587e-03 7.25423189e-03 -2.64222005e+01] [ 4.41895402e-03 9.99990043e-01 -6.22088415e-04 1.46495229e+01] [-7.25141356e-03 6.54122102e-04 9.99973494e-01 1.69775172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.329259764 meters Centerline goodness [0,1] 0.4789963577498988 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99963935e-01 -4.33768069e-03 7.30155850e-03 -2.64224485e+01] [ 4.34026612e-03 9.99990524e-01 -3.38283962e-04 1.46486749e+01] [-7.30002194e-03 3.69962469e-04 9.99973286e-01 1.69775073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.359259764 meters Centerline goodness [0,1] 0.4813895111878863 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99963177e-01 -4.30921191e-03 7.42120919e-03 -2.64227256e+01] [ 4.31077661e-03 9.99990690e-01 -1.94857680e-04 1.46480987e+01] [-7.42030041e-03 2.26841680e-04 9.99972443e-01 1.69773448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.389259764 meters Centerline goodness [0,1] 0.4854682454251884 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99964808e-01 -4.09417660e-03 7.32265378e-03 -2.64224505e+01] [ 4.09437392e-03 9.99991618e-01 -1.19545964e-05 1.46477757e+01] [-7.32254346e-03 4.19358583e-05 9.99973189e-01 1.69773714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.419259764 meters Centerline goodness [0,1] 0.47058823529411764 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99963895e-01 -4.22504773e-03 7.37279459e-03 -2.64230018e+01] [ 4.22704140e-03 9.99991034e-01 -2.54846602e-04 1.46485499e+01] [-7.37165175e-03 2.86002509e-04 9.99972788e-01 1.69779783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.449259764000004 meters Centerline goodness [0,1] 0.4856009284499744 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99962321e-01 -4.35115031e-03 7.51160970e-03 -2.64237529e+01] [ 4.35382424e-03 9.99990464e-01 -3.39657196e-04 1.46486525e+01] [-7.51006017e-03 3.72348627e-04 9.99971730e-01 1.69784206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.479259764 meters Centerline goodness [0,1] 0.4806862321968062 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99959613e-01 -4.44480781e-03 7.81130719e-03 -2.64246940e+01] [ 4.44604471e-03 9.99990106e-01 -1.40989849e-04 1.46474876e+01] [-7.81060323e-03 1.75713576e-04 9.99969481e-01 1.69783922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.509259764 meters Centerline goodness [0,1] 0.4767517126058579 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99960531e-01 -4.42698857e-03 7.70310423e-03 -2.64244311e+01] [ 4.42946929e-03 9.99990143e-01 -3.05010752e-04 1.46483477e+01] [-7.70167802e-03 3.39119377e-04 9.99970284e-01 1.69785436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.539259764 meters Centerline goodness [0,1] 0.47403630870491764 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99963179e-01 -4.44923978e-03 7.33793485e-03 -2.64237399e+01] [ 4.45641910e-03 9.99989607e-01 -9.62323885e-04 1.46518616e+01] [-7.33357698e-03 9.94989364e-04 9.99972614e-01 1.69793652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.569259764 meters Centerline goodness [0,1] 0.4937614778005833 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99968056e-01 -4.11489228e-03 6.85228235e-03 -2.64220890e+01] [ 4.12288234e-03 9.99990837e-01 -1.15232619e-03 1.46543504e+01] [-6.84747786e-03 1.18054054e-03 9.99975859e-01 1.69791856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.599259764 meters Centerline goodness [0,1] 0.4555510259546134 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:16.98 [[ 9.99976294e-01 -1.75120964e-03 6.65911982e-03 -2.64189584e+01] [ 1.74790753e-03 9.99998347e-01 5.01665755e-04 1.46577407e+01] [-6.65998733e-03 -4.90014337e-04 9.99977702e-01 1.69765789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.629259764000004 meters Centerline goodness [0,1] 0.4848550882545217 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:16.98 [[ 9.99979625e-01 -1.37323512e-03 6.23414203e-03 -2.64172834e+01] [ 1.37114001e-03 9.99999002e-01 3.40331552e-04 1.46598194e+01] [-6.23460317e-03 -3.31776736e-04 9.99980510e-01 1.69761909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.659259764 meters Centerline goodness [0,1] 0.49978139687397527 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:16.98 [[ 9.99982805e-01 -8.55950984e-04 5.80139997e-03 -2.64153620e+01] [ 8.56843730e-04 9.99999621e-01 -1.51400894e-04 1.46632402e+01] [-5.80126819e-03 1.56369184e-04 9.99983160e-01 1.69760469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.689259764 meters Centerline goodness [0,1] 0.4985679605029868 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:16.98 [[ 9.99983647e-01 -7.67199399e-04 5.66728328e-03 -2.64149425e+01] [ 7.69889357e-04 9.99999592e-01 -4.72480486e-04 1.46651664e+01] [-5.66691848e-03 4.76835940e-04 9.99983829e-01 1.69762504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.719259764 meters Centerline goodness [0,1] 0.5076956783699402 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:16.98 [[ 9.99985018e-01 -8.34306011e-04 5.40988882e-03 -2.64144733e+01] [ 8.40353287e-04 9.99999025e-01 -1.11564218e-03 1.46679237e+01] [-5.40895275e-03 1.12017168e-03 9.99984744e-01 1.69769498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.749259764 meters Centerline goodness [0,1] 0.5184767975382587 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:16.98 [[ 9.99987811e-01 -4.71077422e-04 4.91496503e-03 -2.64130749e+01] [ 4.80861399e-04 9.99997905e-01 -1.98965872e-03 1.46730573e+01] [-4.91401745e-03 1.99199788e-03 9.99985942e-01 1.69780672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.779259764 meters Centerline goodness [0,1] 0.5248402731879269 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.68, Z:16.98 [[ 9.99989467e-01 -1.71856853e-04 4.58660248e-03 -2.64117791e+01] [ 1.82016551e-04 9.99997531e-01 -2.21475586e-03 1.46750765e+01] [-4.58621053e-03 2.21556737e-03 9.99987029e-01 1.69779258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.809259764000004 meters Centerline goodness [0,1] 0.5070674293257067 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:16.98 [[ 9.99989157e-01 -7.54107617e-05 4.65628286e-03 -2.64116103e+01] [ 8.48259190e-05 9.99997952e-01 -2.02186857e-03 1.46749774e+01] [-4.65612086e-03 2.02224162e-03 9.99987115e-01 1.69773257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.839259764 meters Centerline goodness [0,1] 0.5081511262873823 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:16.98 [[ 9.99988959e-01 9.68487547e-06 4.69911369e-03 -2.64115073e+01] [-7.06101982e-07 9.99998175e-01 -1.91073555e-03 1.46749837e+01] [-4.69912362e-03 1.91071114e-03 9.99987134e-01 1.69770256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.869259764 meters Centerline goodness [0,1] 0.5081511262873823 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:16.98 [[ 9.99988959e-01 9.68487547e-06 4.69911369e-03 -2.64115073e+01] [-7.06101982e-07 9.99998175e-01 -1.91073555e-03 1.46749837e+01] [-4.69912362e-03 1.91071114e-03 9.99987134e-01 1.69770256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.899259764 meters Centerline goodness [0,1] 0.5068414269653678 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.68, Z:16.98 [[ 9.99990988e-01 5.48557164e-04 4.20993430e-03 -2.64095123e+01] [-5.40907338e-04 9.99998201e-01 -1.81801270e-03 1.46765838e+01] [-4.21092401e-03 1.81571913e-03 9.99989486e-01 1.69764960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.929259764 meters Centerline goodness [0,1] 0.5099472972600094 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.68, Z:16.98 [[ 9.99991213e-01 2.65008523e-04 4.18370468e-03 -2.64100238e+01] [-2.54808704e-04 9.99996995e-01 -2.43833212e-03 1.46783565e+01] [-4.18433829e-03 2.43724465e-03 9.99988276e-01 1.69774979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.959259764 meters Centerline goodness [0,1] 0.5117728149986214 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.68, Z:16.98 [[ 9.99991456e-01 4.24776259e-04 4.11189472e-03 -2.64096049e+01] [-4.14686982e-04 9.99996902e-01 -2.45422249e-03 1.46790891e+01] [-4.11292448e-03 2.45249637e-03 9.99988534e-01 1.69773680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.989259764 meters Centerline goodness [0,1] 0.5203310147636984 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.68, Z:16.98 [[ 9.99990306e-01 4.00203224e-04 4.38499674e-03 -2.64104934e+01] [-3.90623646e-04 9.99997536e-01 -2.18526462e-03 1.46776054e+01] [-4.38586049e-03 2.18353055e-03 9.99987998e-01 1.69773346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.019259764 meters Centerline goodness [0,1] 0.5203310147636984 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.68, Z:16.98 [[ 9.99990306e-01 4.00203224e-04 4.38499674e-03 -2.64104934e+01] [-3.90623646e-04 9.99997536e-01 -2.18526462e-03 1.46776054e+01] [-4.38586049e-03 2.18353055e-03 9.99987998e-01 1.69773346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.049259764 meters Centerline goodness [0,1] 0.516715236157695 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.68, Z:16.98 [[ 9.99989270e-01 4.08789093e-04 4.61443782e-03 -2.64113198e+01] [-4.00046862e-04 9.99998124e-01 -1.89530270e-03 1.46761452e+01] [-4.61520394e-03 1.89343637e-03 9.99987557e-01 1.69774350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.079259764 meters Centerline goodness [0,1] 0.5153867327277732 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.68, Z:16.98 [[ 9.99989395e-01 3.73126095e-04 4.59022022e-03 -2.64116313e+01] [-3.64436245e-04 9.99998140e-01 -1.89381353e-03 1.46760956e+01] [-4.59091831e-03 1.89212060e-03 9.99987672e-01 1.69778754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.109259764 meters Centerline goodness [0,1] 0.5034421986010904 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.68, Z:16.98 [[ 9.99989659e-01 3.59988746e-04 4.53337471e-03 -2.64118613e+01] [-3.51973227e-04 9.99998374e-01 -1.76878683e-03 1.46757870e+01] [-4.53400408e-03 1.76717291e-03 9.99988160e-01 1.69782320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.139259764 meters Centerline goodness [0,1] 0.5118910309221728 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:16.98 [[ 9.99989071e-01 4.01523926e-04 4.65786089e-03 -2.64122528e+01] [-3.94683854e-04 9.99998843e-01 -1.46932688e-03 1.46747320e+01] [-4.65844547e-03 1.46747244e-03 9.99988073e-01 1.69781138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.169259764 meters Centerline goodness [0,1] 0.5090114841474807 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:16.98 [[ 9.99987877e-01 4.74477272e-04 4.90105964e-03 -2.64130170e+01] [-4.69063936e-04 9.99999279e-01 -1.10561401e-03 1.46729261e+01] [-4.90158069e-03 1.10330170e-03 9.99987379e-01 1.69780909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.199259764000004 meters Centerline goodness [0,1] 0.4972413603798962 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:16.98 [[ 9.99981463e-01 -3.89645976e-03 4.67875853e-03 -2.64136296e+01] [ 3.92255183e-03 9.99976735e-01 -5.58054157e-03 1.46732042e+01] [-4.65690532e-03 5.59879080e-03 9.99973483e-01 1.69798388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.229259764 meters Centerline goodness [0,1] 0.5023707073752295 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.67, Z:16.98 [[ 9.99979662e-01 -4.08168490e-03 4.90057317e-03 -2.64148334e+01] [ 4.10771460e-03 9.99977448e-01 -5.31329870e-03 1.46716793e+01] [-4.87877544e-03 5.33332079e-03 9.99973876e-01 1.69802907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.259259764 meters Centerline goodness [0,1] 0.5002194305776511 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:16.98 [[ 9.99979435e-01 -4.20796277e-03 4.83967726e-03 -2.64152268e+01] [ 4.23517790e-03 9.99975200e-01 -5.62690188e-03 1.46726230e+01] [-4.81587945e-03 5.64728305e-03 9.99972457e-01 1.69811918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.289259764 meters Centerline goodness [0,1] 0.4995474120196396 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:16.98 [[ 9.99979475e-01 -4.26043698e-03 4.78524471e-03 -2.64155623e+01] [ 4.28790157e-03 9.99974310e-01 -5.74391449e-03 1.46730750e+01] [-4.76065019e-03 5.76431525e-03 9.99972054e-01 1.69818683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.319259764 meters Centerline goodness [0,1] 0.491430138488962 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:16.98 [[ 9.99978827e-01 -4.30499386e-03 4.87974535e-03 -2.64163675e+01] [ 4.33200644e-03 9.99975278e-01 -5.53866749e-03 1.46719912e+01] [-4.85578078e-03 5.55968931e-03 9.99972755e-01 1.69824060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.349259764 meters Centerline goodness [0,1] 0.5008094833026919 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:16.98 [[ 9.99979088e-01 -4.12163348e-03 4.98348797e-03 -2.64163659e+01] [ 4.14694093e-03 9.99978505e-01 -5.07863704e-03 1.46706184e+01] [-4.96244857e-03 5.09919707e-03 9.99974686e-01 1.69817788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.379259764000004 meters Centerline goodness [0,1] 0.4949872975114049 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:16.98 [[ 9.99979610e-01 -3.87548864e-03 5.07549103e-03 -2.64163089e+01] [ 3.89767232e-03 9.99982863e-01 -4.36817239e-03 1.46682664e+01] [-5.05847525e-03 4.38786593e-03 9.99977579e-01 1.69809557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.409259764 meters Centerline goodness [0,1] 0.49007417102966844 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:16.98 [[ 9.99979855e-01 -3.70672008e-03 5.15272580e-03 -2.64162257e+01] [ 3.72700571e-03 9.99985321e-01 -3.93286171e-03 1.46671064e+01] [-5.13807214e-03 3.95198672e-03 9.99978991e-01 1.69803550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.439259764 meters Centerline goodness [0,1] 0.4954276199055496 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:16.98 [[ 9.99980244e-01 -3.56759835e-03 5.17522261e-03 -2.64163138e+01] [ 3.58647615e-03 9.99986933e-01 -3.64304462e-03 1.46662093e+01] [-5.16215807e-03 3.66153347e-03 9.99979972e-01 1.69803139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.469259764 meters Centerline goodness [0,1] 0.4981924927292001 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:16.98 [[ 9.99979184e-01 -3.80849539e-03 5.20844393e-03 -2.64173663e+01] [ 3.82722169e-03 9.99986232e-01 -3.59014375e-03 1.46654924e+01] [-5.19469917e-03 3.61000288e-03 9.99979991e-01 1.69813058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.499259764 meters Centerline goodness [0,1] 0.49627676921404495 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:16.98 [[ 9.99978018e-01 -3.91458023e-03 5.35154866e-03 -2.64182048e+01] [ 3.93320353e-03 9.99986231e-01 -3.47389993e-03 1.46648423e+01] [-5.33787611e-03 3.49487230e-03 9.99979646e-01 1.69817673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.529259764 meters Centerline goodness [0,1] 0.4860953308445599 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:16.98 [[ 9.99976000e-01 -4.14367507e-03 5.55234992e-03 -2.64196841e+01] [ 4.16235321e-03 9.99985704e-01 -3.35668319e-03 1.46631613e+01] [-5.53836154e-03 3.37971347e-03 9.99978952e-01 1.69828160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.559259764000004 meters Centerline goodness [0,1] 0.48757890174193375 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:16.98 [[ 9.99976198e-01 -4.02095796e-03 5.60667557e-03 -2.64199857e+01] [ 4.03789493e-03 9.99987309e-01 -3.01281682e-03 1.46618344e+01] [-5.59449000e-03 3.03538428e-03 9.99979744e-01 1.69828454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.589259764 meters Centerline goodness [0,1] 0.4773542661379515 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:16.98 [[ 9.99976434e-01 -3.79806601e-03 5.71898546e-03 -2.64202948e+01] [ 3.81095653e-03 9.99990219e-01 -2.24478002e-03 1.46588095e+01] [-5.71040370e-03 2.26652192e-03 9.99981127e-01 1.69824152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.619259764 meters Centerline goodness [0,1] 0.48450103865972427 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.66, Z:16.98 [[ 9.99975891e-01 -3.69560894e-03 5.87870106e-03 -2.64208590e+01] [ 3.70620181e-03 9.99991526e-01 -1.79203444e-03 1.46568169e+01] [-5.87202859e-03 1.81377889e-03 9.99981115e-01 1.69823734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.649259764 meters Centerline goodness [0,1] 0.46948609578162437 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99974026e-01 -3.72067321e-03 6.17287108e-03 -2.64217353e+01] [ 3.72904956e-03 9.99992141e-01 -1.34600768e-03 1.46546911e+01] [-6.16781452e-03 1.36899166e-03 9.99980042e-01 1.69821747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.679259764 meters Centerline goodness [0,1] 0.48095633761290846 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99970193e-01 -4.46846212e-03 6.29651120e-03 -2.64235679e+01] [ 4.47329617e-03 9.99989711e-01 -7.53859901e-04 1.46503365e+01] [-6.29307782e-03 7.82003590e-04 9.99979893e-01 1.69827277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.709259764 meters Centerline goodness [0,1] 0.480350397814032 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99968952e-01 -4.65460570e-03 6.35839230e-03 -2.64245251e+01] [ 4.65766286e-03 9.99989044e-01 -4.66084412e-04 1.46483279e+01] [-6.35615320e-03 4.95685189e-04 9.99979677e-01 1.69833939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.739259764 meters Centerline goodness [0,1] 0.48800342759211657 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99970122e-01 -4.55947010e-03 6.24222376e-03 -2.64244611e+01] [ 4.56110836e-03 9.99989567e-01 -2.48237695e-04 1.46477914e+01] [-6.24102680e-03 2.76701737e-04 9.99980486e-01 1.69835700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.769259764 meters Centerline goodness [0,1] 0.4861828201492737 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.65, Z:16.98 [[ 9.99970522e-01 -4.53974868e-03 6.19238678e-03 -2.64245918e+01] [ 4.54085930e-03 9.99989677e-01 -1.65303767e-04 1.46475574e+01] [-6.19157242e-03 1.93417651e-04 9.99980813e-01 1.69838646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.799259764 meters Centerline goodness [0,1] 0.47446677878326793 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.65, Z:16.98 [[ 9.99969980e-01 -4.51822970e-03 6.29483502e-03 -2.64253353e+01] [ 4.51762429e-03 9.99989789e-01 1.10392268e-04 1.46460055e+01] [-6.29526952e-03 -8.19512543e-05 9.99980181e-01 1.69843311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.829259764 meters Centerline goodness [0,1] 0.4709412423652415 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:16.98 [[ 9.99968755e-01 -4.49539104e-03 6.50233003e-03 -2.64262577e+01] [ 4.49304199e-03 9.99989836e-01 3.75825866e-04 1.46442008e+01] [-6.50395342e-03 -3.46598881e-04 9.99978789e-01 1.69847180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.859259764 meters Centerline goodness [0,1] 0.452068242723341 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:16.99 [[ 9.99960930e-01 -5.46678262e-03 6.94641364e-03 -2.64291033e+01] [ 5.46399317e-03 9.99984984e-01 4.20482138e-04 1.46397540e+01] [-6.94860801e-03 -3.82510553e-04 9.99975785e-01 1.69859173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.889259764 meters Centerline goodness [0,1] 0.46853017400962604 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:16.99 [[ 9.99960965e-01 -5.30341336e-03 7.06699057e-03 -2.64294307e+01] [ 5.29729792e-03 9.99985579e-01 8.83790688e-04 1.46380777e+01] [-7.07157576e-03 -8.46320235e-04 9.99974638e-01 1.69857194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.919259764 meters Centerline goodness [0,1] 0.4635714285714285 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.64, Z:16.99 [[ 9.99958824e-01 -5.56012152e-03 7.17190727e-03 -2.64308962e+01] [ 5.55358464e-03 9.99984145e-01 9.31049530e-04 1.46363807e+01] [-7.17697031e-03 -8.91181398e-04 9.99973848e-01 1.69870755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.949259764000004 meters Centerline goodness [0,1] 0.45014786649767635 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.63, Z:16.99 [[ 9.99958294e-01 -5.54158546e-03 7.25951481e-03 -2.64312761e+01] [ 5.53239151e-03 9.99983869e-01 1.28593928e-03 1.46349945e+01] [-7.26652385e-03 -1.24572317e-03 9.99972823e-01 1.69870273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.979259764 meters Centerline goodness [0,1] 0.4521922317314022 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.63, Z:16.99 [[ 9.99957658e-01 -5.42649697e-03 7.43206111e-03 -2.64318063e+01] [ 5.41360825e-03 9.99983809e-01 1.75322652e-03 1.46327065e+01] [-7.44145466e-03 -1.71291801e-03 9.99970845e-01 1.69869315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.009259764 meters Centerline goodness [0,1] 0.44795573155700086 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.63, Z:16.99 [[ 9.99955839e-01 -5.54447998e-03 7.58805443e-03 -2.64325672e+01] [ 5.52474714e-03 9.99981309e-01 2.61900964e-03 1.46278696e+01] [-7.60243364e-03 -2.57697190e-03 9.99967781e-01 1.69864194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.039259764 meters Centerline goodness [0,1] 0.4111311531121742 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.63, Z:16.99 [[ 9.99952577e-01 -5.73799224e-03 7.86890231e-03 -2.64337999e+01] [ 5.71463856e-03 9.99979210e-01 2.98712395e-03 1.46250034e+01] [-7.88587881e-03 -2.94201436e-03 9.99964578e-01 1.69866634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.069259764 meters Centerline goodness [0,1] 0.448938611589214 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.62, Z:16.99 [[ 9.99951158e-01 -5.69407846e-03 8.07827761e-03 -2.64344055e+01] [ 5.66722063e-03 9.99978351e-01 3.34370168e-03 1.46233399e+01] [-8.09714202e-03 -3.29775699e-03 9.99961780e-01 1.69865493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.099259764 meters Centerline goodness [0,1] 0.43226328004798287 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.62, Z:16.99 [[ 9.99948399e-01 -5.83422858e-03 8.31626712e-03 -2.64356190e+01] [ 5.80561521e-03 9.99977159e-01 3.46065003e-03 1.46215467e+01] [-8.33626739e-03 -3.41219042e-03 9.99959431e-01 1.69872049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.129259764000004 meters Centerline goodness [0,1] 0.44661353547415694 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.62, Z:16.99 [[ 9.99944051e-01 -5.96733695e-03 8.73416769e-03 -2.64372064e+01] [ 5.93156451e-03 9.99973938e-01 4.11588010e-03 1.46171345e+01] [-8.75850090e-03 -4.06384254e-03 9.99953386e-01 1.69873075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.159259764 meters Centerline goodness [0,1] 0.44422295285681 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.61, Z:16.99 [[ 9.99941852e-01 -5.85068688e-03 9.05885386e-03 -2.64380658e+01] [ 5.80889322e-03 9.99972396e-01 4.63302902e-03 1.46147410e+01] [-9.08571020e-03 -4.58013770e-03 9.99948235e-01 1.69871452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.189259764 meters Centerline goodness [0,1] 0.4054862328555223 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.61, Z:16.99 [[ 9.99905731e-01 -1.01501885e-02 9.24682277e-03 -2.64396498e+01] [ 1.01448590e-02 9.99948345e-01 6.23083495e-04 1.46122160e+01] [-9.25266955e-03 -5.29217044e-04 9.99957053e-01 1.69885543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.219259764 meters Centerline goodness [0,1] 0.438493185908974 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.61, Z:16.99 [[ 9.99895907e-01 -1.05082962e-02 9.88690053e-03 -2.64420294e+01] [ 1.04983161e-02 9.99944328e-01 1.06078947e-03 1.46085402e+01] [-9.89749720e-03 -9.56883240e-04 9.99950561e-01 1.69890368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.249259764 meters Centerline goodness [0,1] 0.2812579772297953 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.60, Z:16.99 [[ 9.99882734e-01 -1.14690423e-02 1.01479216e-02 -2.64446505e+01] [ 1.14551049e-02 9.99933365e-01 1.43049044e-03 1.46029834e+01] [-1.01636518e-02 -1.31407719e-03 9.99947485e-01 1.69904111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.279259764 meters Centerline goodness [0,1] 0.2864435765883043 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.60, Z:16.99 [[ 9.99885431e-01 -1.13240676e-02 1.00444220e-02 -2.64447023e+01] [ 1.13082096e-02 9.99934725e-01 1.63417928e-03 1.46021151e+01] [-1.00622719e-02 -1.52040763e-03 9.99948218e-01 1.69908093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.309259764000004 meters Centerline goodness [0,1] 0.4001020017850312 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.60, Z:16.99 [[ 9.99884969e-01 -1.12791544e-02 1.01405336e-02 -2.64453678e+01] [ 1.12596682e-02 9.99934654e-01 1.97666090e-03 1.46006311e+01] [-1.01621660e-02 -1.86225448e-03 9.99946630e-01 1.69911910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.339259764 meters Centerline goodness [0,1] 0.2650620724600963 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.60, Z:16.99 [[ 9.99827493e-01 -1.54222942e-02 1.03506715e-02 -2.64462364e+01] [ 1.54386246e-02 9.99879693e-01 -1.49966317e-03 1.45975558e+01] [-1.03262980e-02 1.65920460e-03 9.99945306e-01 1.69913477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.369259764 meters Centerline goodness [0,1] 0.26276393981540014 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.59, Z:16.99 [[ 9.99813395e-01 -1.58767311e-02 1.10047226e-02 -2.64482583e+01] [ 1.58874913e-02 9.99873389e-01 -8.91046514e-04 1.45929438e+01] [-1.09891823e-02 1.06571767e-03 9.99939049e-01 1.69909362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.399259764 meters Centerline goodness [0,1] 0.3904366427582736 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.59, Z:16.99 [[ 9.99724481e-01 -2.03880208e-02 1.16314722e-02 -2.64501267e+01] [ 2.04396996e-02 9.99781661e-01 -4.34155513e-03 1.45887598e+01] [-1.15404169e-02 4.57810274e-03 9.99922927e-01 1.69906690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.429259764 meters Centerline goodness [0,1] 0.26232964385211954 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.59, Z:16.99 [[ 9.99791212e-01 -1.63808573e-02 1.22147260e-02 -2.64515720e+01] [ 1.63765773e-02 9.99865793e-01 4.50345360e-04 1.45862645e+01] [-1.22204638e-02 -2.50215929e-04 9.99925296e-01 1.69897620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.459259764 meters Centerline goodness [0,1] 0.25699969785476884 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.59, Z:16.99 [[ 9.99833684e-01 -1.28975971e-02 1.28940107e-02 -2.64541441e+01] [ 1.28441476e-02 9.99908607e-01 4.21955145e-03 1.45857795e+01] [-1.29472544e-02 -4.05323709e-03 9.99907966e-01 1.69904736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.489259764 meters Centerline goodness [0,1] 0.2585480330061318 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.59, Z:16.99 [[ 9.99834278e-01 -1.30366494e-02 1.27067728e-02 -2.64538247e+01] [ 1.29872975e-02 9.99907825e-01 3.95871433e-03 1.45875348e+01] [-1.27572099e-02 -3.79303164e-03 9.99911429e-01 1.69906532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.519259764 meters Centerline goodness [0,1] 0.28279537303631863 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.60, Z:17.00 [[ 9.99909501e-01 -1.20224708e-02 6.03742392e-03 -2.64669999e+01] [ 1.20656384e-02 9.99901535e-01 -7.16522357e-03 1.45952522e+01] [-5.95068576e-03 7.23742049e-03 9.99956104e-01 1.69978436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.549259764 meters Centerline goodness [0,1] 0.30510273712942604 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.59, Z:17.00 [[ 9.99945900e-01 -7.83673203e-03 6.83982473e-03 -2.64682356e+01] [ 7.85323736e-03 9.99966308e-01 -2.38960921e-03 1.45924891e+01] [-6.82086756e-03 2.44319469e-03 9.99973753e-01 1.69961681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.579259764 meters Centerline goodness [0,1] 0.31235619832621175 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.59, Z:17.00 [[ 9.99947318e-01 -7.75354591e-03 6.72635999e-03 -2.64676272e+01] [ 7.77095328e-03 9.99966514e-01 -2.56566848e-03 1.45939001e+01] [-6.70624173e-03 2.61780355e-03 9.99974086e-01 1.69958437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.609259764 meters Centerline goodness [0,1] 0.3121844795656916 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.60, Z:17.00 [[ 9.99968317e-01 -3.76865502e-03 7.01164513e-03 -2.64681371e+01] [ 3.75857955e-03 9.99991886e-01 1.44958371e-03 1.45951458e+01] [-7.01705122e-03 -1.42318395e-03 9.99974367e-01 1.69953405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.639259764 meters Centerline goodness [0,1] 0.33234346049392116 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.60, Z:17.00 [[ 9.99969998e-01 -3.83943573e-03 6.72770431e-03 -2.64675983e+01] [ 3.83280265e-03 9.99992156e-01 9.98551049e-04 1.45975582e+01] [-6.73148541e-03 -9.72735128e-04 9.99976870e-01 1.69957869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.669259764 meters Centerline goodness [0,1] 0.33914236358093686 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.60, Z:17.00 [[ 9.99969733e-01 -3.81200636e-03 6.78248125e-03 -2.64678745e+01] [ 3.80730546e-03 9.99992503e-01 7.05870620e-04 1.45984880e+01] [-6.78512119e-03 -6.80026278e-04 9.99976750e-01 1.69961655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.699259764 meters Centerline goodness [0,1] 0.34386720729853015 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.60, Z:17.00 [[ 9.99969217e-01 -3.71765506e-03 6.90974613e-03 -2.64681094e+01] [ 3.71209984e-03 9.99992777e-01 8.16619178e-04 1.45980825e+01] [-6.91273213e-03 -7.90944372e-04 9.99975794e-01 1.69960255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.729259764 meters Centerline goodness [0,1] 0.34989852866565196 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.60, Z:17.00 [[ 9.99969913e-01 -3.42371171e-03 6.96076035e-03 -2.64679017e+01] [ 3.41632947e-03 9.99993590e-01 1.07216430e-03 1.45976667e+01] [-6.96438651e-03 -1.04835179e-03 9.99975199e-01 1.69955716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.759259764 meters Centerline goodness [0,1] 0.3512009149828441 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.60, Z:17.00 [[ 9.99968718e-01 -3.45765738e-03 7.11392817e-03 -2.64683040e+01] [ 3.44989008e-03 9.99993440e-01 1.10382641e-03 1.45973278e+01] [-7.11769816e-03 -1.07924961e-03 9.99974086e-01 1.69955120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.789259764 meters Centerline goodness [0,1] 0.3478547520032458 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.60, Z:17.00 [[ 9.99966165e-01 -3.59812226e-03 7.39745028e-03 -2.64692558e+01] [ 3.58731410e-03 9.99992479e-01 1.47381532e-03 1.45955481e+01] [-7.40269762e-03 -1.44722848e-03 9.99971552e-01 1.69953932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.819259764 meters Centerline goodness [0,1] 0.3478547520032458 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.60, Z:17.00 [[ 9.99966165e-01 -3.59812226e-03 7.39745028e-03 -2.64692558e+01] [ 3.58731410e-03 9.99992479e-01 1.47381532e-03 1.45955481e+01] [-7.40269762e-03 -1.44722848e-03 9.99971552e-01 1.69953932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.849259764 meters Centerline goodness [0,1] 0.3506937411383432 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.59, Z:17.00 [[ 9.99966341e-01 -3.42230744e-03 7.45686180e-03 -2.64694089e+01] [ 3.40946438e-03 9.99992684e-01 1.73434715e-03 1.45946080e+01] [-7.46274271e-03 -1.70886487e-03 9.99970693e-01 1.69953290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.879259764000004 meters Centerline goodness [0,1] 0.3548248278655326 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.59, Z:17.00 [[ 9.99963143e-01 -3.46149121e-03 7.85688679e-03 -2.64704973e+01] [ 3.44616513e-03 9.99992135e-01 1.96335660e-03 1.45929233e+01] [-7.86362113e-03 -1.93620810e-03 9.99967207e-01 1.69952735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.909259764 meters Centerline goodness [0,1] 0.34857761987552605 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.59, Z:17.00 [[ 9.99960073e-01 -3.47257840e-03 8.23364804e-03 -2.64718050e+01] [ 3.45495365e-03 9.99991712e-01 2.15383478e-03 1.45903837e+01] [-8.24105916e-03 -2.12530191e-03 9.99963783e-01 1.69956078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.939259764 meters Centerline goodness [0,1] 0.35489629164047765 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.59, Z:17.00 [[ 9.99959357e-01 -3.37101223e-03 8.36185170e-03 -2.64720318e+01] [ 3.35164833e-03 9.99991672e-01 2.32867646e-03 1.45897245e+01] [-8.36963206e-03 -2.30055582e-03 9.99962328e-01 1.69954081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.969259764 meters Centerline goodness [0,1] 0.3451644415499837 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.59, Z:17.00 [[ 9.99953001e-01 -3.70791701e-03 8.95807531e-03 -2.64737526e+01] [ 3.68721582e-03 9.99990496e-01 2.32630779e-03 1.45879490e+01] [-8.96661593e-03 -2.29316810e-03 9.99957170e-01 1.69953905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.999259764 meters Centerline goodness [0,1] 0.33647617856696266 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.59, Z:17.00 [[ 9.99952862e-01 -3.69135325e-03 8.98038970e-03 -2.64738909e+01] [ 3.67102574e-03 9.99990665e-01 2.27897583e-03 1.45881365e+01] [-8.98871837e-03 -2.24590117e-03 9.99957079e-01 1.69955227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.029259764 meters Centerline goodness [0,1] 0.34267881662713773 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.59, Z:17.00 [[ 9.99948872e-01 -3.81256482e-03 9.36582777e-03 -2.64749343e+01] [ 3.78897048e-03 9.99989607e-01 2.53564798e-03 1.45865489e+01] [-9.37539775e-03 -2.50003150e-03 9.99952925e-01 1.69953011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.059259764000004 meters Centerline goodness [0,1] 0.33844537289534915 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.59, Z:17.00 [[ 9.99947513e-01 -3.87403469e-03 9.48488995e-03 -2.64752709e+01] [ 3.85039248e-03 9.99989438e-01 2.50961097e-03 1.45862078e+01] [-9.49451210e-03 -2.47295870e-03 9.99951868e-01 1.69953168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.089259764 meters Centerline goodness [0,1] 0.3550561797752809 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.59, Z:16.99 [[ 9.99952046e-01 -3.52655266e-03 9.13616857e-03 -2.64739424e+01] [ 3.50379355e-03 9.99990722e-01 2.50590986e-03 1.45875817e+01] [-9.14492103e-03 -2.47377845e-03 9.99955124e-01 1.69949028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.119259764 meters Centerline goodness [0,1] 0.3718776593082045 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.59, Z:16.99 [[ 9.99953226e-01 -3.47969086e-03 9.02425910e-03 -2.64731298e+01] [ 3.46007394e-03 9.99991619e-01 2.18850105e-03 1.45900059e+01] [-9.03179878e-03 -2.15717408e-03 9.99956886e-01 1.69943554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.149259764 meters Centerline goodness [0,1] 0.3982653421410922 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.59, Z:16.99 [[ 9.99960937e-01 -1.90404734e-03 8.63123538e-03 -2.64696883e+01] [ 1.88189552e-03 9.99994917e-01 2.57386811e-03 1.45937773e+01] [-8.63609227e-03 -2.55752449e-03 9.99959438e-01 1.69922735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.179259764 meters Centerline goodness [0,1] 0.406281584798868 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.60, Z:16.99 [[ 9.99965481e-01 -1.60461279e-03 8.15243420e-03 -2.64679249e+01] [ 1.58648146e-03 9.99996255e-01 2.23001861e-03 1.45970100e+01] [-8.15598199e-03 -2.21700795e-03 9.99964282e-01 1.69919135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.209259764 meters Centerline goodness [0,1] 0.4008010951680778 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.60, Z:16.99 [[ 9.99970739e-01 -1.09911910e-03 7.57048893e-03 -2.64658855e+01] [ 1.08653682e-03 9.99998022e-01 1.66592984e-03 1.46013812e+01] [-7.57230501e-03 -1.65765548e-03 9.99969956e-01 1.69920202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.239259764 meters Centerline goodness [0,1] 0.4083341818552082 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.61, Z:16.99 [[ 9.99966683e-01 2.77365146e-03 7.67718714e-03 -2.64660808e+01] [-2.80928223e-03 9.99985316e-01 4.63423786e-03 1.46060411e+01] [-7.66422065e-03 -4.65565085e-03 9.99959792e-01 1.69925510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.269259764 meters Centerline goodness [0,1] 0.433375796178344 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.61, Z:16.99 [[ 9.99968611e-01 2.61350736e-03 7.47969787e-03 -2.64658296e+01] [-2.64146457e-03 9.99989554e-01 3.73031080e-03 1.46089931e+01] [-7.46987054e-03 -3.74995107e-03 9.99965069e-01 1.69933433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.299259764 meters Centerline goodness [0,1] 0.4102577201093204 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.61, Z:16.99 [[ 9.99969124e-01 2.88405298e-03 7.30986343e-03 -2.64641854e+01] [-2.90734695e-03 9.99990724e-01 3.17802746e-03 1.46125843e+01] [-7.30063002e-03 -3.19918164e-03 9.99968233e-01 1.69922512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.329259764 meters Centerline goodness [0,1] 0.40951380167619245 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99971448e-01 2.86420623e-03 6.99287377e-03 -2.64627011e+01] [-2.88247552e-03 9.99992456e-01 2.60387792e-03 1.46162427e+01] [-6.98536297e-03 -2.62396036e-03 9.99972159e-01 1.69916737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.359259764 meters Centerline goodness [0,1] 0.418158403090792 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99974423e-01 2.95059416e-03 6.51511591e-03 -2.64613776e+01] [-2.96395346e-03 9.99993523e-01 2.04180480e-03 1.46196484e+01] [-6.50904917e-03 -2.06106307e-03 9.99976692e-01 1.69919613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.389259764 meters Centerline goodness [0,1] 0.4169070677931177 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99976051e-01 2.66622151e-03 6.38663897e-03 -2.64616140e+01] [-2.67574583e-03 9.99995320e-01 1.48320737e-03 1.46219218e+01] [-6.38265453e-03 -1.50026087e-03 9.99978505e-01 1.69928737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.419259764 meters Centerline goodness [0,1] 0.41872175597159456 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99980523e-01 -1.76027353e-03 5.98795416e-03 -2.64617137e+01] [ 1.78018179e-03 9.99992901e-01 -3.32101481e-03 1.46246546e+01] [-5.98206576e-03 3.33160977e-03 9.99976557e-01 1.69947460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.449259764 meters Centerline goodness [0,1] 0.41948530358844893 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99978508e-01 -1.66593648e-03 6.34100542e-03 -2.64626067e+01] [ 1.68396880e-03 9.99994551e-01 -2.83948805e-03 1.46226516e+01] [-6.33624046e-03 2.85010507e-03 9.99975864e-01 1.69944845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.479259764 meters Centerline goodness [0,1] 0.4161408170043175 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99962760e-01 -5.77836629e-03 6.41004253e-03 -2.64630241e+01] [ 5.82034503e-03 9.99961612e-01 -6.54969305e-03 1.46207546e+01] [-6.37194994e-03 6.58675780e-03 9.99958006e-01 1.69945851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.509259764 meters Centerline goodness [0,1] 0.4121950597772056 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99962615e-01 -5.66139937e-03 6.53588205e-03 -2.64631456e+01] [ 5.70129385e-03 9.99965133e-01 -6.10150697e-03 1.46194758e+01] [-6.50111109e-03 6.13854185e-03 9.99960026e-01 1.69940987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.539259764 meters Centerline goodness [0,1] 0.4252943719640905 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99963165e-01 -5.50538525e-03 6.58480339e-03 -2.64631200e+01] [ 5.54037509e-03 9.99970568e-01 -5.30734017e-03 1.46171768e+01] [-6.55539064e-03 5.34362696e-03 9.99964236e-01 1.69933505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.569259764 meters Centerline goodness [0,1] 0.4217479674796748 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99964472e-01 -5.27015830e-03 6.57875355e-03 -2.64628673e+01] [ 5.30292757e-03 9.99973571e-01 -4.97361099e-03 1.46165584e+01] [-6.55236796e-03 5.00832094e-03 9.99965991e-01 1.69929704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.599259764 meters Centerline goodness [0,1] 0.40597446032228646 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99963610e-01 -5.16102976e-03 6.79286509e-03 -2.64633925e+01] [ 5.19244962e-03 9.99975865e-01 -4.61594122e-03 1.46150584e+01] [-6.76887814e-03 4.65104486e-03 9.99966274e-01 1.69927952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.629259764000004 meters Centerline goodness [0,1] 0.4164265129682997 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.61, Z:16.99 [[ 9.99958336e-01 -5.29780690e-03 7.43368955e-03 -2.64649663e+01] [ 5.32821096e-03 9.99977497e-01 -4.07621041e-03 1.46115712e+01] [-7.41192730e-03 4.11564884e-03 9.99964062e-01 1.69921547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.659259764 meters Centerline goodness [0,1] 0.4214150107581319 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.61, Z:16.99 [[ 9.99959945e-01 -5.20450169e-03 7.28164391e-03 -2.64644962e+01] [ 5.23491039e-03 9.99977631e-01 -4.16326797e-03 1.46125026e+01] [-7.25981329e-03 4.20121996e-03 9.99964822e-01 1.69921181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.689259764 meters Centerline goodness [0,1] 0.42925043845156696 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.61, Z:16.99 [[ 9.99972371e-01 -1.07262183e-03 7.35578450e-03 -2.64643749e+01] [ 1.07241958e-03 9.99999424e-01 3.14405097e-05 1.46136217e+01] [-7.35581399e-03 -2.35511538e-05 9.99972945e-01 1.69915374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.719259764 meters Centerline goodness [0,1] 0.4354309269955978 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99975684e-01 -9.27762718e-04 6.91168596e-03 -2.64630990e+01] [ 9.29652988e-04 9.99999531e-01 -2.70281309e-04 1.46162934e+01] [-6.91143197e-03 2.76700206e-04 9.99976077e-01 1.69916307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.749259764 meters Centerline goodness [0,1] 0.42951271835733984 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99978924e-01 -2.74042355e-04 6.48663954e-03 -2.64612492e+01] [ 2.76977355e-04 9.99999860e-01 -4.51574436e-04 1.46190532e+01] [-6.48651488e-03 4.53361571e-04 9.99978860e-01 1.69913472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.779259764 meters Centerline goodness [0,1] 0.44724119407566576 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99980506e-01 -8.99133762e-06 6.24407572e-03 -2.64603953e+01] [ 1.29926830e-05 9.99999795e-01 -6.40782418e-04 1.46205789e+01] [-6.24406868e-03 6.40851054e-04 9.99980300e-01 1.69913651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.809259764000004 meters Centerline goodness [0,1] 0.45488876329445616 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.63, Z:16.99 [[ 9.99982111e-01 1.01024318e-03 5.89554632e-03 -2.64589614e+01] [-1.00203683e-03 9.99998525e-01 -1.39474553e-03 1.46250417e+01] [-5.89694666e-03 1.38881303e-03 9.99981648e-01 1.69926373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.839259764 meters Centerline goodness [0,1] 0.45864893316558397 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.63, Z:16.99 [[ 9.99983912e-01 1.37575035e-03 5.50299870e-03 -2.64577831e+01] [-1.36685689e-03 9.99997754e-01 -1.61954512e-03 1.46273234e+01] [-5.50521444e-03 1.61199725e-03 9.99983547e-01 1.69928743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.869259764 meters Centerline goodness [0,1] 0.4607439080933491 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.63, Z:16.99 [[ 9.99985718e-01 1.52565993e-03 5.12203212e-03 -2.64568586e+01] [-1.51499509e-03 9.99996678e-01 -2.08538431e-03 1.46298602e+01] [-5.12519669e-03 2.07759467e-03 9.99984708e-01 1.69933705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.899259764 meters Centerline goodness [0,1] 0.46154838044151025 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:16.99 [[ 9.99986090e-01 2.33055715e-03 4.73158696e-03 -2.64547786e+01] [-2.32161679e-03 9.99995511e-01 -1.89411901e-03 1.46308843e+01] [-4.73598007e-03 1.88310773e-03 9.99987012e-01 1.69924719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.929259764 meters Centerline goodness [0,1] 0.4639047446857969 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:16.99 [[ 9.99984601e-01 2.66969904e-03 4.86516208e-03 -2.64544585e+01] [-2.66307603e-03 9.99995519e-01 -1.36728265e-03 1.46293391e+01] [-4.86879051e-03 1.35430530e-03 9.99987230e-01 1.69914256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.959259764 meters Centerline goodness [0,1] 0.4595311012172839 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.63, Z:16.99 [[ 9.99988135e-01 -1.15664193e-03 4.73212752e-03 -2.64536538e+01] [ 1.18170196e-03 9.99985276e-01 -5.29635621e-03 1.46288514e+01] [-4.72593186e-03 5.30188533e-03 9.99974777e-01 1.69909259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.989259764 meters Centerline goodness [0,1] 0.44218453814232284 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.63, Z:16.99 [[ 9.99983478e-01 -2.90765612e-03 4.95883850e-03 -2.64565590e+01] [ 2.93505442e-03 9.99980420e-01 -5.52684627e-03 1.46255980e+01] [-4.94267123e-03 5.54130941e-03 9.99972432e-01 1.69921604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.019259764 meters Centerline goodness [0,1] 0.4127582141575683 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99978051e-01 -3.62970051e-03 5.54273912e-03 -2.64590743e+01] [ 3.65996711e-03 9.99978395e-01 -5.46024166e-03 1.46237056e+01] [-5.52280033e-03 5.48040806e-03 9.99969731e-01 1.69928801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.049259764 meters Centerline goodness [0,1] 0.43377957181544124 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99970865e-01 -4.59172566e-03 6.09797652e-03 -2.64619391e+01] [ 4.62506326e-03 9.99974375e-01 -5.46419051e-03 1.46214203e+01] [-6.07273019e-03 5.49223484e-03 9.99966478e-01 1.69939492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.079259764 meters Centerline goodness [0,1] 0.4312224008984864 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99963203e-01 -5.53367398e-03 6.55515908e-03 -2.64644477e+01] [ 5.56811535e-03 9.99970729e-01 -5.24753882e-03 1.46185375e+01] [-6.52592903e-03 5.28384561e-03 9.99964746e-01 1.69946222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.109259764 meters Centerline goodness [0,1] 0.41099951442664007 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99963245e-01 -5.48966509e-03 6.58575946e-03 -2.64643993e+01] [ 5.52348265e-03 9.99971598e-01 -5.12780051e-03 1.46187361e+01] [-6.55742250e-03 5.16398837e-03 9.99965166e-01 1.69943625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.139259764 meters Centerline goodness [0,1] 0.4084384737191602 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.62, Z:16.99 [[ 9.99956714e-01 -6.00191673e-03 7.10971924e-03 -2.64658884e+01] [ 6.03555987e-03 9.99970646e-01 -4.72002656e-03 1.46167826e+01] [-7.08118134e-03 4.76273338e-03 9.99963586e-01 1.69937004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.169259764 meters Centerline goodness [0,1] 0.42801140413399863 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.61, Z:16.99 [[ 9.99953469e-01 -5.87783567e-03 7.64926521e-03 -2.64665215e+01] [ 5.90859087e-03 9.99974527e-01 -4.00430507e-03 1.46140774e+01] [-7.62553371e-03 4.04931512e-03 9.99962726e-01 1.69922629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.199259764 meters Centerline goodness [0,1] 0.4041419217298614 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.61, Z:16.99 [[ 9.99954610e-01 -5.57573582e-03 7.72587602e-03 -2.64660495e+01] [ 5.60373457e-03 9.99977793e-01 -3.60712677e-03 1.46132554e+01] [-7.70559207e-03 3.65025680e-03 9.99963649e-01 1.69912602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.229259764 meters Centerline goodness [0,1] 0.40831401716803795 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.61, Z:16.99 [[ 9.99947963e-01 -6.00512261e-03 8.24684302e-03 -2.64678117e+01] [ 6.03616987e-03 9.99974769e-01 -3.74502849e-03 1.46128171e+01] [-8.22414559e-03 3.79461296e-03 9.99958981e-01 1.69915889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.259259764 meters Centerline goodness [0,1] 0.41346888854915154 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.61, Z:16.99 [[ 9.99947119e-01 -6.27680898e-03 8.14622723e-03 -2.64680220e+01] [ 6.31173990e-03 9.99970967e-01 -4.26938563e-03 1.46148146e+01] [-8.11919260e-03 4.32057673e-03 9.99957705e-01 1.69923779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.289259764 meters Centerline goodness [0,1] 0.42539430967049263 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.62, Z:16.99 [[ 9.99963402e-01 -2.24496734e-03 8.25556459e-03 -2.64681388e+01] [ 2.24758983e-03 9.99997427e-01 -3.08399813e-04 1.46165545e+01] [-8.25485100e-03 3.26943649e-04 9.99965875e-01 1.69920992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.319259764 meters Centerline goodness [0,1] 0.43661790460492433 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.62, Z:16.99 [[ 9.99969059e-01 -1.44383214e-03 7.73283869e-03 -2.64654499e+01] [ 1.44833950e-03 9.99998785e-01 -5.77317713e-04 1.46214901e+01] [-7.73199574e-03 5.88499626e-04 9.99969935e-01 1.69912554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.349259764 meters Centerline goodness [0,1] 0.4418712725582836 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99969723e-01 -1.34520893e-03 7.66438699e-03 -2.64648569e+01] [ 1.35142569e-03 9.99998762e-01 -8.06001676e-04 1.46230024e+01] [-7.66329326e-03 8.16335122e-04 9.99970303e-01 1.69908771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.379259764000004 meters Centerline goodness [0,1] 0.4029290759955495 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.62, Z:16.99 [[ 9.99969527e-01 -1.22325246e-03 7.71034306e-03 -2.64645145e+01] [ 1.22998703e-03 9.99998866e-01 -8.68764634e-04 1.46236713e+01] [-7.70927160e-03 8.78221781e-04 9.99969897e-01 1.69903390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.409259764 meters Centerline goodness [0,1] 0.40580537958251117 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.63, Z:16.99 [[ 9.99971672e-01 -9.77339022e-04 7.46319205e-03 -2.64629489e+01] [ 9.85631201e-04 9.99998901e-01 -1.10747963e-03 1.46263608e+01] [-7.46210146e-03 1.11480421e-03 9.99971537e-01 1.69893940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.439259764 meters Centerline goodness [0,1] 0.40856415319856576 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.63, Z:16.99 [[ 9.99974053e-01 -9.77193359e-04 7.13717173e-03 -2.64621556e+01] [ 9.88711859e-04 9.99998214e-01 -1.61052462e-03 1.46291166e+01] [-7.13558519e-03 1.61753943e-03 9.99973233e-01 1.69898156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.469259764 meters Centerline goodness [0,1] 0.41644915431196494 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.64, Z:16.99 [[ 9.99978386e-01 -4.57637389e-04 6.55884542e-03 -2.64606632e+01] [ 4.74826038e-04 9.99996457e-01 -2.61936465e-03 1.46357699e+01] [-6.55762346e-03 2.62242234e-03 9.99975060e-01 1.69913661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.499259764 meters Centerline goodness [0,1] 0.42688956910760534 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.64, Z:16.99 [[ 9.99980752e-01 -3.30666765e-04 6.19560093e-03 -2.64595060e+01] [ 3.49046054e-04 9.99995542e-01 -2.96565991e-03 1.46389479e+01] [-6.19459266e-03 2.96776538e-03 9.99976409e-01 1.69913921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.529259764 meters Centerline goodness [0,1] 0.43703664756296334 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.64, Z:16.99 [[ 9.99983207e-01 3.97120079e-04 5.78172617e-03 -2.64570146e+01] [-3.79218197e-04 9.99995132e-01 -3.09705391e-03 1.46429761e+01] [-5.78292793e-03 3.09480937e-03 9.99978490e-01 1.69902726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.559259764000004 meters Centerline goodness [0,1] 0.4586905074940836 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.64, Z:16.99 [[ 9.99984140e-01 7.60427499e-04 5.58051288e-03 -2.64555422e+01] [-7.43470170e-04 9.99995102e-01 -3.04011421e-03 1.46443540e+01] [-5.58279734e-03 3.03591705e-03 9.99979808e-01 1.69891798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.589259764 meters Centerline goodness [0,1] 0.4456269145452625 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:16.99 [[ 9.99985568e-01 1.50634822e-03 5.15691875e-03 -2.64527898e+01] [-1.49107456e-03 9.99994495e-01 -2.96434467e-03 1.46461656e+01] [-5.16135569e-03 2.95661254e-03 9.99982309e-01 1.69874761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.619259764 meters Centerline goodness [0,1] 0.4503386601756799 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:16.99 [[ 9.99986754e-01 1.77771758e-03 4.83032391e-03 -2.64511326e+01] [-1.76249868e-03 9.99993476e-01 -3.15313326e-03 1.46485959e+01] [-4.83589778e-03 3.14457806e-03 9.99983363e-01 1.69866905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.649259764 meters Centerline goodness [0,1] 0.4530059271803556 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:16.99 [[ 9.99987493e-01 1.64564925e-03 4.72292937e-03 -2.64511350e+01] [-1.62863730e-03 9.99992181e-01 -3.60358011e-03 1.46504102e+01] [-4.72882267e-03 3.59584310e-03 9.99982354e-01 1.69872681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.679259764 meters Centerline goodness [0,1] 0.4560433747685797 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:16.99 [[ 9.99987922e-01 1.57038843e-03 4.65724470e-03 -2.64511312e+01] [-1.55189463e-03 9.99990908e-01 -3.97193459e-03 1.46520196e+01] [-4.66343984e-03 3.96465906e-03 9.99981267e-01 1.69877174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.709259764 meters Centerline goodness [0,1] 0.4560433747685797 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:16.99 [[ 9.99987922e-01 1.57038843e-03 4.65724470e-03 -2.64511312e+01] [-1.55189463e-03 9.99990908e-01 -3.97193459e-03 1.46520196e+01] [-4.66343984e-03 3.96465906e-03 9.99981267e-01 1.69877174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.739259764 meters Centerline goodness [0,1] 0.46028876066898883 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:16.99 [[ 9.99988589e-01 1.55845527e-03 4.51594434e-03 -2.64510188e+01] [-1.53843754e-03 9.99988992e-01 -4.43276750e-03 1.46541255e+01] [-4.52280290e-03 4.42576941e-03 9.99979978e-01 1.69884243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.769259764 meters Centerline goodness [0,1] 0.4602614760402026 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:16.99 [[ 9.99988348e-01 1.71458095e-03 4.51272311e-03 -2.64506985e+01] [-1.69547536e-03 9.99989599e-01 -4.23414263e-03 1.46539447e+01] [-4.51993595e-03 4.22644209e-03 9.99980853e-01 1.69879338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.799259764 meters Centerline goodness [0,1] 0.4643065345275319 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:16.99 [[ 9.99987271e-01 2.03031061e-03 4.61894791e-03 -2.64498527e+01] [-2.01388986e-03 9.99991646e-01 -3.55696154e-03 1.46529142e+01] [-4.62613107e-03 3.54761421e-03 9.99983007e-01 1.69860385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.829259764 meters Centerline goodness [0,1] 0.46047551851753243 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:16.99 [[ 9.99987295e-01 2.23503791e-03 4.51831878e-03 -2.64490547e+01] [-2.21981012e-03 9.99991849e-01 -3.37244531e-03 1.46531256e+01] [-4.52581949e-03 3.36237265e-03 9.99984106e-01 1.69853050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.859259764 meters Centerline goodness [0,1] 0.4567130740918547 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:16.98 [[ 9.99986930e-01 2.76153443e-03 4.30283762e-03 -2.64475349e+01] [-2.74739276e-03 9.99990817e-01 -3.28904487e-03 1.46545319e+01] [-4.31188092e-03 3.27718029e-03 9.99985334e-01 1.69844063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.889259764 meters Centerline goodness [0,1] 0.4560954134315216 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.66, Z:16.98 [[ 9.99986784e-01 2.66926977e-03 4.39392505e-03 -2.64479077e+01] [-2.65387745e-03 9.99990335e-01 -3.50520221e-03 1.46553226e+01] [-4.40323891e-03 3.49349494e-03 9.99984203e-01 1.69846481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.919259764 meters Centerline goodness [0,1] 0.4631170568561873 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.66, Z:16.98 [[ 9.99987130e-01 2.67393205e-03 4.31156423e-03 -2.64476243e+01] [-2.65700798e-03 9.99988762e-01 -3.92623550e-03 1.46576384e+01] [-4.32201427e-03 3.91472910e-03 9.99982997e-01 1.69848920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.949259764 meters Centerline goodness [0,1] 0.4651523664285523 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.66, Z:16.98 [[ 9.99987457e-01 2.73270118e-03 4.19751573e-03 -2.64471031e+01] [-2.71491826e-03 9.99987341e-01 -4.23640698e-03 1.46598955e+01] [-4.20903943e-03 4.22495793e-03 9.99982217e-01 1.69848754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.979259764 meters Centerline goodness [0,1] 0.4714400859752821 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.66, Z:16.99 [[ 9.99988323e-01 2.71907800e-03 3.99495468e-03 -2.64465262e+01] [-2.70049309e-03 9.99985542e-01 -4.65014947e-03 1.46625372e+01] [-4.00754104e-03 4.63930682e-03 9.99981208e-01 1.69851014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.009259764 meters Centerline goodness [0,1] 0.48286284881524266 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.67, Z:16.98 [[ 9.99988455e-01 2.99527132e-03 3.75732656e-03 -2.64453169e+01] [-2.97634394e-03 9.99982905e-01 -5.03297686e-03 1.46658667e+01] [-3.77233746e-03 5.02173566e-03 9.99980276e-01 1.69848981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.039259764 meters Centerline goodness [0,1] 0.48520646222725683 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:16.98 [[ 9.99987356e-01 3.23095625e-03 3.85338817e-03 -2.64448312e+01] [-3.21215973e-03 9.99982962e-01 -4.87417264e-03 1.46661644e+01] [-3.86907075e-03 4.86173331e-03 9.99980697e-01 1.69839623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.069259764 meters Centerline goodness [0,1] 0.4750650477016479 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:16.98 [[ 9.99985912e-01 3.79904270e-03 3.70704080e-03 -2.64429908e+01] [-3.78127762e-03 9.99981390e-01 -4.78755221e-03 1.46677323e+01] [-3.72515993e-03 4.77346741e-03 9.99981668e-01 1.69824331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.099259764 meters Centerline goodness [0,1] 0.49257344940152337 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:16.98 [[ 9.99985978e-01 3.87875740e-03 3.60528055e-03 -2.64423999e+01] [-3.86032352e-03 9.99979513e-01 -5.10599674e-03 1.46696807e+01] [-3.62501161e-03 5.09200759e-03 9.99980465e-01 1.69823145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.129259764000004 meters Centerline goodness [0,1] 0.4706859461372982 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:16.98 [[ 9.99986463e-01 3.85688375e-03 3.49250382e-03 -2.64420654e+01] [-3.83742383e-03 9.99977171e-01 -5.56157430e-03 1.46719988e+01] [-3.51387444e-03 5.54809680e-03 9.99978435e-01 1.69825929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.159259764 meters Centerline goodness [0,1] 0.5018243206447748 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:16.98 [[ 9.99985190e-01 4.35414730e-03 3.26509379e-03 -2.64406395e+01] [-4.33454368e-03 9.99972682e-01 -5.98722996e-03 1.46757956e+01] [-3.29107388e-03 5.97298860e-03 9.99976746e-01 1.69824787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.189259764 meters Centerline goodness [0,1] 0.4769617349029034 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:16.98 [[ 9.99985590e-01 4.36711836e-03 3.12206691e-03 -2.64402401e+01] [-4.34727500e-03 9.99970486e-01 -6.33462363e-03 1.46776910e+01] [-3.14963882e-03 6.32095987e-03 9.99975062e-01 1.69827223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.219259764 meters Centerline goodness [0,1] 0.5055949221635523 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:16.98 [[ 9.99983918e-01 4.78040007e-03 3.05145444e-03 -2.64391900e+01] [-4.76092403e-03 9.99968453e-01 -6.35821118e-03 1.46791584e+01] [-3.08175297e-03 6.34358118e-03 9.99975131e-01 1.69819850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.249259764 meters Centerline goodness [0,1] 0.5060432048126879 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:16.98 [[ 9.99983381e-01 4.85716710e-03 3.10587030e-03 -2.64390744e+01] [-4.83751273e-03 9.99968424e-01 -6.30464167e-03 1.46794907e+01] [-3.13639493e-03 6.28951220e-03 9.99975302e-01 1.69816052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.279259764 meters Centerline goodness [0,1] 0.5070915202361107 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:16.98 [[ 9.99982454e-01 4.93363770e-03 3.27887037e-03 -2.64391844e+01] [-4.91296065e-03 9.99968183e-01 -6.28456715e-03 1.46796708e+01] [-3.30977182e-03 6.26834792e-03 9.99974876e-01 1.69811683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.309259764000004 meters Centerline goodness [0,1] 0.4878427738101728 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:16.98 [[ 9.99981913e-01 4.93886725e-03 3.43232016e-03 -2.64395676e+01] [-4.91738039e-03 9.99968436e-01 -6.24065166e-03 1.46794573e+01] [-3.46303358e-03 6.22366076e-03 9.99974636e-01 1.69810917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.339259764 meters Centerline goodness [0,1] 0.5019210332706614 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:16.98 [[ 9.99980781e-01 4.84160150e-03 3.87254131e-03 -2.64407929e+01] [-4.81836069e-03 9.99970461e-01 -5.98841700e-03 1.46781027e+01] [-3.90142045e-03 5.96964261e-03 9.99974571e-01 1.69808512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.369259764 meters Centerline goodness [0,1] 0.4938053097345133 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:16.98 [[ 9.99980226e-01 4.96231308e-03 3.86293086e-03 -2.64407382e+01] [-4.93889359e-03 9.99969510e-01 -6.04873610e-03 1.46786009e+01] [-3.89282880e-03 6.02953789e-03 9.99974245e-01 1.69809662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.399259764 meters Centerline goodness [0,1] 0.4650397214060289 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.68, Z:16.98 [[ 9.99979308e-01 4.87161067e-03 4.20129097e-03 -2.64421845e+01] [-4.84695363e-03 9.99971088e-01 -5.85926500e-03 1.46771860e+01] [-4.22971355e-03 5.83878030e-03 9.99974009e-01 1.69814876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.429259764 meters Centerline goodness [0,1] 0.46236005313237005 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.67, Z:16.98 [[ 9.99977640e-01 4.83522513e-03 4.61949709e-03 -2.64435016e+01] [-4.81070114e-03 9.99974355e-01 -5.30524401e-03 1.46742450e+01] [-4.64503068e-03 5.28290237e-03 9.99975257e-01 1.69812802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.459259764 meters Centerline goodness [0,1] 0.48774437103950385 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.67, Z:16.98 [[ 9.99987050e-01 7.07249838e-04 5.03985371e-03 -2.64450897e+01] [-6.64556565e-04 9.99963927e-01 -8.46777899e-03 1.46692524e+01] [-5.04566074e-03 8.46432006e-03 9.99951447e-01 1.69810084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.489259764 meters Centerline goodness [0,1] 0.4837816030123723 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.67, Z:16.98 [[ 9.99983898e-01 7.06840708e-04 5.63057561e-03 -2.64466311e+01] [-6.63915008e-04 9.99970732e-01 -7.62190338e-03 1.46654549e+01] [-5.63579829e-03 7.61804243e-03 9.99955101e-01 1.69803079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.519259764 meters Centerline goodness [0,1] 0.47651509075841425 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.66, Z:16.98 [[ 9.99981672e-01 2.49181118e-05 6.05429275e-03 -2.64490434e+01] [ 1.64568475e-05 9.99976649e-01 -6.83384130e-03 1.46604899e+01] [-6.05432166e-03 6.83381569e-03 9.99958321e-01 1.69804218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.549259764 meters Centerline goodness [0,1] 0.44038728262029236 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.66, Z:16.98 [[ 9.99979863e-01 -2.17101934e-05 6.34609854e-03 -2.64500011e+01] [ 6.31892980e-05 9.99978638e-01 -6.53603087e-03 1.46591519e+01] [-6.34582107e-03 6.53630026e-03 9.99958503e-01 1.69804179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.579259764 meters Centerline goodness [0,1] 0.43798108935943536 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.66, Z:16.98 [[ 9.99977325e-01 -1.07425167e-04 6.73334771e-03 -2.64512157e+01] [ 1.49123200e-04 9.99980815e-01 -6.19256795e-03 1.46575330e+01] [-6.73255329e-03 6.19343164e-03 9.99958156e-01 1.69803633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.609259764 meters Centerline goodness [0,1] 0.4609581189517742 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:16.98 [[ 9.99974215e-01 -4.23336313e-04 7.16872910e-03 -2.64527818e+01] [ 4.63669452e-04 9.99984069e-01 -5.62553371e-03 1.46546603e+01] [-7.16623340e-03 5.62871257e-03 9.99958480e-01 1.69800318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.639259764 meters Centerline goodness [0,1] 0.43722020891068003 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.65, Z:16.98 [[ 9.99972787e-01 -3.41844090e-04 7.36942863e-03 -2.64530444e+01] [ 3.81488028e-04 9.99985461e-01 -5.37877885e-03 1.46541471e+01] [-7.36748278e-03 5.38144383e-03 9.99958379e-01 1.69795458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.669259764 meters Centerline goodness [0,1] 0.44563308318697115 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.66, Z:16.98 [[ 9.99971343e-01 -5.88904119e-04 7.54761571e-03 -2.64539644e+01] [ 6.31974167e-04 9.99983525e-01 -5.70533013e-03 1.46550501e+01] [-7.54413147e-03 5.70993653e-03 9.99955240e-01 1.69802897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.699259764 meters Centerline goodness [0,1] 0.44310468737522957 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.66, Z:16.98 [[ 9.99970307e-01 -7.99665303e-04 7.66454322e-03 -2.64546170e+01] [ 8.46747287e-04 9.99980782e-01 -6.14155444e-03 1.46563740e+01] [-7.65948473e-03 6.14786201e-03 9.99951767e-01 1.69809412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.729259764 meters Centerline goodness [0,1] 0.44685558902721867 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.66, Z:16.98 [[ 9.99970908e-01 -6.81374710e-04 7.59724251e-03 -2.64545661e+01] [ 7.31382709e-04 9.99978074e-01 -6.58155401e-03 1.46580321e+01] [-7.59259142e-03 6.58691904e-03 9.99949481e-01 1.69816280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.759259764 meters Centerline goodness [0,1] 0.45095687403379714 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.66, Z:16.98 [[ 9.99969493e-01 -7.41645475e-04 7.77578201e-03 -2.64550232e+01] [ 7.93361363e-04 9.99977574e-01 -6.64991853e-03 1.46583600e+01] [-7.77067575e-03 6.65588467e-03 9.99947657e-01 1.69816243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.789259764 meters Centerline goodness [0,1] 0.449315945275622 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.66, Z:16.98 [[ 9.99967489e-01 -8.07030784e-04 8.02310812e-03 -2.64554529e+01] [ 8.59185291e-04 9.99978511e-01 -6.49921642e-03 1.46581338e+01] [-8.01769065e-03 6.50589846e-03 9.99946694e-01 1.69811139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.819259764 meters Centerline goodness [0,1] 0.45063311428113484 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.66, Z:16.98 [[ 9.99964728e-01 -1.05711661e-03 8.33223808e-03 -2.64563667e+01] [ 1.11246127e-03 9.99977334e-01 -6.64039837e-03 1.46586365e+01] [-8.32502954e-03 6.64943344e-03 9.99943238e-01 1.69811233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.849259764 meters Centerline goodness [0,1] 0.45723745694373985 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.66, Z:16.98 [[ 9.99964925e-01 -1.10368002e-03 8.30250233e-03 -2.64564885e+01] [ 1.16295483e-03 9.99973848e-01 -7.13795364e-03 1.46607872e+01] [-8.29440719e-03 7.14735871e-03 9.99940057e-01 1.69817476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.879259764000004 meters Centerline goodness [0,1] 0.4637929190287732 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.66, Z:16.98 [[ 9.99957711e-01 2.67540973e-03 8.79877393e-03 -2.64580051e+01] [-2.64517486e-03 9.99990564e-01 -3.44610354e-03 1.46620413e+01] [-8.80791064e-03 3.42268351e-03 9.99955352e-01 1.69821522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.909259764 meters Centerline goodness [0,1] 0.4693352624387107 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.67, Z:16.98 [[ 9.99960185e-01 2.92327706e-03 8.43107344e-03 -2.64566651e+01] [-2.89003886e-03 9.99988015e-01 -3.95183786e-03 1.46656191e+01] [-8.44252472e-03 3.92731439e-03 9.99956649e-01 1.69822259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.939259764 meters Centerline goodness [0,1] 0.47537894085022747 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.67, Z:16.98 [[ 9.99961983e-01 3.17962752e-03 8.11926147e-03 -2.64552216e+01] [-3.14420196e-03 9.99985499e-01 -4.37219294e-03 1.46688594e+01] [-8.13304568e-03 4.34649812e-03 9.99957480e-01 1.69819230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.969259764 meters Centerline goodness [0,1] 0.48446699405811655 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.67, Z:16.98 [[ 9.99960009e-01 4.20575733e-03 7.89249687e-03 -2.64521826e+01] [-4.17099210e-03 9.99981550e-01 -4.41614862e-03 1.46734204e+01] [-7.91092450e-03 4.38305247e-03 9.99959102e-01 1.69797852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.999259764 meters Centerline goodness [0,1] 0.4877404441509122 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.68, Z:16.98 [[ 9.99960295e-01 4.52755171e-03 7.67526923e-03 -2.64506377e+01] [-4.49089545e-03 9.99978461e-01 -4.78641855e-03 1.46769491e+01] [-7.69677467e-03 4.75175967e-03 9.99959089e-01 1.69790386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.029259764 meters Centerline goodness [0,1] 0.4689400820191011 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.68, Z:16.98 [[ 9.99962123e-01 4.15689657e-03 7.64679545e-03 -2.64510821e+01] [-4.11413452e-03 9.99975860e-01 -5.59940929e-03 1.46798124e+01] [-7.66988702e-03 5.56773726e-03 9.99955086e-01 1.69800581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.059259764000004 meters Centerline goodness [0,1] 0.4880004408563635 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.68, Z:16.98 [[ 9.99964759e-01 4.04492653e-03 7.35660361e-03 -2.64505804e+01] [-3.99848469e-03 9.99972055e-01 -6.31673511e-03 1.46834581e+01] [-7.38194876e-03 6.28709723e-03 9.99952989e-01 1.69809054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.089259764 meters Centerline goodness [0,1] 0.5060434241460379 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.69, Z:16.98 [[ 9.99940825e-01 8.14426866e-03 7.21227703e-03 -2.64495886e+01] [-8.12219483e-03 9.99962257e-01 -3.08461119e-03 1.46889195e+01] [-7.23712672e-03 3.02584914e-03 9.99969234e-01 1.69808864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.119259764 meters Centerline goodness [0,1] 0.4931035439735798 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.70, Z:16.98 [[ 9.99941493e-01 8.45626732e-03 6.74550694e-03 -2.64476790e+01] [-8.42711186e-03 9.99955078e-01 -4.33898037e-03 1.46952347e+01] [-6.78189549e-03 4.28188136e-03 9.99967835e-01 1.69816688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.149259764 meters Centerline goodness [0,1] 0.513224286110341 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.70, Z:16.98 [[ 9.99939482e-01 8.69990368e-03 6.73373803e-03 -2.64468388e+01] [-8.67073153e-03 9.99952950e-01 -4.34937446e-03 1.46963562e+01] [-6.77126034e-03 4.29072481e-03 9.99967869e-01 1.69807737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.179259764 meters Centerline goodness [0,1] 0.5175450782096519 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.70, Z:16.98 [[ 9.99938286e-01 9.07182268e-03 6.41292308e-03 -2.64453535e+01] [-9.04264169e-03 9.99948695e-01 -4.56478569e-03 1.46982608e+01] [-6.45400499e-03 4.50651421e-03 9.99969018e-01 1.69804180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.209259764 meters Centerline goodness [0,1] 0.5177935943060499 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.70, Z:16.98 [[ 9.99938840e-01 9.17376945e-03 6.17715697e-03 -2.64446098e+01] [-9.14232943e-03 9.99945208e-01 -5.09886887e-03 1.47008675e+01] [-6.22359436e-03 5.04208343e-03 9.99967922e-01 1.69807846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.239259764 meters Centerline goodness [0,1] 0.5202664875153958 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.71, Z:16.98 [[ 9.99936892e-01 9.64420254e-03 5.76212810e-03 -2.64431004e+01] [-9.61106209e-03 9.99937271e-01 -5.75169643e-03 1.47052757e+01] [-5.81723717e-03 5.69595328e-03 9.99966857e-01 1.69813931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.269259764 meters Centerline goodness [0,1] 0.527482989387618 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.71, Z:16.98 [[ 9.99931093e-01 1.04589457e-02 5.33097021e-03 -2.64406764e+01] [-1.04276156e-02 9.99928394e-01 -5.87130011e-03 1.47080822e+01] [-5.39199609e-03 5.81530623e-03 9.99968554e-01 1.69806556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.299259764 meters Centerline goodness [0,1] 0.5272569054569953 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.71, Z:16.98 [[ 9.99930302e-01 1.06061793e-02 5.18644016e-03 -2.64399634e+01] [-1.05751749e-02 9.99926264e-01 -5.96930450e-03 1.47091887e+01] [-5.24936924e-03 5.91404094e-03 9.99968734e-01 1.69803459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.329259764 meters Centerline goodness [0,1] 0.5237493683678626 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.71, Z:16.98 [[ 9.99930850e-01 1.05835296e-02 5.12672797e-03 -2.64397328e+01] [-1.05519898e-02 9.99925472e-01 -6.14051221e-03 1.47101982e+01] [-5.19133418e-03 6.08599041e-03 9.99968005e-01 1.69803113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.359259764 meters Centerline goodness [0,1] 0.5312728705736643 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.71, Z:16.98 [[ 9.99932900e-01 1.04569883e-02 4.98463402e-03 -2.64397946e+01] [-1.04239669e-02 9.99923853e-01 -6.60521448e-03 1.47119518e+01] [-5.05332511e-03 6.55281162e-03 9.99965762e-01 1.69812116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.389259764 meters Centerline goodness [0,1] 0.5310023967291696 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.71, Z:16.98 [[ 9.99934773e-01 1.02438037e-02 5.05114015e-03 -2.64403284e+01] [-1.02089234e-02 9.99924195e-01 -6.88351883e-03 1.47129781e+01] [-5.12127066e-03 6.83150313e-03 9.99963551e-01 1.69817027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.419259764 meters Centerline goodness [0,1] 0.5310938602681722 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.72, Z:16.98 [[ 9.99935341e-01 1.03285481e-02 4.75767656e-03 -2.64394066e+01] [-1.02935611e-02 9.99920223e-01 -7.32050855e-03 1.47157103e+01] [-4.83290723e-03 7.27106177e-03 9.99961887e-01 1.69819607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.449259764 meters Centerline goodness [0,1] 0.5334882798106629 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.72, Z:16.98 [[ 9.99931847e-01 1.08448578e-02 4.32326477e-03 -2.64375157e+01] [-1.08125392e-02 9.99913938e-01 -7.43007295e-03 1.47181073e+01] [-4.40347078e-03 7.38282110e-03 9.99963051e-01 1.69815432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.479259764 meters Centerline goodness [0,1] 0.5371311731462812 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99923402e-01 1.17983596e-02 3.74018571e-03 -2.64345222e+01] [-1.17704183e-02 9.99903295e-01 -7.40657187e-03 1.47208583e+01] [-3.82720941e-03 7.36198099e-03 9.99965576e-01 1.69805806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.509259764 meters Centerline goodness [0,1] 0.5361704548687167 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99920808e-01 1.20556354e-02 3.61105140e-03 -2.64336922e+01] [-1.20289389e-02 9.99900815e-01 -7.32567317e-03 1.47213296e+01] [-3.69900888e-03 7.28165592e-03 9.99966647e-01 1.69800297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.539259764 meters Centerline goodness [0,1] 0.5397714350693654 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99915356e-01 1.25024230e-02 3.60143554e-03 -2.64328418e+01] [-1.24768707e-02 9.99897432e-01 -7.03223580e-03 1.47211247e+01] [-3.68898613e-03 6.98670591e-03 9.99968788e-01 1.69790884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.569259764 meters Centerline goodness [0,1] 0.5405628197839681 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99915614e-01 1.24632330e-02 3.66518301e-03 -2.64331623e+01] [-1.24369744e-02 9.99897437e-01 -7.10192856e-03 1.47213969e+01] [-3.75332009e-03 7.05574547e-03 9.99968064e-01 1.69792858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.599259764 meters Centerline goodness [0,1] 0.5392215313857422 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99916631e-01 1.23571792e-02 3.74581357e-03 -2.64336358e+01] [-1.23299333e-02 9.99897978e-01 -7.21155357e-03 1.47218357e+01] [-3.83454587e-03 7.16476672e-03 9.99966981e-01 1.69796169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.629259764000004 meters Centerline goodness [0,1] 0.5392215313857422 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99916631e-01 1.23571792e-02 3.74581357e-03 -2.64336358e+01] [-1.23299333e-02 9.99897978e-01 -7.21155357e-03 1.47218357e+01] [-3.83454587e-03 7.16476672e-03 9.99966981e-01 1.69796169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.659259764 meters Centerline goodness [0,1] 0.5389641751186114 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99917311e-01 1.22612669e-02 3.87719127e-03 -2.64341496e+01] [-1.22334988e-02 9.99899916e-01 -7.10630404e-03 1.47216347e+01] [-3.96393551e-03 7.05828481e-03 9.99967233e-01 1.69796193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.689259764 meters Centerline goodness [0,1] 0.539937464468448 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99916058e-01 1.23827123e-02 3.81379736e-03 -2.64338985e+01] [-1.23553468e-02 9.99898340e-01 -7.11726559e-03 1.47220159e+01] [-3.90154070e-03 7.06954736e-03 9.99967399e-01 1.69796100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.719259764 meters Centerline goodness [0,1] 0.54194464158978 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99911645e-01 1.27410741e-02 3.79032907e-03 -2.64333275e+01] [-1.27157003e-02 9.99897074e-01 -6.64478377e-03 1.47210893e+01] [-3.87460063e-03 6.59599998e-03 9.99970740e-01 1.69787916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.749259764 meters Centerline goodness [0,1] 0.5432204112978923 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99910017e-01 1.28269348e-02 3.92775349e-03 -2.64335234e+01] [-1.28012877e-02 9.99897020e-01 -6.48669644e-03 1.47205912e+01] [-4.01055344e-03 6.43583245e-03 9.99971247e-01 1.69785020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.779259764 meters Centerline goodness [0,1] 0.5407069102462272 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99908678e-01 1.29359097e-02 3.91128196e-03 -2.64333814e+01] [-1.29112671e-02 9.99897042e-01 -6.26133403e-03 1.47201350e+01] [-3.99187532e-03 6.21026262e-03 9.99972748e-01 1.69782075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.809259764000004 meters Centerline goodness [0,1] 0.5400503635797753 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99908816e-01 1.29177170e-02 3.93611431e-03 -2.64337279e+01] [-1.28931232e-02 9.99897591e-01 -6.21083470e-03 1.47200789e+01] [-4.01594102e-03 6.15951956e-03 9.99972966e-01 1.69784817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.839259764 meters Centerline goodness [0,1] 0.5428296166161344 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99909167e-01 1.29236383e-02 3.82589789e-03 -2.64336830e+01] [-1.28985224e-02 9.99895565e-01 -6.51815760e-03 1.47212748e+01] [-3.90973664e-03 6.46821711e-03 9.99971438e-01 1.69791063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.869259764 meters Centerline goodness [0,1] 0.5360124522428187 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99908589e-01 1.29391743e-02 3.92314211e-03 -2.64341731e+01] [-1.29118145e-02 9.99892688e-01 -6.92086710e-03 1.47223968e+01] [-4.01227141e-03 6.86957957e-03 9.99968355e-01 1.69798926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.899259764 meters Centerline goodness [0,1] 0.5315939896431705 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99907088e-01 1.30379899e-02 3.97809569e-03 -2.64341603e+01] [-1.30106064e-02 9.99892008e-01 -6.83351281e-03 1.47221253e+01] [-4.06676136e-03 6.78112046e-03 9.99968738e-01 1.69796882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.929259764 meters Centerline goodness [0,1] 0.5326559412926899 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99905807e-01 1.30955547e-02 4.10900506e-03 -2.64345074e+01] [-1.30678016e-02 9.99892099e-01 -6.70990838e-03 1.47216948e+01] [-4.19643166e-03 6.65558069e-03 9.99969046e-01 1.69796045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.959259764 meters Centerline goodness [0,1] 0.5294930745578155 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.72, Z:16.98 [[ 9.99905348e-01 1.30713500e-02 4.29358894e-03 -2.64350407e+01] [-1.30422334e-02 9.99892225e-01 -6.74081860e-03 1.47215910e+01] [-4.38123779e-03 6.68418258e-03 9.99968063e-01 1.69796427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.989259764 meters Centerline goodness [0,1] 0.5308770840973849 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.72, Z:16.98 [[ 9.99905290e-01 1.30941004e-02 4.23729762e-03 -2.64350217e+01] [-1.30649964e-02 9.99891358e-01 -6.82482528e-03 1.47217372e+01] [-4.32620222e-03 6.76881862e-03 9.99967733e-01 1.69799025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.019259764 meters Centerline goodness [0,1] 0.5283832943233411 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99899397e-01 1.35794724e-02 4.09810852e-03 -2.64337161e+01] [-1.35526711e-02 9.99887042e-01 -6.49832577e-03 1.47220533e+01] [-4.18588945e-03 6.44213170e-03 9.99970488e-01 1.69788185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.049259764 meters Centerline goodness [0,1] 0.5306376009487773 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.72, Z:16.98 [[ 9.99897696e-01 1.37372358e-02 3.98580472e-03 -2.64331725e+01] [-1.37111870e-02 9.99884930e-01 -6.49074225e-03 1.47226747e+01] [-4.07451093e-03 6.43542810e-03 9.99970991e-01 1.69785765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.079259764 meters Centerline goodness [0,1] 0.5270021782794421 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.73, Z:16.98 [[ 9.99890920e-01 1.43262918e-02 3.59240175e-03 -2.64314358e+01] [-1.43017026e-02 9.99874742e-01 -6.77953015e-03 1.47252661e+01] [-3.68907730e-03 6.72741318e-03 9.99970566e-01 1.69785991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.109259764 meters Centerline goodness [0,1] 0.529345180825174 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.73, Z:16.98 [[ 9.99889887e-01 1.44581951e-02 3.34291260e-03 -2.64308242e+01] [-1.44337777e-02 9.99869786e-01 -7.21649939e-03 1.47272384e+01] [-3.44681486e-03 7.16745390e-03 9.99968373e-01 1.69791833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.139259764 meters Centerline goodness [0,1] 0.5233910644711771 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.73, Z:16.98 [[ 9.99887754e-01 1.46815985e-02 2.98835615e-03 -2.64298519e+01] [-1.46581154e-02 9.99862653e-01 -7.73400185e-03 1.47297346e+01] [-3.10149322e-03 7.68933007e-03 9.99965627e-01 1.69798106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.169259764 meters Centerline goodness [0,1] 0.5327431100956732 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.73, Z:16.98 [[ 9.99873299e-01 1.57016243e-02 2.61613333e-03 -2.64276331e+01] [-1.56798014e-02 9.99843741e-01 -8.16322096e-03 1.47348646e+01] [-2.74390036e-03 8.12116623e-03 9.99963258e-01 1.69799672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.199259764 meters Centerline goodness [0,1] 0.5383998855016459 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.74, Z:16.98 [[ 9.99868076e-01 1.60952785e-02 2.18458471e-03 -2.64260069e+01] [-1.60766601e-02 9.99836410e-01 -8.28819286e-03 1.47369053e+01] [-2.31762810e-03 8.25197863e-03 9.99963266e-01 1.69797350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.229259764 meters Centerline goodness [0,1] 0.5482084970882699 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.74, Z:16.98 [[ 9.99849680e-01 1.72728146e-02 1.50603732e-03 -2.64224046e+01] [-1.72598151e-02 9.99816960e-01 -8.25502940e-03 1.47399720e+01] [-1.64834925e-03 8.22779458e-03 9.99964793e-01 1.69786303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.259259764 meters Centerline goodness [0,1] 0.5542812796412866 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.74, Z:16.98 [[ 9.99844287e-01 1.76088005e-02 1.15415519e-03 -2.64209942e+01] [-1.75984121e-02 9.99809296e-01 -8.46568734e-03 1.47418615e+01] [-1.30300568e-03 8.44405783e-03 9.99963499e-01 1.69785262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.289259764 meters Centerline goodness [0,1] 0.5538448231121875 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.75, Z:16.98 [[ 9.99825756e-01 1.86596444e-02 5.23953184e-04 -2.64181196e+01] [-1.86544914e-02 9.99789501e-01 -8.54188122e-03 1.47450435e+01] [-6.83231358e-04 8.53061877e-03 9.99963380e-01 1.69782675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.319259764 meters Centerline goodness [0,1] 0.5693036420876296 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.75, Z:16.98 [[ 9.99819566e-01 1.89946034e-02 2.02233363e-04 -2.64169645e+01] [-1.89921185e-02 9.99781609e-01 -8.71972287e-03 1.47465297e+01] [-3.67816875e-04 8.71430869e-03 9.99961962e-01 1.69783838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.349259764 meters Centerline goodness [0,1] 0.5714699074074074 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.75, Z:16.98 [[ 9.99811381e-01 1.94214031e-02 -1.05942068e-04 -2.64157627e+01] [-1.94215845e-02 9.99772812e-01 -8.78218957e-03 1.47474626e+01] [-6.46444450e-05 8.78259065e-03 9.99961430e-01 1.69783690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.379259764000004 meters Centerline goodness [0,1] 0.5747521747926361 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.75, Z:16.98 [[ 9.99791162e-01 2.04296273e-02 -5.13012888e-04 -2.64136488e+01] [-2.04332700e-02 9.99754626e-01 -8.55391338e-03 1.47477606e+01] [ 3.38133745e-04 8.56260952e-03 9.99963283e-01 1.69778742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.409259764 meters Centerline goodness [0,1] 0.5874750628848989 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.75, Z:16.98 [[ 9.99784834e-01 2.07368492e-02 -5.19048005e-04 -2.64133307e+01] [-2.07404916e-02 9.99749308e-01 -8.43528862e-03 1.47476641e+01] [ 3.43996576e-04 8.44423894e-03 9.99964288e-01 1.69776922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.439259764 meters Centerline goodness [0,1] 0.5812553987906709 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.75, Z:16.98 [[ 9.99778860e-01 2.10146761e-02 -7.83846975e-04 -2.64132243e+01] [-2.10207162e-02 9.99741027e-01 -8.71826668e-03 1.47483633e+01] [ 6.00432429e-04 8.73281575e-03 9.99961688e-01 1.69791371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.469259764 meters Centerline goodness [0,1] 0.5862865058293893 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.75, Z:16.98 [[ 9.99777451e-01 2.10799928e-02 -8.26274325e-04 -2.64134636e+01] [-2.10864495e-02 9.99738980e-01 -8.79394883e-03 1.47484032e+01] [ 6.40682273e-04 8.80941493e-03 9.99960991e-01 1.69797554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.499259764 meters Centerline goodness [0,1] 0.5823267641449459 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.75, Z:16.98 [[ 9.99773023e-01 2.12911728e-02 -7.67322823e-04 -2.64135673e+01] [-2.12969566e-02 9.99736683e-01 -8.54422406e-03 1.47475786e+01] [ 5.85204223e-04 8.55862636e-03 9.99963203e-01 1.69796866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.529259764 meters Centerline goodness [0,1] 0.5858443684830379 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.74, Z:16.97 [[ 9.99782772e-01 2.03971586e-02 4.28539695e-03 -2.63923671e+01] [-2.03922131e-02 9.99791344e-01 -1.19457821e-03 1.47414891e+01] [-4.30886878e-03 1.10692999e-03 9.99990104e-01 1.69734558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.559259764000004 meters Centerline goodness [0,1] 0.583965640658554 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.74, Z:16.97 [[ 9.99780496e-01 2.05192786e-02 4.23317221e-03 -2.63926580e+01] [-2.05148224e-02 9.99788951e-01 -1.09343064e-03 1.47403470e+01] [-4.25471521e-03 1.00634785e-03 9.99990442e-01 1.69740851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.589259764 meters Centerline goodness [0,1] 0.5887523981330356 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.74, Z:16.97 [[ 9.99847109e-01 1.71122748e-02 3.59567679e-03 -2.63908841e+01] [-1.70931044e-02 9.99839875e-01 -5.29627031e-03 1.47434318e+01] [-3.68573227e-03 5.23399928e-03 9.99979510e-01 1.69745734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.619259764 meters Centerline goodness [0,1] 0.5871880009159607 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.74, Z:16.97 [[ 9.99843450e-01 1.73068942e-02 3.68066363e-03 -2.63911081e+01] [-1.72884280e-02 9.99838087e-01 -4.99108422e-03 1.47418789e+01] [-3.76644784e-03 4.92666998e-03 9.99980771e-01 1.69745440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.649259764 meters Centerline goodness [0,1] 0.5841490910128714 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.74, Z:16.98 [[ 9.99900347e-01 1.37961546e-02 2.99357462e-03 -2.63896812e+01] [-1.37682910e-02 9.99863466e-01 -9.13691240e-03 1.47426127e+01] [-3.11922015e-03 9.09478548e-03 9.99953777e-01 1.69755714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.679259764 meters Centerline goodness [0,1] 0.5853476488488258 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.74, Z:16.98 [[ 9.99899587e-01 1.38325260e-02 3.07835772e-03 -2.63902250e+01] [-1.38044649e-02 9.99864591e-01 -8.95744943e-03 1.47412543e+01] [-3.20184504e-03 8.91405491e-03 9.99955143e-01 1.69759224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.709259764 meters Centerline goodness [0,1] 0.5823114829245932 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.74, Z:16.98 [[ 9.99901593e-01 1.36298623e-02 3.32118077e-03 -2.63916439e+01] [-1.36009053e-02 9.99870598e-01 -8.59083236e-03 1.47389112e+01] [-3.43784287e-03 8.54481590e-03 9.99957583e-01 1.69764263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.739259764 meters Centerline goodness [0,1] 0.5768593151546333 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.74, Z:16.98 [[ 9.99899254e-01 1.37348520e-02 3.58265286e-03 -2.63921420e+01] [-1.37053250e-02 9.99872944e-01 -8.13996455e-03 1.47373396e+01] [-3.69399887e-03 8.09004306e-03 9.99960452e-01 1.69759090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.769259764 meters Centerline goodness [0,1] 0.5726339272945685 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.74, Z:16.98 [[ 9.99897293e-01 1.38235814e-02 3.78312285e-03 -2.63926134e+01] [-1.37940223e-02 9.99874970e-01 -7.73104129e-03 1.47355194e+01] [-3.88952052e-03 7.67806278e-03 9.99962959e-01 1.69755648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.799259764 meters Centerline goodness [0,1] 0.5672249757876147 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.74, Z:16.98 [[ 9.99945244e-01 9.89539038e-03 3.40437862e-03 -2.63919505e+01] [-9.85434292e-03 9.99880992e-01 -1.18698346e-02 1.47358360e+01] [-3.52143012e-03 1.18356367e-02 9.99923756e-01 1.69760802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.829259764 meters Centerline goodness [0,1] 0.5572146365004116 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.73, Z:16.98 [[ 9.99943064e-01 9.97032734e-03 3.80270647e-03 -2.63928004e+01] [-9.92661925e-03 9.99886374e-01 -1.13446519e-02 1.47335698e+01] [-3.91538428e-03 1.13062579e-02 9.99928417e-01 1.69755126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.859259764 meters Centerline goodness [0,1] 0.544177898335735 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.73, Z:16.98 [[ 9.99944599e-01 9.57458407e-03 4.37328141e-03 -2.63951413e+01] [-9.52620290e-03 9.99894637e-01 -1.09529027e-02 1.47301542e+01] [-4.47769012e-03 1.09106351e-02 9.99930452e-01 1.69759151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.889259764 meters Centerline goodness [0,1] 0.5493881242404545 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.73, Z:16.98 [[ 9.99945307e-01 9.34365110e-03 4.69874649e-03 -2.63965294e+01] [-9.29251279e-03 9.99898608e-01 -1.07899347e-02 1.47288853e+01] [-4.79908746e-03 1.07456814e-02 9.99930747e-01 1.69762871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.919259764 meters Centerline goodness [0,1] 0.5429901269393512 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.73, Z:16.98 [[ 9.99944359e-01 9.31120531e-03 4.95784099e-03 -2.63975048e+01] [-9.25908166e-03 9.99902690e-01 -1.04345352e-02 1.47272560e+01] [-5.05451665e-03 1.03880496e-02 9.99933268e-01 1.69763854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.949259764 meters Centerline goodness [0,1] 0.5363271988257875 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.98 [[ 9.99946447e-01 8.73646590e-03 5.54774601e-03 -2.64001615e+01] [-8.67945249e-03 9.99910115e-01 -1.02190951e-02 1.47247111e+01] [-5.63652612e-03 1.01703964e-02 9.99932394e-01 1.69771761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.979259764 meters Centerline goodness [0,1] 0.5234623504574243 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.98 [[ 9.99945204e-01 8.68577308e-03 5.84354316e-03 -2.64009316e+01] [-8.62794256e-03 9.99914265e-01 -9.84995221e-03 1.47232934e+01] [-5.92859661e-03 9.79899471e-03 9.99934414e-01 1.69768217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.009259764 meters Centerline goodness [0,1] 0.5234953963620032 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.98 [[ 9.99974290e-01 4.50668745e-03 5.57757415e-03 -2.64005102e+01] [-4.42804205e-03 9.99891725e-01 -1.40332118e-02 1.47242945e+01] [-5.64021354e-03 1.40081533e-02 9.99885973e-01 1.69770181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.039259764 meters Centerline goodness [0,1] 0.5215421415505839 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.98 [[ 9.99971566e-01 4.57195560e-03 5.99697749e-03 -2.64011717e+01] [-4.49124333e-03 9.99900077e-01 -1.34039409e-02 1.47224177e+01] [-6.05766048e-03 1.33766259e-02 9.99892180e-01 1.69759519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.069259764 meters Centerline goodness [0,1] 0.5193948579768721 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.98 [[ 9.99969993e-01 4.55917917e-03 6.26318197e-03 -2.64017790e+01] [-4.47776253e-03 9.99906089e-01 -1.29523379e-02 1.47209749e+01] [-6.32164582e-03 1.29239042e-02 9.99896499e-01 1.69754269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.099259764 meters Centerline goodness [0,1] 0.5190501555972974 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.98 [[ 9.99968934e-01 3.97592936e-03 6.80610911e-03 -2.64039699e+01] [-3.88927360e-03 9.99911810e-01 -1.26982888e-02 1.47190856e+01] [-6.85599638e-03 1.26714235e-02 9.99896210e-01 1.69756059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.129259764000004 meters Centerline goodness [0,1] 0.520467017583156 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.72, Z:16.98 [[ 9.99967990e-01 3.19757192e-03 7.33453977e-03 -2.64063632e+01] [-3.10532238e-03 9.99916367e-01 -1.25545050e-02 1.47173178e+01] [-7.37407030e-03 1.25313271e-02 9.99894289e-01 1.69759866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.159259764 meters Centerline goodness [0,1] 0.5196511432884218 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.72, Z:16.98 [[ 9.99966256e-01 3.07553324e-03 7.61755521e-03 -2.64071726e+01] [-2.98198135e-03 9.99920371e-01 -1.22621502e-02 1.47164248e+01] [-7.65466127e-03 1.22390210e-02 9.99895801e-01 1.69756961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.189259764 meters Centerline goodness [0,1] 0.5214461469634268 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.72, Z:16.98 [[ 9.99964443e-01 2.87607739e-03 7.92720566e-03 -2.64081768e+01] [-2.78023676e-03 9.99923233e-01 -1.20747080e-02 1.47156328e+01] [-7.96132490e-03 1.20522392e-02 9.99895675e-01 1.69756116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.219259764 meters Centerline goodness [0,1] 0.520955247171599 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.97 [[ 9.99961094e-01 2.29421706e-03 8.51740590e-03 -2.64098318e+01] [-2.19436471e-03 9.99928978e-01 -1.17142224e-02 1.47137068e+01] [-8.54367595e-03 1.16950764e-02 9.99895110e-01 1.69746820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.249259764 meters Centerline goodness [0,1] 0.5241494701617402 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.97 [[ 9.99956950e-01 1.60534357e-03 9.13897221e-03 -2.64117743e+01] [-1.49964210e-03 9.99932043e-01 -1.15611399e-02 1.47127814e+01] [-9.15691075e-03 1.15469370e-02 9.99891404e-01 1.69741561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.279259764 meters Centerline goodness [0,1] 0.5284839332158738 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.97 [[ 9.99954579e-01 1.23027416e-03 9.45126642e-03 -2.64129495e+01] [-1.11997524e-03 9.99931314e-01 -1.16667215e-02 1.47131548e+01] [-9.46497052e-03 1.16556064e-02 9.99887274e-01 1.69743591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.309259764000004 meters Centerline goodness [0,1] 0.5290189174840025 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.97 [[ 9.99952058e-01 7.93220916e-04 9.75973311e-03 -2.64143250e+01] [-6.76808982e-04 9.99928662e-01 -1.19253051e-02 1.47138200e+01] [-9.76849627e-03 1.19181279e-02 9.99881260e-01 1.69749252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.339259764 meters Centerline goodness [0,1] 0.527873250062872 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.71, Z:16.98 [[ 9.99949301e-01 4.07998871e-04 1.00612898e-02 -2.64155154e+01] [-2.85963392e-04 9.99926416e-01 -1.21276653e-02 1.47145766e+01] [-1.00654975e-02 1.21241733e-02 9.99875837e-01 1.69752473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.369259764 meters Centerline goodness [0,1] 0.5299901394562614 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.72, Z:16.97 [[ 9.99939040e-01 4.73592057e-03 9.97436161e-03 -2.64144401e+01] [-4.65637869e-03 9.99957295e-01 -7.98281539e-03 1.47167929e+01] [-1.00117416e-02 7.93588435e-03 9.99918390e-01 1.69742029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.399259764 meters Centerline goodness [0,1] 0.5260285593100523 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.72, Z:16.97 [[ 9.99907414e-01 9.15265315e-03 1.00693670e-02 -2.64133899e+01] [-9.11353026e-03 9.99950770e-01 -3.92438683e-03 1.47191142e+01] [-1.01047899e-02 3.83225601e-03 9.99941602e-01 1.69727989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.429259764 meters Centerline goodness [0,1] 0.5381257440898011 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.72, Z:16.97 [[ 9.99907373e-01 9.51456535e-03 9.73234672e-03 -2.64118541e+01] [-9.47326128e-03 9.99945962e-01 -4.28133137e-03 1.47214387e+01] [-9.77255581e-03 4.18873774e-03 9.99943474e-01 1.69725313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.459259764 meters Centerline goodness [0,1] 0.5247797669792555 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.72, Z:16.97 [[ 9.99908080e-01 9.71400205e-03 9.45882977e-03 -2.64107591e+01] [-9.66885940e-03 9.99941703e-01 -4.80663221e-03 1.47238534e+01] [-9.50496998e-03 4.71473429e-03 9.99943712e-01 1.69726100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.489259764 meters Centerline goodness [0,1] 0.529571041755736 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.73, Z:16.97 [[ 9.99907262e-01 1.03145976e-02 8.89251024e-03 -2.64082868e+01] [-1.02660510e-02 9.99932244e-01 -5.48774187e-03 1.47283727e+01] [-8.94851157e-03 5.39594199e-03 9.99945402e-01 1.69725031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.519259764 meters Centerline goodness [0,1] 0.529571041755736 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.73, Z:16.97 [[ 9.99907262e-01 1.03145976e-02 8.89251024e-03 -2.64082868e+01] [-1.02660510e-02 9.99932244e-01 -5.48774187e-03 1.47283727e+01] [-8.94851157e-03 5.39594199e-03 9.99945402e-01 1.69725031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.549259764 meters Centerline goodness [0,1] 0.5240137221269296 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.73, Z:16.97 [[ 9.99908871e-01 1.03253335e-02 8.69700487e-03 -2.64076634e+01] [-1.02742130e-02 9.99929800e-01 -5.90224894e-03 1.47306760e+01] [-8.75733702e-03 5.81235619e-03 9.99944761e-01 1.69726805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.579259764 meters Centerline goodness [0,1] 0.5297205806414597 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.73, Z:16.97 [[ 9.99910295e-01 1.06314163e-02 8.14704539e-03 -2.64056894e+01] [-1.05815212e-02 9.99925144e-01 -6.14315274e-03 1.47336498e+01] [-8.21174594e-03 6.05639354e-03 9.99947942e-01 1.69723539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.609259764 meters Centerline goodness [0,1] 0.5333237575409365 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.73, Z:16.97 [[ 9.99909479e-01 1.07617773e-02 8.07574042e-03 -2.64051889e+01] [-1.07129279e-02 9.99924204e-01 -6.06797087e-03 1.47341028e+01] [-8.14043046e-03 5.98090676e-03 9.99948980e-01 1.69719381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.639259764 meters Centerline goodness [0,1] 0.532570574368999 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.73, Z:16.97 [[ 9.99909351e-01 1.08462543e-02 7.97798957e-03 -2.64049819e+01] [-1.07975079e-02 9.99922928e-01 -6.12800749e-03 1.47344874e+01] [-8.04384061e-03 6.04130959e-03 9.99949398e-01 1.69721094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.669259764 meters Centerline goodness [0,1] 0.5357573322619527 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.73, Z:16.97 [[ 9.99908419e-01 1.09423232e-02 7.96367817e-03 -2.64049897e+01] [-1.08941955e-02 9.99922282e-01 -6.06189438e-03 1.47342881e+01] [-8.02939045e-03 5.97458135e-03 9.99949915e-01 1.69722099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.699259764 meters Centerline goodness [0,1] 0.5321203438395415 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.73, Z:16.97 [[ 9.99906817e-01 1.09378555e-02 8.16820984e-03 -2.64053681e+01] [-1.08903819e-02 9.99923679e-01 -5.83402759e-03 1.47335186e+01] [-8.23139818e-03 5.74452903e-03 9.99949621e-01 1.69717337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.729259764 meters Centerline goodness [0,1] 0.5334922047718855 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.73, Z:16.97 [[ 9.99905637e-01 1.09947150e-02 8.23611467e-03 -2.64053820e+01] [-1.09483931e-02 9.99924111e-01 -5.64838473e-03 1.47329426e+01] [-8.29759202e-03 5.55767951e-03 9.99950130e-01 1.69713934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.759259764 meters Centerline goodness [0,1] 0.5345935402443922 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.73, Z:16.97 [[ 9.99904062e-01 1.10387134e-02 8.36745294e-03 -2.64055775e+01] [-1.09930519e-02 9.99924539e-01 -5.48352120e-03 1.47324049e+01] [-8.42735254e-03 5.39101128e-03 9.99949957e-01 1.69710715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.789259764 meters Centerline goodness [0,1] 0.5372123716072761 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.73, Z:16.97 [[ 9.99904331e-01 1.10249777e-02 8.35336736e-03 -2.64056218e+01] [-1.09792251e-02 9.99924582e-01 -5.50333668e-03 1.47323409e+01] [-8.41341153e-03 5.41109668e-03 9.99949966e-01 1.69711783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.819259764 meters Centerline goodness [0,1] 0.537171298693826 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.73, Z:16.97 [[ 9.99905085e-01 1.10446939e-02 8.23624183e-03 -2.64053155e+01] [-1.09981959e-02 9.99923445e-01 -5.66961877e-03 1.47333120e+01] [-8.29823051e-03 5.57849683e-03 9.99950009e-01 1.69713058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.849259764 meters Centerline goodness [0,1] 0.5353364002300173 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.97 [[ 9.99906715e-01 1.10395392e-02 8.04301299e-03 -2.64048800e+01] [-1.09910847e-02 9.99921330e-01 -6.04392169e-03 1.47352196e+01] [-8.10910236e-03 5.95495645e-03 9.99949389e-01 1.69717208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.879259764000004 meters Centerline goodness [0,1] 0.5359644823709171 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.97 [[ 9.99906735e-01 1.11137278e-02 7.93763107e-03 -2.64043917e+01] [-1.10654156e-02 9.99920142e-01 -6.10467712e-03 1.47359773e+01] [-8.00484290e-03 6.01627458e-03 9.99949862e-01 1.69715223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.909259764 meters Centerline goodness [0,1] 0.5378803172314348 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.97 [[ 9.99905481e-01 1.12706040e-02 7.87421386e-03 -2.64038566e+01] [-1.12226659e-02 9.99918382e-01 -6.10586530e-03 1.47364770e+01] [-7.94238797e-03 6.01691850e-03 9.99950356e-01 1.69711560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.939259764 meters Centerline goodness [0,1] 0.5342532983053783 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.97 [[ 9.99902634e-01 1.16409095e-02 7.69494076e-03 -2.64027183e+01] [-1.15945856e-02 9.99914553e-01 -6.03749168e-03 1.47371276e+01] [-7.76456515e-03 5.94768418e-03 9.99952167e-01 1.69705329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.969259764 meters Centerline goodness [0,1] 0.5378630105287516 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.97 [[ 9.99902808e-01 1.17553237e-02 7.49572800e-03 -2.64021260e+01] [-1.17086850e-02 9.99912007e-01 -6.23585471e-03 1.47382266e+01] [-7.56837292e-03 6.14748352e-03 9.99952463e-01 1.69707056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.999259764 meters Centerline goodness [0,1] 0.535333642261353 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.97 [[ 9.99904983e-01 1.15880702e-02 7.46605968e-03 -2.64024755e+01] [-1.15390420e-02 9.99911795e-01 -6.57675194e-03 1.47392450e+01] [-7.54161299e-03 6.48997586e-03 9.99950501e-01 1.69714437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.029259764 meters Centerline goodness [0,1] 0.5347071269165 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.97 [[ 9.99906149e-01 1.14400266e-02 7.53782513e-03 -2.64029820e+01] [-1.13883496e-02 9.99911596e-01 -6.86330559e-03 1.47401457e+01] [-7.61567516e-03 6.77681808e-03 9.99948037e-01 1.69719764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.059259764000004 meters Centerline goodness [0,1] 0.5342426001160766 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.97 [[ 9.99907323e-01 1.13679882e-02 7.49099948e-03 -2.64029640e+01] [-1.13145680e-02 9.99910529e-01 -7.13544693e-03 1.47414230e+01] [-7.57144493e-03 7.05002821e-03 9.99946484e-01 1.69722740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.089259764 meters Centerline goodness [0,1] 0.5349302554882116 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.97 [[ 9.99907556e-01 1.13456306e-02 7.49369655e-03 -2.64029014e+01] [-1.12915545e-02 9.99910186e-01 -7.21952375e-03 1.47418456e+01] [-7.57493355e-03 7.13424087e-03 9.99945860e-01 1.69722101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.119259764 meters Centerline goodness [0,1] 0.5387120220962349 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.97 [[ 9.99907029e-01 1.14229815e-02 7.44641959e-03 -2.64024532e+01] [-1.13697886e-02 9.99909820e-01 -7.14703192e-03 1.47423331e+01] [-7.52738849e-03 7.06170324e-03 9.99946734e-01 1.69717175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.149259764 meters Centerline goodness [0,1] 0.5393457889529131 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.97 [[ 9.99906664e-01 1.14800033e-02 7.40763738e-03 -2.64022485e+01] [-1.14273321e-02 9.99909400e-01 -7.11397712e-03 1.47426154e+01] [-7.48863472e-03 7.02866360e-03 9.99947258e-01 1.69715605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.179259764 meters Centerline goodness [0,1] 0.5411573415406057 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.97 [[ 9.99907323e-01 1.14042405e-02 7.43567142e-03 -2.64022905e+01] [-1.13511324e-02 9.99910040e-01 -7.14584688e-03 1.47430918e+01] [-7.51649546e-03 7.06078133e-03 9.99946822e-01 1.69713879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.209259764 meters Centerline goodness [0,1] 0.5392997239575766 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.97 [[ 9.99908219e-01 1.14324429e-02 7.26999384e-03 -2.64018331e+01] [-1.13788150e-02 9.99908057e-01 -7.37567919e-03 1.47444368e+01] [-7.35364744e-03 7.29227833e-03 9.99946372e-01 1.69715447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.239259764 meters Centerline goodness [0,1] 0.5374938117009813 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.75, Z:16.97 [[ 9.99909116e-01 1.15865889e-02 6.89280204e-03 -2.64007140e+01] [-1.15332827e-02 9.99903659e-01 -7.72372803e-03 1.47467119e+01] [-6.98162964e-03 7.64352944e-03 9.99946415e-01 1.69717782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.269259764 meters Centerline goodness [0,1] 0.5373833143124689 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.75, Z:16.97 [[ 9.99905264e-01 1.22011643e-02 6.37137761e-03 -2.63983961e+01] [-1.21498729e-02 9.99893961e-01 -8.02788426e-03 1.47494316e+01] [-6.46865153e-03 7.94971230e-03 9.99947478e-01 1.69713980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.299259764 meters Centerline goodness [0,1] 0.5402894983591187 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.75, Z:16.97 [[ 9.99903137e-01 1.24476128e-02 6.22676583e-03 -2.63975894e+01] [-1.23972652e-02 9.99890666e-01 -8.05996693e-03 1.47500292e+01] [-6.32641238e-03 7.98199135e-03 9.99948131e-01 1.69710676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.329259764 meters Centerline goodness [0,1] 0.535818390601537 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.75, Z:16.97 [[ 9.99897702e-01 1.30032062e-02 5.95831310e-03 -2.63960241e+01] [-1.29558983e-02 9.99884775e-01 -7.91078534e-03 1.47507127e+01] [-6.06049212e-03 7.83278079e-03 9.99950958e-01 1.69702910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.359259764 meters Centerline goodness [0,1] 0.5376441926678213 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.75, Z:16.97 [[ 9.99896800e-01 1.31665849e-02 5.74714228e-03 -2.63954646e+01] [-1.31207040e-02 9.99882321e-01 -7.94926629e-03 1.47512348e+01] [-5.85113065e-03 7.87303937e-03 9.99951889e-01 1.69704147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.389259764 meters Centerline goodness [0,1] 0.5388215210736991 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.75, Z:16.97 [[ 9.99897980e-01 1.32478335e-02 5.34088444e-03 -2.63947538e+01] [-1.32026629e-02 9.99877508e-01 -8.40587314e-03 1.47533807e+01] [-5.45158983e-03 8.33450168e-03 9.99950407e-01 1.69714081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.419259764 meters Centerline goodness [0,1] 0.5424153166421208 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.76, Z:16.97 [[ 9.99900987e-01 1.30591506e-02 5.24164078e-03 -2.63950343e+01] [-1.30120494e-02 9.99875537e-01 -8.92167420e-03 1.47550030e+01] [-5.35749788e-03 8.85258635e-03 9.99946463e-01 1.69724408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.449259764 meters Centerline goodness [0,1] 0.5383459975260647 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.76, Z:16.97 [[ 9.99899187e-01 1.32726220e-02 5.04503368e-03 -2.63946560e+01] [-1.32264224e-02 9.99871271e-01 -9.08307901e-03 1.47556963e+01] [-5.16494051e-03 9.01543557e-03 9.99946021e-01 1.69730445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.479259764 meters Centerline goodness [0,1] 0.5456497441025943 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.75, Z:16.97 [[ 9.99895140e-01 1.35865696e-02 5.01135847e-03 -2.63941434e+01] [-1.35424964e-02 9.99870219e-01 -8.72617119e-03 1.47548319e+01] [-5.12926682e-03 8.65738986e-03 9.99949369e-01 1.69724612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.509259764 meters Centerline goodness [0,1] 0.544542547886539 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.75, Z:16.97 [[ 9.99889237e-01 1.40388464e-02 4.94210877e-03 -2.63933926e+01] [-1.39985142e-02 9.99869182e-01 -8.10305828e-03 1.47530899e+01] [-5.05521984e-03 8.03297858e-03 9.99954957e-01 1.69715137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.539259764 meters Centerline goodness [0,1] 0.547901821060966 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.75, Z:16.97 [[ 9.99887230e-01 1.41661260e-02 4.98479867e-03 -2.63934394e+01] [-1.41267916e-02 9.99869479e-01 -7.83955062e-03 1.47522396e+01] [-5.09520411e-03 7.76824734e-03 9.99956846e-01 1.69713016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.569259764 meters Centerline goodness [0,1] 0.5372636262513905 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.75, Z:16.97 [[ 9.99885270e-01 1.42749700e-02 5.06682977e-03 -2.63937690e+01] [-1.42367623e-02 9.99870536e-01 -7.49837695e-03 1.47508526e+01] [-5.17321290e-03 7.42538140e-03 9.99959050e-01 1.69712324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.599259764 meters Centerline goodness [0,1] 0.5385265489304657 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.75, Z:16.97 [[ 9.99937517e-01 1.01916568e-02 4.59271690e-03 -2.63937150e+01] [-1.01358021e-02 9.99876324e-01 -1.20250328e-02 1.47515787e+01] [-4.71470390e-03 1.19777306e-02 9.99917149e-01 1.69732150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.629259764 meters Centerline goodness [0,1] 0.5364023820644559 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.75, Z:16.97 [[ 9.99935896e-01 1.01844552e-02 4.94789692e-03 -2.63949357e+01] [-1.01266935e-02 9.99881878e-01 -1.15620390e-02 1.47491941e+01] [-5.06506554e-03 1.15111920e-02 9.99920916e-01 1.69732410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.659259764 meters Centerline goodness [0,1] 0.5321527072143998 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.75, Z:16.97 [[ 9.99970081e-01 6.19274752e-03 4.63551023e-03 -2.63950686e+01] [-6.12031326e-03 9.99861441e-01 -1.54803489e-02 1.47475541e+01] [-4.73073383e-03 1.54515150e-02 9.99869427e-01 1.69743879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.689259764 meters Centerline goodness [0,1] 0.5295719168163123 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.97 [[ 9.99967437e-01 6.22189381e-03 5.13925975e-03 -2.63964807e+01] [-6.14563990e-03 9.99872733e-01 -1.47223910e-02 1.47440286e+01] [-5.23020685e-03 1.46903275e-02 9.99878412e-01 1.69739120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.719259764 meters Centerline goodness [0,1] 0.529113486415627 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.98 [[ 9.99985086e-01 1.83704427e-03 5.14318116e-03 -2.63979590e+01] [-1.74027748e-03 9.99822571e-01 -1.87562524e-02 1.47419049e+01] [-5.17672468e-03 1.87470221e-02 9.99810857e-01 1.69755579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.749259764 meters Centerline goodness [0,1] 0.5281479779411764 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.98 [[ 9.99982158e-01 1.66288494e-03 5.73748255e-03 -2.63999478e+01] [-1.55882100e-03 9.99835064e-01 -1.80946050e-02 1.47385097e+01] [-5.76662548e-03 1.80853385e-02 9.99819817e-01 1.69754107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.779259764 meters Centerline goodness [0,1] 0.5271452591980392 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.73, Z:16.98 [[ 9.99984733e-01 -1.63211143e-04 5.52340636e-03 -2.64020958e+01] [ 2.62247669e-04 9.99839132e-01 -1.79343636e-02 1.47325320e+01] [-5.51959073e-03 1.79355383e-02 9.99823910e-01 1.69761889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.809259764000004 meters Centerline goodness [0,1] 0.5252528121804341 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.73, Z:16.98 [[ 9.99980849e-01 -5.08108784e-04 6.16787983e-03 -2.64042604e+01] [ 6.14410509e-04 9.99851104e-01 -1.72450853e-02 1.47288713e+01] [-6.15819907e-03 1.72485446e-02 9.99832268e-01 1.69759056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.839259764 meters Centerline goodness [0,1] 0.5327730144404332 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.73, Z:16.98 [[ 9.99976295e-01 -7.89927529e-04 6.84003762e-03 -2.64063610e+01] [ 9.02640541e-04 9.99863606e-01 -1.64910432e-02 1.47250316e+01] [-6.82607796e-03 1.64968263e-02 9.99840617e-01 1.69754976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.869259764 meters Centerline goodness [0,1] 0.538478722216017 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.72, Z:16.98 [[ 9.99958781e-01 -5.56343006e-03 7.17525762e-03 -2.64087344e+01] [ 5.70536469e-03 9.99785403e-01 -1.99147350e-02 1.47202623e+01] [-7.06292359e-03 1.99548516e-02 9.99775934e-01 1.69761623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.899259764 meters Centerline goodness [0,1] 0.5343809205393959 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.72, Z:16.98 [[ 9.99949344e-01 -6.36812436e-03 7.79467987e-03 -2.64114968e+01] [ 6.51781020e-03 9.99791889e-01 -1.93312567e-02 1.47158375e+01] [-7.66995387e-03 1.93810817e-02 9.99782749e-01 1.69761933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.929259764 meters Centerline goodness [0,1] 0.5313652113652114 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.98 [[ 9.99937524e-01 -7.68864644e-03 8.11374096e-03 -2.64146403e+01] [ 7.84036626e-03 9.99791845e-01 -1.88359988e-02 1.47103209e+01] [-7.96722871e-03 1.88984367e-02 9.99789664e-01 1.69770822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.959259764 meters Centerline goodness [0,1] 0.5315107993456623 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.71, Z:16.98 [[ 9.99952674e-01 -4.58693253e-03 8.57961143e-03 -2.64173550e+01] [ 4.70951959e-03 9.99886330e-01 -1.43229769e-02 1.47057246e+01] [-8.51293765e-03 1.43627049e-02 9.99860612e-01 1.69773677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.989259764 meters Centerline goodness [0,1] 0.5313417946017847 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.70, Z:16.98 [[ 9.99958403e-01 -1.61042408e-03 8.97766295e-03 -2.64199328e+01] [ 1.69968377e-03 9.99949116e-01 -9.94367140e-03 1.47015818e+01] [-8.96119260e-03 9.95851697e-03 9.99910258e-01 1.69776660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.019259764 meters Centerline goodness [0,1] 0.5284010735135434 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.70, Z:16.98 [[ 9.99958747e-01 -1.36154396e-03 8.98058272e-03 -2.64200827e+01] [ 1.44736425e-03 9.99953287e-01 -9.55663837e-03 1.46999395e+01] [-8.96715142e-03 9.56924231e-03 9.99914006e-01 1.69777701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.049259764 meters Centerline goodness [0,1] 0.5181951313862563 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.70, Z:16.98 [[ 9.99959755e-01 -6.98740997e-04 8.94432886e-03 -2.64190308e+01] [ 7.77512055e-04 9.99960921e-01 -8.80637032e-03 1.46980693e+01] [-8.93782595e-03 8.81297023e-03 9.99921220e-01 1.69764258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.079259764 meters Centerline goodness [0,1] 0.5155668312053608 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.70, Z:16.98 [[ 9.99959069e-01 -3.75720551e-04 9.03984128e-03 -2.64187850e+01] [ 4.50618735e-04 9.99965579e-01 -8.28473316e-03 1.46965131e+01] [-9.03641738e-03 8.28846758e-03 9.99924819e-01 1.69756015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.109259764 meters Centerline goodness [0,1] 0.5177207538875762 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:16.97 [[ 9.99954922e-01 -3.03360686e-04 9.49011160e-03 -2.64199028e+01] [ 3.73554098e-04 9.99972583e-01 -7.39558110e-03 1.46925255e+01] [-9.48760788e-03 7.39879279e-03 9.99927619e-01 1.69747937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.139259764 meters Centerline goodness [0,1] 0.5161210657739483 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:16.97 [[ 9.99952004e-01 -2.76153158e-04 9.79353861e-03 -2.64207943e+01] [ 3.43690235e-04 9.99976170e-01 -6.89507281e-03 1.46903741e+01] [-9.79140113e-03 6.89810782e-03 9.99928270e-01 1.69745815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.169259764 meters Centerline goodness [0,1] 0.4996170468844029 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.69, Z:16.98 [[ 9.99947047e-01 -1.48677769e-03 1.01830094e-02 -2.64240603e+01] [ 1.55649010e-03 9.99975386e-01 -6.84145323e-03 1.46870076e+01] [-1.01725870e-02 6.85694071e-03 9.99924748e-01 1.69762023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.199259764 meters Centerline goodness [0,1] 0.5086860175635379 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.69, Z:16.98 [[ 9.99940776e-01 -1.87623085e-03 1.07202328e-02 -2.64262338e+01] [ 1.94739275e-03 9.99976115e-01 -6.63151464e-03 1.46850053e+01] [-1.07075345e-02 6.65199841e-03 9.99920547e-01 1.69768159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.229259764 meters Centerline goodness [0,1] 0.5038829395896346 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:16.98 [[ 9.99937677e-01 -2.08540723e-03 1.09677955e-02 -2.64275778e+01] [ 2.15656122e-03 9.99976681e-01 -6.47971758e-03 1.46836216e+01] [-1.09540269e-02 6.50296647e-03 9.99918857e-01 1.69775126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.259259764 meters Centerline goodness [0,1] 0.512120466781449 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:16.98 [[ 9.99940433e-01 -1.82347978e-03 1.07612605e-02 -2.64273058e+01] [ 1.89123888e-03 9.99978431e-01 -6.28976266e-03 1.46833002e+01] [-1.07495591e-02 6.30974012e-03 9.99922314e-01 1.69779535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.289259764 meters Centerline goodness [0,1] 0.5138318268967406 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:16.98 [[ 9.99940166e-01 -1.65003445e-03 1.08139283e-02 -2.64273093e+01] [ 1.71443381e-03 9.99980837e-01 -5.94866189e-03 1.46823480e+01] [-1.08039056e-02 5.96684573e-03 9.99923833e-01 1.69776255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.319259764 meters Centerline goodness [0,1] 0.5155554341591325 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:16.98 [[ 9.99942047e-01 -8.80080444e-04 1.07297710e-02 -2.64260813e+01] [ 9.32677376e-04 9.99987570e-01 -4.89794415e-03 1.46794294e+01] [-1.07253271e-02 4.90766772e-03 9.99930439e-01 1.69760761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.349259764 meters Centerline goodness [0,1] 0.5130165120644161 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:16.98 [[ 9.99941409e-01 -5.11963319e-04 1.08128322e-02 -2.64256992e+01] [ 5.57254582e-04 9.99991083e-01 -4.18606124e-03 1.46773804e+01] [-1.08105927e-02 4.19184147e-03 9.99932778e-01 1.69750021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.379259764 meters Centerline goodness [0,1] 0.5132678532667679 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99936340e-01 -8.70277757e-04 1.12498419e-02 -2.64276541e+01] [ 9.13105970e-04 9.99992354e-01 -3.80243030e-03 1.46739501e+01] [-1.12464467e-02 3.81246053e-03 9.99929489e-01 1.69754980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.409259764 meters Centerline goodness [0,1] 0.5132678532667679 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99936340e-01 -8.70277757e-04 1.12498419e-02 -2.64276541e+01] [ 9.13105970e-04 9.99992354e-01 -3.80243030e-03 1.46739501e+01] [-1.12464467e-02 3.81246053e-03 9.99929489e-01 1.69754980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.439259764 meters Centerline goodness [0,1] 0.5056723029549997 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99931720e-01 -1.07184654e-03 1.16364262e-02 -2.64291616e+01] [ 1.11325256e-03 9.99993070e-01 -3.55241682e-03 1.46721760e+01] [-1.16325379e-02 3.56512855e-03 9.99925984e-01 1.69758702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.469259764 meters Centerline goodness [0,1] 0.4948601030677495 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99930490e-01 -1.08483166e-03 1.17404514e-02 -2.64297075e+01] [ 1.12398142e-03 9.99993829e-01 -3.32851947e-03 1.46710862e+01] [-1.17367680e-02 3.34148415e-03 9.99925539e-01 1.69760773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.499259764 meters Centerline goodness [0,1] 0.5092502696871629 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99928411e-01 -1.27685919e-03 1.18971896e-02 -2.64306991e+01] [ 1.31532586e-03 9.99993931e-01 -3.22599344e-03 1.46699239e+01] [-1.18929982e-02 3.24141118e-03 9.99924022e-01 1.69766617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.529259764 meters Centerline goodness [0,1] 0.5091468350331876 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99928837e-01 -1.34589065e-03 1.18536351e-02 -2.64310779e+01] [ 1.38396281e-03 9.99993909e-01 -3.20423786e-03 1.46695078e+01] [-1.18492503e-02 3.22041483e-03 9.99924609e-01 1.69772798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.559259764000004 meters Centerline goodness [0,1] 0.49756857687864375 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99928377e-01 -1.31135386e-03 1.18962683e-02 -2.64313562e+01] [ 1.34839872e-03 9.99994266e-01 -3.10650375e-03 1.46690528e+01] [-1.18921263e-02 3.12232216e-03 9.99924411e-01 1.69774494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.589259764 meters Centerline goodness [0,1] 0.4763335837716003 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99926535e-01 -1.17324818e-03 1.20643511e-02 -2.64316853e+01] [ 1.20698898e-03 9.99995380e-01 -2.78983504e-03 1.46677622e+01] [-1.20610221e-02 2.80419162e-03 9.99923331e-01 1.69772139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.619259764 meters Centerline goodness [0,1] 0.4923852423852424 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99927647e-01 -8.41976805e-04 1.19996295e-02 -2.64311245e+01] [ 8.71216960e-04 9.99996664e-01 -2.43173587e-03 1.46668197e+01] [-1.19975420e-02 2.44201421e-03 9.99925045e-01 1.69766966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.649259764 meters Centerline goodness [0,1] 0.5009105516871988 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99929911e-01 -7.45852623e-04 1.18159446e-02 -2.64306807e+01] [ 7.74638634e-04 9.99996743e-01 -2.43181124e-03 1.46673340e+01] [-1.18140924e-02 2.44079388e-03 9.99927232e-01 1.69767637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.679259764 meters Centerline goodness [0,1] 0.4807403029977436 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99928908e-01 -9.71988748e-04 1.18841615e-02 -2.64315081e+01] [ 1.00073040e-03 9.99996589e-01 -2.41277645e-03 1.46668349e+01] [-1.18817757e-02 2.42449776e-03 9.99926470e-01 1.69774221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.709259764 meters Centerline goodness [0,1] 0.4843348329048843 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99928150e-01 -9.61898907e-04 1.19486178e-02 -2.64317528e+01] [ 9.88290967e-04 9.99997085e-01 -2.20308794e-03 1.46661715e+01] [-1.19464639e-02 2.21473836e-03 9.99926186e-01 1.69773810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.739259764 meters Centerline goodness [0,1] 0.48566139979075573 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99937687e-01 -2.48510433e-04 1.11606260e-02 -2.64292826e+01] [ 2.72868634e-04 9.99997584e-01 -2.18104240e-03 1.46678344e+01] [-1.11600571e-02 2.18395188e-03 9.99935340e-01 1.69773717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.769259764 meters Centerline goodness [0,1] 0.4985627938213566 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99939524e-01 -1.44954334e-04 1.09966784e-02 -2.64287200e+01] [ 1.70637114e-04 9.99997260e-01 -2.33460112e-03 1.46688616e+01] [-1.09963099e-02 2.33633637e-03 9.99936809e-01 1.69773513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.799259764 meters Centerline goodness [0,1] 0.5019892473118279 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99941258e-01 2.51678301e-04 1.08359526e-02 -2.64273328e+01] [-2.29966067e-04 9.99997964e-01 -2.00492119e-03 1.46690227e+01] [-1.08364351e-02 2.00231152e-03 9.99939279e-01 1.69760383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.829259764 meters Centerline goodness [0,1] 0.509256760403735 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99941436e-01 2.51826765e-04 1.08194857e-02 -2.64272132e+01] [-2.29110041e-04 9.99997767e-01 -2.10080034e-03 1.46691731e+01] [-1.08199906e-02 2.09819845e-03 9.99939261e-01 1.69759677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.859259764 meters Centerline goodness [0,1] 0.5012257212898359 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99943121e-01 3.34512125e-04 1.06603019e-02 -2.64265324e+01] [-3.11753718e-04 9.99997669e-01 -2.13646480e-03 1.46699344e+01] [-1.06609917e-02 2.13301989e-03 9.99940895e-01 1.69756416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.889259764 meters Centerline goodness [0,1] 0.5067083355784255 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99945387e-01 2.56662519e-04 1.04478584e-02 -2.64263546e+01] [-2.30092494e-04 9.99996737e-01 -2.54422981e-03 1.46717423e+01] [-1.04484773e-02 2.54168689e-03 9.99942183e-01 1.69763098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.919259764 meters Centerline goodness [0,1] 0.5080106989436144 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.67, Z:16.98 [[ 9.99949799e-01 2.37891044e-04 1.00171496e-02 -2.64256869e+01] [-2.08738049e-04 9.99995741e-01 -2.91125338e-03 1.46741584e+01] [-1.00177995e-02 2.90901627e-03 9.99945589e-01 1.69771461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.949259764 meters Centerline goodness [0,1] 0.5012041672304154 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:16.98 [[ 9.99952060e-01 2.93155988e-04 9.78733982e-03 -2.64251357e+01] [-2.63263812e-04 9.99995298e-01 -3.05531633e-03 1.46751225e+01] [-9.78818948e-03 3.05259321e-03 9.99947435e-01 1.69773195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.979259764 meters Centerline goodness [0,1] 0.5067472360719705 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.98 [[ 9.99953113e-01 3.86084436e-04 9.67586546e-03 -2.64248073e+01] [-3.56467650e-04 9.99995247e-01 -3.06243042e-03 1.46756226e+01] [-9.67700183e-03 3.05883770e-03 9.99948498e-01 1.69773143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.009259764 meters Centerline goodness [0,1] 0.5046197198363453 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.98 [[ 9.99952965e-01 4.52035566e-04 9.68831391e-03 -2.64248003e+01] [-4.21656966e-04 9.99994989e-01 -3.13740536e-03 1.46760945e+01] [-9.68968359e-03 3.13317264e-03 9.99948145e-01 1.69773741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.039259764 meters Centerline goodness [0,1] 0.514745308310992 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.98 [[ 9.99955991e-01 6.27887982e-04 9.36066029e-03 -2.64238696e+01] [-5.96915976e-04 9.99994340e-01 -3.31116838e-03 1.46773426e+01] [-9.36268635e-03 3.30543513e-03 9.99950706e-01 1.69774768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.069259764 meters Centerline goodness [0,1] 0.509800200612682 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.98 [[ 9.99962037e-01 1.43907368e-03 8.59386999e-03 -2.64210912e+01] [-1.40993787e-03 9.99993242e-01 -3.39539827e-03 1.46805304e+01] [-8.59869814e-03 3.38315255e-03 9.99957307e-01 1.69771649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.099259764 meters Centerline goodness [0,1] 0.5233913373448258 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.98 [[ 9.99963529e-01 1.47916957e-03 8.41140940e-03 -2.64206304e+01] [-1.44925375e-03 9.99992607e-01 -3.56155964e-03 1.46816496e+01] [-8.41661537e-03 3.54923949e-03 9.99958281e-01 1.69772838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.129259764 meters Centerline goodness [0,1] 0.5184772869206332 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.98 [[ 9.99963879e-01 1.75478550e-03 8.31628357e-03 -2.64200384e+01] [-1.72755572e-03 9.99993127e-01 -3.28032577e-03 1.46811088e+01] [-8.32198268e-03 3.26584044e-03 9.99960039e-01 1.69767967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.159259764 meters Centerline goodness [0,1] 0.5175560081466395 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.98 [[ 9.99963002e-01 1.93262233e-03 8.38205218e-03 -2.64199602e+01] [-1.90830922e-03 9.99993952e-01 -2.90764372e-03 1.46799172e+01] [-8.38762086e-03 2.89154059e-03 9.99960643e-01 1.69762998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.189259764 meters Centerline goodness [0,1] 0.5173721125463753 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.98 [[ 9.99960250e-01 1.83480393e-03 8.72540263e-03 -2.64207090e+01] [-1.81503067e-03 9.99995768e-01 -2.27355117e-03 1.46772196e+01] [-8.72953723e-03 2.25762392e-03 9.99959348e-01 1.69754432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.219259764 meters Centerline goodness [0,1] 0.5117756807181678 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.98 [[ 9.99958187e-01 1.88825263e-03 8.94754923e-03 -2.64211793e+01] [-1.87197976e-03 9.99996579e-01 -1.82672160e-03 1.46755628e+01] [-8.95096793e-03 1.80989559e-03 9.99958301e-01 1.69750183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.249259764 meters Centerline goodness [0,1] 0.5185315346976291 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.67, Z:16.98 [[ 9.99957892e-01 1.81418443e-03 8.99573060e-03 -2.64215693e+01] [-1.79994800e-03 9.99997115e-01 -1.59042072e-03 1.46748325e+01] [-8.99858996e-03 1.57416190e-03 9.99958273e-01 1.69751174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.279259764 meters Centerline goodness [0,1] 0.5015382954606791 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.98 [[ 9.99958645e-01 1.66329502e-03 8.94097555e-03 -2.64218741e+01] [-1.64726736e-03 9.99997024e-01 -1.79967310e-03 1.46756048e+01] [-8.94394232e-03 1.78487049e-03 9.99958409e-01 1.69757385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.309259764000004 meters Centerline goodness [0,1] 0.5163633417940271 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.98 [[ 9.99960712e-01 1.41410744e-03 8.75072105e-03 -2.64222336e+01] [-1.39342190e-03 9.99996222e-01 -2.36951251e-03 1.46775098e+01] [-8.75403873e-03 2.35722597e-03 9.99958904e-01 1.69770876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.339259764 meters Centerline goodness [0,1] 0.506103515625 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.98 [[ 9.99962996e-01 1.41833910e-03 8.48504124e-03 -2.64216612e+01] [-1.39430889e-03 9.99995003e-01 -2.83731228e-03 1.46794721e+01] [-8.48902311e-03 2.82537652e-03 9.99959976e-01 1.69775276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.369259764 meters Centerline goodness [0,1] 0.522330149772086 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.98 [[ 9.99964698e-01 1.77500329e-03 8.21295923e-03 -2.64200881e+01] [-1.75279411e-03 9.99994790e-01 -2.71057119e-03 1.46806632e+01] [-8.21772771e-03 2.69607988e-03 9.99962599e-01 1.69764782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.399259764 meters Centerline goodness [0,1] 0.5217237532986914 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.98 [[ 9.99965566e-01 1.94776376e-03 8.06677168e-03 -2.64193439e+01] [-1.92627739e-03 9.99994579e-01 -2.67047847e-03 1.46810491e+01] [-8.07192941e-03 2.65484767e-03 9.99963897e-01 1.69760455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.429259764 meters Centerline goodness [0,1] 0.5252802127717318 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.68, Z:16.98 [[ 9.99968699e-01 2.62852081e-03 7.46272889e-03 -2.64167986e+01] [-2.60666456e-03 9.99992290e-01 -2.93693774e-03 1.46842640e+01] [-7.47039116e-03 2.91739298e-03 9.99967841e-01 1.69755559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.459259764 meters Centerline goodness [0,1] 0.5284306499604182 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.69, Z:16.98 [[ 9.99972759e-01 2.77920579e-03 6.83800172e-03 -2.64148477e+01] [-2.75581849e-03 9.99990330e-01 -3.42724333e-03 1.46892571e+01] [-6.84746061e-03 3.40830568e-03 9.99970747e-01 1.69754923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.489259764 meters Centerline goodness [0,1] 0.5287079374640637 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.69, Z:16.98 [[ 9.99974885e-01 2.76642809e-03 6.52510116e-03 -2.64139242e+01] [-2.74152457e-03 9.99988936e-01 -3.82243307e-03 1.46918348e+01] [-6.53560346e-03 3.80444835e-03 9.99971406e-01 1.69755574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.519259764 meters Centerline goodness [0,1] 0.5295785503895174 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.70, Z:16.98 [[ 9.99977450e-01 3.05766088e-03 5.97908961e-03 -2.64116272e+01] [-3.03101081e-03 9.99985455e-01 -4.46120555e-03 1.46967870e+01] [-5.99264350e-03 4.44298227e-03 9.99972174e-01 1.69751017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.549259764 meters Centerline goodness [0,1] 0.5325901458849436 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.70, Z:16.97 [[ 9.99978826e-01 3.51207818e-03 5.47833424e-03 -2.64094388e+01] [-3.48692552e-03 9.99983368e-01 -4.59411185e-03 1.46996460e+01] [-5.49437801e-03 4.57491203e-03 9.99974441e-01 1.69743748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.579259764 meters Centerline goodness [0,1] 0.536498976146992 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.70, Z:16.97 [[ 9.99980504e-01 3.89048253e-03 4.88414011e-03 -2.64071720e+01] [-3.86668971e-03 9.99980659e-01 -4.87147291e-03 1.47029081e+01] [-4.90299803e-03 4.85249249e-03 9.99976207e-01 1.69738783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.609259764 meters Centerline goodness [0,1] 0.53361810717852 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.97 [[ 9.99979090e-01 4.69525229e-03 4.44673016e-03 -2.64045117e+01] [-4.67204039e-03 9.99975482e-01 -5.21607556e-03 1.47078928e+01] [-4.47111193e-03 5.19519119e-03 9.99976509e-01 1.69730483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.639259764 meters Centerline goodness [0,1] 0.5351462573684795 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.97 [[ 9.99979485e-01 4.91359060e-03 4.10923522e-03 -2.64031606e+01] [-4.89149458e-03 9.99973618e-01 -5.37003501e-03 1.47096279e+01] [-4.13551296e-03 5.34982454e-03 9.99977138e-01 1.69726666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.669259764 meters Centerline goodness [0,1] 0.539414696627962 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.97 [[ 9.99978877e-01 5.39187488e-03 3.62956432e-03 -2.64010065e+01] [-5.37209974e-03 9.99970794e-01 -5.43622790e-03 1.47120025e+01] [-3.65876978e-03 5.41661469e-03 9.99978637e-01 1.69718402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.699259764 meters Centerline goodness [0,1] 0.5413808488093246 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.97 [[ 9.99979431e-01 5.32172388e-03 3.58008345e-03 -2.64006841e+01] [-5.30151380e-03 9.99970092e-01 -5.63114266e-03 1.47134069e+01] [-3.60994376e-03 5.61204697e-03 9.99977736e-01 1.69716087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.729259764 meters Centerline goodness [0,1] 0.5425466360427987 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99979822e-01 5.47787687e-03 3.21676352e-03 -2.63991534e+01] [-5.45931189e-03 9.99968555e-01 -5.75202003e-03 1.47156328e+01] [-3.24817123e-03 5.73434265e-03 9.99978283e-01 1.69709582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.759259764 meters Centerline goodness [0,1] 0.5464128514956965 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99979933e-01 5.61565653e-03 2.93240463e-03 -2.63980636e+01] [-5.59847934e-03 9.99967314e-01 -5.83343388e-03 1.47171713e+01] [-2.96506734e-03 5.81689981e-03 9.99978686e-01 1.69706260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.789259764 meters Centerline goodness [0,1] 0.5470207982012367 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99980244e-01 5.64461925e-03 2.76587023e-03 -2.63974379e+01] [-5.62805550e-03 9.99966400e-01 -5.96024940e-03 1.47183802e+01] [-2.79942063e-03 5.94456518e-03 9.99978412e-01 1.69704300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.819259764 meters Centerline goodness [0,1] 0.5475695420061815 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99978111e-01 6.08650081e-03 2.59459922e-03 -2.63961176e+01] [-6.07173425e-03 9.99965539e-01 -5.66165198e-03 1.47185793e+01] [-2.62896946e-03 5.64577434e-03 9.99980607e-01 1.69693669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.849259764 meters Centerline goodness [0,1] 0.5478268189343135 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99977079e-01 6.23046832e-03 2.64994677e-03 -2.63959538e+01] [-6.21595779e-03 9.99965833e-01 -5.44921561e-03 1.47181250e+01] [-2.68380740e-03 5.43261875e-03 9.99981642e-01 1.69688747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.879259764 meters Centerline goodness [0,1] 0.5421737423588133 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99976098e-01 6.36813323e-03 2.69248626e-03 -2.63959402e+01] [-6.35374800e-03 9.99965674e-01 -5.31794803e-03 1.47177113e+01] [-2.72625924e-03 5.30071355e-03 9.99982235e-01 1.69687108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.909259764 meters Centerline goodness [0,1] 0.5427641729080759 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99976689e-01 6.30481459e-03 2.62120330e-03 -2.63960248e+01] [-6.29041028e-03 9.99965267e-01 -5.46770286e-03 1.47182480e+01] [-2.65558511e-03 5.45108696e-03 9.99981617e-01 1.69691043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.939259764 meters Centerline goodness [0,1] 0.5445633549619393 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99977190e-01 6.22267923e-03 2.62619395e-03 -2.63962358e+01] [-6.20806121e-03 9.99965394e-01 -5.53816040e-03 1.47186245e+01] [-2.66056526e-03 5.52173051e-03 9.99981216e-01 1.69693080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.969259764 meters Centerline goodness [0,1] 0.5397285730375042 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99975789e-01 6.39279969e-03 2.74827178e-03 -2.63962309e+01] [-6.37836285e-03 9.99965981e-01 -5.23011757e-03 1.47175170e+01] [-2.78161338e-03 5.21246147e-03 9.99982546e-01 1.69688036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.999259764 meters Centerline goodness [0,1] 0.5403609539093954 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99994889e-01 2.33089469e-03 2.18827709e-03 -2.63951720e+01] [-2.30955515e-03 9.99950246e-01 -9.70415066e-03 1.47192211e+01] [-2.21078757e-03 9.69904712e-03 9.99950519e-01 1.69696509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.029259764 meters Centerline goodness [0,1] 0.5416889740482966 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99994630e-01 2.28702148e-03 2.34722713e-03 -2.63958447e+01] [-2.26466699e-03 9.99952474e-01 -9.48265836e-03 1.47181421e+01] [-2.36880262e-03 9.47729175e-03 9.99952284e-01 1.69697602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.059259764000004 meters Centerline goodness [0,1] 0.538969654199012 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99995254e-01 2.15647982e-03 2.20033379e-03 -2.63961075e+01] [-2.13486803e-03 9.99949919e-01 -9.77757560e-03 1.47191352e+01] [-2.22130874e-03 9.77283178e-03 9.99949778e-01 1.69707398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.089259764 meters Centerline goodness [0,1] 0.5387519368925201 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99995498e-01 2.06978951e-03 2.17232848e-03 -2.63963550e+01] [-2.04817511e-03 9.99948843e-01 -9.90537955e-03 1.47197158e+01] [-2.19271940e-03 9.90088565e-03 9.99948581e-01 1.69711804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.119259764 meters Centerline goodness [0,1] 0.5355624982408737 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99995247e-01 2.07508873e-03 2.28042311e-03 -2.63967536e+01] [-2.05266499e-03 9.99949952e-01 -9.79188683e-03 1.47191680e+01] [-2.30062801e-03 9.78715935e-03 9.99949458e-01 1.69712497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.149259764 meters Centerline goodness [0,1] 0.5388118867553207 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99994904e-01 2.23061036e-03 2.28399022e-03 -2.63964235e+01] [-2.20859237e-03 9.99951502e-01 -9.59770857e-03 1.47188215e+01] [-2.30528819e-03 9.59261525e-03 9.99951333e-01 1.69707517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.179259764 meters Centerline goodness [0,1] 0.533196363738707 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99994430e-01 2.72933537e-03 1.92093859e-03 -2.63950450e+01] [-2.71079189e-03 9.99950334e-01 -9.59063857e-03 1.47200043e+01] [-1.94701926e-03 9.58537789e-03 9.99952164e-01 1.69706102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.209259764 meters Centerline goodness [0,1] 0.5324130159177349 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99994574e-01 2.66783664e-03 1.93253220e-03 -2.63952592e+01] [-2.64880670e-03 9.99948630e-01 -9.78367181e-03 1.47208697e+01] [-1.95853416e-03 9.77849982e-03 9.99950271e-01 1.69709575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.239259764 meters Centerline goodness [0,1] 0.5361621956020471 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99994502e-01 2.71689628e-03 1.90131444e-03 -2.63952225e+01] [-2.69815601e-03 9.99948431e-01 -9.79059295e-03 1.47210804e+01] [-1.92781642e-03 9.78540907e-03 9.99950263e-01 1.69710710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.269259764 meters Centerline goodness [0,1] 0.5367485801045943 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:16.97 [[ 9.99994112e-01 2.87525762e-03 1.87325167e-03 -2.63948368e+01] [-2.85729122e-03 9.99950562e-01 -9.52412563e-03 1.47207372e+01] [-1.90054337e-03 9.51871712e-03 9.99952890e-01 1.69705215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.299259764 meters Centerline goodness [0,1] 0.5367485801045943 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:16.97 [[ 9.99994112e-01 2.87525762e-03 1.87325167e-03 -2.63948368e+01] [-2.85729122e-03 9.99950562e-01 -9.52412563e-03 1.47207372e+01] [-1.90054337e-03 9.51871712e-03 9.99952890e-01 1.69705215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.329259764 meters Centerline goodness [0,1] 0.5387621966650733 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:16.97 [[ 9.99993584e-01 3.02334849e-03 1.92132114e-03 -2.63947773e+01] [-3.00553041e-03 9.99953070e-01 -9.21005962e-03 1.47198317e+01] [-1.94907619e-03 9.20422594e-03 9.99955741e-01 1.69701514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.359259764 meters Centerline goodness [0,1] 0.5392217418159357 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99992589e-01 3.00064101e-03 2.41223590e-03 -2.63958291e+01] [-2.98000471e-03 9.99959320e-01 -8.51339925e-03 1.47171276e+01] [-2.43768342e-03 8.50614768e-03 9.99960851e-01 1.69692605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.389259764 meters Centerline goodness [0,1] 0.5355030415159925 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.97 [[ 9.99991897e-01 3.15736757e-03 2.49743332e-03 -2.63957578e+01] [-3.13728211e-03 9.99963031e-01 -8.00588474e-03 1.47156910e+01] [-2.52261851e-03 7.99798471e-03 9.99964834e-01 1.69685495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.419259764 meters Centerline goodness [0,1] 0.537987449574182 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.97 [[ 9.99991538e-01 2.91927434e-03 2.89869314e-03 -2.63970584e+01] [-2.89709196e-03 9.99966714e-01 -7.62748130e-03 1.47138081e+01] [-2.92086336e-03 7.61901898e-03 9.99966709e-01 1.69683480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.449259764 meters Centerline goodness [0,1] 0.5365485215542563 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.97 [[ 9.99991399e-01 3.01302291e-03 2.85013057e-03 -2.63968603e+01] [-2.99171237e-03 9.99967758e-01 -7.45198082e-03 1.47136532e+01] [-2.87249166e-03 7.44338996e-03 9.99968172e-01 1.69681874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.479259764 meters Centerline goodness [0,1] 0.5372252554948901 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.97 [[ 9.99991447e-01 3.10683521e-03 2.73019751e-03 -2.63964922e+01] [-3.08673176e-03 9.99968320e-01 -7.33698596e-03 1.47139354e+01] [-2.75290583e-03 7.32849582e-03 9.99969357e-01 1.69680673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.509259764 meters Centerline goodness [0,1] 0.5369902967076112 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.97 [[ 9.99991471e-01 3.27937878e-03 2.51056296e-03 -2.63956280e+01] [-3.26092405e-03 9.99967892e-01 -7.31997160e-03 1.47147166e+01] [-2.53448731e-03 7.31172242e-03 9.99970057e-01 1.69677602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.539259764 meters Centerline goodness [0,1] 0.5369248035914702 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.97 [[ 9.99991017e-01 3.45578957e-03 2.45409616e-03 -2.63951085e+01] [-3.43808421e-03 9.99968295e-01 -7.18255657e-03 1.47149916e+01] [-2.47883976e-03 7.17405466e-03 9.99971194e-01 1.69672635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.569259764 meters Centerline goodness [0,1] 0.5330932012606934 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.97 [[ 9.99990393e-01 3.57976059e-03 2.52974719e-03 -2.63949455e+01] [-3.56183944e-03 9.99968780e-01 -7.05351535e-03 1.47149506e+01] [-2.55491811e-03 7.04443703e-03 9.99971924e-01 1.69667591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.599259764 meters Centerline goodness [0,1] 0.5278559369724254 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.97 [[ 9.99989744e-01 3.65842547e-03 2.66978721e-03 -2.63950903e+01] [-3.64003488e-03 9.99969838e-01 -6.86106118e-03 1.47143764e+01] [-2.69480737e-03 6.85127269e-03 9.99972899e-01 1.69663841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.629259764 meters Centerline goodness [0,1] 0.5345991561181435 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.71, Z:16.97 [[ 9.99989389e-01 3.65675998e-03 2.80172261e-03 -2.63952275e+01] [-3.63775936e-03 9.99970554e-01 -6.75710615e-03 1.47142395e+01] [-2.82634922e-03 6.74684245e-03 9.99973246e-01 1.69660101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.659259764 meters Centerline goodness [0,1] 0.5395699651018799 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:16.97 [[ 9.99989677e-01 3.71609677e-03 2.61455170e-03 -2.63943872e+01] [-3.69810336e-03 9.99969676e-01 -6.85352725e-03 1.47158399e+01] [-2.63994079e-03 6.84378762e-03 9.99973096e-01 1.69656318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.689259764 meters Centerline goodness [0,1] 0.5360876897133221 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:16.97 [[ 9.99990103e-01 3.72335409e-03 2.43540740e-03 -2.63938794e+01] [-3.70640678e-03 9.99969142e-01 -6.92660403e-03 1.47169155e+01] [-2.46112245e-03 6.91750887e-03 9.99973045e-01 1.69655906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.719259764 meters Centerline goodness [0,1] 0.5367292225201072 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:16.97 [[ 9.99990478e-01 3.73086726e-03 2.26390398e-03 -2.63934247e+01] [-3.71479867e-03 9.99968171e-01 -7.06090696e-03 1.47181031e+01] [-2.29017523e-03 7.05242978e-03 9.99972509e-01 1.69656085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.749259764 meters Centerline goodness [0,1] 0.5384180790960452 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:16.97 [[ 9.99990752e-01 3.85091349e-03 1.91498089e-03 -2.63924927e+01] [-3.83672376e-03 9.99965561e-01 -7.35912848e-03 1.47201419e+01] [-1.94325431e-03 7.35171317e-03 9.99971088e-01 1.69658485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.779259764 meters Centerline goodness [0,1] 0.5325578096183856 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:16.97 [[ 9.99990570e-01 3.96871001e-03 1.76356554e-03 -2.63918948e+01] [-3.95525460e-03 9.99963534e-01 -7.56875235e-03 1.47217225e+01] [-1.79353941e-03 7.56170562e-03 9.99969801e-01 1.69658257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.809259764000004 meters Centerline goodness [0,1] 0.5370947630922693 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:16.97 [[ 9.99990242e-01 4.02755180e-03 1.81494736e-03 -2.63918440e+01] [-4.01387427e-03 9.99963986e-01 -7.47771160e-03 1.47216894e+01] [-1.84499887e-03 7.47035366e-03 9.99970394e-01 1.69655491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.839259764 meters Centerline goodness [0,1] 0.5299276287782035 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:16.97 [[ 9.99990296e-01 3.93023598e-03 1.99039273e-03 -2.63922650e+01] [-3.91519220e-03 9.99964161e-01 -7.50651596e-03 1.47217966e+01] [-2.01982378e-03 7.49865035e-03 9.99969845e-01 1.69654358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.869259764 meters Centerline goodness [0,1] 0.5365058670143417 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:16.97 [[ 9.99991036e-01 3.83923996e-03 1.78565337e-03 -2.63920642e+01] [-3.82514882e-03 9.99962038e-01 -7.82889226e-03 1.47230849e+01] [-1.81564258e-03 7.82199169e-03 9.99967759e-01 1.69660273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.899259764 meters Centerline goodness [0,1] 0.5393894563145467 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.73, Z:16.97 [[ 9.99991635e-01 3.79351449e-03 1.52941846e-03 -2.63915877e+01] [-3.78072842e-03 9.99958589e-01 -8.27805260e-03 1.47253156e+01] [-1.56075804e-03 8.27220104e-03 9.99964567e-01 1.69665578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.929259764 meters Centerline goodness [0,1] 0.5305395703948492 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.73, Z:16.97 [[ 9.99991339e-01 4.03246479e-03 1.03000880e-03 -2.63901022e+01] [-4.02346716e-03 9.99954984e-01 -8.59308501e-03 1.47281683e+01] [-1.06461375e-03 8.58886638e-03 9.99962548e-01 1.69666917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.959259764 meters Centerline goodness [0,1] 0.5337230856979894 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.73, Z:16.97 [[ 9.99990518e-01 4.24257793e-03 9.81822074e-04 -2.63894238e+01] [-4.23417735e-03 9.99955708e-01 -8.40560899e-03 1.47282944e+01] [-1.01744004e-03 8.40137208e-03 9.99964190e-01 1.69659397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.989259764 meters Centerline goodness [0,1] 0.535616516482263 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.73, Z:16.96 [[ 9.99989047e-01 4.57009957e-03 1.01046220e-03 -2.63886468e+01] [-4.56193109e-03 9.99958043e-01 -7.94359432e-03 1.47275553e+01] [-1.04672282e-03 7.93889765e-03 9.99967939e-01 1.69646850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.019259764 meters Centerline goodness [0,1] 0.5331853369763206 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.73, Z:16.96 [[ 9.99989068e-01 4.55675075e-03 1.04922943e-03 -2.63886475e+01] [-4.54828923e-03 9.99958210e-01 -7.93041138e-03 1.47277633e+01] [-1.08532250e-03 7.92555249e-03 9.99968003e-01 1.69644929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.049259764 meters Centerline goodness [0,1] 0.5369119835183702 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.73, Z:16.96 [[ 9.99987730e-01 4.93651993e-03 4.12271410e-04 -2.63866562e+01] [-4.93297500e-03 9.99954233e-01 -8.19736021e-03 1.47308345e+01] [-4.52718973e-04 8.19522591e-03 9.99966316e-01 1.69646090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.079259764 meters Centerline goodness [0,1] 0.5373142889921414 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.73, Z:16.96 [[ 9.99987705e-01 4.95846175e-03 6.09846312e-05 -2.63856794e+01] [-4.95776761e-03 9.99951860e-01 -8.46752136e-03 1.47330324e+01] [-1.02967576e-04 8.46711490e-03 9.99964148e-01 1.69647036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.109259764 meters Centerline goodness [0,1] 0.5453397612488522 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99984028e-01 5.62522657e-03 -5.48824450e-04 -2.63828811e+01] [-5.62960649e-03 9.99949415e-01 -8.33519819e-03 1.47350564e+01] [ 5.01909309e-04 8.33815473e-03 9.99965111e-01 1.69635736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.139259764 meters Centerline goodness [0,1] 0.5441599539700805 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99982747e-01 5.84213107e-03 -6.12664738e-04 -2.63821366e+01] [-5.84695204e-03 9.99949394e-01 -8.18675599e-03 1.47353634e+01] [ 5.64805631e-04 8.19019697e-03 9.99966300e-01 1.69628443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.169259764 meters Centerline goodness [0,1] 0.5393967330241134 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99980829e-01 6.14831755e-03 -7.35097391e-04 -2.63812060e+01] [-6.15408985e-03 9.99948042e-01 -8.12651516e-03 1.47358848e+01] [ 6.85094801e-04 8.13088321e-03 9.99966709e-01 1.69622634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.199259764 meters Centerline goodness [0,1] 0.5384349130346996 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99980967e-01 6.12210317e-03 -7.64560698e-04 -2.63812379e+01] [-6.12816962e-03 9.99947587e-01 -8.20169511e-03 1.47362104e+01] [ 7.14309002e-04 8.20622437e-03 9.99966073e-01 1.69624234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.229259764 meters Centerline goodness [0,1] 0.538488180794874 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99981224e-01 6.07873469e-03 -7.75622832e-04 -2.63813747e+01] [-6.08490337e-03 9.99947739e-01 -8.21547207e-03 1.47364385e+01] [ 7.25642622e-04 8.22003741e-03 9.99965952e-01 1.69626216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.259259764 meters Centerline goodness [0,1] 0.5445693316767315 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99983458e-01 5.72066808e-03 -5.98442510e-04 -2.63825982e+01] [-5.72553093e-03 9.99947763e-01 -8.46691638e-03 1.47367039e+01] [ 5.49974831e-04 8.47020272e-03 9.99963976e-01 1.69635407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.289259764 meters Centerline goodness [0,1] 0.5355161253034331 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99983989e-01 5.63639896e-03 -5.01808750e-04 -2.63831196e+01] [-5.64044091e-03 9.99948348e-01 -8.45495950e-03 1.47365173e+01] [ 4.54127306e-04 8.45765455e-03 9.99964130e-01 1.69637838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.319259764 meters Centerline goodness [0,1] 0.537697895864085 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99982878e-01 5.79395734e-03 -8.20325183e-04 -2.63821826e+01] [-5.80082987e-03 9.99945856e-01 -8.63915295e-03 1.47382690e+01] [ 7.70225883e-04 8.64376360e-03 9.99962345e-01 1.69639340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.349259764 meters Centerline goodness [0,1] 0.5441576480120378 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99982533e-01 5.83121446e-03 -9.64200683e-04 -2.63817976e+01] [-5.83947903e-03 9.99944201e-01 -8.80309888e-03 1.47394006e+01] [ 9.12814125e-04 8.80857555e-03 9.99960787e-01 1.69640872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.379259764 meters Centerline goodness [0,1] 0.5418439716312057 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99982623e-01 5.79643589e-03 -1.07491143e-03 -2.63816669e+01] [-5.80589777e-03 9.99942475e-01 -9.01881292e-03 1.47403559e+01] [ 1.02257263e-03 9.02489702e-03 9.99958752e-01 1.69644189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.409259764 meters Centerline goodness [0,1] 0.5420059698032283 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.97 [[ 9.99982760e-01 5.75981070e-03 -1.14214032e-03 -2.63818070e+01] [-5.77018362e-03 9.99940135e-01 -9.29679651e-03 1.47413931e+01] [ 1.08852416e-03 9.30322659e-03 9.99956132e-01 1.69650436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.439259764 meters Centerline goodness [0,1] 0.5402425578831311 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.97 [[ 9.99982730e-01 5.74623328e-03 -1.23307447e-03 -2.63816992e+01] [-5.75772255e-03 9.99938054e-01 -9.52561248e-03 1.47425121e+01] [ 1.17826169e-03 9.53254767e-03 9.99953870e-01 1.69653931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.469259764 meters Centerline goodness [0,1] 0.5424768215770046 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.97 [[ 9.99981972e-01 5.84759133e-03 -1.36427751e-03 -2.63812082e+01] [-5.86028647e-03 9.99937751e-01 -9.49476348e-03 1.47430109e+01] [ 1.30867109e-03 9.50258737e-03 9.99953993e-01 1.69652058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.499259764 meters Centerline goodness [0,1] 0.5411010777745412 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99978466e-01 6.34803405e-03 -1.66439978e-03 -2.63794490e+01] [-6.36311541e-03 9.99937267e-01 -9.21807898e-03 1.47438075e+01] [ 1.60577869e-03 9.22847124e-03 9.99956127e-01 1.69640971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.529259764 meters Centerline goodness [0,1] 0.542387190684134 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99977046e-01 6.53315522e-03 -1.79571828e-03 -2.63789173e+01] [-6.54928968e-03 9.99936864e-01 -9.13094195e-03 1.47438781e+01] [ 1.73595104e-03 9.14249305e-03 9.99956700e-01 1.69639605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.559259764000004 meters Centerline goodness [0,1] 0.5455285261719999 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99975947e-01 6.68866353e-03 -1.83507228e-03 -2.63785573e+01] [-6.70486558e-03 9.99937292e-01 -8.96978926e-03 1.47438777e+01] [ 1.77496130e-03 8.98187742e-03 9.99958087e-01 1.69636023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.589259764 meters Centerline goodness [0,1] 0.5463151170218944 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99974865e-01 6.84627916e-03 -1.84328479e-03 -2.63785190e+01] [-6.86188057e-03 9.99939519e-01 -8.59499237e-03 1.47424476e+01] [ 1.78432959e-03 8.60742473e-03 9.99961363e-01 1.69633599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.619259764 meters Centerline goodness [0,1] 0.5453754206800511 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99973129e-01 7.10367435e-03 -1.81073089e-03 -2.63782661e+01] [-7.11813445e-03 9.99941790e-01 -8.10851268e-03 1.47410379e+01] [ 1.75302526e-03 8.12118383e-03 9.99965486e-01 1.69627257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.649259764 meters Centerline goodness [0,1] 0.5482299730364443 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99991257e-01 3.28182399e-03 -2.59146605e-03 -2.63767523e+01] [-3.31393909e-03 9.99916541e-01 -1.24871506e-02 1.47426185e+01] [ 2.55026914e-03 1.24956293e-02 9.99918674e-01 1.69639729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.679259764 meters Centerline goodness [0,1] 0.5459735141557275 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99991232e-01 3.42858420e-03 -2.40450296e-03 -2.63772176e+01] [-3.45733327e-03 9.99921348e-01 -1.20558875e-02 1.47409756e+01] [ 2.36297922e-03 1.20640950e-02 9.99924434e-01 1.69637327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.709259764 meters Centerline goodness [0,1] 0.5408509903270382 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.96 [[ 9.99992355e-01 3.41664309e-03 -1.90163480e-03 -2.63788699e+01] [-3.43801918e-03 9.99929637e-01 -1.13534978e-02 1.47367941e+01] [ 1.86271014e-03 1.13599489e-02 9.99933739e-01 1.69635865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.739259764 meters Centerline goodness [0,1] 0.537969784708884 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.73, Z:16.96 [[ 9.99992431e-01 3.56354034e-03 -1.56192386e-03 -2.63795085e+01] [-3.58003942e-03 9.99936441e-01 -1.06909645e-02 1.47342040e+01] [ 1.52372690e-03 1.06964754e-02 9.99941630e-01 1.69628268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.769259764 meters Centerline goodness [0,1] 0.5350336642702271 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.73, Z:16.96 [[ 9.99993504e-01 3.42171224e-03 -1.13296499e-03 -2.63809866e+01] [-3.43227737e-03 9.99949378e-01 -9.45841707e-03 1.47283248e+01] [ 1.10054365e-03 9.46224428e-03 9.99954626e-01 1.69618471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.799259764 meters Centerline goodness [0,1] 0.5379016206994598 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.73, Z:16.96 [[ 9.99993745e-01 3.45431515e-03 -7.60276675e-04 -2.63820433e+01] [-3.46083030e-03 9.99955801e-01 -8.74179016e-03 1.47250929e+01] [ 7.30046173e-04 8.74436667e-03 9.99961501e-01 1.69613760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.829259764 meters Centerline goodness [0,1] 0.5362010221465077 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.72, Z:16.96 [[ 9.99994216e-01 3.38738716e-03 -3.06671375e-04 -2.63834769e+01] [-3.38975969e-03 9.99961464e-01 -8.09813439e-03 1.47220534e+01] [ 2.79228041e-04 8.09912709e-03 9.99967163e-01 1.69611233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.859259764 meters Centerline goodness [0,1] 0.5312420660667438 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.72, Z:16.96 [[ 9.99999355e-01 -1.00991130e-03 -5.18873570e-04 -2.63843222e+01] [ 1.00352995e-03 9.99925622e-01 -1.21549364e-02 1.47206473e+01] [ 5.31110385e-04 1.21544078e-02 9.99925991e-01 1.69627082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.889259764 meters Centerline goodness [0,1] 0.531953195319532 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:16.96 [[ 9.99999574e-01 -9.08103327e-04 -1.63847699e-04 -2.63850757e+01] [ 9.06177856e-04 9.99934698e-01 -1.13920189e-02 1.47177966e+01] [ 1.74182130e-04 1.13918656e-02 9.99935095e-01 1.69619412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.919259764 meters Centerline goodness [0,1] 0.529530596784602 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.96 [[ 9.99999583e-01 -8.09391458e-04 4.22150916e-04 -2.63865736e+01] [ 8.13723149e-04 9.99945963e-01 -1.03638035e-02 1.47128600e+01] [-4.13739731e-04 1.03641427e-02 9.99946205e-01 1.69611525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.949259764 meters Centerline goodness [0,1] 0.5290484840016767 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.96 [[ 9.99999584e-01 -6.06053597e-04 6.81566677e-04 -2.63869299e+01] [ 6.12539634e-04 9.99954145e-01 -9.55676478e-03 1.47101074e+01] [-6.75743513e-04 9.55717829e-03 9.99954101e-01 1.69602109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.979259764 meters Centerline goodness [0,1] 0.5231138125243964 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.96 [[ 9.99998728e-01 -1.02879206e-03 1.21899561e-03 -2.63892314e+01] [ 1.03957485e-03 9.99960047e-01 -8.87827207e-03 1.47055189e+01] [-1.20981301e-03 8.87952801e-03 9.99959844e-01 1.69603594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.009259764 meters Centerline goodness [0,1] 0.5151599366367452 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.70, Z:16.96 [[ 9.99997746e-01 -1.27738350e-03 1.69593828e-03 -2.63911894e+01] [ 1.29200968e-03 9.99961742e-01 -8.65133847e-03 1.47034596e+01] [-1.68482232e-03 8.65351013e-03 9.99961138e-01 1.69609526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.039259764 meters Centerline goodness [0,1] 0.5177882078484739 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.70, Z:16.96 [[ 9.99997234e-01 -1.54179182e-03 1.77597688e-03 -2.63926539e+01] [ 1.55727650e-03 9.99960498e-01 -8.75083260e-03 1.47026271e+01] [-1.76241477e-03 8.75357408e-03 9.99960134e-01 1.69624934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.069259764 meters Centerline goodness [0,1] 0.5167912002444377 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.70, Z:16.96 [[ 9.99996815e-01 -1.69469080e-03 1.87045897e-03 -2.63934350e+01] [ 1.71123728e-03 9.99959105e-01 -8.88035576e-03 1.47026679e+01] [-1.85533302e-03 8.88352828e-03 9.99958819e-01 1.69632033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.099259764 meters Centerline goodness [0,1] 0.51163822999029 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.70, Z:16.96 [[ 9.99995808e-01 -1.78234305e-03 2.28174058e-03 -2.63949108e+01] [ 1.80168874e-03 9.99962211e-01 -8.50468743e-03 1.47003159e+01] [-2.26649609e-03 8.50876277e-03 9.99961231e-01 1.69634213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.129259764 meters Centerline goodness [0,1] 0.5100418294135571 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:16.96 [[ 9.99995562e-01 -1.53073591e-03 2.55610849e-03 -2.63951848e+01] [ 1.55058969e-03 9.99968507e-01 -7.78335511e-03 1.46978333e+01] [-2.54411373e-03 7.78728404e-03 9.99966442e-01 1.69625019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.159259764 meters Centerline goodness [0,1] 0.5073553719008265 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.96 [[ 9.99994260e-01 -1.61424122e-03 2.97904363e-03 -2.63963516e+01] [ 1.63470493e-03 9.99974999e-01 -6.87962055e-03 1.46935978e+01] [-2.96786379e-03 6.88445091e-03 9.99971898e-01 1.69615998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.189259764 meters Centerline goodness [0,1] 0.5100229490972433 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.96 [[ 9.99995139e-01 -1.41295059e-03 2.77954558e-03 -2.63957400e+01] [ 1.43169299e-03 9.99976176e-01 -6.75257710e-03 1.46937550e+01] [-2.76993830e-03 6.75652373e-03 9.99973338e-01 1.69615242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.219259764 meters Centerline goodness [0,1] 0.5100229490972433 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.96 [[ 9.99995139e-01 -1.41295059e-03 2.77954558e-03 -2.63957400e+01] [ 1.43169299e-03 9.99976176e-01 -6.75257710e-03 1.46937550e+01] [-2.76993830e-03 6.75652373e-03 9.99973338e-01 1.69615242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.249259764 meters Centerline goodness [0,1] 0.5133095613234928 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.96 [[ 9.99995346e-01 -1.43800671e-03 2.69083200e-03 -2.63960444e+01] [ 1.45614792e-03 9.99976144e-01 -6.75208804e-03 1.46937507e+01] [-2.68105826e-03 6.75597486e-03 9.99973584e-01 1.69622144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.279259764 meters Centerline goodness [0,1] 0.5093397345694342 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.96 [[ 9.99995329e-01 -1.27790110e-03 2.77650793e-03 -2.63961723e+01] [ 1.29548528e-03 9.99979059e-01 -6.34065671e-03 1.46924688e+01] [-2.76834705e-03 6.34422401e-03 9.99976043e-01 1.69618802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.309259764000004 meters Centerline goodness [0,1] 0.5081017247061408 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.96 [[ 9.99994220e-01 -9.96103844e-04 3.25070675e-03 -2.63968571e+01] [ 1.01331998e-03 9.99985448e-01 -5.29877835e-03 1.46881483e+01] [-3.24538131e-03 5.30204173e-03 9.99980678e-01 1.69605720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.339259764 meters Centerline goodness [0,1] 0.48892786669590005 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.96 [[ 9.99993216e-01 -9.02994973e-04 3.57110183e-03 -2.63974029e+01] [ 9.19695520e-04 9.99988637e-01 -4.67770743e-03 1.46857390e+01] [-3.56683730e-03 4.68096003e-03 9.99982683e-01 1.69597734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.369259764 meters Centerline goodness [0,1] 0.5069594465257459 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:16.96 [[ 9.99991303e-01 -1.08638105e-03 4.02660396e-03 -2.63985677e+01] [ 1.10163545e-03 9.99992218e-01 -3.78812417e-03 1.46821653e+01] [-4.02245728e-03 3.79252708e-03 9.99984718e-01 1.69587725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.399259764 meters Centerline goodness [0,1] 0.5091430914309143 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:16.96 [[ 9.99991962e-01 -9.17827895e-04 3.90289658e-03 -2.63981579e+01] [ 9.31601891e-04 9.99993340e-01 -3.52882048e-03 1.46817761e+01] [-3.89963174e-03 3.53242807e-03 9.99986157e-01 1.69585803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.429259764 meters Centerline goodness [0,1] 0.5021030207024635 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:16.96 [[ 9.99992734e-01 -8.22687033e-04 3.72228360e-03 -2.63979353e+01] [ 8.36116745e-04 9.99993142e-01 -3.60780648e-03 1.46826652e+01] [-3.71928998e-03 3.61089252e-03 9.99986564e-01 1.69590795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.459259764 meters Centerline goodness [0,1] 0.4822848089163275 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:16.96 [[ 9.99992492e-01 -7.38992668e-04 3.80386762e-03 -2.63981993e+01] [ 7.51908025e-04 9.99993954e-01 -3.39501299e-03 1.46819960e+01] [-3.80133573e-03 3.39784766e-03 9.99987002e-01 1.69590750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.489259764 meters Centerline goodness [0,1] 0.503957423580786 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:16.96 [[ 9.99990455e-01 -6.77490142e-04 4.31644458e-03 -2.63993756e+01] [ 6.89367818e-04 9.99995979e-01 -2.75083332e-03 1.46787692e+01] [-4.31456356e-03 2.75378268e-03 9.99986901e-01 1.69584060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.519259764 meters Centerline goodness [0,1] 0.49995922915930524 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:16.96 [[ 9.99990553e-01 -1.49473442e-04 4.34405746e-03 -2.63986811e+01] [ 1.58063294e-04 9.99998033e-01 -1.97710376e-03 1.46766232e+01] [-4.34375339e-03 1.97777172e-03 9.99988610e-01 1.69572321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.549259764 meters Centerline goodness [0,1] 0.49692114871124193 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:16.96 [[ 9.99990920e-01 -9.45799508e-06 4.26148146e-03 -2.63984584e+01] [ 1.74262114e-05 9.99998252e-01 -1.86978982e-03 1.46764257e+01] [-4.26145632e-03 1.86984711e-03 9.99989172e-01 1.69572330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.579259764 meters Centerline goodness [0,1] 0.48955248213460856 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:16.96 [[ 9.99990891e-01 1.78328104e-04 4.26447488e-03 -2.63983336e+01] [-1.71706659e-04 9.99998779e-01 -1.55301445e-03 1.46756314e+01] [-4.26474662e-03 1.55226807e-03 9.99989701e-01 1.69569537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.609259764 meters Centerline goodness [0,1] 0.5009383414474937 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:16.96 [[ 9.99990317e-01 3.39435107e-04 4.38745815e-03 -2.63984388e+01] [-3.34349184e-04 9.99999271e-01 -1.15987730e-03 1.46743040e+01] [-4.38784865e-03 1.15839912e-03 9.99989702e-01 1.69565317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.639259764 meters Centerline goodness [0,1] 0.48792584762988855 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:16.96 [[ 9.99985642e-01 -3.60079607e-03 3.96863520e-03 -2.63976412e+01] [ 3.62112131e-03 9.99980304e-01 -5.12623907e-03 1.46738684e+01] [-3.95009849e-03 5.14053637e-03 9.99978986e-01 1.69569890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.669259764 meters Centerline goodness [0,1] 0.4849001461276181 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:16.96 [[ 9.99983808e-01 -3.68928373e-03 4.33285903e-03 -2.63987727e+01] [ 3.70928977e-03 9.99982456e-01 -4.61836048e-03 1.46714334e+01] [-4.31574457e-03 4.63435753e-03 9.99979948e-01 1.69567716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.699259764 meters Centerline goodness [0,1] 0.49486403200519 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:16.96 [[ 9.99983851e-01 -3.62822055e-03 4.37414966e-03 -2.63993253e+01] [ 3.64732317e-03 9.99983813e-01 -4.36712182e-03 1.46702084e+01] [-4.35823398e-03 4.38300523e-03 9.99980897e-01 1.69572853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.729259764 meters Centerline goodness [0,1] 0.4890658747300216 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:16.96 [[ 9.99983269e-01 -3.70837721e-03 4.43947188e-03 -2.63997575e+01] [ 3.72806931e-03 9.99983213e-01 -4.43565864e-03 1.46704661e+01] [-4.42294826e-03 4.45213509e-03 9.99980308e-01 1.69576148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.759259764 meters Centerline goodness [0,1] 0.4953932614628084 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:16.96 [[ 9.99982783e-01 -3.71714182e-03 4.54058922e-03 -2.64000963e+01] [ 3.73668627e-03 9.99983758e-01 -4.30351271e-03 1.46700903e+01] [-4.52451871e-03 4.32040537e-03 9.99980431e-01 1.69576266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.789259764 meters Centerline goodness [0,1] 0.4918209502250249 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:16.96 [[ 9.99981213e-01 -3.60274055e-03 4.95924598e-03 -2.64006907e+01] [ 3.62086950e-03 9.99986778e-01 -3.65147532e-03 1.46675087e+01] [-4.94602509e-03 3.66936350e-03 9.99981036e-01 1.69565675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.819259764 meters Centerline goodness [0,1] 0.4891330694029248 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:16.96 [[ 9.99981620e-01 -3.41523308e-03 5.00965037e-03 -2.64007641e+01] [ 3.43200537e-03 9.99988522e-01 -3.34322990e-03 1.46663367e+01] [-4.99817496e-03 3.36036160e-03 9.99981863e-01 1.69564042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.849259764 meters Centerline goodness [0,1] 0.47462911201892066 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:16.96 [[ 9.99981624e-01 -3.48153769e-03 4.96291920e-03 -2.64008540e+01] [ 3.49895854e-03 9.99987733e-01 -3.50585050e-03 1.46671306e+01] [-4.95065257e-03 3.52315112e-03 9.99981539e-01 1.69567284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.879259764 meters Centerline goodness [0,1] 0.4563049220982264 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:16.96 [[ 9.99982666e-01 -3.43557139e-03 4.78169768e-03 -2.64003666e+01] [ 3.45267058e-03 9.99987659e-01 -3.57231659e-03 1.46681050e+01] [-4.76936572e-03 3.58876429e-03 9.99982187e-01 1.69567468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.909259764 meters Centerline goodness [0,1] 0.48319498147797635 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:16.96 [[ 9.99986027e-01 -3.01104151e-03 4.34502802e-03 -2.63984896e+01] [ 3.02553744e-03 9.99989867e-01 -3.33350410e-03 1.46693889e+01] [-4.33494667e-03 3.34660356e-03 9.99985004e-01 1.69558076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.939259764 meters Centerline goodness [0,1] 0.48327700419088815 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:16.96 [[ 9.99986989e-01 -2.80263318e-03 4.26224241e-03 -2.63977293e+01] [ 2.81590537e-03 9.99991196e-01 -3.11109090e-03 1.46695658e+01] [-4.25348564e-03 3.12305250e-03 9.99986077e-01 1.69550141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.969259764 meters Centerline goodness [0,1] 0.49809382181965667 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:16.95 [[ 9.99989232e-01 -2.25321853e-03 4.05688014e-03 -2.63960720e+01] [ 2.26388795e-03 9.99993986e-01 -2.62728702e-03 1.46694088e+01] [-4.05093589e-03 2.63644305e-03 9.99988319e-01 1.69534950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.999259764 meters Centerline goodness [0,1] 0.47303364708428 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.67, Z:16.95 [[ 9.99990330e-01 -2.00050344e-03 3.91641333e-03 -2.63951797e+01] [ 2.01032450e-03 9.99994841e-01 -2.50533783e-03 1.46699225e+01] [-3.91138119e-03 2.51318687e-03 9.99989192e-01 1.69528654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.029259764 meters Centerline goodness [0,1] 0.500610765764543 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.67, Z:16.95 [[ 9.99993297e-01 -1.46190307e-03 3.35676991e-03 -2.63929291e+01] [ 1.47018658e-03 9.99995877e-01 -2.46656278e-03 1.46725874e+01] [-3.35315019e-03 2.47148132e-03 9.99991324e-01 1.69521493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.059259764000004 meters Centerline goodness [0,1] 0.4802926855806109 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.67, Z:16.95 [[ 9.99994160e-01 -1.42207670e-03 3.10773440e-03 -2.63923032e+01] [ 1.43040462e-03 9.99995388e-01 -2.67916149e-03 1.46741858e+01] [-3.10391010e-03 2.68359116e-03 9.99991582e-01 1.69523062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.089259764 meters Centerline goodness [0,1] 0.49473741466996657 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.68, Z:16.95 [[ 9.99995724e-01 -1.24292572e-03 2.64715897e-03 -2.63908667e+01] [ 1.25077327e-03 9.99994822e-01 -2.96492566e-03 1.46769501e+01] [-2.64346008e-03 2.96822397e-03 9.99992101e-01 1.69522588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.119259764 meters Centerline goodness [0,1] 0.4912376332070535 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.68, Z:16.95 [[ 9.99996102e-01 -1.21807829e-03 2.51242606e-03 -2.63903219e+01] [ 1.22592730e-03 9.99994366e-01 -3.12490474e-03 1.46783394e+01] [-2.50860553e-03 3.12797262e-03 9.99991961e-01 1.69520884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.149259764 meters Centerline goodness [0,1] 0.49969981443073896 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.68, Z:16.95 [[ 9.99996529e-01 -1.12466487e-03 2.38254571e-03 -2.63896075e+01] [ 1.13233800e-03 9.99994169e-01 -3.22166440e-03 1.46796299e+01] [-2.37890853e-03 3.22435106e-03 9.99991972e-01 1.69516719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.179259764 meters Centerline goodness [0,1] 0.505434038708971 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.68, Z:16.95 [[ 9.99997582e-01 -8.64502590e-04 2.02217143e-03 -2.63878937e+01] [ 8.71498818e-04 9.99993629e-01 -3.46144170e-03 1.46822552e+01] [-2.01916613e-03 3.46319565e-03 9.99991965e-01 1.69509504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.209259764 meters Centerline goodness [0,1] 0.4862891981299724 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.68, Z:16.95 [[ 9.99998396e-01 -5.88128574e-04 1.69153369e-03 -2.63864498e+01] [ 5.93965482e-04 9.99993865e-01 -3.45223006e-03 1.46838660e+01] [-1.68949295e-03 3.45322924e-03 9.99992610e-01 1.69503180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.239259764 meters Centerline goodness [0,1] 0.5093915380185912 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.69, Z:16.95 [[ 9.99999436e-01 1.36171593e-05 1.06170911e-03 -2.63839383e+01] [-9.90691996e-06 9.99993894e-01 -3.49451822e-03 1.46865831e+01] [-1.06175021e-03 3.49450574e-03 9.99993331e-01 1.69496373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.269259764 meters Centerline goodness [0,1] 0.5101805608912793 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.69, Z:16.95 [[ 9.99999541e-01 8.78463152e-05 9.54017909e-04 -2.63833763e+01] [-8.44125507e-05 9.99993521e-01 -3.59871032e-03 1.46878064e+01] [-9.54327861e-04 3.59862814e-03 9.99993070e-01 1.69493600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.299259764 meters Centerline goodness [0,1] 0.5031859379291403 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.69, Z:16.95 [[ 9.99999569e-01 1.26239774e-04 9.19340868e-04 -2.63830684e+01] [-1.22866625e-04 9.99993264e-01 -3.66822806e-03 1.46885791e+01] [-9.19797752e-04 3.66811352e-03 9.99992849e-01 1.69491233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.329259764 meters Centerline goodness [0,1] 0.5108545925395338 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.69, Z:16.95 [[ 9.99999464e-01 9.63070821e-04 3.79523929e-04 -2.63803129e+01] [-9.61734602e-04 9.99993394e-01 -3.50537039e-03 1.46914950e+01] [-3.82897342e-04 3.50500351e-03 9.99993784e-01 1.69479074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.359259764 meters Centerline goodness [0,1] 0.5109529327374055 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.69, Z:16.95 [[ 9.99999440e-01 1.04749057e-03 1.53861581e-04 -2.63795518e+01] [-1.04690477e-03 9.99992386e-01 -3.75926611e-03 1.46931461e+01] [-1.57798205e-04 3.75910293e-03 9.99992922e-01 1.69478836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.389259764 meters Centerline goodness [0,1] 0.5026446280991735 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.70, Z:16.95 [[ 9.99998989e-01 1.38988032e-03 -3.00456551e-04 -2.63778066e+01] [-1.39107104e-03 9.99991033e-01 -3.99984900e-03 1.46958543e+01] [ 2.94894546e-04 4.00026292e-03 9.99991955e-01 1.69475597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.419259764 meters Centerline goodness [0,1] 0.5072103431128792 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.70, Z:16.95 [[ 9.99998811e-01 1.46352241e-03 -4.86084452e-04 -2.63770766e+01] [-1.46555278e-03 9.99990092e-01 -4.20322994e-03 1.46976273e+01] [ 4.79928115e-04 4.20393732e-03 9.99991048e-01 1.69473951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.449259764 meters Centerline goodness [0,1] 0.5156978034169071 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.70, Z:16.95 [[ 9.99997745e-01 1.88967569e-03 -9.68959368e-04 -2.63749115e+01] [-1.89413290e-03 9.99987534e-01 -4.61989501e-03 1.47019745e+01] [ 9.60217186e-04 4.62171993e-03 9.99988859e-01 1.69468902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.479259764 meters Centerline goodness [0,1] 0.5153442696127664 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.71, Z:16.95 [[ 9.99995709e-01 2.49515433e-03 -1.53478314e-03 -2.63720771e+01] [-2.50254247e-03 9.99985200e-01 -4.83086531e-03 1.47071353e+01] [ 1.52270667e-03 4.83468544e-03 9.99987154e-01 1.69457706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.509259764 meters Centerline goodness [0,1] 0.5179409792085848 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.71, Z:16.95 [[ 9.99994363e-01 2.72249581e-03 -1.96544404e-03 -2.63703395e+01] [-2.73248209e-03 9.99983281e-01 -5.09624591e-03 1.47100844e+01] [ 1.95153667e-03 5.10158772e-03 9.99985083e-01 1.69452887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.539259764 meters Centerline goodness [0,1] 0.521938202247191 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.71, Z:16.94 [[ 9.99992471e-01 3.00004381e-03 -2.46142249e-03 -2.63683869e+01] [-3.01317904e-03 9.99981148e-01 -5.35019888e-03 1.47132304e+01] [ 2.44532526e-03 5.35757530e-03 9.99982658e-01 1.69447368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.569259764 meters Centerline goodness [0,1] 0.528998391330116 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.72, Z:16.94 [[ 9.99988812e-01 3.76975175e-03 -2.85736240e-03 -2.63659610e+01] [-3.78621999e-03 9.99976127e-01 -5.78011304e-03 1.47195667e+01] [ 2.83550459e-03 5.79086698e-03 9.99979213e-01 1.69441365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.599259764 meters Centerline goodness [0,1] 0.5308348205433273 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.72, Z:16.94 [[ 9.99985641e-01 4.14497718e-03 -3.39651604e-03 -2.63638864e+01] [-4.16558310e-03 9.99972826e-01 -6.08233367e-03 1.47230960e+01] [ 3.37121260e-03 6.09639480e-03 9.99975734e-01 1.69437394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.629259764 meters Centerline goodness [0,1] 0.534164147607369 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.73, Z:16.94 [[ 9.99978781e-01 5.34722024e-03 -3.72087661e-03 -2.63608264e+01] [-5.36971389e-03 9.99967210e-01 -6.06175665e-03 1.47291358e+01] [ 3.68834106e-03 6.08160807e-03 9.99974705e-01 1.69420697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.659259764 meters Centerline goodness [0,1] 0.5406216077243902 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.73, Z:16.94 [[ 9.99974188e-01 5.81012674e-03 -4.22680723e-03 -2.63585590e+01] [-5.83576297e-03 9.99964498e-01 -6.07831598e-03 1.47314724e+01] [ 4.19134138e-03 6.10282573e-03 9.99972594e-01 1.69411255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.689259764 meters Centerline goodness [0,1] 0.5425824175824177 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.73, Z:16.94 [[ 9.99971832e-01 6.00530699e-03 -4.50247378e-03 -2.63572109e+01] [-6.03341202e-03 9.99962237e-01 -6.25475101e-03 1.47335610e+01] [ 4.46474206e-03 6.28174010e-03 9.99970302e-01 1.69405227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.719259764 meters Centerline goodness [0,1] 0.5459094176851187 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.74, Z:16.94 [[ 9.99965374e-01 6.65544970e-03 -4.99549287e-03 -2.63544716e+01] [-6.68698208e-03 9.99957656e-01 -6.32223043e-03 1.47369089e+01] [ 4.95320405e-03 6.35541629e-03 9.99967537e-01 1.69391925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.749259764 meters Centerline goodness [0,1] 0.5481920773836941 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.74, Z:16.94 [[ 9.99964831e-01 6.60229506e-03 -5.17161619e-03 -2.63539989e+01] [-6.63694082e-03 9.99955456e-01 -6.71094646e-03 1.47390573e+01] [ 5.12707818e-03 6.74503416e-03 9.99964108e-01 1.69393768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.779259764 meters Centerline goodness [0,1] 0.5467771852538836 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.74, Z:16.94 [[ 9.99963268e-01 6.58401134e-03 -5.48755084e-03 -2.63529271e+01] [-6.62356857e-03 9.99951986e-01 -7.22181152e-03 1.47433157e+01] [ 5.43973887e-03 7.25789342e-03 9.99958865e-01 1.69393729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.809259764000004 meters Centerline goodness [0,1] 0.5477026674019678 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.75, Z:16.94 [[ 9.99962675e-01 6.53904391e-03 -5.64710301e-03 -2.63523489e+01] [-6.58136944e-03 9.99950147e-01 -7.50931492e-03 1.47453040e+01] [ 5.59771774e-03 7.54620030e-03 9.99955859e-01 1.69393103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.839259764 meters Centerline goodness [0,1] 0.5542340766652092 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.75, Z:16.94 [[ 9.99960013e-01 6.67081276e-03 -5.95583924e-03 -2.63506978e+01] [-6.71657940e-03 9.99947815e-01 -7.69768610e-03 1.47484302e+01] [ 5.90417862e-03 7.73738117e-03 9.99952636e-01 1.69383148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.869259764 meters Centerline goodness [0,1] 0.5598379056004198 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.93 [[ 9.99990113e-01 4.43394368e-03 -3.38945039e-04 -2.63343036e+01] [-4.43350877e-03 9.99989361e-01 1.27326745e-03 1.47463847e+01] [ 3.44587029e-04 -1.27175214e-03 9.99999132e-01 1.69296907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.899259764 meters Centerline goodness [0,1] 0.5594485423252546 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.93 [[ 9.99989672e-01 4.48826149e-03 -7.14917876e-04 -2.63327629e+01] [-4.48774324e-03 9.99989667e-01 7.24875635e-04 1.47499395e+01] [ 7.18163920e-04 -7.21659781e-04 9.99999482e-01 1.69293138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.929259764 meters Centerline goodness [0,1] 0.5645118694797382 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.93 [[ 9.99990687e-01 4.23098984e-03 -8.51358013e-04 -2.63326271e+01] [-4.23095682e-03 9.99991049e-01 4.05803516e-05 1.47526720e+01] [ 8.51522087e-04 -3.69779147e-05 9.99999637e-01 1.69298976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.959259764 meters Centerline goodness [0,1] 0.5695599776608565 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.76, Z:16.93 [[ 9.99998323e-01 1.33186706e-03 -1.25706679e-03 -2.63306649e+01] [-1.33695869e-03 9.99990871e-01 -4.05828640e-03 1.47581230e+01] [ 1.25165022e-03 4.05996024e-03 9.99990975e-01 1.69301853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.989259764 meters Centerline goodness [0,1] 0.5750994548401356 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.76, Z:16.93 [[ 9.99997254e-01 1.62388233e-03 -1.68970056e-03 -2.63290688e+01] [-1.63101246e-03 9.99989736e-01 -4.22697235e-03 1.47606332e+01] [ 1.68281911e-03 4.22971666e-03 9.99989639e-01 1.69298726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.019259764 meters Centerline goodness [0,1] 0.5775449985246386 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.76, Z:16.93 [[ 9.99996675e-01 1.76057453e-03 -1.88414816e-03 -2.63282767e+01] [-1.76857806e-03 9.99989385e-01 -4.25462470e-03 1.47615281e+01] [ 1.87663757e-03 4.25794282e-03 9.99989174e-01 1.69295736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.049259764 meters Centerline goodness [0,1] 0.5822526807077659 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.76, Z:16.93 [[ 9.99994663e-01 2.19750052e-03 -2.41745293e-03 -2.63263160e+01] [-2.20817273e-03 9.99987790e-01 -4.42087762e-03 1.47639037e+01] [ 2.40770853e-03 4.42619218e-03 9.99987306e-01 1.69293713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.079259764 meters Centerline goodness [0,1] 0.5840553567732205 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.76, Z:16.93 [[ 9.99993882e-01 2.32792098e-03 -2.61084983e-03 -2.63257401e+01] [-2.33959663e-03 9.99987237e-01 -4.47786759e-03 1.47647598e+01] [ 2.60039238e-03 4.48394853e-03 9.99986566e-01 1.69293709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.109259764 meters Centerline goodness [0,1] 0.5840553567732205 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.76, Z:16.93 [[ 9.99993882e-01 2.32792098e-03 -2.61084983e-03 -2.63257401e+01] [-2.33959663e-03 9.99987237e-01 -4.47786759e-03 1.47647598e+01] [ 2.60039238e-03 4.48394853e-03 9.99986566e-01 1.69293709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.139259764 meters Centerline goodness [0,1] 0.5876520555243141 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.77, Z:16.93 [[ 9.99992584e-01 2.51185833e-03 -2.91945030e-03 -2.63250195e+01] [-2.52574214e-03 9.99985473e-01 -4.76170794e-03 1.47662898e+01] [ 2.90744716e-03 4.76904641e-03 9.99984401e-01 1.69299095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.169259764 meters Centerline goodness [0,1] 0.5875729651248927 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.77, Z:16.93 [[ 9.99992071e-01 2.56256687e-03 -3.04813295e-03 -2.63248608e+01] [-2.57722181e-03 9.99985093e-01 -4.81366848e-03 1.47667443e+01] [ 3.03575216e-03 4.82148603e-03 9.99983769e-01 1.69301712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.199259764 meters Centerline goodness [0,1] 0.5894531365531928 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.77, Z:16.93 [[ 9.99991153e-01 2.83276793e-03 -3.10966141e-03 -2.63245924e+01] [-2.84701432e-03 9.99985429e-01 -4.58650453e-03 1.47660585e+01] [ 3.09662360e-03 4.59531720e-03 9.99984647e-01 1.69300691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.229259764 meters Centerline goodness [0,1] 0.5920846510803062 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.77, Z:16.93 [[ 9.99990844e-01 2.97990746e-03 -3.07115294e-03 -2.63245502e+01] [-2.99322323e-03 9.99986101e-01 -4.34031739e-03 1.47653372e+01] [ 3.05817651e-03 4.34947030e-03 9.99985865e-01 1.69297983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.259259764 meters Centerline goodness [0,1] 0.5839846630290517 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.77, Z:16.93 [[ 9.99992164e-01 -7.13568085e-04 -3.89399223e-03 -2.63228106e+01] [ 6.79357317e-04 9.99961226e-01 -8.77978738e-03 1.47679253e+01] [ 3.90010622e-03 8.77707317e-03 9.99953875e-01 1.69311565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.289259764 meters Centerline goodness [0,1] 0.5851552831634157 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.77, Z:16.93 [[ 9.99992587e-01 -6.62229481e-04 -3.79303137e-03 -2.63232480e+01] [ 6.30099940e-04 9.99963968e-01 -8.46561676e-03 1.47666965e+01] [ 3.79850088e-03 8.46316402e-03 9.99956972e-01 1.69311425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.319259764 meters Centerline goodness [0,1] 0.5827063249470962 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.76, Z:16.93 [[ 9.99994534e-01 -8.84727165e-04 -3.18588973e-03 -2.63254722e+01] [ 8.60160532e-04 9.99969952e-01 -7.70420598e-03 1.47624106e+01] [ 3.19261012e-03 7.70142349e-03 9.99965247e-01 1.69310563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.349259764 meters Centerline goodness [0,1] 0.564064240079714 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.76, Z:16.93 [[ 9.99995699e-01 -7.85912461e-04 -2.82582912e-03 -2.63263407e+01] [ 7.66235162e-04 9.99975501e-01 -6.95772478e-03 1.47594009e+01] [ 2.83122805e-03 6.95552960e-03 9.99971802e-01 1.69304151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.379259764 meters Centerline goodness [0,1] 0.5572837632776935 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.93 [[ 9.99996381e-01 -1.35434042e-03 -2.32454333e-03 -2.63287916e+01] [ 1.34024378e-03 9.99980769e-01 -6.05514190e-03 1.47540371e+01] [ 2.33269935e-03 6.05200453e-03 9.99978966e-01 1.69303039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.409259764 meters Centerline goodness [0,1] 0.5643027795583008 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.93 [[ 9.99997129e-01 -1.55774320e-03 -1.82100747e-03 -2.63304915e+01] [ 1.54768613e-03 9.99983615e-01 -5.51123288e-03 1.47513650e+01] [ 1.82956272e-03 5.50839871e-03 9.99983155e-01 1.69301780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.439259764 meters Centerline goodness [0,1] 0.5546475104699861 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.93 [[ 9.99997474e-01 -1.39577803e-03 -1.76187137e-03 -2.63308099e+01] [ 1.38739782e-03 9.99987762e-01 -4.74871952e-03 1.47485609e+01] [ 1.76847796e-03 4.74626311e-03 9.99987173e-01 1.69298552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.469259764 meters Centerline goodness [0,1] 0.5571312332907126 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.93 [[ 9.99997840e-01 -1.10043268e-03 -1.76348736e-03 -2.63304654e+01] [ 1.09299757e-03 9.99990534e-01 -4.21157560e-03 1.47471810e+01] [ 1.76810522e-03 4.20963902e-03 9.99989576e-01 1.69292045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.499259764 meters Centerline goodness [0,1] 0.5573171792121967 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.93 [[ 9.99998366e-01 -7.06746208e-04 -1.66361216e-03 -2.63301190e+01] [ 7.01144320e-04 9.99994091e-01 -3.36548240e-03 1.47446316e+01] [ 1.66598087e-03 3.36431047e-03 9.99992953e-01 1.69280012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.529259764 meters Centerline goodness [0,1] 0.5571045885301149 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.93 [[ 9.99989017e-01 -4.14625995e-03 -2.18498162e-03 -2.63277703e+01] [ 4.13098037e-03 9.99967304e-01 -6.95171781e-03 1.47440184e+01] [ 2.21373381e-03 6.94261535e-03 9.99973449e-01 1.69268829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.559259764 meters Centerline goodness [0,1] 0.5579438713767072 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.93 [[ 9.99990316e-01 -3.87019297e-03 -2.09534888e-03 -2.63274786e+01] [ 3.85669742e-03 9.99972038e-01 -6.40689765e-03 1.47427030e+01] [ 2.12008622e-03 6.39875448e-03 9.99977280e-01 1.69259465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.589259764 meters Centerline goodness [0,1] 0.5560404225999082 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.93 [[ 9.99989318e-01 -4.15914076e-03 -2.01625961e-03 -2.63285960e+01] [ 4.14572335e-03 9.99969535e-01 -6.61372320e-03 1.47430464e+01] [ 2.04370559e-03 6.60529370e-03 9.99976096e-01 1.69270353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.619259764 meters Centerline goodness [0,1] 0.5508815252971917 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.93 [[ 9.99988354e-01 -4.41193278e-03 -1.95597744e-03 -2.63294473e+01] [ 4.39832958e-03 9.99966485e-01 -6.90527258e-03 1.47435728e+01] [ 1.98637749e-03 6.89658913e-03 9.99974245e-01 1.69279690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.649259764 meters Centerline goodness [0,1] 0.5503764995562173 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.93 [[ 9.99987889e-01 -4.61472709e-03 -1.71037455e-03 -2.63304047e+01] [ 4.60274330e-03 9.99965287e-01 -6.94546353e-03 1.47435160e+01] [ 1.74236659e-03 6.93750700e-03 9.99974417e-01 1.69281949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.679259764 meters Centerline goodness [0,1] 0.5500314843436945 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.93 [[ 9.99988314e-01 -4.54105971e-03 -1.65873175e-03 -2.63302865e+01] [ 4.52992049e-03 9.99967571e-01 -6.65864138e-03 1.47430784e+01] [ 1.68891524e-03 6.65104964e-03 9.99976455e-01 1.69276068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.709259764 meters Centerline goodness [0,1] 0.5465668057858327 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.93 [[ 9.99988908e-01 -4.51205362e-03 -1.35134480e-03 -2.63306240e+01] [ 4.50359039e-03 9.99970628e-01 -6.20171097e-03 1.47419307e+01] [ 1.37928756e-03 6.19555628e-03 9.99979856e-01 1.69265499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.739259764 meters Centerline goodness [0,1] 0.5480923006625542 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.93 [[ 9.99989181e-01 -4.48976878e-03 -1.21656982e-03 -2.63309036e+01] [ 4.48242567e-03 9.99972116e-01 -5.97287053e-03 1.47411185e+01] [ 1.24335271e-03 5.96735272e-03 9.99981422e-01 1.69262716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.769259764 meters Centerline goodness [0,1] 0.5466032956712298 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.93 [[ 9.99987988e-01 -4.82660454e-03 -8.53279930e-04 -2.63322047e+01] [ 4.82162921e-03 9.99971903e-01 -5.73978153e-03 1.47398210e+01] [ 8.80959611e-04 5.73559838e-03 9.99983163e-01 1.69261275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.799259764 meters Centerline goodness [0,1] 0.5444631111364219 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.93 [[ 9.99987459e-01 -4.96347329e-03 -6.67217622e-04 -2.63328225e+01] [ 4.95966237e-03 9.99972038e-01 -5.59687139e-03 1.47393552e+01] [ 6.94978887e-04 5.59349203e-03 9.99984115e-01 1.69260300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.829259764 meters Centerline goodness [0,1] 0.5473846417258796 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.93 [[ 9.99987965e-01 -4.76082323e-03 -1.18498252e-03 -2.63316096e+01] [ 4.75366254e-03 9.99970856e-01 -5.97405392e-03 1.47421633e+01] [ 1.21338940e-03 5.96834901e-03 9.99981453e-01 1.69266781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.859259764 meters Centerline goodness [0,1] 0.5488608172460008 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.93 [[ 9.99987798e-01 -4.76308470e-03 -1.31047339e-03 -2.63313188e+01] [ 4.75476934e-03 9.99968996e-01 -6.27689035e-03 1.47438252e+01] [ 1.34033013e-03 6.27058276e-03 9.99979441e-01 1.69269319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.889259764 meters Centerline goodness [0,1] 0.5501887439945092 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.93 [[ 9.99989691e-01 -4.23038037e-03 -1.64977015e-03 -2.63296246e+01] [ 4.22009336e-03 9.99971938e-01 -6.18983660e-03 1.47449080e+01] [ 1.67590922e-03 6.18281060e-03 9.99979482e-01 1.69262108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.919259764 meters Centerline goodness [0,1] 0.5501316241272748 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.93 [[ 9.99990791e-01 -3.93764237e-03 -1.70671832e-03 -2.63288907e+01] [ 3.92734719e-03 9.99974323e-01 -5.99409790e-03 1.47449665e+01] [ 1.73027711e-03 5.98733983e-03 9.99980579e-01 1.69254839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.949259764 meters Centerline goodness [0,1] 0.5481648753715984 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.93 [[ 9.99991238e-01 -3.78712303e-03 -1.78361372e-03 -2.63284383e+01] [ 3.77648267e-03 9.99975276e-01 -5.93167889e-03 1.47453714e+01] [ 1.80603362e-03 5.92489114e-03 9.99980817e-01 1.69251733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.979259764 meters Centerline goodness [0,1] 0.5502734900770354 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.93 [[ 9.99991704e-01 -3.58820610e-03 -1.92794009e-03 -2.63279247e+01] [ 3.57680125e-03 9.99976276e-01 -5.88680044e-03 1.47459290e+01] [ 1.94901740e-03 5.87985574e-03 9.99980814e-01 1.69250830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.009259764 meters Centerline goodness [0,1] 0.55258482347547 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.92 [[ 9.99992213e-01 -3.47029145e-03 -1.87889114e-03 -2.63278979e+01] [ 3.45966585e-03 9.99978171e-01 -5.62926937e-03 1.47454945e+01] [ 1.89838533e-03 5.62272520e-03 9.99982390e-01 1.69247046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.039259764 meters Centerline goodness [0,1] 0.5571146301652301 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.92 [[ 9.99993599e-01 -3.07909374e-03 -1.82262595e-03 -2.63274337e+01] [ 3.07041408e-03 9.99984024e-01 -4.74596811e-03 1.47430314e+01] [ 1.83721012e-03 4.74034151e-03 9.99987077e-01 1.69233902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.069259764 meters Centerline goodness [0,1] 0.5529562982005141 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.92 [[ 9.99994458e-01 -2.85180482e-03 -1.71813960e-03 -2.63274404e+01] [ 2.84459066e-03 9.99987190e-01 -4.18673529e-03 1.47412170e+01] [ 1.73005734e-03 4.18182468e-03 9.99989760e-01 1.69227808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.099259764 meters Centerline goodness [0,1] 0.5516210754034898 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.92 [[ 9.99994661e-01 -3.01367136e-03 -1.26291339e-03 -2.63289644e+01] [ 3.00937037e-03 9.99989713e-01 -3.39377610e-03 1.47374204e+01] [ 1.27312813e-03 3.38995741e-03 9.99993444e-01 1.69222990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.129259764 meters Centerline goodness [0,1] 0.5498324720313477 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.92 [[ 9.99994906e-01 -3.06719944e-03 -8.82769213e-04 -2.63300349e+01] [ 3.06469152e-03 9.99991304e-01 -2.82843014e-03 1.47349891e+01] [ 8.91436896e-04 2.82571031e-03 9.99995610e-01 1.69218681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.159259764 meters Centerline goodness [0,1] 0.548103477427718 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.92 [[ 9.99972540e-01 -7.35679653e-03 -8.92761749e-04 -2.63307509e+01] [ 7.35064636e-03 9.99950491e-01 -6.70704093e-03 1.47331650e+01] [ 9.42059884e-04 6.70029437e-03 9.99977109e-01 1.69226261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.189259764 meters Centerline goodness [0,1] 0.5455439148386372 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.92 [[ 9.99970681e-01 -7.65326170e-03 -2.56057384e-04 -2.63327598e+01] [ 7.65154843e-03 9.99951934e-01 -6.13048378e-03 1.47298199e+01] [ 3.02963273e-04 6.12834480e-03 9.99981176e-01 1.69223451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.219259764 meters Centerline goodness [0,1] 0.5430146647262958 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.92 [[ 9.99923646e-01 -1.23570937e-02 7.11086634e-05 -2.63345922e+01] [ 1.23571842e-02 9.99873124e-01 -1.00517013e-02 1.47273788e+01] [ 5.31101738e-05 1.00518125e-02 9.99949478e-01 1.69230994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.249259764 meters Centerline goodness [0,1] 0.5398738768904514 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.92 [[ 9.99918936e-01 -1.27120803e-02 7.24678498e-04 -2.63366295e+01] [ 1.27183371e-02 9.99874877e-01 -9.40612493e-03 1.47240124e+01] [-6.05016409e-04 9.41457913e-03 9.99955499e-01 1.69226599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.279259764 meters Centerline goodness [0,1] 0.5338103955178344 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.92 [[ 9.99917827e-01 -1.27736132e-02 1.08378912e-03 -2.63377323e+01] [ 1.27825927e-02 9.99880206e-01 -8.72802958e-03 1.47213010e+01] [-9.72170813e-04 8.74116601e-03 9.99961323e-01 1.69222279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.309259764 meters Centerline goodness [0,1] 0.5373961218836565 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.92 [[ 9.99955356e-01 -9.27476655e-03 1.80677077e-03 -2.63402723e+01] [ 9.28193251e-03 9.99948926e-01 -3.99900507e-03 1.47172881e+01] [-1.76958866e-03 4.01559686e-03 9.99990372e-01 1.69216371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.339259764 meters Centerline goodness [0,1] 0.5382932772178536 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.92 [[ 9.99956799e-01 -9.10257292e-03 1.88221947e-03 -2.63403981e+01] [ 9.10942280e-03 9.99951798e-01 -3.66328861e-03 1.47162392e+01] [-1.84878339e-03 3.68027629e-03 9.99991519e-01 1.69213967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.369259764 meters Centerline goodness [0,1] 0.5377580061341217 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.92 [[ 9.99958306e-01 -8.91268500e-03 1.98767140e-03 -2.63402739e+01] [ 8.91931250e-03 9.99954608e-01 -3.35074422e-03 1.47153727e+01] [-1.95771705e-03 3.36833317e-03 9.99992411e-01 1.69207669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.399259764 meters Centerline goodness [0,1] 0.5271031132700376 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:16.92 [[ 9.99961906e-01 -8.47082250e-03 2.10511144e-03 -2.63395904e+01] [ 8.47639432e-03 9.99960558e-01 -2.65212986e-03 1.47136645e+01] [-2.08256269e-03 2.66987258e-03 9.99994267e-01 1.69192344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.429259764 meters Centerline goodness [0,1] 0.5400209909959675 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:16.92 [[ 9.99963808e-01 -8.25388412e-03 2.06281500e-03 -2.63389259e+01] [ 8.25887622e-03 9.99962958e-01 -2.42335352e-03 1.47136727e+01] [-2.04273651e-03 2.44030235e-03 9.99994936e-01 1.69184435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.459259764 meters Centerline goodness [0,1] 0.5433075221238939 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:16.92 [[ 9.99966884e-01 -7.92216840e-03 1.86301113e-03 -2.63375677e+01] [ 7.92605552e-03 9.99966407e-01 -2.08842771e-03 1.47143462e+01] [-1.84640367e-03 2.10312488e-03 9.99996084e-01 1.69172279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.489259764 meters Centerline goodness [0,1] 0.5390951051656947 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:16.92 [[ 9.99967808e-01 -7.81746370e-03 1.80829160e-03 -2.63371279e+01] [ 7.82093205e-03 9.99967575e-01 -1.91897414e-03 1.47144877e+01] [-1.79323146e-03 1.93305489e-03 9.99996524e-01 1.69167343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.519259764 meters Centerline goodness [0,1] 0.5267721115758566 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:16.92 [[ 9.99968565e-01 -7.71490389e-03 1.83005240e-03 -2.63368772e+01] [ 7.71796451e-03 9.99968819e-01 -1.67129626e-03 1.47142426e+01] [-1.81710145e-03 1.68536801e-03 9.99996929e-01 1.69161584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.549259764 meters Centerline goodness [0,1] 0.5388018025490033 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:16.92 [[ 9.99968607e-01 -7.69461527e-03 1.89162225e-03 -2.63370441e+01] [ 7.69761279e-03 9.99969121e-01 -1.58248571e-03 1.47141509e+01] [-1.87938722e-03 1.59699701e-03 9.99996959e-01 1.69160903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.579259764 meters Centerline goodness [0,1] 0.546558367754276 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:16.92 [[ 9.99967603e-01 -7.76291991e-03 2.12838824e-03 -2.63377967e+01] [ 7.76634223e-03 9.99968554e-01 -1.60441697e-03 1.47140939e+01] [-2.11586635e-03 1.62089478e-03 9.99996448e-01 1.69162318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.609259764 meters Centerline goodness [0,1] 0.5466891630248382 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:16.92 [[ 9.99967861e-01 -7.68596572e-03 2.28114334e-03 -2.63380389e+01] [ 7.68916971e-03 9.99969459e-01 -1.39912375e-03 1.47134713e+01] [-2.27032005e-03 1.41661888e-03 9.99996419e-01 1.69159037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.639259764 meters Centerline goodness [0,1] 0.5441603317208017 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:16.91 [[ 9.99968810e-01 -7.43788372e-03 2.65646402e-03 -2.63380273e+01] [ 7.43914823e-03 9.99972220e-01 -4.66447956e-04 1.47107728e+01] [-2.65292084e-03 4.86195237e-04 9.99996363e-01 1.69139378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.669259764 meters Centerline goodness [0,1] 0.5401552614857585 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:16.91 [[ 9.99967650e-01 -7.45287890e-03 3.02562719e-03 -2.63384973e+01] [ 7.45171931e-03 9.99972158e-01 3.94349973e-04 1.47078698e+01] [-3.02848199e-03 -3.71791091e-04 9.99995345e-01 1.69124378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.699259764 meters Centerline goodness [0,1] 0.5409908540797436 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:16.91 [[ 9.99965623e-01 -7.61426181e-03 3.28259480e-03 -2.63393720e+01] [ 7.61219379e-03 9.99970821e-01 6.42031440e-04 1.47065970e+01] [-3.28738761e-03 -6.17021622e-04 9.99994406e-01 1.69123611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.729259764 meters Centerline goodness [0,1] 0.5199503311258278 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:16.91 [[ 9.99964469e-01 -7.63383947e-03 3.57572322e-03 -2.63401389e+01] [ 7.63019985e-03 9.99970359e-01 1.03040884e-03 1.47050895e+01] [-3.58348321e-03 -1.00308875e-03 9.99993076e-01 1.69120818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.759259764 meters Centerline goodness [0,1] 0.5268287311070121 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.70, Z:16.91 [[ 9.99964576e-01 -7.58398177e-03 3.65103751e-03 -2.63404888e+01] [ 7.57957002e-03 9.99970530e-01 1.22067933e-03 1.47043612e+01] [-3.66018752e-03 -1.19296280e-03 9.99992590e-01 1.69121659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.789259764 meters Centerline goodness [0,1] 0.5313505928962501 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.70, Z:16.91 [[ 9.99967130e-01 -7.27630254e-03 3.57678016e-03 -2.63401593e+01] [ 7.27125138e-03 9.99972551e-01 1.42319072e-03 1.47038803e+01] [-3.58703755e-03 -1.39713627e-03 9.99992591e-01 1.69121259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.819259764 meters Centerline goodness [0,1] 0.5307111772158872 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.70, Z:16.91 [[ 9.99966744e-01 -7.25739138e-03 3.72042052e-03 -2.63405205e+01] [ 7.25183867e-03 9.99972574e-01 1.50382000e-03 1.47033032e+01] [-3.73123230e-03 -1.47679010e-03 9.99991948e-01 1.69121009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.849259764 meters Centerline goodness [0,1] 0.5190427670531215 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.70, Z:16.91 [[ 9.99966805e-01 -7.06170280e-03 4.06455276e-03 -2.63410802e+01] [ 7.05270630e-03 9.99972657e-01 2.22349821e-03 1.47004150e+01] [-4.08014330e-03 -2.19475830e-03 9.99989268e-01 1.69112146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.879259764 meters Centerline goodness [0,1] 0.510584552867851 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.70, Z:16.91 [[ 9.99966294e-01 -6.91135542e-03 4.43211492e-03 -2.63417215e+01] [ 6.89905910e-03 9.99972327e-01 2.78368285e-03 1.46981726e+01] [-4.45123129e-03 -2.75301160e-03 9.99986304e-01 1.69105345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.909259764 meters Centerline goodness [0,1] 0.5056167461230752 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.69, Z:16.91 [[ 9.99958592e-01 -7.67884983e-03 4.88365132e-03 -2.63439544e+01] [ 7.66283271e-03 9.99965228e-01 3.29003910e-03 1.46941859e+01] [-4.90874522e-03 -3.25248026e-03 9.99982663e-01 1.69105804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.939259764 meters Centerline goodness [0,1] 0.499767167940395 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99955561e-01 -7.80159481e-03 5.29249264e-03 -2.63451225e+01] [ 7.78181456e-03 9.99962698e-01 3.74777092e-03 1.46920546e+01] [-5.32153381e-03 -3.70641917e-03 9.99978972e-01 1.69103049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.969259764 meters Centerline goodness [0,1] 0.5007932166301969 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99954893e-01 -7.87366679e-03 5.31191758e-03 -2.63454442e+01] [ 7.85317803e-03 9.99961686e-01 3.86702415e-03 1.46915908e+01] [-5.34216172e-03 -3.82513429e-03 9.99978415e-01 1.69105102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.999259764 meters Centerline goodness [0,1] 0.5085562522246256 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99956510e-01 -7.75807630e-03 5.17591114e-03 -2.63450031e+01] [ 7.73825393e-03 9.99962691e-01 3.83883218e-03 1.46921631e+01] [-5.20549998e-03 -3.79861271e-03 9.99979236e-01 1.69104649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.029259764 meters Centerline goodness [0,1] 0.5085562522246256 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99956510e-01 -7.75807630e-03 5.17591114e-03 -2.63450031e+01] [ 7.73825393e-03 9.99962691e-01 3.83883218e-03 1.46921631e+01] [-5.20549998e-03 -3.79861271e-03 9.99979236e-01 1.69104649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.059259764 meters Centerline goodness [0,1] 0.5248473564603127 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.69, Z:16.91 [[ 9.99960538e-01 -7.34189185e-03 5.00192256e-03 -2.63439761e+01] [ 7.32206845e-03 9.99965313e-01 3.97000861e-03 1.46925780e+01] [-5.03089643e-03 -3.93322753e-03 9.99979610e-01 1.69099520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.089259764 meters Centerline goodness [0,1] 0.5193717850497975 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.69, Z:16.91 [[ 9.99961806e-01 -7.14785136e-03 5.02947595e-03 -2.63436700e+01] [ 7.12708361e-03 9.99966052e-01 4.13508504e-03 1.46923048e+01] [-5.05886218e-03 -4.09908161e-03 9.99978802e-01 1.69094470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.119259764 meters Centerline goodness [0,1] 0.49831456055249523 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.69, Z:16.91 [[ 9.99963044e-01 -6.86221139e-03 5.17889175e-03 -2.63431762e+01] [ 6.83934372e-03 9.99966841e-01 4.42042130e-03 1.46917999e+01] [-5.20905389e-03 -4.38483772e-03 9.99976819e-01 1.69082363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.149259764 meters Centerline goodness [0,1] 0.5247955359829317 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.69, Z:16.91 [[ 9.99962525e-01 -6.87031259e-03 5.26749592e-03 -2.63433186e+01] [ 6.84714203e-03 9.99966859e-01 4.40426787e-03 1.46918614e+01] [-5.29758004e-03 -4.36803552e-03 9.99976428e-01 1.69081159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.179259764 meters Centerline goodness [0,1] 0.49166917457798687 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.69, Z:16.91 [[ 9.99959145e-01 -7.18990303e-03 5.47855712e-03 -2.63443343e+01] [ 7.16762382e-03 9.99966007e-01 4.07546029e-03 1.46925821e+01] [-5.50767305e-03 -4.03602555e-03 9.99976688e-01 1.69087211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.209259764 meters Centerline goodness [0,1] 0.5218426019640561 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.69, Z:16.91 [[ 9.99957576e-01 -7.31395417e-03 5.59925165e-03 -2.63449234e+01] [ 7.29156695e-03 9.99965383e-01 4.00827916e-03 1.46925885e+01] [-5.62837419e-03 -3.96728179e-03 9.99976291e-01 1.69090179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.239259764 meters Centerline goodness [0,1] 0.5247345956003064 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99954026e-01 -7.61358603e-03 5.82914736e-03 -2.63458200e+01] [ 7.59185896e-03 9.99964186e-01 3.74041341e-03 1.46931939e+01] [-5.85741656e-03 -3.69598738e-03 9.99976015e-01 1.69093612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.269259764 meters Centerline goodness [0,1] 0.5033118020582439 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99956092e-01 -7.47637727e-03 5.64967623e-03 -2.63451527e+01] [ 7.45615437e-03 9.99965751e-01 3.59210406e-03 1.46942855e+01] [-5.67633865e-03 -3.54982148e-03 9.99977589e-01 1.69092895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.299259764 meters Centerline goodness [0,1] 0.5013950434925324 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.70, Z:16.91 [[ 9.99959130e-01 -7.13030404e-03 5.55849636e-03 -2.63442503e+01] [ 7.11103970e-03 9.99968668e-01 3.47783958e-03 1.46956543e+01] [-5.58312025e-03 -3.43817075e-03 9.99978504e-01 1.69087646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.329259764 meters Centerline goodness [0,1] 0.5126075672722306 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.70, Z:16.91 [[ 9.99958720e-01 -7.10270418e-03 5.66658050e-03 -2.63443275e+01] [ 7.08332438e-03 9.99969021e-01 3.43278770e-03 1.46958947e+01] [-5.69078703e-03 -3.39250776e-03 9.99978053e-01 1.69085410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.359259764 meters Centerline goodness [0,1] 0.5208935682723256 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.70, Z:16.91 [[ 9.99957907e-01 -7.07510833e-03 5.84188074e-03 -2.63447851e+01] [ 7.05480705e-03 9.99969030e-01 3.48845268e-03 1.46955463e+01] [-5.86638099e-03 -3.44709250e-03 9.99976851e-01 1.69085260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.389259764 meters Centerline goodness [0,1] 0.5118517100910408 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.70, Z:16.91 [[ 9.99954971e-01 -7.31090312e-03 6.05040820e-03 -2.63457206e+01] [ 7.29111445e-03 9.99968020e-01 3.28625392e-03 1.46956018e+01] [-6.07424019e-03 -3.24199173e-03 9.99976296e-01 1.69090534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.419259764 meters Centerline goodness [0,1] 0.5240068707909589 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.70, Z:16.91 [[ 9.99955649e-01 -7.33407774e-03 5.90852140e-03 -2.63457612e+01] [ 7.31614488e-03 9.99968582e-01 3.05100196e-03 1.46965959e+01] [-5.93071205e-03 -3.00763905e-03 9.99977890e-01 1.69097591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.449259764 meters Centerline goodness [0,1] 0.5222947328181744 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.70, Z:16.91 [[ 9.99955667e-01 -7.31381883e-03 5.93059576e-03 -2.63458226e+01] [ 7.29586276e-03 9.99968753e-01 3.04370369e-03 1.46965910e+01] [-5.95267155e-03 -3.00029994e-03 9.99977782e-01 1.69097638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.479259764 meters Centerline goodness [0,1] 0.5195180460146113 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99956614e-01 -6.92762928e-03 6.22716444e-03 -2.63454631e+01] [ 6.90370180e-03 9.99968736e-01 3.85575375e-03 1.46943042e+01] [-6.25368099e-03 -3.81259598e-03 9.99973177e-01 1.69078763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.509259764 meters Centerline goodness [0,1] 0.48988880409898616 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99956606e-01 -6.75402254e-03 6.41626530e-03 -2.63454698e+01] [ 6.72683680e-03 9.99968347e-01 4.24917833e-03 1.46930966e+01] [-6.44476125e-03 -4.20583277e-03 9.99970388e-01 1.69070608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.539259764 meters Centerline goodness [0,1] 0.49079219788601935 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99956114e-01 -6.67935607e-03 6.56938261e-03 -2.63457163e+01] [ 6.65011964e-03 9.99967932e-01 4.46222744e-03 1.46921281e+01] [-6.59897674e-03 -4.41834443e-03 9.99968465e-01 1.69067904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.569259764 meters Centerline goodness [0,1] 0.4739072559832659 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99954541e-01 -6.74958165e-03 6.73498117e-03 -2.63463601e+01] [ 6.71885311e-03 9.99966964e-01 4.57477076e-03 1.46914659e+01] [-6.76563646e-03 -4.52931145e-03 9.99966855e-01 1.69069262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.599259764 meters Centerline goodness [0,1] 0.49042550310121613 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99949763e-01 -7.02407909e-03 7.15080325e-03 -2.63479237e+01] [ 6.98914545e-03 9.99963577e-01 4.89859875e-03 1.46894764e+01] [-7.18495094e-03 -4.84837466e-03 9.99962434e-01 1.69070944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.629259764 meters Centerline goodness [0,1] 0.4919703268932909 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99947356e-01 -7.18205855e-03 7.32822330e-03 -2.63486774e+01] [ 7.14688763e-03 9.99962871e-01 4.81433127e-03 1.46890378e+01] [-7.36252802e-03 -4.76170384e-03 9.99961559e-01 1.69074525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.659259764 meters Centerline goodness [0,1] 0.4995111618054424 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99955648e-01 -6.51445207e-03 6.80170845e-03 -2.63468890e+01] [ 6.48406087e-03 9.99968940e-01 4.48070294e-03 1.46915102e+01] [-6.83068652e-03 -4.43640152e-03 9.99966829e-01 1.69078604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.689259764 meters Centerline goodness [0,1] 0.5007849718492854 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99957628e-01 -6.34034634e-03 6.67406233e-03 -2.63462722e+01] [ 6.31070017e-03 9.99970169e-01 4.45372363e-03 1.46922849e+01] [-6.70210138e-03 -4.41141690e-03 9.99967810e-01 1.69075900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.719259764 meters Centerline goodness [0,1] 0.5115697310819263 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99958208e-01 -6.14813172e-03 6.76633391e-03 -2.63460532e+01] [ 6.11800134e-03 9.99971318e-01 4.46471077e-03 1.46922088e+01] [-6.79358947e-03 -4.42312774e-03 9.99967141e-01 1.69071818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.749259764 meters Centerline goodness [0,1] 0.5215631959154854 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99959169e-01 -5.90175483e-03 6.84327145e-03 -2.63459733e+01] [ 5.86886084e-03 9.99971176e-01 4.81692239e-03 1.46908766e+01] [-6.87150250e-03 -4.77656350e-03 9.99964983e-01 1.69067691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.779259764 meters Centerline goodness [0,1] 0.5187780040733198 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99957870e-01 -5.83947305e-03 7.08225881e-03 -2.63465476e+01] [ 5.80383859e-03 9.99970448e-01 5.04166905e-03 1.46895353e+01] [-7.11149021e-03 -5.00035236e-03 9.99962211e-01 1.69066387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.809259764 meters Centerline goodness [0,1] 0.5073513513513513 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99952449e-01 -6.09757041e-03 7.61042041e-03 -2.63483455e+01] [ 6.05610255e-03 9.99966755e-01 5.46002967e-03 1.46868766e+01] [-7.64346032e-03 -5.41368056e-03 9.99956134e-01 1.69066889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.839259764 meters Centerline goodness [0,1] 0.5166207232041511 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99949675e-01 -6.25106012e-03 7.84681139e-03 -2.63492309e+01] [ 6.20720662e-03 9.99965051e-01 5.60067218e-03 1.46859055e+01] [-7.88154729e-03 -5.55168354e-03 9.99953529e-01 1.69068315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.869259764 meters Centerline goodness [0,1] 0.503403749527257 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.68, Z:16.91 [[ 9.99942816e-01 -6.75902543e-03 8.28738805e-03 -2.63510264e+01] [ 6.70991034e-03 9.99959846e-01 5.94003639e-03 1.46832122e+01] [-8.32720413e-03 -5.88408908e-03 9.99948016e-01 1.69069410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.899259764 meters Centerline goodness [0,1] 0.4916018245237457 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.69, Z:16.91 [[ 9.99910842e-01 -1.08213495e-02 7.82340380e-03 -2.63500914e+01] [ 1.08107424e-02 9.99940587e-01 1.39683677e-03 1.46850185e+01] [-7.83805465e-03 -1.31213542e-03 9.99968421e-01 1.69078109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.929259764 meters Centerline goodness [0,1] 0.46665772532188843 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.68, Z:16.91 [[ 9.99888058e-01 -1.23677611e-02 8.42083354e-03 -2.63537252e+01] [ 1.23574163e-02 9.99922826e-01 1.27940497e-03 1.46808531e+01] [-8.43600704e-03 -1.17520201e-03 9.99963726e-01 1.69090190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.959259764 meters Centerline goodness [0,1] 0.48714587624729144 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.68, Z:16.91 [[ 9.99885876e-01 -1.23743099e-02 8.66668446e-03 -2.63544618e+01] [ 1.23602971e-02 9.99922216e-01 1.66855074e-03 1.46791178e+01] [-8.68665750e-03 -1.56123752e-03 9.99961052e-01 1.69088850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.989259764 meters Centerline goodness [0,1] 0.4916102443332352 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.68, Z:16.91 [[ 9.99920451e-01 -8.56761369e-03 9.25673065e-03 -2.63566708e+01] [ 8.51157353e-03 9.99945313e-01 6.07652039e-03 1.46765813e+01] [-9.30828571e-03 -5.99724767e-03 9.99938693e-01 1.69091910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.019259764 meters Centerline goodness [0,1] 0.496973592586641 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.68, Z:16.91 [[ 9.99917979e-01 -8.75432845e-03 9.34863918e-03 -2.63574508e+01] [ 8.69952283e-03 9.99944829e-01 5.88707903e-03 1.46767306e+01] [-9.39966083e-03 -5.80526746e-03 9.99938971e-01 1.69099066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.049259764 meters Centerline goodness [0,1] 0.49109728628123994 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.68, Z:16.91 [[ 9.99915935e-01 -8.77690536e-03 9.54402561e-03 -2.63581296e+01] [ 8.71981513e-03 9.99943939e-01 6.00702634e-03 1.46756877e+01] [-9.59621366e-03 -5.92329922e-03 9.99936412e-01 1.69100719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.079259764 meters Centerline goodness [0,1] 0.4606816782243166 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.67, Z:16.91 [[ 9.99911157e-01 -8.66310487e-03 1.01305984e-02 -2.63591305e+01] [ 8.59495593e-03 9.99940271e-01 6.75133925e-03 1.46719967e+01] [-1.01884808e-02 -6.66366740e-03 9.99925892e-01 1.69089485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.109259764 meters Centerline goodness [0,1] 0.46130626419126486 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.67, Z:16.91 [[ 9.99912657e-01 -8.47800031e-03 1.01391112e-02 -2.63590645e+01] [ 8.40702049e-03 9.99939999e-01 7.02284681e-03 1.46710663e+01] [-1.01980425e-02 -6.93699370e-03 9.99923936e-01 1.69087762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.139259764 meters Centerline goodness [0,1] 0.4927023914731796 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.67, Z:16.91 [[ 9.99911135e-01 -8.68573373e-03 1.01133739e-02 -2.63596348e+01] [ 8.61853893e-03 9.99940622e-01 6.66888602e-03 1.46717444e+01] [-1.01706975e-02 -6.58113088e-03 9.99926620e-01 1.69097549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.169259764 meters Centerline goodness [0,1] 0.4670039889700961 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.67, Z:16.91 [[ 9.99910185e-01 -8.86413859e-03 1.00523587e-02 -2.63601222e+01] [ 8.80054299e-03 9.99941092e-01 6.35312202e-03 1.46722942e+01] [-1.01080815e-02 -6.26408519e-03 9.99929291e-01 1.69107303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.199259764 meters Centerline goodness [0,1] 0.47130127639078434 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.67, Z:16.91 [[ 9.99910263e-01 -8.76664128e-03 1.01298004e-02 -2.63604898e+01] [ 8.70187710e-03 9.99941529e-01 6.41991592e-03 1.46715190e+01] [-1.01854892e-02 -6.33119154e-03 9.99928083e-01 1.69110598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.229259764 meters Centerline goodness [0,1] 0.47112 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.67, Z:16.91 [[ 9.99906853e-01 -8.78483962e-03 1.04456794e-02 -2.63614509e+01] [ 8.71606043e-03 9.99940155e-01 6.61185693e-03 1.46700501e+01] [-1.05031383e-02 -6.52019588e-03 9.99923583e-01 1.69111832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.259259764 meters Centerline goodness [0,1] 0.4543954874414644 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.67, Z:16.91 [[ 9.99901226e-01 -9.00587563e-03 1.07904288e-02 -2.63628782e+01] [ 8.93476825e-03 9.99938171e-01 6.62004093e-03 1.46681250e+01] [-1.08493809e-02 -6.52297706e-03 9.99919868e-01 1.69117935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.289259764 meters Centerline goodness [0,1] 0.4621151486046635 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.67, Z:16.92 [[ 9.99954976e-01 -8.05805801e-03 5.01133097e-03 -2.63827658e+01] [ 8.07065986e-03 9.99964308e-01 -2.49955237e-03 1.46749889e+01] [-4.99101057e-03 2.53988458e-03 9.99984319e-01 1.69210974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.319259764 meters Centerline goodness [0,1] 0.4743702518992403 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.68, Z:16.92 [[ 9.99954511e-01 -8.13367196e-03 4.98192105e-03 -2.63829482e+01] [ 8.14670914e-03 9.99963429e-01 -2.60221852e-03 1.46756857e+01] [-4.96057327e-03 2.64268641e-03 9.99984204e-01 1.69214171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.349259764 meters Centerline goodness [0,1] 0.4741211328510797 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.68, Z:16.92 [[ 9.99952775e-01 -8.28888849e-03 5.07361788e-03 -2.63836819e+01] [ 8.30294602e-03 9.99961732e-01 -2.75594681e-03 1.46758726e+01] [-5.05057999e-03 2.79794263e-03 9.99983331e-01 1.69220740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.379259764 meters Centerline goodness [0,1] 0.47939845621506516 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.68, Z:16.92 [[ 9.99954145e-01 -8.15429763e-03 5.02157908e-03 -2.63834994e+01] [ 8.16788929e-03 9.99963018e-01 -2.69211683e-03 1.46758490e+01] [-4.99944105e-03 2.73300908e-03 9.99983768e-01 1.69220584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.409259764 meters Centerline goodness [0,1] 0.4597627615620419 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.68, Z:16.92 [[ 9.99978258e-01 -3.85725633e-03 5.34828219e-03 -2.63836960e+01] [ 3.84740133e-03 9.99990884e-01 1.85171486e-03 1.46752661e+01] [-5.35537598e-03 -1.83109761e-03 9.99983983e-01 1.69208455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.439259764 meters Centerline goodness [0,1] 0.4737292440974358 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.68, Z:16.92 [[ 9.99978568e-01 -3.98672492e-03 5.19315215e-03 -2.63834347e+01] [ 3.97964357e-03 9.99991138e-01 1.37321461e-03 1.46772495e+01] [-5.19858076e-03 -1.35251829e-03 9.99985573e-01 1.69212269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.469259764 meters Centerline goodness [0,1] 0.4982657094458337 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.68, Z:16.92 [[ 9.99982888e-01 -3.67236056e-03 4.55381018e-03 -2.63813827e+01] [ 3.66942437e-03 9.99993054e-01 6.52962815e-04 1.46817816e+01] [-4.55617647e-03 -6.36241780e-04 9.99989418e-01 1.69215115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.499259764 meters Centerline goodness [0,1] 0.4997843084389323 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.68, Z:16.92 [[ 9.99986964e-01 -3.25135588e-03 3.93712794e-03 -2.63792934e+01] [ 3.25013661e-03 9.99994668e-01 3.16045144e-04 1.46846226e+01] [-3.93813452e-03 -3.03244821e-04 9.99992200e-01 1.69213827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.529259764 meters Centerline goodness [0,1] 0.48860479542573565 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.69, Z:16.92 [[ 9.99988887e-01 -3.04219551e-03 3.60161397e-03 -2.63780311e+01] [ 3.04214101e-03 9.99995372e-01 2.06098229e-05 1.46869876e+01] [-3.60166000e-03 -9.65297632e-06 9.99993514e-01 1.69211728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.559259764 meters Centerline goodness [0,1] 0.4912190501961845 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.69, Z:16.92 [[ 9.99992230e-01 -2.50038173e-03 3.04766403e-03 -2.63756052e+01] [ 2.50103445e-03 9.99996850e-01 -2.10378449e-04 1.46901469e+01] [-3.04712841e-03 2.17999127e-04 9.99995334e-01 1.69204694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.589259764 meters Centerline goodness [0,1] 0.49782585063593865 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.69, Z:16.92 [[ 9.99993374e-01 -2.39888788e-03 2.73811924e-03 -2.63747447e+01] [ 2.40034227e-03 9.99996980e-01 -5.28000186e-04 1.46921031e+01] [-2.73684435e-03 5.34569110e-04 9.99996112e-01 1.69206591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.619259764 meters Centerline goodness [0,1] 0.5027607697354035 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.70, Z:16.92 [[ 9.99995754e-01 -2.07984019e-03 2.04096965e-03 -2.63727858e+01] [ 2.08245680e-03 9.99997012e-01 -1.28075388e-03 1.46973809e+01] [-2.03829979e-03 1.28499867e-03 9.99997097e-01 1.69213668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.649259764 meters Centerline goodness [0,1] 0.5010802680158621 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.70, Z:16.92 [[ 9.99996494e-01 -2.01213029e-03 1.72148620e-03 -2.63719297e+01] [ 2.01497847e-03 9.99996601e-01 -1.65435386e-03 1.46996097e+01] [-1.71815157e-03 1.65781681e-03 9.99997150e-01 1.69215959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.679259764 meters Centerline goodness [0,1] 0.5070430269914056 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.70, Z:16.92 [[ 9.99997599e-01 -1.65012061e-03 1.44158286e-03 -2.63703498e+01] [ 1.65270920e-03 9.99997021e-01 -1.79631431e-03 1.47017010e+01] [-1.43861443e-03 1.79869252e-03 9.99997348e-01 1.69208788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.709259764 meters Centerline goodness [0,1] 0.5231364584476891 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.70, Z:16.92 [[ 9.99997847e-01 -1.52538736e-03 1.40700445e-03 -2.63697989e+01] [ 1.52780961e-03 9.99997350e-01 -1.72209652e-03 1.47021989e+01] [-1.40437386e-03 1.72424244e-03 9.99997527e-01 1.69202571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.739259764 meters Centerline goodness [0,1] 0.5069152300035744 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.70, Z:16.92 [[ 9.99997726e-01 -1.61661625e-03 1.39055076e-03 -2.63698018e+01] [ 1.61938481e-03 9.99996704e-01 -1.99215754e-03 1.47035163e+01] [-1.38732562e-03 1.99440485e-03 9.99997049e-01 1.69204236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.769259764 meters Centerline goodness [0,1] 0.5310449407223601 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.71, Z:16.92 [[ 9.99998684e-01 -1.42923280e-03 7.67125599e-04 -2.63684197e+01] [ 1.43115072e-03 9.99995837e-01 -2.50543709e-03 1.47066669e+01] [-7.63541552e-04 2.50653166e-03 9.99996567e-01 1.69212382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.799259764 meters Centerline goodness [0,1] 0.5272651588733176 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.71, Z:16.92 [[ 9.99999307e-01 -1.16277554e-03 1.83822040e-04 -2.63669377e+01] [ 1.16337029e-03 9.99993980e-01 -3.26917335e-03 1.47119384e+01] [-1.80019618e-04 3.26938494e-03 9.99994639e-01 1.69221647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.829259764 meters Centerline goodness [0,1] 0.5386852821407795 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.71, Z:16.92 [[ 9.99999703e-01 -6.99623049e-04 -3.24044388e-04 -2.63648384e+01] [ 6.98552740e-04 9.99994339e-01 -3.29138813e-03 1.47138667e+01] [ 3.26345285e-04 3.29116079e-03 9.99994531e-01 1.69214653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.859259764 meters Centerline goodness [0,1] 0.5388441233676021 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.72, Z:16.92 [[ 9.99999547e-01 3.74869266e-04 -8.74843628e-04 -2.63614403e+01] [-3.77578477e-04 9.99995128e-01 -3.09868607e-03 1.47162056e+01] [ 8.73677763e-04 3.09901499e-03 9.99994816e-01 1.69197100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.889259764 meters Centerline goodness [0,1] 0.5418720583730192 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.72, Z:16.92 [[ 9.99999232e-01 5.69435169e-04 -1.10049139e-03 -2.63603534e+01] [-5.72904700e-04 9.99994859e-01 -3.15497157e-03 1.47174042e+01] [ 1.09868918e-03 3.15559962e-03 9.99994418e-01 1.69191864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.919259764 meters Centerline goodness [0,1] 0.5418720583730192 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.72, Z:16.92 [[ 9.99999232e-01 5.69435169e-04 -1.10049139e-03 -2.63603534e+01] [-5.72904700e-04 9.99994859e-01 -3.15497157e-03 1.47174042e+01] [ 1.09868918e-03 3.15559962e-03 9.99994418e-01 1.69191864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.949259764 meters Centerline goodness [0,1] 0.5440067057837386 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.72, Z:16.92 [[ 9.99998463e-01 8.12244921e-04 -1.55380561e-03 -2.63590271e+01] [-8.17548801e-04 9.99993832e-01 -3.41589288e-03 1.47196868e+01] [ 1.55102149e-03 3.41715795e-03 9.99992959e-01 1.69193353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.979259764 meters Centerline goodness [0,1] 0.5457038902882732 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.72, Z:16.92 [[ 9.99998057e-01 7.35316344e-04 -1.82888386e-03 -2.63586898e+01] [-7.42474856e-04 9.99992055e-01 -3.91654830e-03 1.47218728e+01] [ 1.82598943e-03 3.91789859e-03 9.99990658e-01 1.69201369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.009259764 meters Centerline goodness [0,1] 0.5454494429321135 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.73, Z:16.92 [[ 9.99996711e-01 7.65084432e-04 -2.44781514e-03 -2.63576945e+01] [-7.76230157e-04 9.99989322e-01 -4.55563048e-03 1.47254827e+01] [ 2.44430356e-03 4.55751556e-03 9.99986627e-01 1.69214197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.039259764 meters Centerline goodness [0,1] 0.5444456930943418 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.73, Z:16.92 [[ 9.99996110e-01 8.00040635e-04 -2.67197617e-03 -2.63570963e+01] [-8.12721120e-04 9.99988398e-01 -4.74802376e-03 1.47267956e+01] [ 2.66814656e-03 4.75017686e-03 9.99985158e-01 1.69215414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.069259764 meters Centerline goodness [0,1] 0.5474748612793285 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.73, Z:16.92 [[ 9.99994801e-01 1.40877467e-03 -2.90057880e-03 -2.63553257e+01] [-1.42127095e-03 9.99989699e-01 -4.31065584e-03 1.47268407e+01] [ 2.89447618e-03 4.31475594e-03 9.99986502e-01 1.69201088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.099259764 meters Centerline goodness [0,1] 0.5486942558526073 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:16.92 [[ 9.99994154e-01 1.68539695e-03 -2.97499982e-03 -2.63546284e+01] [-1.69740500e-03 9.99990405e-01 -4.03842181e-03 1.47264672e+01] [ 2.96816493e-03 4.04344799e-03 9.99987420e-01 1.69194196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.129259764 meters Centerline goodness [0,1] 0.548698738170347 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:16.92 [[ 9.99993528e-01 1.89957543e-03 -3.05530248e-03 -2.63540070e+01] [-1.91123253e-03 9.99990889e-01 -3.81698597e-03 1.47264178e+01] [ 3.04802399e-03 3.82280066e-03 9.99988048e-01 1.69188313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.159259764 meters Centerline goodness [0,1] 0.549733194048392 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:16.92 [[ 9.99992481e-01 1.96151805e-03 -3.34521398e-03 -2.63532600e+01] [-1.97530259e-03 9.99989552e-01 -4.12235992e-03 1.47283213e+01] [ 3.33709294e-03 4.12893674e-03 9.99985908e-01 1.69191163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.189259764 meters Centerline goodness [0,1] 0.550820689266174 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:16.92 [[ 9.99990815e-01 2.04861548e-03 -3.76462003e-03 -2.63524083e+01] [-2.06562626e-03 9.99987650e-01 -4.52027249e-03 1.47305688e+01] [ 3.75531323e-03 4.52800727e-03 9.99982697e-01 1.69198699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.219259764 meters Centerline goodness [0,1] 0.5553823921113032 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:16.92 [[ 9.99991084e-01 1.93573370e-03 -3.75298243e-03 -2.63525610e+01] [-1.95332749e-03 9.99987094e-01 -4.68996423e-03 1.47314774e+01] [ 3.74385547e-03 4.69725322e-03 9.99981960e-01 1.69200012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.249259764 meters Centerline goodness [0,1] 0.5527568425228084 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:16.92 [[ 9.99989907e-01 2.13655884e-03 -3.95225262e-03 -2.63517171e+01] [-2.15488720e-03 9.99986918e-01 -4.63901325e-03 1.47321046e+01] [ 3.94228939e-03 4.64748309e-03 9.99981429e-01 1.69196726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.279259764 meters Centerline goodness [0,1] 0.5580097980913545 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:16.92 [[ 9.99988235e-01 2.52096772e-03 -4.14421212e-03 -2.63506200e+01] [-2.53914722e-03 9.99987152e-01 -4.38732796e-03 1.47323138e+01] [ 4.13309857e-03 4.39779911e-03 9.99981788e-01 1.69189374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.309259764 meters Centerline goodness [0,1] 0.5575216220048207 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:16.92 [[ 9.99987896e-01 2.67779823e-03 -4.12766629e-03 -2.63504412e+01] [-2.69492824e-03 9.99987757e-01 -4.15008887e-03 1.47318160e+01] [ 4.11650265e-03 4.16116240e-03 9.99982869e-01 1.69185456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.339259764 meters Centerline goodness [0,1] 0.5556027284820696 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:16.92 [[ 9.99987459e-01 -7.93545045e-04 -4.94490490e-03 -2.63479127e+01] [ 7.52300016e-04 9.99964962e-01 -8.33719966e-03 1.47341852e+01] [ 4.95134758e-03 8.33337505e-03 9.99953018e-01 1.69187690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.369259764 meters Centerline goodness [0,1] 0.5567461558138873 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:16.92 [[ 9.99987805e-01 -6.18341612e-04 -4.89979537e-03 -2.63481001e+01] [ 5.78888867e-04 9.99967437e-01 -8.04924820e-03 1.47330426e+01] [ 4.90461300e-03 8.04631360e-03 9.99955600e-01 1.69187794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.399259764 meters Centerline goodness [0,1] 0.5595001983339944 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:16.92 [[ 9.99988119e-01 -5.92247506e-04 -4.83850755e-03 -2.63484554e+01] [ 5.54080963e-04 9.99968755e-01 -7.88561779e-03 1.47325587e+01] [ 4.84302661e-03 7.88284317e-03 9.99957202e-01 1.69189018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.429259764 meters Centerline goodness [0,1] 0.5564872521246459 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:16.92 [[ 9.99988317e-01 -4.83145465e-04 -4.80962606e-03 -2.63486359e+01] [ 4.46804197e-04 9.99971367e-01 -7.55415374e-03 1.47316310e+01] [ 4.81313810e-03 7.55191652e-03 9.99959900e-01 1.69188205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.459259764 meters Centerline goodness [0,1] 0.5553458233554022 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:16.92 [[ 9.99990094e-01 -4.70786829e-04 -4.42620116e-03 -2.63498283e+01] [ 4.40694852e-04 9.99976802e-01 -6.79712034e-03 1.47283654e+01] [ 4.42929847e-03 6.79510240e-03 9.99967103e-01 1.69183855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.489259764 meters Centerline goodness [0,1] 0.5622004173010771 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:16.92 [[ 9.99989104e-01 -2.08969532e-05 -4.66809892e-03 -2.63487522e+01] [-7.61084132e-06 9.99981353e-01 -6.10683758e-03 1.47269140e+01] [ 4.66813949e-03 6.10680657e-03 9.99970457e-01 1.69175197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.519259764 meters Centerline goodness [0,1] 0.5628329058985994 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:16.92 [[ 9.99988591e-01 1.50554545e-04 -4.77435671e-03 -2.63481964e+01] [-1.79016037e-04 9.99982214e-01 -5.96145812e-03 1.47271345e+01] [ 4.77337427e-03 5.96224480e-03 9.99970833e-01 1.69171454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.549259764 meters Centerline goodness [0,1] 0.5609577464788733 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.73, Z:16.92 [[ 9.99988359e-01 3.44936995e-04 -4.81278062e-03 -2.63478164e+01] [-3.72495363e-04 9.99983535e-01 -5.72635923e-03 1.47267585e+01] [ 4.81072614e-03 5.72808531e-03 9.99972023e-01 1.69167353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.579259764 meters Centerline goodness [0,1] 0.5650134801168276 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.92 [[ 9.99988337e-01 7.70186308e-04 -4.76797911e-03 -2.63473594e+01] [-7.93918665e-04 9.99987297e-01 -4.97755564e-03 1.47246560e+01] [ 4.76408489e-03 4.98128297e-03 9.99976245e-01 1.69157117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.609259764 meters Centerline goodness [0,1] 0.5609469113321193 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.92 [[ 9.99989893e-01 7.24189081e-04 -4.43717945e-03 -2.63484939e+01] [-7.44207321e-04 9.99989546e-01 -4.51148967e-03 1.47221230e+01] [ 4.43386589e-03 4.51474626e-03 9.99979979e-01 1.69155859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.639259764 meters Centerline goodness [0,1] 0.5193396490834687 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.92 [[ 9.99990996e-01 7.33035829e-04 -4.17976623e-03 -2.63492287e+01] [-7.50748994e-04 9.99990738e-01 -4.23784336e-03 1.47209212e+01] [ 4.17662102e-03 4.24094316e-03 9.99982285e-01 1.69154862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.669259764 meters Centerline goodness [0,1] 0.5562272600055975 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.92 [[ 9.99992281e-01 6.23330916e-04 -3.87945739e-03 -2.63502207e+01] [-6.38320722e-04 9.99992332e-01 -3.86385449e-03 1.47193174e+01] [ 3.87701918e-03 3.86630100e-03 9.99985010e-01 1.69153158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.699259764 meters Centerline goodness [0,1] 0.5616849426480074 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.92 [[ 9.99991846e-01 6.93797626e-04 -3.97831947e-03 -2.63500219e+01] [-7.08782505e-04 9.99992656e-01 -3.76646353e-03 1.47193669e+01] [ 3.97567708e-03 3.76925258e-03 9.99984993e-01 1.69153388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.729259764 meters Centerline goodness [0,1] 0.5564656381486677 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.92 [[ 9.99991603e-01 6.04273141e-04 -4.05330685e-03 -2.63502338e+01] [-6.19630480e-04 9.99992631e-01 -3.78865686e-03 1.47196049e+01] [ 4.05098759e-03 3.79113660e-03 9.99984608e-01 1.69157844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.759259764 meters Centerline goodness [0,1] 0.5520728573024919 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.92 [[ 9.99991899e-01 7.04336239e-04 -3.96297557e-03 -2.63505246e+01] [-7.17928955e-04 9.99993861e-01 -3.42955023e-03 1.47182490e+01] [ 3.96053568e-03 3.43236759e-03 9.99986266e-01 1.69155948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.789259764 meters Centerline goodness [0,1] 0.5184668989547039 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.91 [[ 9.99991813e-01 9.47188475e-04 -3.93406349e-03 -2.63502243e+01] [-9.59326617e-04 9.99994782e-01 -3.08465549e-03 1.47174214e+01] [ 3.93112122e-03 3.08840429e-03 9.99987504e-01 1.69149989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.819259764 meters Centerline goodness [0,1] 0.5228892849186901 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.91 [[ 9.99991755e-01 1.16216923e-03 -3.89102967e-03 -2.63499536e+01] [-1.17282043e-03 9.99995569e-01 -2.73620993e-03 1.47165471e+01] [ 3.88783249e-03 2.74075085e-03 9.99988686e-01 1.69143640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.849259764 meters Centerline goodness [0,1] 0.5238055462746408 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.91 [[ 9.99991949e-01 1.21926970e-03 -3.82289777e-03 -2.63498761e+01] [-1.22908551e-03 9.99995952e-01 -2.56633952e-03 1.47163413e+01] [ 3.81975323e-03 2.57101753e-03 9.99989400e-01 1.69138996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.879259764 meters Centerline goodness [0,1] 0.5220321987633001 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.91 [[ 9.99991467e-01 1.35861934e-03 -3.90122828e-03 -2.63494079e+01] [-1.36801052e-03 9.99996171e-01 -2.40557696e-03 1.47162932e+01] [ 3.89794508e-03 2.41089335e-03 9.99989497e-01 1.69135330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.909259764 meters Centerline goodness [0,1] 0.5297493036211699 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.91 [[ 9.99989864e-01 1.59964364e-03 -4.20861941e-03 -2.63482434e+01] [-1.60935583e-03 9.99996048e-01 -2.30531689e-03 1.47169965e+01] [ 4.20491509e-03 2.31206669e-03 9.99988486e-01 1.69131240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.939259764 meters Centerline goodness [0,1] 0.5321182484996666 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.91 [[ 9.99986590e-01 -1.77977594e-03 -4.86341135e-03 -2.63459018e+01] [ 1.74776039e-03 9.99976829e-01 -6.57928047e-03 1.47206610e+01] [ 4.87500830e-03 6.57069216e-03 9.99966530e-01 1.69133032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.969259764 meters Centerline goodness [0,1] 0.5365561437726386 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.91 [[ 9.99987174e-01 -1.54106717e-03 -4.82456540e-03 -2.63454889e+01] [ 1.51074147e-03 9.99979120e-01 -6.28303222e-03 1.47203893e+01] [ 4.83414724e-03 6.27566297e-03 9.99968623e-01 1.69125476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.999259764 meters Centerline goodness [0,1] 0.5378651029652892 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.91 [[ 9.99987739e-01 -1.49461180e-03 -4.72103390e-03 -2.63454548e+01] [ 1.46562879e-03 9.99980097e-01 -6.13662809e-03 1.47203349e+01] [ 4.73011181e-03 6.12963356e-03 9.99970026e-01 1.69120358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.029259764 meters Centerline goodness [0,1] 0.5388312886007323 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.91 [[ 9.99989027e-01 -1.55514805e-03 -4.41908719e-03 -2.63460904e+01] [ 1.52864344e-03 9.99980863e-01 -5.99481933e-03 1.47200297e+01] [ 4.42832545e-03 5.98799834e-03 9.99972267e-01 1.69116376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.059259764 meters Centerline goodness [0,1] 0.5378806876758895 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.91 [[ 9.99989911e-01 -1.61196393e-03 -4.19272703e-03 -2.63467247e+01] [ 1.58753216e-03 9.99981780e-01 -5.82399367e-03 1.47194650e+01] [ 4.20203870e-03 5.81727882e-03 9.99974251e-01 1.69114790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.089259764 meters Centerline goodness [0,1] 0.5396017576060961 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.91 [[ 9.99989534e-01 -1.63858824e-03 -4.27154495e-03 -2.63469372e+01] [ 1.61335962e-03 9.99981276e-01 -5.90297574e-03 1.47198926e+01] [ 4.28113751e-03 5.89602243e-03 9.99973454e-01 1.69120701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.119259764 meters Centerline goodness [0,1] 0.5418071382797915 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.91 [[ 9.99989469e-01 -1.50435413e-03 -4.33582601e-03 -2.63466464e+01] [ 1.47936641e-03 9.99982314e-01 -5.76053957e-03 1.47200123e+01] [ 4.34441521e-03 5.75406463e-03 9.99974008e-01 1.69118837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.149259764 meters Centerline goodness [0,1] 0.5026998587766178 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.91 [[ 9.99990686e-01 -1.19085574e-03 -4.14855438e-03 -2.63466727e+01] [ 1.17076991e-03 9.99987598e-01 -4.84071327e-03 1.47171094e+01] [ 4.15426753e-03 4.83581118e-03 9.99979678e-01 1.69106948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.179259764 meters Centerline goodness [0,1] 0.5408352990148466 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99992574e-01 -1.27721996e-03 -3.63590010e-03 -2.63479520e+01] [ 1.26102441e-03 9.99989290e-01 -4.45315754e-03 1.47149413e+01] [ 3.64154882e-03 4.44853952e-03 9.99983475e-01 1.69102489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.209259764 meters Centerline goodness [0,1] 0.49147201105736005 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99994164e-01 -1.17624253e-03 -3.20770056e-03 -2.63486623e+01] [ 1.16424799e-03 9.99992334e-01 -3.73860109e-03 1.47123241e+01] [ 3.21207347e-03 3.73484472e-03 9.99987867e-01 1.69092073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.239259764 meters Centerline goodness [0,1] 0.5324047204488296 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99994913e-01 -1.74365268e-03 -2.67101300e-03 -2.63511198e+01] [ 1.73479195e-03 9.99992997e-01 -3.31609845e-03 1.47087250e+01] [ 2.67677642e-03 3.31144793e-03 9.99990935e-01 1.69096195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.269259764 meters Centerline goodness [0,1] 0.5275762174092978 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99994992e-01 -1.90332748e-03 -2.52862166e-03 -2.63521222e+01] [ 1.89492796e-03 9.99992693e-01 -3.32002915e-03 1.47084055e+01] [ 2.53492229e-03 3.31522097e-03 9.99991292e-01 1.69103639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.299259764 meters Centerline goodness [0,1] 0.48159272526866903 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99995234e-01 -1.91949475e-03 -2.41797794e-03 -2.63525604e+01] [ 1.91185887e-03 9.99993191e-01 -3.15632174e-03 1.47078186e+01] [ 2.42402002e-03 3.15168387e-03 9.99992095e-01 1.69104019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.329259764 meters Centerline goodness [0,1] 0.48405908728303026 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99996141e-01 -1.69449101e-03 -2.20157937e-03 -2.63525445e+01] [ 1.68877469e-03 9.99995205e-01 -2.59573630e-03 1.47062651e+01] [ 2.20596726e-03 2.59200831e-03 9.99994208e-01 1.69093792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.359259764 meters Centerline goodness [0,1] 0.48749861710366194 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99996561e-01 -1.48227694e-03 -2.16354181e-03 -2.63521510e+01] [ 1.47704557e-03 9.99995987e-01 -2.41756412e-03 1.47061255e+01] [ 2.16711663e-03 2.41436015e-03 9.99994737e-01 1.69087525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.389259764 meters Centerline goodness [0,1] 0.49229534954491383 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99996797e-01 -1.33323397e-03 -2.15117420e-03 -2.63518967e+01] [ 1.32834642e-03 9.99996537e-01 -2.27187030e-03 1.47060968e+01] [ 2.15419568e-03 2.26900552e-03 9.99995106e-01 1.69083448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.419259764 meters Centerline goodness [0,1] 0.4950912418880692 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99996956e-01 -1.12935919e-03 -2.19356782e-03 -2.63513414e+01] [ 1.12469778e-03 9.99997109e-01 -2.12510626e-03 1.47063516e+01] [ 2.19596149e-03 2.12263269e-03 9.99995336e-01 1.69077717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.449259764 meters Centerline goodness [0,1] 0.5025473474360393 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99996929e-01 -1.04365593e-03 -2.24801876e-03 -2.63508955e+01] [ 1.03886117e-03 9.99997186e-01 -2.13299495e-03 1.47070224e+01] [ 2.25023855e-03 2.13065302e-03 9.99995198e-01 1.69074245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.479259764 meters Centerline goodness [0,1] 0.5131134842029547 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99996339e-01 -6.85750444e-04 -2.61746520e-03 -2.63493187e+01] [ 6.79959371e-04 9.99997321e-01 -2.21272275e-03 1.47089585e+01] [ 2.61897556e-03 2.21093488e-03 9.99994126e-01 1.69069838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.509259764 meters Centerline goodness [0,1] 0.5172509429775904 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99996308e-01 -6.45678831e-04 -2.63961214e-03 -2.63492648e+01] [ 6.39132030e-04 9.99996720e-01 -2.48030492e-03 1.47101420e+01] [ 2.64120496e-03 2.47860870e-03 9.99993440e-01 1.69072746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.539259764 meters Centerline goodness [0,1] 0.5190362383281458 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99996572e-01 -4.75749402e-04 -2.57469170e-03 -2.63489896e+01] [ 4.69857769e-04 9.99997271e-01 -2.28840781e-03 1.47100560e+01] [ 2.57577338e-03 2.28719022e-03 9.99994067e-01 1.69066762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.569259764 meters Centerline goodness [0,1] 0.5179329283515021 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99996730e-01 -3.76237465e-04 -2.52937790e-03 -2.63488222e+01] [ 3.70735114e-04 9.99997565e-01 -2.17549436e-03 1.47100876e+01] [ 2.53019024e-03 2.17454951e-03 9.99994435e-01 1.69062869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.599259764 meters Centerline goodness [0,1] 0.5247116509723073 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99996726e-01 -5.94322293e-04 -2.48908588e-03 -2.63492637e+01] [ 5.88185357e-04 9.99996788e-01 -2.46554462e-03 1.47114090e+01] [ 2.49054321e-03 2.46407251e-03 9.99993863e-01 1.69067324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.629259764 meters Centerline goodness [0,1] 0.5230576091505091 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99996934e-01 -6.78132640e-04 -2.38174470e-03 -2.63498266e+01] [ 6.72187479e-04 9.99996659e-01 -2.49605123e-03 1.47114101e+01] [ 2.38342940e-03 2.49444260e-03 9.99994048e-01 1.69070466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.659259764 meters Centerline goodness [0,1] 0.5234826287149434 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99997875e-01 -6.07169754e-04 -1.97020254e-03 -2.63505494e+01] [ 6.03306002e-04 9.99997895e-01 -1.96109582e-03 1.47096846e+01] [ 1.97138911e-03 1.95990302e-03 9.99996136e-01 1.69061444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.689259764 meters Centerline goodness [0,1] 0.5285965745578498 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.90 [[ 9.99997269e-01 -7.78860124e-05 -2.33577618e-03 -2.63484841e+01] [ 7.41426464e-05 9.99998713e-01 -1.60266566e-03 1.47105061e+01] [ 2.33589799e-03 1.60248810e-03 9.99995988e-01 1.69047536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.719259764 meters Centerline goodness [0,1] 0.532479516792036 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.90 [[ 9.99997037e-01 -1.07907133e-05 -2.43443356e-03 -2.63479953e+01] [ 6.92575264e-06 9.99998740e-01 -1.58762502e-03 1.47113381e+01] [ 2.43444762e-03 1.58760345e-03 9.99995776e-01 1.69044250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.749259764 meters Centerline goodness [0,1] 0.5336423027528059 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99988774e-01 -3.52854317e-03 -3.16247632e-03 -2.63459251e+01] [ 3.50985066e-03 9.99976453e-01 -5.89690596e-03 1.47148043e+01] [ 3.18320935e-03 5.88573994e-03 9.99977612e-01 1.69050775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.779259764 meters Centerline goodness [0,1] 0.5091178195425731 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.91 [[ 9.99989509e-01 -3.51036801e-03 -2.94253110e-03 -2.63466078e+01] [ 3.49360167e-03 9.99977744e-01 -5.68383682e-03 1.47137947e+01] [ 2.96241797e-03 5.67349716e-03 9.99979518e-01 1.69050837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.809259764 meters Centerline goodness [0,1] 0.5320587744197696 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.90 [[ 9.99990087e-01 -3.58810111e-03 -2.63646177e-03 -2.63475347e+01] [ 3.57367003e-03 9.99978719e-01 -5.45812877e-03 1.47126537e+01] [ 2.65598998e-03 5.44865282e-03 9.99981629e-01 1.69049868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.839259764 meters Centerline goodness [0,1] 0.5319172659865083 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.90 [[ 9.99991127e-01 -3.63272201e-03 -2.13303899e-03 -2.63487248e+01] [ 3.62246690e-03 9.99981957e-01 -4.79208741e-03 1.47098029e+01] [ 2.15040882e-03 4.78431802e-03 9.99986243e-01 1.69041747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.869259764 meters Centerline goodness [0,1] 0.5319172659865083 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.90 [[ 9.99991127e-01 -3.63272201e-03 -2.13303899e-03 -2.63487248e+01] [ 3.62246690e-03 9.99981957e-01 -4.79208741e-03 1.47098029e+01] [ 2.15040882e-03 4.78431802e-03 9.99986243e-01 1.69041747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89925976399999 meters Centerline goodness [0,1] 0.5315428380187417 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.90 [[ 9.99991774e-01 -3.44894256e-03 -2.13477121e-03 -2.63483520e+01] [ 3.43940636e-03 9.99984163e-01 -4.45475054e-03 1.47091538e+01] [ 2.15010158e-03 4.44737155e-03 9.99987799e-01 1.69035337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.929259764 meters Centerline goodness [0,1] 0.536862635831708 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.90 [[ 9.99992413e-01 -2.98400884e-03 -2.50386288e-03 -2.63464334e+01] [ 2.97327375e-03 9.99986420e-01 -4.28023736e-03 1.47107916e+01] [ 2.51660115e-03 4.27276022e-03 9.99987705e-01 1.69024408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.959259764 meters Centerline goodness [0,1] 0.5306356762811537 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.90 [[ 9.99992204e-01 -2.93609414e-03 -2.64032979e-03 -2.63458946e+01] [ 2.92420677e-03 9.99985622e-01 -4.49487360e-03 1.47123238e+01] [ 2.65348920e-03 4.48711769e-03 9.99986412e-01 1.69023765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.989259764 meters Centerline goodness [0,1] 0.5336471115593657 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:16.90 [[ 9.99992775e-01 -2.54499278e-03 -2.82364558e-03 -2.63447837e+01] [ 2.53152608e-03 9.99985454e-01 -4.76262940e-03 1.47147687e+01] [ 2.83572536e-03 4.75544686e-03 9.99984672e-01 1.69021787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.019259764 meters Centerline goodness [0,1] 0.5345975275493651 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.90 [[ 9.99992248e-01 -2.58398142e-03 -2.97103766e-03 -2.63444983e+01] [ 2.56860691e-03 9.99983352e-01 -5.16701791e-03 1.47167128e+01] [ 2.98433967e-03 5.15934643e-03 9.99982237e-01 1.69025618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.049259764 meters Centerline goodness [0,1] 0.538377346841411 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.90 [[ 9.99992293e-01 -1.90145558e-03 -3.43498215e-03 -2.63422957e+01] [ 1.88327371e-03 9.99984242e-01 -5.28865123e-03 1.47203930e+01] [ 3.44498416e-03 5.28214146e-03 9.99980115e-01 1.69020395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.079259764 meters Centerline goodness [0,1] 0.5377736402617919 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.90 [[ 9.99991923e-01 -1.07446889e-03 -3.87291883e-03 -2.63397166e+01] [ 1.05491345e-03 9.99986703e-01 -5.04778672e-03 1.47226108e+01] [ 3.87829102e-03 5.04366035e-03 9.99979760e-01 1.69006819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.109259764 meters Centerline goodness [0,1] 0.5372325410715294 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.90 [[ 9.99991607e-01 -8.50124442e-04 -4.00778735e-03 -2.63388951e+01] [ 8.30093918e-04 9.99987171e-01 -4.99691794e-03 1.47233218e+01] [ 4.01198393e-03 4.99354916e-03 9.99979484e-01 1.69001618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.139259764 meters Centerline goodness [0,1] 0.5333670943056493 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.90 [[ 9.99991310e-01 -5.82210941e-04 -4.12811485e-03 -2.63381221e+01] [ 5.62342795e-04 9.99988262e-01 -4.81241429e-03 1.47234988e+01] [ 4.13086823e-03 4.81005105e-03 9.99979899e-01 1.68995775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.169259764 meters Centerline goodness [0,1] 0.5366771337237263 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.90 [[ 9.99991471e-01 -3.87906816e-04 -4.11196165e-03 -2.63379073e+01] [ 3.68635612e-04 9.99988951e-01 -4.68634298e-03 1.47237833e+01] [ 4.11373408e-03 4.68478720e-03 9.99980565e-01 1.68992666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.199259764 meters Centerline goodness [0,1] 0.5345008062919059 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.90 [[ 9.99991677e-01 -4.56926190e-04 -4.05435729e-03 -2.63384049e+01] [ 4.37628121e-04 9.99988578e-01 -4.75944565e-03 1.47237827e+01] [ 4.05648570e-03 4.75763173e-03 9.99980455e-01 1.68997348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.229259764 meters Centerline goodness [0,1] 0.536578495168878 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.90 [[ 9.99993034e-01 -5.22619737e-04 -3.69585875e-03 -2.63397135e+01] [ 5.06536779e-04 9.99990405e-01 -4.35121384e-03 1.47219962e+01] [ 3.69809732e-03 4.34931144e-03 9.99983704e-01 1.68997614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.259259764 meters Centerline goodness [0,1] 0.5322839523554754 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.90 [[ 9.99994330e-01 -5.99641732e-04 -3.31356102e-03 -2.63408892e+01] [ 5.86125155e-04 9.99991511e-01 -4.07863622e-03 1.47203521e+01] [ 3.31597861e-03 4.07667093e-03 9.99986192e-01 1.68997457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.289259764 meters Centerline goodness [0,1] 0.531233330525843 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.90 [[ 9.99995678e-01 -1.16648766e-03 -2.69882291e-03 -2.63433337e+01] [ 1.15740745e-03 9.99993673e-01 -3.36362401e-03 1.47160863e+01] [ 2.70272946e-03 3.36048583e-03 9.99990701e-01 1.68994951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.319259764 meters Centerline goodness [0,1] 0.5296140939597316 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.90 [[ 9.99996752e-01 -1.40190939e-03 -2.12854558e-03 -2.63451022e+01] [ 1.39579960e-03 9.99994910e-01 -2.86918659e-03 1.47135325e+01] [ 2.13255708e-03 2.86620625e-03 9.99993619e-01 1.68992689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.349259764 meters Centerline goodness [0,1] 0.5269965156794425 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.90 [[ 9.99997330e-01 -1.78736629e-03 -1.46499528e-03 -2.63474689e+01] [ 1.78386105e-03 9.99995552e-01 -2.39048951e-03 1.47105456e+01] [ 1.46926144e-03 2.38786978e-03 9.99996070e-01 1.68993451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.379259764 meters Centerline goodness [0,1] 0.5209710571634909 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.90 [[ 9.99976524e-01 -6.78248967e-03 -9.74024945e-04 -2.63505705e+01] [ 6.77589325e-03 9.99955110e-01 -6.62305572e-03 1.47086515e+01] [ 1.01890203e-03 6.61630035e-03 9.99977593e-01 1.69011684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.409259764 meters Centerline goodness [0,1] 0.518837847578387 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.90 [[ 9.99972966e-01 -7.34933341e-03 -2.34949090e-04 -2.63531345e+01] [ 7.34771994e-03 9.99953434e-01 -6.25619886e-03 1.47060261e+01] [ 2.80917041e-04 6.25430339e-03 9.99980402e-01 1.69012197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.439259764 meters Centerline goodness [0,1] 0.507297753898136 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.70, Z:16.90 [[ 9.99970373e-01 -7.69375710e-03 2.44698356e-04 -2.63548122e+01] [ 7.69504697e-03 9.99953577e-01 -5.79917198e-03 1.47039166e+01] [-2.00069575e-04 5.80088313e-03 9.99983155e-01 1.69010345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.469259764 meters Centerline goodness [0,1] 0.49986156487070155 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.70, Z:16.90 [[ 9.99970129e-01 -7.72408912e-03 2.81044801e-04 -2.63549987e+01] [ 7.72560134e-03 9.99953045e-01 -5.85008477e-03 1.47043709e+01] [-2.35845029e-04 5.85208127e-03 9.99982849e-01 1.69011592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.499259764 meters Centerline goodness [0,1] 0.49391207876854804 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.90 [[ 9.99991172e-01 -4.06999693e-03 1.04441286e-03 -2.63571748e+01] [ 4.07120087e-03 9.99991048e-01 -1.15321716e-03 1.47005978e+01] [-1.03970992e-03 1.15745900e-03 9.99998790e-01 1.69002907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.529259764 meters Centerline goodness [0,1] 0.5151851030813567 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.90 [[ 9.99992876e-01 -3.62179547e-03 1.06305348e-03 -2.63565103e+01] [ 3.62253928e-03 9.99993195e-01 -6.98607873e-04 1.46996240e+01] [-1.06051603e-03 7.02453849e-04 9.99999191e-01 1.68993551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.559259764 meters Centerline goodness [0,1] 0.48618631125919753 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.90 [[ 9.99993166e-01 -3.51206685e-03 1.15431701e-03 -2.63565508e+01] [ 3.51285423e-03 9.99993598e-01 -6.80801741e-04 1.46994106e+01] [-1.15191860e-03 6.84852037e-04 9.99999102e-01 1.68992077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.589259764 meters Centerline goodness [0,1] 0.5152329252755774 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.90 [[ 9.99993685e-01 -3.30318966e-03 1.31068713e-03 -2.63565692e+01] [ 3.30369120e-03 9.99994470e-01 -3.80671272e-04 1.46986043e+01] [-1.30942246e-03 3.84998973e-04 9.99999069e-01 1.68986353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.619259764 meters Centerline goodness [0,1] 0.522573332227475 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.90 [[ 9.99994517e-01 -3.07213326e-03 1.23602932e-03 -2.63559594e+01] [ 3.07237968e-03 9.99995261e-01 -1.97518530e-04 1.46985784e+01] [-1.23541666e-03 2.01314998e-04 9.99999217e-01 1.68981148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64925976399999 meters Centerline goodness [0,1] 0.5208966775388357 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.70, Z:16.90 [[ 9.99997057e-01 -2.33851458e-03 6.45922230e-04 -2.63537908e+01] [ 2.33875103e-03 9.99997198e-01 -3.65541076e-04 1.47010073e+01] [-6.45065597e-04 3.67050651e-04 9.99999725e-01 1.68981871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.679259764 meters Centerline goodness [0,1] 0.5234674063800278 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.70, Z:16.90 [[ 9.99997086e-01 -2.35506988e-03 5.30148566e-04 -2.63536825e+01] [ 2.35541843e-03 9.99997010e-01 -6.57788579e-04 1.47021603e+01] [-5.28597842e-04 6.59035384e-04 9.99999643e-01 1.68986454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.709259764 meters Centerline goodness [0,1] 0.5206643598615917 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.70, Z:16.90 [[ 9.99997473e-01 -2.17285767e-03 5.77078745e-04 -2.63538155e+01] [ 2.17318048e-03 9.99997482e-01 -5.59348159e-04 1.47017380e+01] [-5.75861908e-04 5.60600841e-04 9.99999677e-01 1.68987984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.739259764 meters Centerline goodness [0,1] 0.5211458621644063 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.70, Z:16.90 [[ 9.99997586e-01 -2.08408864e-03 6.96153519e-04 -2.63540974e+01] [ 2.08436097e-03 9.99997751e-01 -3.90685434e-04 1.47009669e+01] [-6.95337730e-04 3.92135526e-04 9.99999681e-01 1.68987002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.769259764 meters Centerline goodness [0,1] 0.5179198098869822 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.70, Z:16.90 [[ 9.99997545e-01 -2.05212640e-03 8.36044009e-04 -2.63545300e+01] [ 2.05231071e-03 9.99997870e-01 -2.19665985e-04 1.47000556e+01] [-8.35591446e-04 2.21381268e-04 9.99999626e-01 1.68987081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.799259764 meters Centerline goodness [0,1] 0.517731475093142 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.90 [[ 9.99996758e-01 -2.15338037e-03 1.35926949e-03 -2.63561486e+01] [ 2.15294316e-03 9.99997630e-01 3.23032391e-04 1.46970260e+01] [-1.35996188e-03 -3.20104914e-04 9.99999024e-01 1.68985412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.829259764 meters Centerline goodness [0,1] 0.5108896679272366 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.90 [[ 9.99996220e-01 -2.22459350e-03 1.61565768e-03 -2.63570981e+01] [ 2.22379439e-03 9.99997404e-01 4.96234928e-04 1.46956236e+01] [-1.61675741e-03 -4.92640162e-04 9.99998572e-01 1.68987689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.859259764 meters Centerline goodness [0,1] 0.5191529204417151 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.90 [[ 9.99996753e-01 -2.04526552e-03 1.51990808e-03 -2.63568963e+01] [ 2.04426621e-03 9.99997694e-01 6.58740492e-04 1.46952355e+01] [-1.52125187e-03 -6.55631257e-04 9.99998628e-01 1.68988475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.889259764 meters Centerline goodness [0,1] 0.5141095173856784 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99996715e-01 -2.00751235e-03 1.59382550e-03 -2.63571735e+01] [ 2.00625945e-03 9.99997678e-01 7.87300386e-04 1.46948653e+01] [-1.59540231e-03 -7.84100172e-04 9.99998420e-01 1.68989065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.919259764 meters Centerline goodness [0,1] 0.5156628495926008 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99996098e-01 -2.03434761e-03 1.91463623e-03 -2.63579393e+01] [ 2.03234157e-03 9.99997384e-01 1.04910219e-03 1.46933907e+01] [-1.91676546e-03 -1.04520690e-03 9.99997617e-01 1.68985813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.949259764 meters Centerline goodness [0,1] 0.5143518263456559 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99995716e-01 -1.99810843e-03 2.13906194e-03 -2.63583251e+01] [ 1.99526189e-03 9.99997122e-01 1.33205058e-03 1.46922745e+01] [-2.14171737e-03 -1.32777689e-03 9.99996825e-01 1.68981247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.979259764 meters Centerline goodness [0,1] 0.5035765379113019 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99995265e-01 -1.99210488e-03 2.34536657e-03 -2.63588035e+01] [ 1.98831299e-03 9.99996714e-01 1.61798252e-03 1.46911117e+01] [-2.34858206e-03 -1.61331153e-03 9.99995941e-01 1.68977939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.009259764 meters Centerline goodness [0,1] 0.5120957754231457 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99993810e-01 -2.28060538e-03 2.67932988e-03 -2.63602694e+01] [ 2.27637948e-03 9.99996162e-01 1.57921348e-03 1.46902977e+01] [-2.68292116e-03 -1.57310454e-03 9.99995164e-01 1.68983734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.039259764 meters Centerline goodness [0,1] 0.5129996973615429 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99993756e-01 -2.41138816e-03 2.58308700e-03 -2.63604944e+01] [ 2.40830377e-03 9.99996384e-01 1.19651903e-03 1.46916118e+01] [-2.58596294e-03 -1.19029070e-03 9.99995948e-01 1.68991811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.069259764 meters Centerline goodness [0,1] 0.5013388543823327 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99993940e-01 -2.51227525e-03 2.40999248e-03 -2.63606800e+01] [ 2.51088589e-03 9.99996680e-01 5.79353070e-04 1.46937227e+01] [-2.41143997e-03 -5.73298343e-04 9.99996928e-01 1.69004852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.099259764 meters Centerline goodness [0,1] 0.5154781266367119 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99994164e-01 -2.38535802e-03 2.44599960e-03 -2.63606299e+01] [ 2.38361979e-03 9.99996905e-01 7.13311858e-04 1.46935066e+01] [-2.44769353e-03 -7.07477362e-04 9.99996754e-01 1.69002690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.129259764 meters Centerline goodness [0,1] 0.5126124634321356 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99994424e-01 -2.22949305e-03 2.48613850e-03 -2.63604655e+01] [ 2.22734652e-03 9.99997145e-01 8.65833432e-04 1.46929714e+01] [-2.48806177e-03 -8.60291113e-04 9.99996535e-01 1.68999065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.159259764 meters Centerline goodness [0,1] 0.5084389933979725 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99994775e-01 -1.83002689e-03 2.66484791e-03 -2.63599001e+01] [ 1.82579600e-03 9.99997070e-01 1.58923239e-03 1.46910560e+01] [-2.66774844e-03 -1.58435861e-03 9.99995186e-01 1.68982169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.189259764 meters Centerline goodness [0,1] 0.5133484413000221 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99995536e-01 -1.68338435e-03 2.46874290e-03 -2.63592924e+01] [ 1.67971395e-03 9.99997482e-01 1.48807175e-03 1.46920129e+01] [-2.47124168e-03 -1.48391832e-03 9.99995845e-01 1.68982810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.219259764 meters Centerline goodness [0,1] 0.5173854111919449 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99995413e-01 -1.87815453e-03 2.37629961e-03 -2.63595636e+01] [ 1.87561262e-03 9.99997667e-01 1.07146807e-03 1.46934518e+01] [-2.37830645e-03 -1.06700614e-03 9.99996603e-01 1.68991047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.249259764 meters Centerline goodness [0,1] 0.5026630239810139 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99994781e-01 -2.15895370e-03 2.40372273e-03 -2.63602122e+01] [ 2.15748000e-03 9.99997483e-01 6.15515283e-04 1.46949879e+01] [-2.40504555e-03 -6.10326087e-04 9.99996922e-01 1.68999858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.279259764 meters Centerline goodness [0,1] 0.49666786494483317 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.90 [[ 9.99995726e-01 -2.08402933e-03 2.05077034e-03 -2.63597507e+01] [ 2.08397483e-03 9.99997828e-01 2.87115640e-05 1.46971698e+01] [-2.05082572e-03 -2.44376875e-05 9.99997897e-01 1.69011930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.309259764 meters Centerline goodness [0,1] 0.5072575962841107 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.90 [[ 9.99995527e-01 -2.07443071e-03 2.15451621e-03 -2.63600297e+01] [ 2.07440120e-03 9.99997848e-01 1.59283119e-05 1.46972996e+01] [-2.15454462e-03 -1.14589096e-05 9.99997679e-01 1.69011939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.339259764 meters Centerline goodness [0,1] 0.5090599136627347 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.90 [[ 9.99995843e-01 -1.88380479e-03 2.18309407e-03 -2.63598830e+01] [ 1.88348187e-03 9.99998215e-01 1.49962778e-04 1.46965946e+01] [-2.18337267e-03 -1.45850336e-04 9.99997606e-01 1.69009783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.369259764 meters Centerline goodness [0,1] 0.5109923245614035 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.90 [[ 9.99996034e-01 -1.68145866e-03 2.25916003e-03 -2.63597153e+01] [ 1.68056968e-03 9.99998510e-01 3.95344238e-04 1.46959790e+01] [-2.25982142e-03 -3.91545994e-04 9.99997370e-01 1.69004520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39925976399999 meters Centerline goodness [0,1] 0.5132228684297158 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.90 [[ 9.99995567e-01 -1.77616026e-03 2.38993883e-03 -2.63602928e+01] [ 1.77542073e-03 9.99998375e-01 3.11519179e-04 1.46955784e+01] [-2.39048826e-03 -3.07274651e-04 9.99997096e-01 1.69007531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.429259764 meters Centerline goodness [0,1] 0.5132118824881011 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99995360e-01 -1.71083260e-03 2.52071550e-03 -2.63607537e+01] [ 1.70933344e-03 9.99998361e-01 5.96770313e-04 1.46940102e+01] [-2.52173234e-03 -5.92458800e-04 9.99996645e-01 1.69007078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.459259764 meters Centerline goodness [0,1] 0.5128415524739476 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99995718e-01 -1.57859854e-03 2.46402775e-03 -2.63605937e+01] [ 1.57707961e-03 9.99998565e-01 6.18263658e-04 1.46939347e+01] [-2.46500021e-03 -6.14375043e-04 9.99996773e-01 1.69008116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.489259764 meters Centerline goodness [0,1] 0.5172300623564161 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99996097e-01 -1.54570077e-03 2.32754246e-03 -2.63604963e+01] [ 1.54450684e-03 9.99998675e-01 5.14667698e-04 1.46947824e+01] [-2.32833490e-03 -5.11070784e-04 9.99997159e-01 1.69012570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.519259764 meters Centerline goodness [0,1] 0.5151109044662637 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99995650e-01 -1.63483144e-03 2.45514133e-03 -2.63610111e+01] [ 1.63364945e-03 9.99998549e-01 4.83362503e-04 1.46946624e+01] [-2.45592798e-03 -4.79349560e-04 9.99996869e-01 1.69014748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.549259764 meters Centerline goodness [0,1] 0.517752367437164 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99995060e-01 -1.67397139e-03 2.66039457e-03 -2.63615365e+01] [ 1.67229990e-03 9.99998403e-01 6.30386649e-04 1.46938798e+01] [-2.66144557e-03 -6.25934557e-04 9.99996262e-01 1.69012726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.579259764 meters Centerline goodness [0,1] 0.5083678587003925 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99994755e-01 -1.57620185e-03 2.82950164e-03 -2.63616012e+01] [ 1.57314975e-03 9.99998179e-01 1.08057080e-03 1.46924820e+01] [-2.83119969e-03 -1.07611391e-03 9.99995413e-01 1.69003866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.609259764 meters Centerline goodness [0,1] 0.5183943754087639 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99995415e-01 -1.37418672e-03 2.69861822e-03 -2.63610022e+01] [ 1.37076159e-03 9.99998253e-01 1.27065561e-03 1.46922014e+01] [-2.70035962e-03 -1.26695062e-03 9.99995551e-01 1.69000078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.639259764 meters Centerline goodness [0,1] 0.5187141029479816 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99995610e-01 -1.32272824e-03 2.65155462e-03 -2.63609156e+01] [ 1.31920800e-03 9.99998247e-01 1.32892383e-03 1.46921024e+01] [-2.65330777e-03 -1.32542005e-03 9.99995602e-01 1.69000238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.669259764 meters Centerline goodness [0,1] 0.5046146306934197 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99995720e-01 -1.35361496e-03 2.59362535e-03 -2.63609734e+01] [ 1.35067076e-03 9.99998442e-01 1.13658010e-03 1.46926741e+01] [-2.59515980e-03 -1.13307211e-03 9.99995991e-01 1.69004005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.699259764 meters Centerline goodness [0,1] 0.5092890220648325 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99996140e-01 -1.31310320e-03 2.44862089e-03 -2.63608371e+01] [ 1.31079203e-03 9.99998694e-01 9.45232739e-04 1.46930614e+01] [-2.44985888e-03 -9.42019458e-04 9.99996555e-01 1.69008822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.729259764 meters Centerline goodness [0,1] 0.5126904937160928 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99996389e-01 -1.11688900e-03 2.44421867e-03 -2.63606020e+01] [ 1.11398320e-03 9.99998672e-01 1.18988340e-03 1.46923238e+01] [-2.44554439e-03 -1.18715629e-03 9.99996305e-01 1.69005263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.759259764 meters Centerline goodness [0,1] 0.5126904937160928 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99996389e-01 -1.11688900e-03 2.44421867e-03 -2.63606020e+01] [ 1.11398320e-03 9.99998672e-01 1.18988340e-03 1.46923238e+01] [-2.44554439e-03 -1.18715629e-03 9.99996305e-01 1.69005263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.789259764 meters Centerline goodness [0,1] 0.5059104866980081 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99987591e-01 -4.66603444e-03 1.74515805e-03 -2.63582484e+01] [ 4.67112612e-03 9.99984812e-01 -2.92499570e-03 1.46945728e+01] [-1.73148342e-03 2.93311125e-03 9.99994199e-01 1.69003618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.819259764 meters Centerline goodness [0,1] 0.5098353529315872 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99987279e-01 -4.68991184e-03 1.85642637e-03 -2.63586134e+01] [ 4.69501753e-03 9.99985182e-01 -2.75553774e-03 1.46940419e+01] [-1.84347563e-03 2.76421864e-03 9.99994480e-01 1.69002499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.849259764 meters Centerline goodness [0,1] 0.5025259383996958 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99987968e-01 -4.60910008e-03 1.67954171e-03 -2.63582846e+01] [ 4.61366848e-03 9.99985640e-01 -2.72638007e-03 1.46943096e+01] [-1.66695143e-03 2.73409611e-03 9.99994873e-01 1.69004212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.879259764 meters Centerline goodness [0,1] 0.4913393975706738 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.90 [[ 9.99990404e-01 -4.20780365e-03 1.21912472e-03 -2.63569635e+01] [ 4.21134014e-03 9.99986890e-01 -2.91294311e-03 1.46968698e+01] [-1.20685165e-03 2.91804931e-03 9.99995014e-01 1.69006961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.909259764 meters Centerline goodness [0,1] 0.5197767796379474 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.90 [[ 9.99990603e-01 -4.18341475e-03 1.13716393e-03 -2.63567170e+01] [ 4.18677713e-03 9.99986823e-01 -2.97069760e-03 1.46977178e+01] [-1.12472128e-03 2.97543074e-03 9.99994941e-01 1.69006372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.939259764 meters Centerline goodness [0,1] 0.5213840415974736 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.90 [[ 9.99991540e-01 -3.92751624e-03 1.22248031e-03 -2.63562653e+01] [ 3.93067765e-03 9.99988909e-01 -2.59449680e-03 1.46970663e+01] [-1.21227682e-03 2.59928002e-03 9.99995887e-01 1.68995283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.969259764 meters Centerline goodness [0,1] 0.4945865070729053 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.90 [[ 9.99992234e-01 -3.72008151e-03 1.30136886e-03 -2.63561287e+01] [ 3.72293042e-03 9.99990664e-01 -2.19363010e-03 1.46958248e+01] [-1.29319622e-03 2.19845797e-03 9.99996747e-01 1.68988929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.999259764 meters Centerline goodness [0,1] 0.5199533698422165 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99990267e-01 -4.02038073e-03 1.81751900e-03 -2.63579525e+01] [ 4.02397996e-03 9.99989942e-01 -1.98100090e-03 1.46938014e+01] [-1.80953634e-03 1.98829528e-03 9.99996386e-01 1.68990007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.029259764 meters Centerline goodness [0,1] 0.4909922094784679 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99990190e-01 -4.01989674e-03 1.86034349e-03 -2.63581837e+01] [ 4.02328748e-03 9.99990246e-01 -1.82250081e-03 1.46933314e+01] [-1.85299908e-03 1.82996763e-03 9.99996609e-01 1.68989777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.059259764 meters Centerline goodness [0,1] 0.5023993493289955 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99990064e-01 -4.05180501e-03 1.85877128e-03 -2.63585232e+01] [ 4.05529360e-03 9.99990016e-01 -1.87691206e-03 1.46935343e+01] [-1.85114784e-03 1.88443127e-03 9.99996511e-01 1.68994443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.089259764 meters Centerline goodness [0,1] 0.49549841836320874 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99987562e-01 -4.46738319e-03 2.21788092e-03 -2.63604132e+01] [ 4.47127060e-03 9.99988471e-01 -1.75090280e-03 1.46921652e+01] [-2.21003340e-03 1.76079777e-03 9.99996008e-01 1.69001785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.119259764 meters Centerline goodness [0,1] 0.49916342832469773 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99985868e-01 -4.57640870e-03 2.70545749e-03 -2.63618082e+01] [ 4.57927443e-03 9.99988960e-01 -1.05399639e-03 1.46885864e+01] [-2.70060410e-03 1.06637052e-03 9.99995785e-01 1.68995886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14925976399999 meters Centerline goodness [0,1] 0.49362747745315116 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99986362e-01 -4.47472997e-03 2.69307129e-03 -2.63617827e+01] [ 4.47707223e-03 9.99989604e-01 -8.64333672e-04 1.46879681e+01] [-2.68917563e-03 8.76378959e-04 9.99996000e-01 1.68994752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.179259764 meters Centerline goodness [0,1] 0.49973089343379984 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.90 [[ 9.99987111e-01 -4.32339231e-03 2.66203472e-03 -2.63617109e+01] [ 4.32493348e-03 9.99990483e-01 -5.73458320e-04 1.46871827e+01] [-2.65953010e-03 5.84964051e-04 9.99996292e-01 1.68993001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.209259764 meters Centerline goodness [0,1] 0.48991540217537266 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.68, Z:16.90 [[ 9.99986013e-01 -4.32833032e-03 3.03975948e-03 -2.63625690e+01] [ 4.32861787e-03 9.99990628e-01 -8.80224398e-05 1.46848969e+01] [-3.03935000e-03 1.01179166e-04 9.99995376e-01 1.68986842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.239259764 meters Centerline goodness [0,1] 0.49551918433056075 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.68, Z:16.90 [[ 9.99986377e-01 -4.15693888e-03 3.15675134e-03 -2.63626960e+01] [ 4.15584953e-03 9.99991303e-01 3.51568926e-04 1.46833955e+01] [-3.15818533e-03 -3.38445153e-04 9.99994956e-01 1.68982204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.269259764 meters Centerline goodness [0,1] 0.4901735340517126 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.68, Z:16.90 [[ 9.99984078e-01 -4.35043746e-03 3.59415310e-03 -2.63642554e+01] [ 4.34777358e-03 9.99990268e-01 7.48650449e-04 1.46809276e+01] [-3.59737507e-03 -7.33011965e-04 9.99993261e-01 1.68982177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.299259764 meters Centerline goodness [0,1] 0.49223697923625775 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.68, Z:16.90 [[ 9.99981723e-01 -4.52199448e-03 4.01318677e-03 -2.63656196e+01] [ 4.51768870e-03 9.99989211e-01 1.08132518e-03 1.46791825e+01] [-4.01803321e-03 -1.06317508e-03 9.99991362e-01 1.68981721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.329259764 meters Centerline goodness [0,1] 0.48641209951099595 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.68, Z:16.90 [[ 9.99979045e-01 -4.74148381e-03 4.40762700e-03 -2.63671625e+01] [ 4.73602044e-03 9.99988005e-01 1.24913788e-03 1.46773461e+01] [-4.41349690e-03 -1.22823710e-03 9.99989506e-01 1.68985721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.359259764 meters Centerline goodness [0,1] 0.47389365168389286 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.68, Z:16.90 [[ 9.99979225e-01 -4.61347270e-03 4.50162757e-03 -2.63672878e+01] [ 4.60580231e-03 9.99987926e-01 1.71279659e-03 1.46757516e+01] [-4.50947516e-03 -1.69202740e-03 9.99988401e-01 1.68980998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.389259764 meters Centerline goodness [0,1] 0.49159438912089093 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.68, Z:16.90 [[ 9.99980329e-01 -4.42154649e-03 4.44882812e-03 -2.63668722e+01] [ 4.41294063e-03 9.99988377e-01 1.94237031e-03 1.46756461e+01] [-4.45736469e-03 -1.92269968e-03 9.99988217e-01 1.68976226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.419259764 meters Centerline goodness [0,1] 0.4914545941601929 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.68, Z:16.90 [[ 9.99981440e-01 -4.25283580e-03 4.36277976e-03 -2.63662480e+01] [ 4.24352788e-03 9.99988705e-01 2.14052793e-03 1.46755928e+01] [-4.37183380e-03 -2.12197462e-03 9.99988192e-01 1.68969842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.449259764 meters Centerline goodness [0,1] 0.4875391492892899 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.67, Z:16.90 [[ 9.99981642e-01 -4.10688290e-03 4.45514460e-03 -2.63661970e+01] [ 4.09610891e-03 9.99988671e-01 2.42475867e-03 1.46747443e+01] [-4.46505233e-03 -2.40646540e-03 9.99987136e-01 1.68964556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.479259764 meters Centerline goodness [0,1] 0.49466534748776636 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.67, Z:16.90 [[ 9.99982739e-01 -3.81526451e-03 4.46822206e-03 -2.63656036e+01] [ 3.80316415e-03 9.99989086e-01 2.71346506e-03 1.46740986e+01] [-4.47852588e-03 -2.69642484e-03 9.99986336e-01 1.68955881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.509259764 meters Centerline goodness [0,1] 0.49563096386833927 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.68, Z:16.90 [[ 9.99982789e-01 -3.86955982e-03 4.41006136e-03 -2.63656497e+01] [ 3.85880880e-03 9.99989569e-01 2.44374645e-03 1.46750657e+01] [-4.41947158e-03 -2.42668681e-03 9.99987290e-01 1.68959646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.539259764 meters Centerline goodness [0,1] 0.5028974620378817 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.68, Z:16.90 [[ 9.99982077e-01 -4.05929946e-03 4.40090412e-03 -2.63660938e+01] [ 4.04988683e-03 9.99989497e-01 2.14560089e-03 1.46760798e+01] [-4.40956753e-03 -2.12773927e-03 9.99988014e-01 1.68965972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.569259764 meters Centerline goodness [0,1] 0.4942294272371034 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.68, Z:16.90 [[ 9.99981636e-01 -4.17452125e-03 4.39336476e-03 -2.63662224e+01] [ 4.16560109e-03 9.99989248e-01 2.03756587e-03 1.46766887e+01] [-4.40182339e-03 -2.01922745e-03 9.99988273e-01 1.68967073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.599259764 meters Centerline goodness [0,1] 0.5057830740610929 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.68, Z:16.90 [[ 9.99982515e-01 -3.92929577e-03 4.41940235e-03 -2.63654784e+01] [ 3.91917013e-03 9.99989681e-01 2.29750923e-03 1.46764625e+01] [-4.42838434e-03 -2.28014866e-03 9.99987595e-01 1.68955290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.629259764 meters Centerline goodness [0,1] 0.4901690703829741 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.68, Z:16.90 [[ 9.99984341e-01 -3.72960020e-03 4.17217884e-03 -2.63644044e+01] [ 3.72015111e-03 9.99990503e-01 2.27026003e-03 1.46775250e+01] [-4.18060638e-03 -2.25470335e-03 9.99988719e-01 1.68950439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.659259764 meters Centerline goodness [0,1] 0.4759203738216784 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.68, Z:16.90 [[ 9.99985346e-01 -3.67491161e-03 3.97531895e-03 -2.63638177e+01] [ 3.66691831e-03 9.99991244e-01 2.01615540e-03 1.46791311e+01] [-3.98269334e-03 -2.00154868e-03 9.99990066e-01 1.68951039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.689259764 meters Centerline goodness [0,1] 0.5005146262188516 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.68, Z:16.90 [[ 9.99987521e-01 -3.44302012e-03 3.61992241e-03 -2.63625826e+01] [ 3.43706016e-03 9.99992730e-01 1.65136755e-03 1.46815835e+01] [-3.62558179e-03 -1.63890505e-03 9.99992085e-01 1.68951373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.719259764 meters Centerline goodness [0,1] 0.5048751421916473 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.68, Z:16.90 [[ 9.99987236e-01 -3.50821134e-03 3.63594968e-03 -2.63625337e+01] [ 3.50336436e-03 9.99992967e-01 1.33858390e-03 1.46827679e+01] [-3.64062014e-03 -1.32582876e-03 9.99992494e-01 1.68951585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.749259764 meters Centerline goodness [0,1] 0.4904774823657081 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.68, Z:16.89 [[ 9.99987402e-01 -3.48515167e-03 3.61245230e-03 -2.63620860e+01] [ 3.48051290e-03 9.99993111e-01 1.28959720e-03 1.46838488e+01] [-3.61692186e-03 -1.27700777e-03 9.99992644e-01 1.68945699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.779259764 meters Centerline goodness [0,1] 0.4770557353861219 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.68, Z:16.89 [[ 9.99986961e-01 -3.58534575e-03 3.63637466e-03 -2.63621677e+01] [ 3.58122596e-03 9.99992939e-01 1.13881697e-03 1.46848206e+01] [-3.64043203e-03 -1.12577945e-03 9.99992740e-01 1.68945685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.809259764 meters Centerline goodness [0,1] 0.49120558479452425 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.89 [[ 9.99987929e-01 -3.57659703e-03 3.36884342e-03 -2.63614114e+01] [ 3.57383941e-03 9.99993274e-01 8.24230652e-04 1.46868664e+01] [-3.37176870e-03 -8.12180997e-04 9.99993986e-01 1.68946441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.839259764 meters Centerline goodness [0,1] 0.4853396966455471 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.89 [[ 9.99991182e-01 -3.09435437e-03 2.83921257e-03 -2.63593854e+01] [ 3.09329966e-03 9.99995145e-01 3.75797827e-04 1.46910956e+01] [-2.84036164e-03 -3.67011978e-04 9.99995899e-01 1.68945286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.869259764 meters Centerline goodness [0,1] 0.5023254533946115 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.89 [[ 9.99993330e-01 -2.72512670e-03 2.43162939e-03 -2.63575342e+01] [ 2.72474292e-03 9.99996275e-01 1.61126595e-04 1.46944446e+01] [-2.43205942e-03 -1.54499955e-04 9.99997031e-01 1.68938373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89925976399999 meters Centerline goodness [0,1] 0.518931141935306 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.89 [[ 9.99994403e-01 -2.55535902e-03 2.15962735e-03 -2.63563364e+01] [ 2.55537783e-03 9.99996735e-01 -5.94851139e-06 1.46962145e+01] [-2.15960509e-03 1.14671419e-05 9.99997668e-01 1.68934040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.929259764 meters Centerline goodness [0,1] 0.5219230343912418 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.70, Z:16.89 [[ 9.99995919e-01 -2.19633064e-03 1.82691252e-03 -2.63547820e+01] [ 2.19647823e-03 9.99997585e-01 -7.87832682e-05 1.46981222e+01] [-1.82673507e-03 8.27957202e-05 9.99998328e-01 1.68927612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.959259764 meters Centerline goodness [0,1] 0.515455073747129 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.70, Z:16.89 [[ 9.99997416e-01 -1.73100151e-03 1.47339357e-03 -2.63528789e+01] [ 1.73148205e-03 9.99998448e-01 -3.24929002e-04 1.47014109e+01] [-1.47282883e-03 3.27479317e-04 9.99998862e-01 1.68920283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.989259764 meters Centerline goodness [0,1] 0.5198413798840853 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.70, Z:16.89 [[ 9.99997630e-01 -1.67709319e-03 1.38845275e-03 -2.63524452e+01] [ 1.67789966e-03 9.99998424e-01 -5.79879735e-04 1.47028419e+01] [-1.38747805e-03 5.82208045e-04 9.99998868e-01 1.68919745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.019259764 meters Centerline goodness [0,1] 0.5194942926516145 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.89 [[ 9.99998972e-01 -9.70582109e-04 1.05555944e-03 -2.63501117e+01] [ 9.71309047e-04 9.99999291e-01 -6.88381792e-04 1.47061737e+01] [-1.05489056e-03 6.89406359e-04 9.99999206e-01 1.68907461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.049259764 meters Centerline goodness [0,1] 0.528448686014945 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.89 [[ 9.99999706e-01 -5.31243080e-04 5.52923617e-04 -2.63481474e+01] [ 5.31871587e-04 9.99999212e-01 -1.13717191e-03 1.47099856e+01] [-5.52319066e-04 1.13746566e-03 9.99999201e-01 1.68905853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.079259764 meters Centerline goodness [0,1] 0.534043031290377 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.89 [[ 9.99992676e-01 3.76262901e-03 7.00513811e-04 -2.63476927e+01] [-3.76431762e-03 9.99989975e-01 2.42502754e-03 1.47133950e+01] [-6.91382309e-04 -2.42764674e-03 9.99996814e-01 1.68900685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.109259764 meters Centerline goodness [0,1] 0.5363748805307247 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.89 [[ 9.99992558e-01 3.84304435e-03 3.38910874e-04 -2.63465579e+01] [-3.84363218e-03 9.99991080e-01 1.75123031e-03 1.47168000e+01] [-3.32177796e-04 -1.75251992e-03 9.99998409e-01 1.68903962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.139259764 meters Centerline goodness [0,1] 0.5335982862619089 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.89 [[ 9.99992265e-01 3.92926476e-03 1.76024523e-04 -2.63458726e+01] [-3.92946248e-03 9.99991633e-01 1.13730393e-03 1.47196216e+01] [-1.71554282e-04 -1.13798682e-03 9.99999338e-01 1.68906409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.169259764 meters Centerline goodness [0,1] 0.5342790934267789 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.89 [[ 9.99990598e-01 4.33411888e-03 -1.37488313e-04 -2.63442020e+01] [-4.33406537e-03 9.99990533e-01 3.87098510e-04 1.47241771e+01] [ 1.39164742e-04 -3.86498988e-04 9.99999916e-01 1.68906165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.199259764 meters Centerline goodness [0,1] 0.5399088928500693 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.89 [[ 9.99998943e-01 1.38371520e-03 -4.47475381e-04 -2.63422525e+01] [-1.38541327e-03 9.99991756e-01 -3.81700682e-03 1.47293245e+01] [ 4.42190042e-04 3.81762272e-03 9.99992615e-01 1.68906040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.229259764 meters Centerline goodness [0,1] 0.5382367958245873 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.89 [[ 9.99997967e-01 1.87532800e-03 -7.40885681e-04 -2.63404556e+01] [-1.87810239e-03 9.99991160e-01 -3.76191914e-03 1.47312991e+01] [ 7.33824300e-04 3.76330295e-03 9.99992649e-01 1.68896051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.259259764 meters Centerline goodness [0,1] 0.5414242329634149 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.89 [[ 9.99997573e-01 2.07252420e-03 -7.47302929e-04 -2.63399215e+01] [-2.07517036e-03 9.99991518e-01 -3.55773305e-03 1.47316331e+01] [ 7.39923103e-04 3.55927520e-03 9.99993392e-01 1.68888438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.289259764 meters Centerline goodness [0,1] 0.542088401236143 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.89 [[ 9.99997354e-01 2.20810766e-03 -6.44540834e-04 -2.63399637e+01] [-2.21026479e-03 9.99991894e-01 -3.36546969e-03 1.47311861e+01] [ 6.37104290e-04 3.36688539e-03 9.99994129e-01 1.68884990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.319259764 meters Centerline goodness [0,1] 0.5372457939160482 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.89 [[ 9.99997333e-01 2.25237196e-03 -5.10583968e-04 -2.63403272e+01] [-2.25399870e-03 9.99992313e-01 -3.20818210e-03 1.47305156e+01] [ 5.03354024e-04 3.20932440e-03 9.99994723e-01 1.68884380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.349259764 meters Centerline goodness [0,1] 0.533452098178939 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.89 [[ 9.99998142e-01 -1.66645368e-03 -9.69335756e-04 -2.63393399e+01] [ 1.65902865e-03 9.99969660e-01 -7.61093253e-03 1.47324160e+01] [ 9.81989613e-04 7.60931023e-03 9.99970567e-01 1.68892589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.379259764 meters Centerline goodness [0,1] 0.5323586689622082 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.89 [[ 9.99998430e-01 -1.65343412e-03 -6.37297398e-04 -2.63401370e+01] [ 1.64882167e-03 9.99972926e-01 -7.17133009e-03 1.47307188e+01] [ 6.49137466e-04 7.17026804e-03 9.99974083e-01 1.68887757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.409259764 meters Centerline goodness [0,1] 0.5367498314227916 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.89 [[ 9.99997947e-01 -2.02612633e-03 -2.07582808e-05 -2.63422608e+01] [ 2.02594324e-03 9.99975787e-01 -6.65744627e-03 1.47277203e+01] [ 3.42466054e-05 6.65739054e-03 9.99977839e-01 1.68885688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.439259764 meters Centerline goodness [0,1] 0.5327115930222759 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.89 [[ 9.99997765e-01 -2.09829265e-03 2.57278119e-04 -2.63431507e+01] [ 2.09988051e-03 9.99977728e-01 -6.33514900e-03 1.47264064e+01] [-2.43979392e-04 6.33567509e-03 9.99979900e-01 1.68884510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.469259764 meters Centerline goodness [0,1] 0.5330063701448785 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.89 [[ 9.99997551e-01 -2.13761372e-03 5.72729583e-04 -2.63439564e+01] [ 2.14099320e-03 9.99979908e-01 -5.96649876e-03 1.47250995e+01] [-5.59964007e-04 5.96771036e-03 9.99982036e-01 1.68880834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.499259764 meters Centerline goodness [0,1] 0.5310878649353563 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.89 [[ 9.99995680e-01 -2.72689745e-03 1.09766572e-03 -2.63463549e+01] [ 2.73308333e-03 9.99980168e-01 -5.67400129e-03 1.47225521e+01] [-1.08217153e-03 5.67697679e-03 9.99983300e-01 1.68885688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.529259764 meters Centerline goodness [0,1] 0.5284625728372927 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.89 [[ 9.99994685e-01 -2.87767921e-03 1.53271126e-03 -2.63475865e+01] [ 2.88582906e-03 9.99981568e-01 -5.34187505e-03 1.47210172e+01] [-1.51731081e-03 5.34626980e-03 9.99984557e-01 1.68883005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.559259764 meters Centerline goodness [0,1] 0.5250125621126682 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.89 [[ 9.99992759e-01 -3.20199234e-03 2.05670924e-03 -2.63496201e+01] [ 3.21197095e-03 9.99982998e-01 -4.86690057e-03 1.47180165e+01] [-2.04109049e-03 4.87347141e-03 9.99986042e-01 1.68884532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.589259764 meters Centerline goodness [0,1] 0.5139795747530553 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.89 [[ 9.99992682e-01 -3.09338051e-03 2.25108393e-03 -2.63499923e+01] [ 3.10341292e-03 9.99985208e-01 -4.46693742e-03 1.47167200e+01] [-2.23723269e-03 4.47389078e-03 9.99987489e-01 1.68880514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.619259764 meters Centerline goodness [0,1] 0.5253434522490583 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.89 [[ 9.99993164e-01 -2.94704435e-03 2.23315647e-03 -2.63499952e+01] [ 2.95647848e-03 9.99986670e-01 -4.23311400e-03 1.47160819e+01] [-2.22065153e-03 4.23968735e-03 9.99988547e-01 1.68880384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64925976399999 meters Centerline goodness [0,1] 0.5253434522490583 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.89 [[ 9.99993164e-01 -2.94704435e-03 2.23315647e-03 -2.63499952e+01] [ 2.95647848e-03 9.99986670e-01 -4.23311400e-03 1.47160819e+01] [-2.22065153e-03 4.23968735e-03 9.99988547e-01 1.68880384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.679259764 meters Centerline goodness [0,1] 0.5251539186865606 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.89 [[ 9.99993459e-01 -2.64435424e-03 2.46786154e-03 -2.63502315e+01] [ 2.65277202e-03 9.99990654e-01 -3.41394228e-03 1.47130142e+01] [-2.45881080e-03 3.42046662e-03 9.99991127e-01 1.68871124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.709259764 meters Centerline goodness [0,1] 0.5241902022074079 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.89 [[ 9.99993781e-01 -2.34776006e-03 2.63172995e-03 -2.63500913e+01] [ 2.35493022e-03 9.99993515e-01 -2.72472325e-03 1.47107366e+01] [-2.62531588e-03 2.73090385e-03 9.99992825e-01 1.68860416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.739259764 meters Centerline goodness [0,1] 0.522754854368932 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.89 [[ 9.99993972e-01 -2.11149672e-03 2.75652835e-03 -2.63502438e+01] [ 2.11737018e-03 9.99995491e-01 -2.12956964e-03 1.47085696e+01] [-2.75201934e-03 2.13539340e-03 9.99993933e-01 1.68855188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.769259764 meters Centerline goodness [0,1] 0.5214456902013719 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.89 [[ 9.99991220e-01 -2.64145663e-03 3.25322065e-03 -2.63525799e+01] [ 2.64816731e-03 9.99994371e-01 -2.06020397e-03 1.47065336e+01] [-3.24776040e-03 2.06880096e-03 9.99992586e-01 1.68863720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.799259764 meters Centerline goodness [0,1] 0.5165122226194077 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.89 [[ 9.99989065e-01 -2.96866825e-03 3.61342513e-03 -2.63542386e+01] [ 2.97606341e-03 9.99993485e-01 -2.04292599e-03 1.47054884e+01] [-3.60733682e-03 2.05365743e-03 9.99991385e-01 1.68871034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.829259764 meters Centerline goodness [0,1] 0.5064803397725716 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.89 [[ 9.99983400e-01 -4.01810693e-03 4.12976956e-03 -2.63573814e+01] [ 4.02595915e-03 9.99990101e-01 -1.89481933e-03 1.47021169e+01] [-4.12211509e-03 1.91141416e-03 9.99989677e-01 1.68882345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.859259764 meters Centerline goodness [0,1] 0.5001502034574106 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.89 [[ 9.99981234e-01 -4.13893550e-03 4.51683565e-03 -2.63584887e+01] [ 4.14564122e-03 9.99990317e-01 -1.47625417e-03 1.46998307e+01] [-4.51068179e-03 1.49495165e-03 9.99988709e-01 1.68879544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.889259764 meters Centerline goodness [0,1] 0.4948405638428903 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.89 [[ 9.99983970e-01 -3.79322871e-03 4.20376799e-03 -2.63572578e+01] [ 3.79859597e-03 9.99991979e-01 -1.26952469e-03 1.47003797e+01] [-4.19891867e-03 1.28547276e-03 9.99990358e-01 1.68874688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.919259764 meters Centerline goodness [0,1] 0.49839686498040614 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.89 [[ 9.99984078e-01 -3.81325154e-03 4.15963313e-03 -2.63571156e+01] [ 3.81894382e-03 9.99991781e-01 -1.36137233e-03 1.47011728e+01] [-4.15440768e-03 1.37723606e-03 9.99990422e-01 1.68874625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.949259764 meters Centerline goodness [0,1] 0.5033076226290796 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.89 [[ 9.99987035e-01 -3.45926781e-03 3.73666395e-03 -2.63556226e+01] [ 3.46457971e-03 9.99992996e-01 -1.41602426e-03 1.47028015e+01] [-3.73173937e-03 1.42895187e-03 9.99992016e-01 1.68872671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.979259764 meters Centerline goodness [0,1] 0.5077643171806168 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.89 [[ 9.99991436e-01 -2.66957094e-03 3.16242176e-03 -2.63528847e+01] [ 2.67431418e-03 9.99995304e-01 -1.49659740e-03 1.47057527e+01] [-3.15841164e-03 1.50504189e-03 9.99993880e-01 1.68863895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.009259764 meters Centerline goodness [0,1] 0.5117005111203206 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.89 [[ 9.99991821e-01 -2.61697470e-03 3.08365425e-03 -2.63524136e+01] [ 2.62201407e-03 9.99995232e-01 -1.63131194e-03 1.47069502e+01] [-3.07937045e-03 1.63938398e-03 9.99993915e-01 1.68861195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.039259764 meters Centerline goodness [0,1] 0.513734059915355 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.89 [[ 9.99991646e-01 -2.79141128e-03 2.98609532e-03 -2.63521949e+01] [ 2.79785210e-03 9.99993764e-01 -2.15493624e-03 1.47096365e+01] [-2.98006139e-03 2.16327289e-03 9.99993220e-01 1.68864033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.069259764 meters Centerline goodness [0,1] 0.5152146149147648 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.89 [[ 9.99991042e-01 -2.97186033e-03 3.01412077e-03 -2.63524596e+01] [ 2.97912339e-03 9.99992663e-01 -2.40806007e-03 1.47108106e+01] [-3.00694224e-03 2.41701793e-03 9.99992558e-01 1.68866594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.099259764 meters Centerline goodness [0,1] 0.5165831942125765 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.89 [[ 9.99992615e-01 -2.77712522e-03 2.65667004e-03 -2.63511128e+01] [ 2.78429783e-03 9.99992479e-01 -2.69997379e-03 1.47136291e+01] [-2.64915189e-03 2.70735081e-03 9.99992826e-01 1.68864893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.129259764 meters Centerline goodness [0,1] 0.5199519029109925 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.89 [[ 9.99994400e-01 -2.48002792e-03 2.24696580e-03 -2.63494992e+01] [ 2.48639534e-03 9.99992889e-01 -2.83543584e-03 1.47160401e+01] [-2.23991786e-03 2.84100680e-03 9.99993456e-01 1.68860677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.159259764 meters Centerline goodness [0,1] 0.5247696174253003 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.89 [[ 9.99995284e-01 -2.36417000e-03 1.96010309e-03 -2.63485104e+01] [ 2.37019492e-03 9.99992457e-01 -3.07716943e-03 1.47180874e+01] [-1.95281336e-03 3.08180075e-03 9.99993344e-01 1.68860048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.189259764 meters Centerline goodness [0,1] 0.528570625913024 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.88 [[ 9.99997538e-01 -1.69484683e-03 1.43203764e-03 -2.63460109e+01] [ 1.69911585e-03 9.99994101e-01 -2.98513487e-03 1.47202505e+01] [-1.42696985e-03 2.98756072e-03 9.99994519e-01 1.68849801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.219259764 meters Centerline goodness [0,1] 0.5342987591383994 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.88 [[ 9.99998899e-01 -1.17119113e-03 9.10925973e-04 -2.63440337e+01] [ 1.17399453e-03 9.99994558e-01 -3.08310799e-03 1.47223008e+01] [-9.07310107e-04 3.08417402e-03 9.99994832e-01 1.68846776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.249259764 meters Centerline goodness [0,1] 0.5374071155145237 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99999796e-01 -4.57485194e-04 4.45163564e-04 -2.63418712e+01] [ 4.58951672e-04 9.99994451e-01 -3.29973848e-03 1.47255879e+01] [-4.43651512e-04 3.29994212e-03 9.99994457e-01 1.68843907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.279259764 meters Centerline goodness [0,1] 0.5410538179768949 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99999930e-01 -2.80534482e-04 2.49214808e-04 -2.63411113e+01] [ 2.81381102e-04 9.99994168e-01 -3.40363820e-03 1.47268034e+01] [-2.48258517e-04 3.40370809e-03 9.99994177e-01 1.68842685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.309259764 meters Centerline goodness [0,1] 0.5426304046993702 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99999951e-01 2.90720042e-04 -1.12865331e-04 -2.63392925e+01] [-2.91084931e-04 9.99994688e-01 -3.24652139e-03 1.47277858e+01] [ 1.11920903e-04 3.24655409e-03 9.99994724e-01 1.68834635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.339259764 meters Centerline goodness [0,1] 0.5430866257529907 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99999836e-01 5.45715940e-04 -1.72059991e-04 -2.63386056e+01] [-5.46224483e-04 9.99995442e-01 -2.96955350e-03 1.47276493e+01] [ 1.70438674e-04 2.96964700e-03 9.99995576e-01 1.68827040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.369259764 meters Centerline goodness [0,1] 0.5440495027124774 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99999726e-01 7.32043619e-04 -1.14495035e-04 -2.63383831e+01] [-7.32343424e-04 9.99996245e-01 -2.64075396e-03 1.47269501e+01] [ 1.12561458e-04 2.64083709e-03 9.99996507e-01 1.68820653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39925976399999 meters Centerline goodness [0,1] 0.5422561061697021 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99999769e-01 6.73917278e-04 -8.74950951e-05 -2.63387899e+01] [-6.74147602e-04 9.99996236e-01 -2.65964076e-03 1.47267742e+01] [ 8.57023879e-05 2.65969913e-03 9.99996459e-01 1.68824478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.429259764 meters Centerline goodness [0,1] 0.5401175274042265 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99999898e-01 4.51304870e-04 2.05790078e-05 -2.63396176e+01] [-4.51243875e-04 9.99995770e-01 -2.87343057e-03 1.47272753e+01] [-2.18757139e-05 2.87342099e-03 9.99995871e-01 1.68831229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.459259764 meters Centerline goodness [0,1] 0.5401249399327246 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99999991e-01 5.49695832e-05 1.19720885e-04 -2.63407871e+01] [-5.45774837e-05 9.99994643e-01 -3.27265819e-03 1.47282883e+01] [-1.19900140e-04 3.27265163e-03 9.99994638e-01 1.68843104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.489259764 meters Centerline goodness [0,1] 0.541865656879645 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99999954e-01 6.00285837e-05 2.97844331e-04 -2.63411069e+01] [-5.91590554e-05 9.99995739e-01 -2.91855560e-03 1.47274478e+01] [-2.98018259e-04 2.91853785e-03 9.99995697e-01 1.68837202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.519259764 meters Centerline goodness [0,1] 0.5424087611843404 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99999915e-01 2.66175464e-04 3.16000044e-04 -2.63407663e+01] [-2.65371241e-04 9.99996733e-01 -2.54233122e-03 1.47265884e+01] [-3.16675718e-04 2.54224715e-03 9.99996718e-01 1.68830585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.549259764 meters Centerline goodness [0,1] 0.5407154159132007 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99999853e-01 2.96041782e-04 4.53292784e-04 -2.63410846e+01] [-2.94941714e-04 9.99997016e-01 -2.42498457e-03 1.47260859e+01] [-4.54009329e-04 2.42485052e-03 9.99996957e-01 1.68829154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.579259764 meters Centerline goodness [0,1] 0.5412163115563708 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99999865e-01 4.34300303e-04 2.86679865e-04 -2.63407965e+01] [-4.33575375e-04 9.99996721e-01 -2.52393982e-03 1.47267251e+01] [-2.87775072e-04 2.52381518e-03 9.99996774e-01 1.68833302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.609259764 meters Centerline goodness [0,1] 0.5416395851583915 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99999864e-01 5.21714127e-04 9.52571525e-06 -2.63401495e+01] [-5.21686161e-04 9.99996133e-01 -2.73147497e-03 1.47283207e+01] [-1.09507275e-05 2.73146963e-03 9.99996269e-01 1.68836400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.639259764 meters Centerline goodness [0,1] 0.5475461861044997 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99999058e-01 1.23686125e-03 -5.95163405e-04 -2.63380658e+01] [-1.23869159e-03 9.99994475e-01 -3.08487963e-03 1.47314681e+01] [ 5.91344548e-04 3.08561395e-03 9.99995065e-01 1.68841073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.669259764 meters Centerline goodness [0,1] 0.5495910020449898 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99998194e-01 1.65430641e-03 -9.35577402e-04 -2.63366453e+01] [-1.65715081e-03 9.99993983e-01 -3.04770586e-03 1.47324073e+01] [ 9.30529933e-04 3.04925075e-03 9.99994918e-01 1.68837072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.699259764 meters Centerline goodness [0,1] 0.5515840318227021 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.88 [[ 9.99995089e-01 2.81957970e-03 -1.36808394e-03 -2.63338924e+01] [-2.82316815e-03 9.99992561e-01 -2.62816674e-03 1.47327384e+01] [ 1.36066344e-03 2.63201617e-03 9.99995611e-01 1.68823579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.729259764 meters Centerline goodness [0,1] 0.5440435166462564 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.88 [[ 9.99994555e-01 2.99316758e-03 -1.38935251e-03 -2.63335344e+01] [-2.99686652e-03 9.99991950e-01 -2.66794597e-03 1.47329908e+01] [ 1.38135572e-03 2.67209514e-03 9.99995476e-01 1.68821521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.759259764 meters Centerline goodness [0,1] 0.5465675806497536 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.88 [[ 9.99993921e-01 3.15370132e-03 -1.48711705e-03 -2.63333769e+01] [-3.15812094e-03 9.99990576e-01 -2.97901779e-03 1.47337148e+01] [ 1.47770810e-03 2.98369618e-03 9.99994457e-01 1.68827624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.789259764 meters Centerline goodness [0,1] 0.543884646073179 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.88 [[ 9.99993681e-01 3.22065681e-03 -1.50500616e-03 -2.63334395e+01] [-3.22502583e-03 9.99990567e-01 -2.90963893e-03 1.47336343e+01] [ 1.49562102e-03 2.91447423e-03 9.99994634e-01 1.68829006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.819259764 meters Centerline goodness [0,1] 0.5432207482316849 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.88 [[ 9.99997317e-01 -1.50098680e-04 -2.31149145e-03 -2.63311045e+01] [ 1.33624095e-04 9.99974603e-01 -7.12575887e-03 1.47368484e+01] [ 2.31250231e-03 7.12543089e-03 9.99971940e-01 1.68834764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.849259764 meters Centerline goodness [0,1] 0.5453283078754215 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.88 [[ 9.99997727e-01 1.41314368e-04 -2.12730845e-03 -2.63311956e+01] [-1.54496085e-04 9.99980783e-01 -6.19754114e-03 1.47341326e+01] [ 2.12639177e-03 6.19785572e-03 9.99978532e-01 1.68823454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.879259764 meters Centerline goodness [0,1] 0.5467247426179431 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.88 [[ 9.99998043e-01 3.90700356e-04 -1.93936450e-03 -2.63312345e+01] [-4.01371319e-04 9.99984767e-01 -5.50496244e-03 1.47320733e+01] [ 1.93718416e-03 5.50573007e-03 9.99982967e-01 1.68813567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.909259764 meters Centerline goodness [0,1] 0.5462215700660309 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.88 [[ 9.99998805e-01 3.78296869e-04 -1.49912728e-03 -2.63322667e+01] [-3.85300577e-04 9.99989001e-01 -4.67432513e-03 1.47286758e+01] [ 1.49734251e-03 4.67489716e-03 9.99987952e-01 1.68803768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.939259764 meters Centerline goodness [0,1] 0.5464033850493653 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.88 [[ 9.99999214e-01 3.36765486e-04 -1.20767623e-03 -2.63331376e+01] [-3.42036309e-04 9.99990407e-01 -4.36688681e-03 1.47272222e+01] [ 1.20619403e-03 4.36729644e-03 9.99989736e-01 1.68802354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.969259764 meters Centerline goodness [0,1] 0.5426966926289649 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.88 [[ 9.99999509e-01 3.42130428e-04 -9.30116347e-04 -2.63338719e+01] [-3.45849206e-04 9.99991936e-01 -4.00096924e-03 1.47259512e+01] [ 9.28739993e-04 4.00128895e-03 9.99991564e-01 1.68799261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.999259764 meters Centerline goodness [0,1] 0.5396901408450705 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.88 [[ 9.99999858e-01 -3.08608065e-04 -4.33492252e-04 -2.63364151e+01] [ 3.06821908e-04 9.99991489e-01 -4.11442912e-03 1.47249187e+01] [ 4.34758309e-04 4.11429553e-03 9.99991442e-01 1.68810833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.029259764 meters Centerline goodness [0,1] 0.5387972295737373 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.88 [[ 9.99999892e-01 -4.36474162e-04 -1.61340622e-04 -2.63374089e+01] [ 4.35834610e-04 9.99992131e-01 -3.94299561e-03 1.47240765e+01] [ 1.63060369e-04 3.94292487e-03 9.99992213e-01 1.68812155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.059259764 meters Centerline goodness [0,1] 0.537996739924681 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.88 [[ 9.99999650e-01 -7.55978508e-04 3.57586515e-04 -2.63390205e+01] [ 7.57204224e-04 9.99993796e-01 -3.44012200e-03 1.47219726e+01] [-3.54983638e-04 3.44039156e-03 9.99994019e-01 1.68807197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.089259764 meters Centerline goodness [0,1] 0.5378743229210519 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.88 [[ 9.99999604e-01 -6.58226614e-04 5.99633377e-04 -2.63392193e+01] [ 6.59947384e-04 9.99995652e-01 -2.87403857e-03 1.47202528e+01] [-5.97739001e-04 2.87443316e-03 9.99995690e-01 1.68797025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.119259764 meters Centerline goodness [0,1] 0.5356713370808512 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.88 [[ 9.99999136e-01 -7.61507555e-04 1.07148136e-03 -2.63402411e+01] [ 7.63818082e-04 9.99997381e-01 -2.15763139e-03 1.47171429e+01] [-1.06983550e-03 2.15844794e-03 9.99997098e-01 1.68786014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14925976399999 meters Centerline goodness [0,1] 0.5347908639079689 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.88 [[ 9.99999174e-01 -7.50751048e-04 1.04290560e-03 -2.63402524e+01] [ 7.53083621e-04 9.99997212e-01 -2.23802132e-03 1.47176896e+01] [-1.04122250e-03 2.23880487e-03 9.99996952e-01 1.68787584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.179259764 meters Centerline goodness [0,1] 0.5341879145791933 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.88 [[ 9.99999202e-01 -8.95009269e-04 8.91642034e-04 -2.63402618e+01] [ 8.97388827e-04 9.99996028e-01 -2.67192123e-03 1.47197451e+01] [-8.89247098e-04 2.67271924e-03 9.99996033e-01 1.68794842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.209259764 meters Centerline goodness [0,1] 0.5344152210408506 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.88 [[ 9.99999305e-01 -8.08815956e-04 8.57414477e-04 -2.63398774e+01] [ 8.11026511e-04 9.99996340e-01 -2.58095924e-03 1.47202364e+01] [-8.55323819e-04 2.58165283e-03 9.99996302e-01 1.68790081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.239259764 meters Centerline goodness [0,1] 0.5339177683172753 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.88 [[ 9.99999711e-01 -4.02426854e-04 6.45003503e-04 -2.63382511e+01] [ 4.03905962e-04 9.99997286e-01 -2.29469026e-03 1.47207591e+01] [-6.44078307e-04 2.29495012e-03 9.99997159e-01 1.68776066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.269259764 meters Centerline goodness [0,1] 0.5347053058938821 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.72, Z:16.88 [[ 9.99999881e-01 -2.47819974e-04 4.19296893e-04 -2.63373558e+01] [ 2.48795394e-04 9.99997260e-01 -2.32787143e-03 1.47218871e+01] [-4.18718851e-04 2.32797547e-03 9.99997203e-01 1.68772757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.299259764 meters Centerline goodness [0,1] 0.5395671288468042 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99999965e-01 2.56333197e-04 7.24034163e-05 -2.63358391e+01] [-2.56116085e-04 9.99995518e-01 -2.98290179e-03 1.47263007e+01] [-7.31677086e-05 2.98288314e-03 9.99995549e-01 1.68776625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.329259764 meters Centerline goodness [0,1] 0.5371889180124574 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99999952e-01 2.76260041e-04 -1.41205116e-04 -2.63353534e+01] [-2.76738893e-04 9.99994173e-01 -3.40248585e-03 1.47284414e+01] [ 1.40264322e-04 3.40252476e-03 9.99994202e-01 1.68780767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.359259764 meters Centerline goodness [0,1] 0.5426726083032491 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.88 [[ 9.99999405e-01 8.73648032e-04 -6.52702208e-04 -2.63332354e+01] [-8.75945590e-04 9.99993393e-01 -3.52811685e-03 1.47308686e+01] [ 6.49615563e-04 3.52868649e-03 9.99993563e-01 1.68776483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.389259764 meters Centerline goodness [0,1] 0.5363451086956521 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.88 [[ 9.99999303e-01 9.71039613e-04 -6.71790459e-04 -2.63327948e+01] [-9.73464435e-04 9.99992979e-01 -3.61862950e-03 1.47318975e+01] [ 6.68271910e-04 3.61928094e-03 9.99993227e-01 1.68772324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.419259764 meters Centerline goodness [0,1] 0.5389507154213037 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.88 [[ 9.99998983e-01 1.17341421e-03 -8.10552398e-04 -2.63320131e+01] [-1.17631653e-03 9.99992866e-01 -3.58952059e-03 1.47326857e+01] [ 8.06334621e-04 3.59047041e-03 9.99993229e-01 1.68767600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.449259764 meters Centerline goodness [0,1] 0.5404314583747833 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.88 [[ 9.99998056e-01 1.62256594e-03 -1.11996244e-03 -2.63302823e+01] [-1.62660184e-03 9.99992153e-01 -3.61214910e-03 1.47345641e+01] [ 1.11409270e-03 3.61396381e-03 9.99992849e-01 1.68759223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.479259764 meters Centerline goodness [0,1] 0.540311334983921 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.88 [[ 9.99997757e-01 1.67044840e-03 -1.30207602e-03 -2.63297045e+01] [-1.67555861e-03 9.99990860e-01 -3.93350380e-03 1.47368913e+01] [ 1.29549341e-03 3.93567668e-03 9.99991416e-01 1.68760325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.509259764 meters Centerline goodness [0,1] 0.5394186145830367 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.88 [[ 9.99998005e-01 1.52821737e-03 -1.28612826e-03 -2.63299839e+01] [-1.53352750e-03 9.99990263e-01 -4.13796404e-03 1.47378339e+01] [ 1.27979202e-03 4.13992810e-03 9.99990612e-01 1.68763162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.539259764 meters Centerline goodness [0,1] 0.5394186145830367 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.88 [[ 9.99998005e-01 1.52821737e-03 -1.28612826e-03 -2.63299839e+01] [-1.53352750e-03 9.99990263e-01 -4.13796404e-03 1.47378339e+01] [ 1.27979202e-03 4.13992810e-03 9.99990612e-01 1.68763162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.569259764 meters Centerline goodness [0,1] 0.5384418174049281 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.88 [[ 9.99998119e-01 1.48107938e-03 -1.25222785e-03 -2.63301337e+01] [-1.48631884e-03 9.99990102e-01 -4.19358367e-03 1.47384067e+01] [ 1.24600443e-03 4.19543699e-03 9.99990423e-01 1.68763299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.599259764 meters Centerline goodness [0,1] 0.539937833290558 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.88 [[ 9.99997650e-01 1.53619885e-03 -1.52974794e-03 -2.63292965e+01] [-1.54321476e-03 9.99988249e-01 -4.59574944e-03 1.47410686e+01] [ 1.52266998e-03 4.59809937e-03 9.99988269e-01 1.68765054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.629259764 meters Centerline goodness [0,1] 0.539588857525732 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.88 [[ 9.99997368e-01 1.52300629e-03 -1.71572115e-03 -2.63288174e+01] [-1.53133112e-03 9.99987011e-01 -4.86126745e-03 1.47428492e+01] [ 1.70829513e-03 4.86388199e-03 9.99986712e-01 1.68766430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.659259764 meters Centerline goodness [0,1] 0.5396448688988649 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.88 [[ 9.99996181e-01 1.88628110e-03 -2.02012976e-03 -2.63274213e+01] [-1.89723322e-03 9.99983439e-01 -5.43336699e-03 1.47464861e+01] [ 2.00984744e-03 5.43717890e-03 9.99983199e-01 1.68767244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.689259764 meters Centerline goodness [0,1] 0.542032299556953 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.88 [[ 9.99995751e-01 2.05393973e-03 -2.06874647e-03 -2.63268430e+01] [-2.06529614e-03 9.99982729e-01 -5.50241940e-03 1.47474374e+01] [ 2.05740910e-03 5.50666860e-03 9.99982722e-01 1.68762787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.719259764 meters Centerline goodness [0,1] 0.5396875447900243 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.88 [[ 9.99994792e-01 2.31375186e-03 -2.25008705e-03 -2.63257816e+01] [-2.32622547e-03 9.99981855e-01 -5.55688504e-03 1.47490106e+01] [ 2.23718897e-03 5.56209031e-03 9.99982029e-01 1.68756745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.749259764 meters Centerline goodness [0,1] 0.5414084022038568 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.88 [[ 9.99994713e-01 2.26659606e-03 -2.33148657e-03 -2.63255412e+01] [-2.28005721e-03 9.99980654e-01 -5.78727085e-03 1.47505374e+01] [ 2.31832406e-03 5.79255618e-03 9.99980536e-01 1.68757052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.779259764 meters Centerline goodness [0,1] 0.5410590502487991 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.75, Z:16.88 [[ 9.99994012e-01 2.20805859e-03 -2.66467778e-03 -2.63249386e+01] [-2.22456532e-03 9.99978258e-01 -6.20766010e-03 1.47529745e+01] [ 2.65091297e-03 6.21355068e-03 9.99977182e-01 1.68762540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.809259764 meters Centerline goodness [0,1] 0.5450421819022304 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.88 [[ 9.99992028e-01 2.43722624e-03 -3.16283156e-03 -2.63234828e+01] [-2.45815881e-03 9.99974991e-01 -6.63137599e-03 1.47567134e+01] [ 3.14659029e-03 6.63909787e-03 9.99973010e-01 1.68765589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.839259764 meters Centerline goodness [0,1] 0.5374487497834498 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.88 [[ 9.99989888e-01 2.80514922e-03 -3.51507681e-03 -2.63218806e+01] [-2.82889463e-03 9.99973091e-01 -6.76863714e-03 1.47589286e+01] [ 3.49599519e-03 6.77851248e-03 9.99970914e-01 1.68760403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.869259764 meters Centerline goodness [0,1] 0.5428043641401605 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.88 [[ 9.99989079e-01 2.89283706e-03 -3.67060041e-03 -2.63210686e+01] [-2.91802119e-03 9.99972114e-01 -6.87433205e-03 1.47604005e+01] [ 3.65061173e-03 6.88496787e-03 9.99969635e-01 1.68755817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89925976399999 meters Centerline goodness [0,1] 0.5512742630680667 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.88 [[ 9.99987947e-01 2.92234068e-03 -3.94533522e-03 -2.63202568e+01] [-2.95071512e-03 9.99969688e-01 -7.20533596e-03 1.47624564e+01] [ 3.92415918e-03 7.21689067e-03 9.99966258e-01 1.68756714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.929259764 meters Centerline goodness [0,1] 0.5453781269022291 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.77, Z:16.88 [[ 9.99984788e-01 3.22471987e-03 -4.47503389e-03 -2.63184983e+01] [-3.25928247e-03 9.99964752e-01 -7.73774714e-03 1.47666389e+01] [ 4.44992408e-03 7.75221483e-03 9.99960050e-01 1.68759360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.959259764 meters Centerline goodness [0,1] 0.5565626634129336 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.77, Z:16.88 [[ 9.99983495e-01 3.23321277e-03 -4.74922356e-03 -2.63178857e+01] [-3.27178373e-03 9.99961547e-01 -8.13633919e-03 1.47687943e+01] [ 4.72273442e-03 8.15174333e-03 9.99955621e-01 1.68763524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.989259764 meters Centerline goodness [0,1] 0.561665311810475 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.77, Z:16.88 [[ 9.99980621e-01 3.47373198e-03 -5.16626606e-03 -2.63165843e+01] [-3.51848643e-03 9.99956146e-01 -8.67911288e-03 1.47726543e+01] [ 5.13589059e-03 8.69712213e-03 9.99948990e-01 1.68767485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.019259764 meters Centerline goodness [0,1] 0.555516749614366 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.77, Z:16.88 [[ 9.99979688e-01 3.49657071e-03 -5.32888241e-03 -2.63160129e+01] [-3.54435313e-03 9.99953364e-01 -8.98377893e-03 1.47747246e+01] [ 5.29722148e-03 9.00248390e-03 9.99945446e-01 1.68767350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.049259764 meters Centerline goodness [0,1] 0.5441928414901388 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.78, Z:16.88 [[ 9.99976035e-01 3.82707758e-03 -5.76908340e-03 -2.63144631e+01] [-3.88156737e-03 9.99947684e-01 -9.46371917e-03 1.47782332e+01] [ 5.73256320e-03 9.48588546e-03 9.99938576e-01 1.68769411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.079259764 meters Centerline goodness [0,1] 0.5698017344584927 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.78, Z:16.88 [[ 9.99975389e-01 3.73918373e-03 -5.93633085e-03 -2.63142434e+01] [-3.79797265e-03 9.99943553e-01 -9.92305125e-03 1.47802389e+01] [ 5.89889165e-03 9.94535306e-03 9.99933144e-01 1.68774859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.109259764 meters Centerline goodness [0,1] 0.5770790187556515 Centerline is valid? [False, False] Translation: X:-26.30, Y:14.78, Z:16.87 [[ 9.99996072e-01 2.80236501e-03 -5.91666940e-05 -2.62992944e+01] [-2.80233140e-03 9.99995916e-01 5.60578497e-04 1.47775142e+01] [ 6.07373979e-05 -5.60410491e-04 9.99999841e-01 1.68698280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.139259764 meters Centerline goodness [0,1] 0.555247084952804 Centerline is valid? [False, False] Translation: X:-26.30, Y:14.78, Z:16.87 [[ 9.99996245e-01 2.69897207e-03 -4.74770897e-04 -2.62988941e+01] [-2.69916469e-03 9.99996275e-01 -4.05538038e-04 1.47812519e+01] [ 4.73674592e-04 4.06818000e-04 9.99999805e-01 1.68715738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.169259764 meters Centerline goodness [0,1] 0.5739087301587302 Centerline is valid? [False, False] Translation: X:-26.30, Y:14.79, Z:16.87 [[ 9.99999279e-01 -2.36249032e-04 -1.17765923e-03 -2.62962915e+01] [ 2.30654612e-04 9.99988700e-01 -4.74833138e-03 1.47854740e+01] [ 1.17876771e-03 4.74805632e-03 9.99988033e-01 1.68723548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.199259764 meters Centerline goodness [0,1] 0.5779127844145223 Centerline is valid? [False, False] Translation: X:-26.30, Y:14.78, Z:16.87 [[ 9.99999305e-01 -3.73326881e-05 -1.17804257e-03 -2.62959383e+01] [ 3.20661127e-05 9.99990008e-01 -4.47031775e-03 1.47849049e+01] [ 1.17819768e-03 4.47027687e-03 9.99989314e-01 1.68717656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.229259764 meters Centerline goodness [0,1] 0.5615059098205166 Centerline is valid? [False, False] Translation: X:-26.30, Y:14.78, Z:16.87 [[ 9.99999247e-01 1.29857579e-04 -1.22049121e-03 -2.62956092e+01] [-1.35016357e-04 9.99991054e-01 -4.22767361e-03 1.47844251e+01] [ 1.21993130e-03 4.22783521e-03 9.99990319e-01 1.68713488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.259259764 meters Centerline goodness [0,1] 0.5644236088868182 Centerline is valid? [False, False] Translation: X:-26.29, Y:14.78, Z:16.87 [[ 9.99998853e-01 3.91589684e-04 -1.46310410e-03 -2.62948015e+01] [-3.97454879e-04 9.99991879e-01 -4.01059613e-03 1.47843613e+01] [ 1.46152171e-03 4.01117305e-03 9.99990887e-01 1.68710894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.289259764 meters Centerline goodness [0,1] 0.5694043558121228 Centerline is valid? [False, False] Translation: X:-26.29, Y:14.78, Z:16.87 [[ 9.99998232e-01 5.94262232e-04 -1.78422001e-03 -2.62941987e+01] [-6.01209970e-04 9.99992230e-01 -3.89598421e-03 1.47843148e+01] [ 1.78189091e-03 3.89705001e-03 9.99990819e-01 1.68714459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.319259764 meters Centerline goodness [0,1] 0.5701370662000583 Centerline is valid? [False, False] Translation: X:-26.29, Y:14.78, Z:16.87 [[ 9.99998021e-01 7.25956572e-04 -1.85233117e-03 -2.62940392e+01] [-7.32928724e-04 9.99992640e-01 -3.76608929e-03 1.47839203e+01] [ 1.84958352e-03 3.76743946e-03 9.99991193e-01 1.68714974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.349259764 meters Centerline goodness [0,1] 0.5687760515346723 Centerline is valid? [False, False] Translation: X:-26.29, Y:14.78, Z:16.87 [[ 9.99997789e-01 9.55219916e-04 -1.87347912e-03 -2.62938562e+01] [-9.61639465e-04 9.99993660e-01 -3.42863675e-03 1.47829730e+01] [ 1.87019214e-03 3.43043078e-03 9.99992367e-01 1.68712343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.379259764 meters Centerline goodness [0,1] 0.5712079715634287 Centerline is valid? [False, False] Translation: X:-26.29, Y:14.78, Z:16.87 [[ 9.99997347e-01 1.24143551e-03 -1.94008568e-03 -2.62935405e+01] [-1.24706886e-03 9.99995002e-01 -2.90515357e-03 1.47812009e+01] [ 1.93646942e-03 2.90756529e-03 9.99993898e-01 1.68708043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.409259764 meters Centerline goodness [0,1] 0.5719778619283425 Centerline is valid? [False, False] Translation: X:-26.29, Y:14.78, Z:16.87 [[ 9.99996968e-01 1.47568741e-03 -1.97126604e-03 -2.62931931e+01] [-1.48068804e-03 9.99995684e-01 -2.53771391e-03 1.47803188e+01] [ 1.96751266e-03 2.54062505e-03 9.99994837e-01 1.68703299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.439259764 meters Centerline goodness [0,1] 0.5757132834424696 Centerline is valid? [False, False] Translation: X:-26.29, Y:14.78, Z:16.87 [[ 9.99996419e-01 1.70204509e-03 -2.06526561e-03 -2.62928861e+01] [-1.70656883e-03 9.99996144e-01 -2.19060775e-03 1.47794158e+01] [ 2.06152913e-03 2.19412442e-03 9.99995468e-01 1.68701250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.469259764 meters Centerline goodness [0,1] 0.5765154603156117 Centerline is valid? [False, False] Translation: X:-26.29, Y:14.78, Z:16.87 [[ 9.99994491e-01 -1.76495540e-03 -2.81110163e-03 -2.62906786e+01] [ 1.74611887e-03 9.99976103e-01 -6.68918120e-03 1.47832245e+01] [ 2.82284056e-03 6.68423584e-03 9.99973676e-01 1.68709463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.499259764 meters Centerline goodness [0,1] 0.5794599638420714 Centerline is valid? [False, False] Translation: X:-26.29, Y:14.78, Z:16.87 [[ 9.99994725e-01 -1.71237308e-03 -2.76010318e-03 -2.62908357e+01] [ 1.69431097e-03 9.99977224e-01 -6.53310613e-03 1.47828355e+01] [ 2.77122743e-03 6.52839520e-03 9.99974850e-01 1.68708386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.529259764 meters Centerline goodness [0,1] 0.5762068764228592 Centerline is valid? [False, False] Translation: X:-26.29, Y:14.78, Z:16.87 [[ 9.99995113e-01 -1.47087738e-03 -2.75863032e-03 -2.62907566e+01] [ 1.45408272e-03 9.99980458e-01 -6.08020019e-03 1.47812772e+01] [ 2.76751964e-03 6.07615920e-03 9.99977710e-01 1.68705380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.559259764 meters Centerline goodness [0,1] 0.576665111396244 Centerline is valid? [False, False] Translation: X:-26.29, Y:14.78, Z:16.87 [[ 9.99995921e-01 -1.33905339e-03 -2.52281607e-03 -2.62915590e+01] [ 1.32546928e-03 9.99984657e-01 -5.37850312e-03 1.47782082e+01] [ 2.52997947e-03 5.37513727e-03 9.99982353e-01 1.68702326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.589259764 meters Centerline goodness [0,1] 0.5772937716565238 Centerline is valid? [False, False] Translation: X:-26.29, Y:14.78, Z:16.87 [[ 9.99996503e-01 -1.24294415e-03 -2.33426045e-03 -2.62920707e+01] [ 1.23151573e-03 9.99987281e-01 -4.89102315e-03 1.47763237e+01] [ 2.34031003e-03 4.88813137e-03 9.99985314e-01 1.68698792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.619259764 meters Centerline goodness [0,1] 0.5713785660113179 Centerline is valid? [False, False] Translation: X:-26.29, Y:14.77, Z:16.87 [[ 9.99997377e-01 -1.45569906e-03 -1.76836199e-03 -2.62940705e+01] [ 1.44829592e-03 9.99990213e-01 -4.18053542e-03 1.47723043e+01] [ 1.77443029e-03 4.17796334e-03 9.99989698e-01 1.68697179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64925976399999 meters Centerline goodness [0,1] 0.5653046386505745 Centerline is valid? [False, False] Translation: X:-26.30, Y:14.77, Z:16.87 [[ 9.99998060e-01 -1.38789025e-03 -1.39747931e-03 -2.62950970e+01] [ 1.38297198e-03 9.99992869e-01 -3.51422330e-03 1.47695630e+01] [ 1.40234670e-03 3.51228381e-03 9.99992849e-01 1.68693116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.679259764 meters Centerline goodness [0,1] 0.5567117887474999 Centerline is valid? [False, False] Translation: X:-26.30, Y:14.76, Z:16.87 [[ 9.99997820e-01 -1.85120024e-03 -9.66363048e-04 -2.62976048e+01] [ 1.84848661e-03 9.99994367e-01 -2.80146543e-03 1.47643037e+01] [ 9.71543678e-04 2.79967301e-03 9.99995609e-01 1.68700039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.709259764 meters Centerline goodness [0,1] 0.5497731672782963 Centerline is valid? [False, False] Translation: X:-26.30, Y:14.76, Z:16.87 [[ 9.99997827e-01 -2.03345586e-03 -4.60200054e-04 -2.62993362e+01] [ 2.03238825e-03 9.99995270e-01 -2.30858940e-03 1.47616150e+01] [ 4.64892291e-04 2.30764907e-03 9.99997229e-01 1.68700160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.739259764 meters Centerline goodness [0,1] 0.5453813875955624 Centerline is valid? [False, False] Translation: X:-26.30, Y:14.76, Z:16.87 [[ 9.99979131e-01 -6.44932842e-03 -3.78900541e-04 -2.63008534e+01] [ 6.44677548e-03 9.99958793e-01 -6.39144253e-03 1.47596276e+01] [ 4.20105440e-04 6.38886646e-03 9.99979503e-01 1.68716395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.769259764 meters Centerline goodness [0,1] 0.5412064327820065 Centerline is valid? [False, False] Translation: X:-26.30, Y:14.76, Z:16.87 [[ 9.99977740e-01 -6.66983220e-03 1.81699226e-04 -2.63026134e+01] [ 6.67076748e-03 9.99961191e-01 -5.75473758e-03 1.47563680e+01] [-1.43309040e-04 5.75582156e-03 9.99983425e-01 1.68712982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.799259764 meters Centerline goodness [0,1] 0.5398004308878558 Centerline is valid? [False, False] Translation: X:-26.30, Y:14.75, Z:16.87 [[ 9.99965904e-01 -8.25585719e-03 1.76637311e-04 -2.63048777e+01] [ 8.25666532e-03 9.99952348e-01 -5.20849238e-03 1.47500775e+01] [-1.33628325e-04 5.20977323e-03 9.99986420e-01 1.68714173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.829259764 meters Centerline goodness [0,1] 0.5383746540916021 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.75, Z:16.87 [[ 9.99961814e-01 -8.70772777e-03 7.38298979e-04 -2.63070677e+01] [ 8.71108897e-03 9.99951112e-01 -4.67867618e-03 1.47463857e+01] [-6.97522247e-04 4.68492892e-03 9.99988782e-01 1.68715022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.859259764 meters Centerline goodness [0,1] 0.536731087487027 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.74, Z:16.87 [[ 9.99951015e-01 -9.84595645e-03 1.01206904e-03 -2.63101886e+01] [ 9.85027829e-03 9.99941989e-01 -4.35790779e-03 1.47419418e+01] [-9.69102560e-04 4.36766348e-03 9.99989992e-01 1.68730021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.889259764 meters Centerline goodness [0,1] 0.5329056117445998 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.74, Z:16.87 [[ 9.99946639e-01 -1.02264519e-02 1.46276269e-03 -2.63122210e+01] [ 1.02323674e-02 9.99939261e-01 -4.09542468e-03 1.47397262e+01] [-1.42079218e-03 4.11017367e-03 9.99990544e-01 1.68736238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.919259764 meters Centerline goodness [0,1] 0.5309615707333446 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.74, Z:16.87 [[ 9.99950020e-01 -9.88027237e-03 1.52898481e-03 -2.63120231e+01] [ 9.88511810e-03 9.99946037e-01 -3.19482858e-03 1.47368480e+01] [-1.49733653e-03 3.20978310e-03 9.99993728e-01 1.68726018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.949259764 meters Centerline goodness [0,1] 0.5300761315151008 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99953099e-01 -9.53738011e-03 1.68475312e-03 -2.63117822e+01] [ 9.54158261e-03 9.99951342e-01 -2.50425808e-03 1.47347752e+01] [-1.66078709e-03 2.52021583e-03 9.99995445e-01 1.68714503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.979259764 meters Centerline goodness [0,1] 0.5288023552938562 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99954124e-01 -9.36805062e-03 1.99719889e-03 -2.63122193e+01] [ 9.37150160e-03 9.99954598e-01 -1.72561194e-03 1.47316558e+01] [-1.98094259e-03 1.74424952e-03 9.99996517e-01 1.68703797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.009259764 meters Centerline goodness [0,1] 0.5294984840477317 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99955252e-01 -9.23899198e-03 2.03354225e-03 -2.63123449e+01] [ 9.24184473e-03 9.99956316e-01 -1.39794755e-03 1.47305811e+01] [-2.02053779e-03 1.41667868e-03 9.99996955e-01 1.68702553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.039259764 meters Centerline goodness [0,1] 0.5320596484407543 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99954402e-01 -9.32892979e-03 2.04085102e-03 -2.63127906e+01] [ 9.33196706e-03 9.99955355e-01 -1.48381130e-03 1.47307030e+01] [-2.02691753e-03 1.50278879e-03 9.99996817e-01 1.68708162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.069259764 meters Centerline goodness [0,1] 0.5297970966219779 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99951445e-01 -9.62692144e-03 2.10457491e-03 -2.63138538e+01] [ 9.63043681e-03 9.99952237e-01 -1.66664163e-03 1.47307915e+01] [-2.08842977e-03 1.68682868e-03 9.99996397e-01 1.68719120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.099259764 meters Centerline goodness [0,1] 0.530006387292066 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99950996e-01 -9.59624040e-03 2.43247308e-03 -2.63146246e+01] [ 9.59872810e-03 9.99953418e-01 -1.01310034e-03 1.47281830e+01] [-2.42263781e-03 1.03639934e-03 9.99996528e-01 1.68712425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.129259764 meters Centerline goodness [0,1] 0.5301838723969872 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.73, Z:16.87 [[ 9.99951382e-01 -9.47990247e-03 2.71401420e-03 -2.63150512e+01] [ 9.48122326e-03 9.99954940e-01 -4.74204385e-04 1.47262491e+01] [-2.70939650e-03 4.99913505e-04 9.99996205e-01 1.68705066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.159259764 meters Centerline goodness [0,1] 0.5285232114203509 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.72, Z:16.87 [[ 9.99950589e-01 -9.46842671e-03 3.02808745e-03 -2.63157570e+01] [ 9.46855763e-03 9.99955172e-01 -2.89001220e-05 1.47245445e+01] [-3.02767806e-03 5.75703145e-05 9.99995415e-01 1.68699630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.189259764 meters Centerline goodness [0,1] 0.529465522016062 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.72, Z:16.87 [[ 9.99949379e-01 -9.56942314e-03 3.10902065e-03 -2.63163430e+01] [ 9.56968975e-03 9.99954207e-01 -7.08876572e-05 1.47245013e+01] [-3.10819992e-03 1.00636432e-04 9.99995164e-01 1.68704244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.219259764 meters Centerline goodness [0,1] 0.5293480975772209 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.73, Z:16.87 [[ 9.99949810e-01 -9.61538216e-03 2.81442852e-03 -2.63159109e+01] [ 9.61706239e-03 9.99953584e-01 -5.84081101e-04 1.47271608e+01] [-2.80868172e-03 6.11118321e-04 9.99995869e-01 1.68712208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.249259764 meters Centerline goodness [0,1] 0.5337150480849409 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.73, Z:16.87 [[ 9.99950996e-01 -9.51359785e-03 2.73798191e-03 -2.63154039e+01] [ 9.51488116e-03 9.99954628e-01 -4.56065545e-04 1.47274903e+01] [-2.73351886e-03 4.82094769e-04 9.99996148e-01 1.68707188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.279259764 meters Centerline goodness [0,1] 0.5327448905719219 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99953900e-01 -9.15626631e-03 2.89131324e-03 -2.63148638e+01] [ 9.15595200e-03 9.99958076e-01 1.21925093e-04 1.47263118e+01] [-2.89230840e-03 -9.54467466e-05 9.99995813e-01 1.68691933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.309259764 meters Centerline goodness [0,1] 0.5325605372418982 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.73, Z:16.87 [[ 9.99953925e-01 -9.10480774e-03 3.04137625e-03 -2.63150111e+01] [ 9.10398980e-03 9.99958518e-01 2.82672718e-04 1.47259345e+01] [-3.04382376e-03 -2.54971036e-04 9.99995335e-01 1.68687723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.339259764 meters Centerline goodness [0,1] 0.5286839459278293 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99957786e-01 -8.79312991e-03 2.66593762e-03 -2.63138766e+01] [ 8.79317317e-03 9.99961339e-01 -4.50354143e-06 1.47282375e+01] [-2.66579496e-03 2.79454025e-05 9.99996446e-01 1.68690590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.369259764 meters Centerline goodness [0,1] 0.5315817484104086 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99957473e-01 -8.86936681e-03 2.52721305e-03 -2.63138308e+01] [ 8.87051010e-03 9.99960559e-01 -4.41543563e-04 1.47301982e+01] [-2.52319716e-03 4.63942454e-04 9.99996709e-01 1.68697252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39925976399999 meters Centerline goodness [0,1] 0.5287649715295504 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99956080e-01 -9.01650846e-03 2.55741465e-03 -2.63140494e+01] [ 9.01844465e-03 9.99959054e-01 -7.46569230e-04 1.47316378e+01] [-2.55057849e-03 7.69600343e-04 9.99996451e-01 1.68699600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.429259764 meters Centerline goodness [0,1] 0.5310350635860869 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99958486e-01 -8.74270968e-03 2.56719101e-03 -2.63136434e+01] [ 8.74403419e-03 9.99961643e-01 -5.05166288e-04 1.47311354e+01] [-2.56267602e-03 5.27592922e-04 9.99996577e-01 1.68694180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.459259764 meters Centerline goodness [0,1] 0.5310350635860869 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99958486e-01 -8.74270968e-03 2.56719101e-03 -2.63136434e+01] [ 8.74403419e-03 9.99961643e-01 -5.05166288e-04 1.47311354e+01] [-2.56267602e-03 5.27592922e-04 9.99996577e-01 1.68694180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.489259764 meters Centerline goodness [0,1] 0.5304430627905674 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99959512e-01 -8.61030122e-03 2.61464218e-03 -2.63135273e+01] [ 8.61082294e-03 9.99962908e-01 -1.88347858e-04 1.47302420e+01] [-2.61292347e-03 2.10854453e-04 9.99996564e-01 1.68689229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.519259764 meters Centerline goodness [0,1] 0.5315636037450244 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99959743e-01 -8.55895656e-03 2.69391586e-03 -2.63136455e+01] [ 8.55890435e-03 9.99963371e-01 3.09081604e-05 1.47294903e+01] [-2.69408173e-03 -7.84994788e-06 9.99996371e-01 1.68686757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.549259764 meters Centerline goodness [0,1] 0.532836698686532 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99959589e-01 -8.60428351e-03 2.60523043e-03 -2.63138050e+01] [ 8.60425993e-03 9.99962982e-01 2.02620929e-05 1.47297365e+01] [-2.60530833e-03 2.15480573e-06 9.99996606e-01 1.68691228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.579259764 meters Centerline goodness [0,1] 0.5319470487811704 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99958654e-01 -8.67924764e-03 2.71321134e-03 -2.63143454e+01] [ 8.67904706e-03 9.99962333e-01 8.56935214e-05 1.47293128e+01] [-2.71385289e-03 -6.21418894e-05 9.99996316e-01 1.68693419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.609259764 meters Centerline goodness [0,1] 0.5304340525564604 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99958882e-01 -8.56782279e-03 2.97086618e-03 -2.63146911e+01] [ 8.56605319e-03 9.99963126e-01 6.07864805e-04 1.47274988e+01] [-2.97596471e-03 -5.82391214e-04 9.99995402e-01 1.68685469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.639259764 meters Centerline goodness [0,1] 0.5230248433303492 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99960700e-01 -8.32862085e-03 3.03853083e-03 -2.63143456e+01] [ 8.32555368e-03 9.99964821e-01 1.02068310e-03 1.47265449e+01] [-3.04692482e-03 -9.95345533e-04 9.99994863e-01 1.68677000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.669259764 meters Centerline goodness [0,1] 0.5245672418132499 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99961808e-01 -8.15482674e-03 3.14356358e-03 -2.63142257e+01] [ 8.15043939e-03 9.99965796e-01 1.40595492e-03 1.47256149e+01] [-3.15492138e-03 -1.38027980e-03 9.99994071e-01 1.68669852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.699259764 meters Centerline goodness [0,1] 0.531002435405761 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.72, Z:16.87 [[ 9.99961372e-01 -8.13776864e-03 3.32126826e-03 -2.63149605e+01] [ 8.13259857e-03 9.99965702e-01 1.56720315e-03 1.47243145e+01] [-3.33390789e-03 -1.54013207e-03 9.99993257e-01 1.68673174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.729259764 meters Centerline goodness [0,1] 0.5249552372426142 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.72, Z:16.87 [[ 9.99961572e-01 -8.16765633e-03 3.18503198e-03 -2.63149118e+01] [ 8.16322176e-03 9.99965696e-01 1.40283788e-03 1.47248953e+01] [-3.19638062e-03 -1.37678385e-03 9.99993944e-01 1.68678165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.759259764 meters Centerline goodness [0,1] 0.5260878070592181 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99962028e-01 -8.13505880e-03 3.12454332e-03 -2.63149003e+01] [ 8.13080321e-03 9.99966003e-01 1.37228564e-03 1.47255074e+01] [-3.13560072e-03 -1.34682848e-03 9.99994177e-01 1.68680721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.789259764 meters Centerline goodness [0,1] 0.5286515756273202 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.72, Z:16.87 [[ 9.99963004e-01 -7.98490143e-03 3.19881852e-03 -2.63147888e+01] [ 7.97932117e-03 9.99966627e-01 1.75345426e-03 1.47245179e+01] [-3.21271292e-03 -1.72786499e-03 9.99993346e-01 1.68674300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.819259764 meters Centerline goodness [0,1] 0.5267635491339153 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.72, Z:16.87 [[ 9.99963821e-01 -7.71013510e-03 3.59306389e-03 -2.63148926e+01] [ 7.70021140e-03 9.99966523e-01 2.76760169e-03 1.47209491e+01] [-3.61428219e-03 -2.73983421e-03 9.99989715e-01 1.68655623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.849259764 meters Centerline goodness [0,1] 0.5250990016174912 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.72, Z:16.86 [[ 9.99964768e-01 -7.51692289e-03 3.73599690e-03 -2.63148361e+01] [ 7.50479310e-03 9.99966557e-01 3.25021753e-03 1.47194123e+01] [-3.76030359e-03 -3.22206513e-03 9.99987739e-01 1.68647738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.879259764 meters Centerline goodness [0,1] 0.5253863134657837 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.72, Z:16.87 [[ 9.99962195e-01 -7.78622075e-03 3.87079533e-03 -2.63157657e+01] [ 7.77381546e-03 9.99964632e-01 3.20962190e-03 1.47187523e+01] [-3.89564925e-03 -3.17940971e-03 9.99987358e-01 1.68653522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.909259764 meters Centerline goodness [0,1] 0.5276786709778125 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.72, Z:16.87 [[ 9.99961508e-01 -7.90087958e-03 3.81567485e-03 -2.63159676e+01] [ 7.88949106e-03 9.99964406e-01 2.99055248e-03 1.47196842e+01] [-3.83916702e-03 -2.96033363e-03 9.99988249e-01 1.68658603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.939259764 meters Centerline goodness [0,1] 0.5301144292492325 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.72, Z:16.87 [[ 9.99960669e-01 -8.14893290e-03 3.50087390e-03 -2.63158927e+01] [ 8.14151925e-03 9.99964596e-01 2.12671681e-03 1.47232205e+01] [-3.51808043e-03 -2.09813073e-03 9.99991610e-01 1.68673340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.969259764 meters Centerline goodness [0,1] 0.5326536312849162 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.72, Z:16.87 [[ 9.99960776e-01 -8.16451102e-03 3.43337235e-03 -2.63157003e+01] [ 8.15775516e-03 9.99964770e-01 1.97712754e-03 1.47240934e+01] [-3.44939367e-03 -1.94904137e-03 9.99992151e-01 1.68673934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.999259764 meters Centerline goodness [0,1] 0.5312674327792034 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.72, Z:16.87 [[ 9.99963906e-01 -7.83896963e-03 3.27689935e-03 -2.63145623e+01] [ 7.83201357e-03 9.99967060e-01 2.13022530e-03 1.47246680e+01] [-3.29349018e-03 -2.10448369e-03 9.99992362e-01 1.68664835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.029259764 meters Centerline goodness [0,1] 0.5349778162234562 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99966274e-01 -7.61857233e-03 3.06726496e-03 -2.63137014e+01] [ 7.61215040e-03 9.99968822e-01 2.09995811e-03 1.47255665e+01] [-3.08316801e-03 -2.07653881e-03 9.99993091e-01 1.68662228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.059259764 meters Centerline goodness [0,1] 0.5357422530484395 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99968202e-01 -7.44983532e-03 2.84509940e-03 -2.63130048e+01] [ 7.44470975e-03 9.99970653e-01 1.80790410e-03 1.47270682e+01] [-2.85848450e-03 -1.78666567e-03 9.99994318e-01 1.68664464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.089259764 meters Centerline goodness [0,1] 0.5377469360344731 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99968952e-01 -7.34489435e-03 2.85450333e-03 -2.63128378e+01] [ 7.33957168e-03 9.99971315e-01 1.87067840e-03 1.47271923e+01] [-2.86816138e-03 -1.84966949e-03 9.99994176e-01 1.68662185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.119259764 meters Centerline goodness [0,1] 0.5356390893012548 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99970035e-01 -7.20039603e-03 2.84324345e-03 -2.63125358e+01] [ 7.19462564e-03 9.99972049e-01 2.03454911e-03 1.47269574e+01] [-2.85781354e-03 -2.01403207e-03 9.99993888e-01 1.68658212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14925976399999 meters Centerline goodness [0,1] 0.536500644293798 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99967973e-01 -7.41303090e-03 3.01674731e-03 -2.63132183e+01] [ 7.40647564e-03 9.99970199e-01 2.17835771e-03 1.47264320e+01] [-3.03280564e-03 -2.15594448e-03 9.99993077e-01 1.68657398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.179259764 meters Centerline goodness [0,1] 0.5414763972545175 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99970775e-01 -7.17693522e-03 2.63465084e-03 -2.63119824e+01] [ 7.17111732e-03 9.99971843e-01 2.21106888e-03 1.47276812e+01] [-2.65044535e-03 -2.19211087e-03 9.99994085e-01 1.68655325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.209259764 meters Centerline goodness [0,1] 0.5398140606128696 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99971004e-01 -7.15262470e-03 2.61357845e-03 -2.63119239e+01] [ 7.14707024e-03 9.99972194e-01 2.12842574e-03 1.47282818e+01] [-2.62872961e-03 -2.10968460e-03 9.99994319e-01 1.68656265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.239259764 meters Centerline goodness [0,1] 0.5413367031732659 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99971619e-01 -7.06168063e-03 2.62559993e-03 -2.63118274e+01] [ 7.05586214e-03 9.99972646e-01 2.21875832e-03 1.47280874e+01] [-2.64119627e-03 -2.20016948e-03 9.99994092e-01 1.68654643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.269259764 meters Centerline goodness [0,1] 0.5390651272278892 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.86 [[ 9.99973755e-01 -6.69998142e-03 2.75664553e-03 -2.63115893e+01] [ 6.69260556e-03 9.99974023e-01 2.67624679e-03 1.47262638e+01] [-2.77450472e-03 -2.65772741e-03 9.99992619e-01 1.68646393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.299259764 meters Centerline goodness [0,1] 0.5338091239854463 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.86 [[ 9.99974430e-01 -6.55760405e-03 2.85266007e-03 -2.63116108e+01] [ 6.54968786e-03 9.99974699e-01 2.77556902e-03 1.47258436e+01] [-2.87078897e-03 -2.75681401e-03 9.99992079e-01 1.68643907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.329259764 meters Centerline goodness [0,1] 0.5360345214077561 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99973863e-01 -6.68043665e-03 2.76511241e-03 -2.63120080e+01] [ 6.67388231e-03 9.99974914e-01 2.37284744e-03 1.47267801e+01] [-2.78089470e-03 -2.35433138e-03 9.99993362e-01 1.68654659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.359259764 meters Centerline goodness [0,1] 0.5196360286934435 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99971873e-01 -6.85485008e-03 3.04357443e-03 -2.63133228e+01] [ 6.84753809e-03 9.99973660e-01 2.40639024e-03 1.47258808e+01] [-3.05998970e-03 -2.38548156e-03 9.99992473e-01 1.68660964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.389259764 meters Centerline goodness [0,1] 0.5198066823108727 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.72, Z:16.87 [[ 9.99971548e-01 -6.80134326e-03 3.26273722e-03 -2.63139331e+01] [ 6.79266992e-03 9.99973386e-01 2.66205853e-03 1.47246449e+01] [-3.28075596e-03 -2.63982009e-03 9.99991134e-01 1.68660489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.419259764 meters Centerline goodness [0,1] 0.5166531728970658 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.72, Z:16.87 [[ 9.99968746e-01 -7.03385599e-03 3.60992634e-03 -2.63153595e+01] [ 7.02431964e-03 9.99971824e-01 2.64761511e-03 1.47237526e+01] [-3.62844757e-03 -2.62217508e-03 9.99989979e-01 1.68666012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.449259764 meters Centerline goodness [0,1] 0.517936282297851 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.72, Z:16.87 [[ 9.99967999e-01 -7.10056140e-03 3.68554258e-03 -2.63157456e+01] [ 7.09134981e-03 9.99971715e-01 2.50646307e-03 1.47240947e+01] [-3.70323563e-03 -2.48024739e-03 9.99990067e-01 1.68669028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.479259764 meters Centerline goodness [0,1] 0.5225479773960723 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.73, Z:16.87 [[ 9.99968873e-01 -7.01790156e-03 3.60597096e-03 -2.63155891e+01] [ 7.00984948e-03 9.99972920e-01 2.24079354e-03 1.47252180e+01] [-3.62159898e-03 -2.21544647e-03 9.99990988e-01 1.68672832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.509259764 meters Centerline goodness [0,1] 0.5244233948939271 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.73, Z:16.87 [[ 9.99969543e-01 -6.99739779e-03 3.45673867e-03 -2.63154050e+01] [ 6.99068291e-03 9.99973662e-01 1.95082628e-03 1.47263583e+01] [-3.47029833e-03 -1.92660190e-03 9.99992123e-01 1.68677794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.539259764 meters Centerline goodness [0,1] 0.5238707873024752 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.73, Z:16.87 [[ 9.99969891e-01 -6.96848050e-03 3.41434976e-03 -2.63153787e+01] [ 6.96234898e-03 9.99974135e-01 1.80441678e-03 1.47271334e+01] [-3.42683549e-03 -1.78059055e-03 9.99992543e-01 1.68680008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.569259764 meters Centerline goodness [0,1] 0.5274555947778339 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.73, Z:16.87 [[ 9.99970764e-01 -6.90074773e-03 3.29413595e-03 -2.63152352e+01] [ 6.89574051e-03 9.99975055e-01 1.52898514e-03 1.47282089e+01] [-3.30460492e-03 -1.50622493e-03 9.99993405e-01 1.68685140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.599259764 meters Centerline goodness [0,1] 0.5265458213095005 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99972149e-01 -6.73867024e-03 3.20810861e-03 -2.63147723e+01] [ 6.73345343e-03 9.99975995e-01 1.63416513e-03 1.47283974e+01] [-3.21904370e-03 -1.61251796e-03 9.99993519e-01 1.68681982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.629259764 meters Centerline goodness [0,1] 0.5271530597955468 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99973351e-01 -6.57184128e-03 3.17946116e-03 -2.63143155e+01] [ 6.56642566e-03 9.99976977e-01 1.71076702e-03 1.47288230e+01] [-3.19063085e-03 -1.68984374e-03 9.99993482e-01 1.68677125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.659259764 meters Centerline goodness [0,1] 0.5216564605877583 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99973792e-01 -6.48334902e-03 3.22209119e-03 -2.63142721e+01] [ 6.47766810e-03 9.99977452e-01 1.77043564e-03 1.47287976e+01] [-3.23349689e-03 -1.74951760e-03 9.99993242e-01 1.68675235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.689259764 meters Centerline goodness [0,1] 0.5269561804367939 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99974492e-01 -6.31357743e-03 3.33981209e-03 -2.63142393e+01] [ 6.30691893e-03 9.99978110e-01 2.00046491e-03 1.47284852e+01] [-3.35236907e-03 -1.97934996e-03 9.99992422e-01 1.68670035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.719259764 meters Centerline goodness [0,1] 0.4988780433075284 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99974139e-01 -6.28492762e-03 3.49584282e-03 -2.63144230e+01] [ 6.27768508e-03 9.99978134e-01 2.07888548e-03 1.47284954e+01] [-3.50883203e-03 -2.05688591e-03 9.99991729e-01 1.68666682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.749259764 meters Centerline goodness [0,1] 0.5221052631578947 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99973435e-01 -6.31668862e-03 3.63706362e-03 -2.63148469e+01] [ 6.30926599e-03 9.99977998e-01 2.04869945e-03 1.47282325e+01] [-3.64992459e-03 -2.02569782e-03 9.99991287e-01 1.68667630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.779259764 meters Centerline goodness [0,1] 0.5017103123422868 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.73, Z:16.87 [[ 9.99973501e-01 -6.26253878e-03 3.71195461e-03 -2.63150195e+01] [ 6.25421446e-03 9.99977911e-01 2.24995225e-03 1.47277650e+01] [-3.72596303e-03 -2.22667727e-03 9.99990580e-01 1.68665607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.809259764 meters Centerline goodness [0,1] 0.5109280430396772 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99974396e-01 -6.18692487e-03 3.59584332e-03 -2.63147760e+01] [ 6.17957482e-03 9.99978802e-01 2.05156909e-03 1.47289470e+01] [-3.60846000e-03 -2.02929578e-03 9.99991430e-01 1.68668776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.839259764 meters Centerline goodness [0,1] 0.5151702091862487 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99976184e-01 -6.01007468e-03 3.39270445e-03 -2.63141380e+01] [ 6.00382709e-03 9.99980268e-01 1.84867026e-03 1.47300035e+01] [-3.40374815e-03 -1.82825702e-03 9.99992536e-01 1.68670489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.869259764 meters Centerline goodness [0,1] 0.5198362632124933 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99978812e-01 -5.68211291e-03 3.17623092e-03 -2.63132252e+01] [ 5.67630571e-03 9.99982207e-01 1.83436516e-03 1.47305667e+01] [-3.18659748e-03 -1.81629704e-03 9.99993273e-01 1.68668727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89925976399999 meters Centerline goodness [0,1] 0.5270050019670657 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99983606e-01 -4.90857237e-03 2.94843904e-03 -2.63113999e+01] [ 4.90219554e-03 9.99985638e-01 2.16613051e-03 1.47305042e+01] [-2.95902930e-03 -2.15164118e-03 9.99993307e-01 1.68656469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.929259764 meters Centerline goodness [0,1] 0.5271237336177139 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99985006e-01 -4.63697028e-03 2.91305856e-03 -2.63109717e+01] [ 4.63009880e-03 9.99986493e-01 2.36118762e-03 1.47300161e+01] [-2.92396797e-03 -2.34766447e-03 9.99992969e-01 1.68652700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.959259764 meters Centerline goodness [0,1] 0.5292618727598566 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99986591e-01 -4.31291261e-03 2.86657498e-03 -2.63107338e+01] [ 4.30559938e-03 9.99987473e-01 2.55250089e-03 1.47293188e+01] [-2.87754779e-03 -2.54012434e-03 9.99992634e-01 1.68652990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.989259764 meters Centerline goodness [0,1] 0.5279076931694066 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99986686e-01 -4.24588175e-03 2.93268975e-03 -2.63110669e+01] [ 4.23839067e-03 9.99987752e-01 2.55584683e-03 1.47290826e+01] [-2.94350565e-03 -2.54338292e-03 9.99992433e-01 1.68656418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.019259764 meters Centerline goodness [0,1] 0.5275328238291201 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99986939e-01 -4.14854481e-03 2.98528433e-03 -2.63114721e+01] [ 4.14066947e-03 9.99987944e-01 2.63941573e-03 1.47282851e+01] [-2.99619807e-03 -2.62702018e-03 9.99992061e-01 1.68660684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.049259764 meters Centerline goodness [0,1] 0.5254749447413335 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99987562e-01 -3.94391534e-03 3.05317031e-03 -2.63114018e+01] [ 3.93477045e-03 9.99987772e-01 2.99544591e-03 1.47273997e+01] [-3.06494676e-03 -2.98339513e-03 9.99990853e-01 1.68655796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.079259764 meters Centerline goodness [0,1] 0.5218740390797529 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.73, Z:16.87 [[ 9.99987479e-01 -3.77620315e-03 3.28354382e-03 -2.63119197e+01] [ 3.76477895e-03 9.99986863e-01 3.47847645e-03 1.47251927e+01] [-3.29663612e-03 -3.46607108e-03 9.99988559e-01 1.68652615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.109259764 meters Centerline goodness [0,1] 0.5208588957055215 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.72, Z:16.87 [[ 9.99986884e-01 -3.71843161e-03 3.52221990e-03 -2.63125460e+01] [ 3.70498058e-03 9.99985849e-01 3.81776262e-03 1.47235413e+01] [-3.53636615e-03 -3.80466279e-03 9.99986509e-01 1.68650971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.139259764 meters Centerline goodness [0,1] 0.5163730053191489 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.72, Z:16.87 [[ 9.99963162e-01 -7.90025272e-03 3.35555513e-03 -2.63130611e+01] [ 7.90194298e-03 9.99968659e-01 -4.90760099e-04 1.47228458e+01] [-3.35157284e-03 5.17257426e-04 9.99994250e-01 1.68667046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.169259764 meters Centerline goodness [0,1] 0.5153213339222615 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.72, Z:16.87 [[ 9.99959481e-01 -8.11842165e-03 3.88943773e-03 -2.63148874e+01] [ 8.11850373e-03 9.99967044e-01 -5.31702121e-06 1.47200527e+01] [-3.88926639e-03 3.68932205e-05 9.99992436e-01 1.68667568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.199259764 meters Centerline goodness [0,1] 0.5104275573653222 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.71, Z:16.87 [[ 9.99947965e-01 -9.34042705e-03 4.10172641e-03 -2.63180507e+01] [ 9.33927088e-03 9.99956343e-01 3.00937493e-04 1.47148441e+01] [-4.10435823e-03 -2.62614700e-04 9.99991543e-01 1.68685448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.229259764 meters Centerline goodness [0,1] 0.5085872880657305 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.71, Z:16.87 [[ 9.99942867e-01 -9.62728087e-03 4.64516825e-03 -2.63199870e+01] [ 9.62368848e-03 9.99953375e-01 7.95092308e-04 1.47119706e+01] [-4.65260625e-03 -7.50343230e-04 9.99988895e-01 1.68686346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.259259764 meters Centerline goodness [0,1] 0.5089915712599182 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.71, Z:16.87 [[ 9.99937408e-01 -9.88644949e-03 5.23811567e-03 -2.63219192e+01] [ 9.87948957e-03 9.99950281e-01 1.35292093e-03 1.47089636e+01] [-5.25123082e-03 -1.30108633e-03 9.99985366e-01 1.68685792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.289259764 meters Centerline goodness [0,1] 0.5030631221966961 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.70, Z:16.87 [[ 9.99916473e-01 -1.18341474e-02 5.19621279e-03 -2.63245535e+01] [ 1.18275742e-02 9.99929215e-01 1.29390892e-03 1.47035383e+01] [-5.21115728e-03 -1.23234226e-03 9.99985662e-01 1.68698571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.319259764 meters Centerline goodness [0,1] 0.4968359609404833 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.70, Z:16.87 [[ 9.99908083e-01 -1.22505560e-02 5.80941553e-03 -2.63267002e+01] [ 1.22403677e-02 9.99923489e-01 1.78609396e-03 1.46999814e+01] [-5.83085169e-03 -1.71482040e-03 9.99981530e-01 1.68699440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.349259764 meters Centerline goodness [0,1] 0.4968359609404833 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.70, Z:16.87 [[ 9.99908083e-01 -1.22505560e-02 5.80941553e-03 -2.63267002e+01] [ 1.22403677e-02 9.99923489e-01 1.78609396e-03 1.46999814e+01] [-5.83085169e-03 -1.71482040e-03 9.99981530e-01 1.68699440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.379259764 meters Centerline goodness [0,1] 0.48669830508474576 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.70, Z:16.87 [[ 9.99832534e-01 -1.71425845e-02 6.40595610e-03 -2.63294862e+01] [ 1.71562752e-02 9.99850639e-01 -2.08836322e-03 1.46967864e+01] [-6.36919936e-03 2.19791583e-03 9.99977301e-01 1.68709817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.409259764 meters Centerline goodness [0,1] 0.48149748798011993 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.69, Z:16.87 [[ 9.99818209e-01 -1.77216628e-02 7.03501486e-03 -2.63318461e+01] [ 1.77332711e-02 9.99841487e-01 -1.59112752e-03 1.46933753e+01] [-7.00570230e-03 1.71559210e-03 9.99973988e-01 1.68710919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.439259764 meters Centerline goodness [0,1] 0.4740509564421964 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.69, Z:16.87 [[ 9.99707226e-01 -2.29834355e-02 7.56462425e-03 -2.63350147e+01] [ 2.30275486e-02 9.99718024e-01 -5.79698331e-03 1.46911773e+01] [-7.42925662e-03 5.96948085e-03 9.99954585e-01 1.68728390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.469259764 meters Centerline goodness [0,1] 0.47054719158414515 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.69, Z:16.87 [[ 9.99681618e-01 -2.38238249e-02 8.31187450e-03 -2.63379526e+01] [ 2.38700108e-02 9.99699928e-01 -5.50236777e-03 1.46880810e+01] [-8.17829290e-03 5.69902045e-03 9.99950317e-01 1.68732039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.499259764 meters Centerline goodness [0,1] 0.46944355098102286 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.69, Z:16.87 [[ 9.99667429e-01 -2.42452294e-02 8.78640965e-03 -2.63399253e+01] [ 2.42905057e-02 9.99692018e-01 -5.08341850e-03 1.46854516e+01] [-8.66045495e-03 5.29515424e-03 9.99948478e-01 1.68734863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.529259764 meters Centerline goodness [0,1] 0.47458172458172454 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.68, Z:16.87 [[ 9.99747495e-01 -2.03995502e-02 9.42357890e-03 -2.63417402e+01] [ 2.04033033e-02 9.99791785e-01 -3.02292305e-04 1.46825915e+01] [-9.41545014e-03 4.94488114e-04 9.99955551e-01 1.68725730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.559259764 meters Centerline goodness [0,1] 0.475554124402941 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.68, Z:16.87 [[ 9.99737979e-01 -2.07670139e-02 9.62829028e-03 -2.63430764e+01] [ 2.07746564e-02 9.99783942e-01 -6.94412934e-04 1.46832104e+01] [-9.61178913e-03 8.94255406e-04 9.99953406e-01 1.68736102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.589259764 meters Centerline goodness [0,1] 0.4765733890854509 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.68, Z:16.87 [[ 9.99735946e-01 -2.07699551e-02 9.83090226e-03 -2.63435545e+01] [ 2.07760800e-02 9.99784018e-01 -5.21297691e-04 1.46823906e+01] [-9.81795163e-03 7.25407653e-04 9.99951540e-01 1.68733699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.619259764 meters Centerline goodness [0,1] 0.4794634250830031 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.68, Z:16.87 [[ 9.99736951e-01 -2.06963948e-02 9.88369377e-03 -2.63435993e+01] [ 2.07022808e-02 9.99785563e-01 -4.93578922e-04 1.46822225e+01] [-9.87135903e-03 6.98064090e-04 9.99951033e-01 1.68732222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64925976399999 meters Centerline goodness [0,1] 0.481027562215681 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.68, Z:16.87 [[ 9.99732179e-01 -2.07980119e-02 1.01495184e-02 -2.63444044e+01] [ 2.08041073e-02 9.99783448e-01 -4.95334153e-04 1.46818233e+01] [-1.01370185e-02 7.06353161e-04 9.99948370e-01 1.68732449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.679259764 meters Centerline goodness [0,1] 0.48038585209003215 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.68, Z:16.87 [[ 9.99723554e-01 -2.10757254e-02 1.04225229e-02 -2.63455201e+01] [ 2.10840787e-02 9.99777466e-01 -6.92233604e-04 1.46818048e+01] [-1.04056142e-02 9.11791532e-04 9.99945444e-01 1.68737269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.709259764 meters Centerline goodness [0,1] 0.48563541834164126 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.68, Z:16.87 [[ 9.99782818e-01 -1.78547858e-02 1.07482280e-02 -2.63473683e+01] [ 1.78149632e-02 9.99834120e-01 3.78945999e-03 1.46780651e+01] [-1.08141050e-02 -3.59715770e-03 9.99935056e-01 1.68733931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.739259764 meters Centerline goodness [0,1] 0.4746435080947786 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.68, Z:16.87 [[ 9.99778493e-01 -1.80379146e-02 1.08443100e-02 -2.63478459e+01] [ 1.79997621e-02 9.99831490e-01 3.60557884e-03 1.46785687e+01] [-1.09075197e-02 -3.40958518e-03 9.99934698e-01 1.68736157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.769259764 meters Centerline goodness [0,1] 0.4771775319514553 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.68, Z:16.87 [[ 9.99830526e-01 -1.43754731e-02 1.15006729e-02 -2.63500363e+01] [ 1.42887254e-02 9.99869105e-01 7.58978232e-03 1.46773663e+01] [-1.16082742e-02 -7.42416609e-03 9.99905060e-01 1.68738116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.799259764 meters Centerline goodness [0,1] 0.47980353740035964 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.68, Z:16.88 [[ 9.99899622e-01 -1.29032378e-02 5.85258062e-03 -2.63688611e+01] [ 1.29134628e-02 9.99915151e-01 -1.71268390e-03 1.46842837e+01] [-5.82998487e-03 1.78808906e-03 9.99981407e-01 1.68829608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.829259764 meters Centerline goodness [0,1] 0.49217780654906407 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.68, Z:16.88 [[ 9.99940922e-01 -8.81531660e-03 6.35941029e-03 -2.63698919e+01] [ 8.79721209e-03 9.99957187e-01 2.86926364e-03 1.46826557e+01] [-6.38443150e-03 -2.81314905e-03 9.99975662e-01 1.68819383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.859259764 meters Centerline goodness [0,1] 0.44539377931108837 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.68, Z:16.88 [[ 9.99941824e-01 -8.72864295e-03 6.33719435e-03 -2.63696722e+01] [ 8.71065174e-03 9.99957969e-01 2.86105898e-03 1.46831222e+01] [-6.36190115e-03 -2.80569144e-03 9.99975827e-01 1.68817618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.889259764 meters Centerline goodness [0,1] 0.46818206331230117 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.68, Z:16.88 [[ 9.99942472e-01 -8.60545048e-03 6.40301660e-03 -2.63694703e+01] [ 8.58781844e-03 9.99959270e-01 2.77612532e-03 1.46837277e+01] [-6.42664561e-03 -2.72097768e-03 9.99975647e-01 1.68814402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.919259764 meters Centerline goodness [0,1] 0.45068980383703383 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.68, Z:16.88 [[ 9.99943224e-01 -8.52675965e-03 6.39086569e-03 -2.63691794e+01] [ 8.50969921e-03 9.99960168e-01 2.69196017e-03 1.46845344e+01] [-6.41356482e-03 -2.63742299e-03 9.99975955e-01 1.68811810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.949259764 meters Centerline goodness [0,1] 0.4670699106202576 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.69, Z:16.88 [[ 9.99947543e-01 -8.33274432e-03 5.95625483e-03 -2.63678798e+01] [ 8.31921154e-03 9.99962765e-01 2.29320508e-03 1.46871733e+01] [-5.97514174e-03 -2.24353344e-03 9.99979632e-01 1.68813866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.979259764 meters Centerline goodness [0,1] 0.46639087172831495 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.69, Z:16.88 [[ 9.99949099e-01 -8.31623422e-03 5.71309451e-03 -2.63672714e+01] [ 8.30493152e-03 9.99963515e-01 1.99926754e-03 1.46889093e+01] [-5.72951245e-03 -1.95171892e-03 9.99981682e-01 1.68815853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.009259764 meters Centerline goodness [0,1] 0.4721717678314854 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.69, Z:16.88 [[ 9.99950057e-01 -8.28061544e-03 5.59604680e-03 -2.63667074e+01] [ 8.27061925e-03 9.99964165e-01 1.80708277e-03 1.46905906e+01] [-5.61081002e-03 -1.76070974e-03 9.99982709e-01 1.68813392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.039259764 meters Centerline goodness [0,1] 0.47635199305348275 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.69, Z:16.88 [[ 9.99950346e-01 -8.22904337e-03 5.62038968e-03 -2.63665496e+01] [ 8.21881953e-03 9.99964533e-01 1.83974268e-03 1.46908969e+01] [-5.63532966e-03 -1.79345836e-03 9.99982513e-01 1.68810341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.069259764 meters Centerline goodness [0,1] 0.47983487683658776 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.69, Z:16.88 [[ 9.99953922e-01 -7.99637162e-03 5.31149096e-03 -2.63652968e+01] [ 7.98756361e-03 9.99966692e-01 1.67744223e-03 1.46928132e+01] [-5.32472750e-03 -1.63493907e-03 9.99984487e-01 1.68806699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.099259764 meters Centerline goodness [0,1] 0.49968699817642415 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.69, Z:16.88 [[ 9.99957488e-01 -7.77882708e-03 4.95098093e-03 -2.63641690e+01] [ 7.77181530e-03 9.99968771e-01 1.43390674e-03 1.46947495e+01] [-4.96198043e-03 -1.39536767e-03 9.99986716e-01 1.68807419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.129259764 meters Centerline goodness [0,1] 0.4922258592471358 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.88 [[ 9.99964614e-01 -7.21869349e-03 4.31979821e-03 -2.63618608e+01] [ 7.21357075e-03 9.99973262e-01 1.20028107e-03 1.46976078e+01] [-4.32834717e-03 -1.16907742e-03 9.99989949e-01 1.68805120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.159259764 meters Centerline goodness [0,1] 0.49530593308225535 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.88 [[ 9.99966350e-01 -7.04097048e-03 4.21002668e-03 -2.63612935e+01] [ 7.03574815e-03 9.99974463e-01 1.25397878e-03 1.46981538e+01] [-4.21874839e-03 -1.22431590e-03 9.99990352e-01 1.68801780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.189259764 meters Centerline goodness [0,1] 0.4864614293894691 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.88 [[ 9.99966991e-01 -6.89720633e-03 4.29481848e-03 -2.63610988e+01] [ 6.89103634e-03 9.99975206e-01 1.44975830e-03 1.46979263e+01] [-4.30471127e-03 -1.42011470e-03 9.99989726e-01 1.68795599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.219259764 meters Centerline goodness [0,1] 0.4885727548262021 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.88 [[ 9.99966532e-01 -6.90646155e-03 4.38582008e-03 -2.63611790e+01] [ 6.90016239e-03 9.99975143e-01 1.44976832e-03 1.46980104e+01] [-4.39572383e-03 -1.41945693e-03 9.99989331e-01 1.68793258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.249259764 meters Centerline goodness [0,1] 0.505414273995078 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.88 [[ 9.99967964e-01 -6.81350551e-03 4.20079787e-03 -2.63606270e+01] [ 6.80844999e-03 9.99976082e-01 1.21659501e-03 1.46993450e+01] [-4.20898667e-03 -1.18795511e-03 9.99990437e-01 1.68794863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.279259764 meters Centerline goodness [0,1] 0.5002880737468792 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.88 [[ 9.99971578e-01 -6.54515629e-03 3.74232320e-03 -2.63592301e+01] [ 6.54202692e-03 9.99978241e-01 8.47841685e-04 1.47023666e+01] [-3.74779103e-03 -8.23335208e-04 9.99992638e-01 1.68797132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.309259764 meters Centerline goodness [0,1] 0.49806610890138525 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.88 [[ 9.99972114e-01 -6.50823991e-03 3.66264730e-03 -2.63589526e+01] [ 6.50573740e-03 9.99978596e-01 6.94751716e-04 1.47033728e+01] [-3.66709051e-03 -6.70904120e-04 9.99993051e-01 1.68797549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.339259764 meters Centerline goodness [0,1] 0.5158233064117357 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.70, Z:16.88 [[ 9.99975266e-01 -6.17975064e-03 3.35829190e-03 -2.63574591e+01] [ 6.17753414e-03 9.99980694e-01 6.69978931e-04 1.47047967e+01] [-3.36236737e-03 -6.49216397e-04 9.99994136e-01 1.68790504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.369259764 meters Centerline goodness [0,1] 0.5160162914854973 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.71, Z:16.88 [[ 9.99978428e-01 -5.87682838e-03 2.93377547e-03 -2.63559702e+01] [ 5.87581385e-03 9.99982674e-01 3.54311362e-04 1.47068651e+01] [-2.93580686e-03 -3.37065400e-04 9.99995634e-01 1.68790457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39925976399999 meters Centerline goodness [0,1] 0.5225299939182839 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.88 [[ 9.99982252e-01 -5.43279254e-03 2.44560751e-03 -2.63539651e+01] [ 5.43313070e-03 9.99985232e-01 -1.31647178e-04 1.47108566e+01] [-2.44485618e-03 1.44932147e-04 9.99997001e-01 1.68788668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.429259764 meters Centerline goodness [0,1] 0.5355008301051467 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.88 [[ 9.99983281e-01 -5.30333700e-03 2.30488338e-03 -2.63532565e+01] [ 5.30385204e-03 9.99985911e-01 -2.17401570e-04 1.47122226e+01] [-2.30369795e-03 2.29622696e-04 9.99997320e-01 1.68784977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.459259764 meters Centerline goodness [0,1] 0.5356269453090262 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.88 [[ 9.99987206e-01 -4.68490211e-03 1.90773175e-03 -2.63510228e+01] [ 4.68537546e-03 9.99988994e-01 -2.43725352e-04 1.47144696e+01] [-1.90656892e-03 2.52660674e-04 9.99998151e-01 1.68774420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.489259764 meters Centerline goodness [0,1] 0.5134752167148255 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.88 [[ 9.99987677e-01 -4.62259743e-03 1.81057018e-03 -2.63506446e+01] [ 4.62349672e-03 9.99989190e-01 -4.92816861e-04 1.47161216e+01] [-1.80827252e-03 5.01181953e-04 9.99998239e-01 1.68774917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.519259764 meters Centerline goodness [0,1] 0.5397298426403008 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.88 [[ 9.99988121e-01 -4.60137272e-03 1.60796243e-03 -2.63501243e+01] [ 4.60282408e-03 9.99989002e-01 -9.00078212e-04 1.47184172e+01] [-1.60380315e-03 9.07468688e-04 9.99998302e-01 1.68778665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.549259764 meters Centerline goodness [0,1] 0.5396732299958107 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.88 [[ 9.99988904e-01 -4.50962973e-03 1.36225213e-03 -2.63493960e+01] [ 4.51107308e-03 9.99989265e-01 -1.05832444e-03 1.47199563e+01] [-1.35746485e-03 1.06445791e-03 9.99998512e-01 1.68778958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.579259764 meters Centerline goodness [0,1] 0.545602195401977 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.88 [[ 9.99991254e-01 -4.09885566e-03 8.30910988e-04 -2.63474205e+01] [ 4.09993606e-03 9.99990747e-01 -1.30275066e-03 1.47226938e+01] [-8.25563512e-04 1.30614594e-03 9.99998806e-01 1.68776586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.609259764 meters Centerline goodness [0,1] 0.5458800448430493 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.72, Z:16.88 [[ 9.99992126e-01 -3.91928069e-03 6.22406379e-04 -2.63465377e+01] [ 3.92017728e-03 9.99991271e-01 -1.44588696e-03 1.47241263e+01] [-6.16734109e-04 1.44831551e-03 9.99998761e-01 1.68774353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.639259764 meters Centerline goodness [0,1] 0.5480788149647244 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99996310e-01 -2.70484633e-03 2.52617482e-04 -2.63438786e+01] [ 2.70526577e-03 9.99994938e-01 -1.67506821e-03 1.47277563e+01] [-2.48085401e-04 1.67574543e-03 9.99998565e-01 1.68768803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.669259764 meters Centerline goodness [0,1] 0.5472911963882618 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99997491e-01 -2.23061388e-03 -2.03375660e-04 -2.63420168e+01] [ 2.23023573e-03 9.99995818e-01 -1.84099815e-03 1.47300959e+01] [ 2.07481366e-04 1.84053995e-03 9.99998285e-01 1.68765292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.699259764 meters Centerline goodness [0,1] 0.547970427442427 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.73, Z:16.88 [[ 9.99998222e-01 -1.74070134e-03 -7.25165445e-04 -2.63399503e+01] [ 1.73923791e-03 9.99996460e-01 -2.01382205e-03 1.47325126e+01] [ 7.28668340e-04 2.01255723e-03 9.99997709e-01 1.68761340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.729259764 meters Centerline goodness [0,1] 0.5477301171919444 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.74, Z:16.87 [[ 9.99999063e-01 -5.27510214e-04 -1.26327831e-03 -2.63365612e+01] [ 5.24947439e-04 9.99997806e-01 -2.02814265e-03 1.47360530e+01] [ 1.26434541e-03 2.02747760e-03 9.99997145e-01 1.68748311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.759259764 meters Centerline goodness [0,1] 0.5481876211102246 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.87 [[ 9.99998606e-01 -1.06274185e-04 -1.66657397e-03 -2.63348683e+01] [ 1.02875190e-04 9.99997915e-01 -2.03946402e-03 1.47377054e+01] [ 1.66678724e-03 2.03928973e-03 9.99996532e-01 1.68743071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.789259764 meters Centerline goodness [0,1] 0.5504289690396258 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.87 [[ 9.99997899e-01 5.50217196e-04 -1.97477376e-03 -2.63328228e+01] [-5.54875763e-04 9.99997063e-01 -2.35926635e-03 1.47413115e+01] [ 1.97346985e-03 2.36035715e-03 9.99995267e-01 1.68736487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.819259764 meters Centerline goodness [0,1] 0.5463132585298832 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.87 [[ 9.99997008e-01 8.36448449e-04 -2.29855615e-03 -2.63316872e+01] [-8.42217643e-04 9.99996495e-01 -2.51010040e-03 1.47430000e+01] [ 2.29644852e-03 2.51202877e-03 9.99994208e-01 1.68735959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.849259764 meters Centerline goodness [0,1] 0.5457126469744766 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.87 [[ 9.99996443e-01 9.44959276e-04 -2.49416954e-03 -2.63310185e+01] [-9.52039526e-04 9.99995517e-01 -2.83906122e-03 1.47449391e+01] [ 2.49147556e-03 2.84142567e-03 9.99992859e-01 1.68737499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.879259764 meters Centerline goodness [0,1] 0.5518777116915208 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.87 [[ 9.99994906e-01 1.14926342e-03 -2.97791045e-03 -2.63298357e+01] [-1.15961708e-03 9.99993281e-01 -3.47742977e-03 1.47484086e+01] [ 2.97389396e-03 3.48086529e-03 9.99989520e-01 1.68746369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.909259764 meters Centerline goodness [0,1] 0.5466926627863635 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.87 [[ 9.99994807e-01 1.19417694e-03 -2.99320693e-03 -2.63295826e+01] [-1.20468755e-03 9.99993107e-01 -3.51214696e-03 1.47492344e+01] [ 2.98899218e-03 3.51573461e-03 9.99989353e-01 1.68743726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.939259764 meters Centerline goodness [0,1] 0.5564622722832021 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.87 [[ 9.99994966e-01 1.31838585e-03 -2.88598650e-03 -2.63295034e+01] [-1.32798233e-03 9.99993588e-01 -3.32580928e-03 1.47487472e+01] [ 2.88158329e-03 3.32962508e-03 9.99990305e-01 1.68738520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.969259764 meters Centerline goodness [0,1] 0.554944582867944 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.87 [[ 9.99991022e-01 -2.17154305e-03 -3.63867824e-03 -2.63270018e+01] [ 2.14429394e-03 9.99969755e-01 -7.47598009e-03 1.47513159e+01] [ 3.65480260e-03 7.46811058e-03 9.99965434e-01 1.68738339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.999259764 meters Centerline goodness [0,1] 0.5553518221407289 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.87 [[ 9.99992537e-01 -2.33236174e-03 -3.07984297e-03 -2.63282692e+01] [ 2.31137857e-03 9.99974214e-01 -6.79913969e-03 1.47485534e+01] [ 3.09562161e-03 6.79197026e-03 9.99972143e-01 1.68727753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.029259764 meters Centerline goodness [0,1] 0.5535418688281295 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.87 [[ 9.99993423e-01 -2.42093787e-03 -2.70060170e-03 -2.63293451e+01] [ 2.40360895e-03 9.99976621e-01 -6.40158353e-03 1.47470303e+01] [ 2.71603640e-03 6.39505024e-03 9.99975863e-01 1.68724332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.059259764 meters Centerline goodness [0,1] 0.5500042775258791 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.87 [[ 9.99992566e-01 -3.20728319e-03 -2.14030305e-03 -2.63321921e+01] [ 3.19396325e-03 9.99975691e-01 -6.19805481e-03 1.47445839e+01] [ 2.16012994e-03 6.19117268e-03 9.99978501e-01 1.68732143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.089259764 meters Centerline goodness [0,1] 0.5489593995223474 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.87 [[ 9.99993012e-01 -3.30143441e-03 -1.75401242e-03 -2.63331302e+01] [ 3.29128037e-03 9.99977991e-01 -5.76072106e-03 1.47430170e+01] [ 1.77299246e-03 5.75490786e-03 9.99981869e-01 1.68726464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.119259764 meters Centerline goodness [0,1] 0.5498123507335381 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.74, Z:16.87 [[ 9.99993113e-01 -3.28040554e-03 -1.73585817e-03 -2.63332092e+01] [ 3.27060117e-03 9.99978853e-01 -5.62115402e-03 1.47426400e+01] [ 1.75426113e-03 5.61543801e-03 9.99982695e-01 1.68725761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14925976399999 meters Centerline goodness [0,1] 0.5524907486478793 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.87 [[ 9.99994847e-01 -2.13719881e-03 -2.39532284e-03 -2.63299320e+01] [ 2.12425860e-03 9.99983208e-01 -5.39186708e-03 1.47455595e+01] [ 2.40680611e-03 5.38675101e-03 9.99982595e-01 1.68714991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.179259764 meters Centerline goodness [0,1] 0.5546716847717618 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.75, Z:16.87 [[ 9.99994866e-01 -1.68161394e-03 -2.72764425e-03 -2.63282872e+01] [ 1.66691209e-03 9.99984121e-01 -5.38329209e-03 1.47469911e+01] [ 2.73665356e-03 5.37871771e-03 9.99981790e-01 1.68708421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.209259764 meters Centerline goodness [0,1] 0.5524890379159144 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.75, Z:16.87 [[ 9.99995351e-01 -1.81215934e-04 -3.04370735e-03 -2.63248219e+01] [ 1.65878106e-04 9.99987292e-01 -5.03868941e-03 1.47492139e+01] [ 3.04458176e-03 5.03816111e-03 9.99982674e-01 1.68687313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.239259764 meters Centerline goodness [0,1] 0.5494786430356475 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.75, Z:16.87 [[ 9.99993963e-01 4.64486489e-04 -3.44362619e-03 -2.63226358e+01] [-4.81165020e-04 9.99988152e-01 -4.84405924e-03 1.47505046e+01] [ 3.44133539e-03 4.84568695e-03 9.99982338e-01 1.68675588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.269259764 meters Centerline goodness [0,1] 0.5494786430356475 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.75, Z:16.87 [[ 9.99993963e-01 4.64486489e-04 -3.44362619e-03 -2.63226358e+01] [-4.81165020e-04 9.99988152e-01 -4.84405924e-03 1.47505046e+01] [ 3.44133539e-03 4.84568695e-03 9.99982338e-01 1.68675588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.299259764 meters Centerline goodness [0,1] 0.5635137860497277 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.75, Z:16.87 [[ 9.99991392e-01 1.39946698e-03 -3.90595315e-03 -2.63199877e+01] [-1.41921031e-03 9.99986209e-01 -5.05649024e-03 1.47542846e+01] [ 3.89882289e-03 5.06199008e-03 9.99979588e-01 1.68669290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.329259764 meters Centerline goodness [0,1] 0.5539850578359824 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.87 [[ 9.99990100e-01 1.51118511e-03 -4.18528594e-03 -2.63192228e+01] [-1.53360957e-03 9.99984460e-01 -5.35991142e-03 1.47563552e+01] [ 4.17712108e-03 5.36627695e-03 9.99976877e-01 1.68671979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.359259764 meters Centerline goodness [0,1] 0.5543676134886006 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.87 [[ 9.99987446e-01 1.91360427e-03 -4.63088340e-03 -2.63177543e+01] [-1.94024908e-03 9.99981551e-01 -5.75608455e-03 1.47594380e+01] [ 4.61978310e-03 5.76499736e-03 9.99972711e-01 1.68675825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.389259764 meters Centerline goodness [0,1] 0.5537345357844837 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.87 [[ 9.99986680e-01 2.04333035e-03 -4.73976879e-03 -2.63172600e+01] [-2.07108835e-03 9.99980692e-01 -5.85890582e-03 1.47604857e+01] [ 4.72770559e-03 5.86864425e-03 9.99971604e-01 1.68674644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.419259764 meters Centerline goodness [0,1] 0.553151485348992 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.87 [[ 9.99986170e-01 2.20850091e-03 -4.77298370e-03 -2.63168934e+01] [-2.23607615e-03 9.99980797e-01 -5.77976466e-03 1.47609589e+01] [ 4.76012743e-03 5.79035748e-03 9.99971906e-01 1.68670889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.449259764 meters Centerline goodness [0,1] 0.5551276854479125 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.87 [[ 9.99986040e-01 2.27196845e-03 -4.77048968e-03 -2.63168957e+01] [-2.30012442e-03 9.99979920e-01 -5.90494401e-03 1.47616763e+01] [ 4.75697804e-03 5.91583430e-03 9.99971187e-01 1.68672314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.479259764 meters Centerline goodness [0,1] 0.5505819676877641 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.87 [[ 9.99986657e-01 2.30182852e-03 -4.62469927e-03 -2.63172256e+01] [-2.32860189e-03 9.99980514e-01 -5.79219429e-03 1.47615010e+01] [ 4.61127652e-03 5.80288609e-03 9.99972531e-01 1.68670691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.509259764 meters Centerline goodness [0,1] 0.5494766750746571 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.87 [[ 9.99987713e-01 2.41195654e-03 -4.33085453e-03 -2.63176772e+01] [-2.43535114e-03 9.99982429e-01 -5.40471979e-03 1.47602848e+01] [ 4.31774248e-03 5.41520054e-03 9.99976016e-01 1.68664023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.539259764 meters Centerline goodness [0,1] 0.5468460111317255 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.87 [[ 9.99987798e-01 2.50633891e-03 -4.25695587e-03 -2.63177991e+01] [-2.52807753e-03 9.99983754e-01 -5.10893162e-03 1.47596103e+01] [ 4.24408200e-03 5.11963120e-03 9.99977888e-01 1.68661207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.569259764 meters Centerline goodness [0,1] 0.5461848554276267 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.87 [[ 9.99988335e-01 2.45523500e-03 -4.15963443e-03 -2.63181478e+01] [-2.47594166e-03 9.99984534e-01 -4.98018589e-03 1.47594489e+01] [ 4.14734257e-03 4.99042680e-03 9.99978947e-01 1.68660811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.599259764 meters Centerline goodness [0,1] 0.5462477173251399 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.87 [[ 9.99989415e-01 2.27267270e-03 -4.00064813e-03 -2.63186224e+01] [-2.29264319e-03 9.99984900e-01 -4.99432420e-03 1.47599651e+01] [ 3.98923726e-03 5.00344339e-03 9.99979526e-01 1.68659294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.629259764 meters Centerline goodness [0,1] 0.5472820096304462 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.87 [[ 9.99989693e-01 2.16733653e-03 -3.98959136e-03 -2.63188073e+01] [-2.18751201e-03 9.99984807e-01 -5.05963083e-03 1.47604633e+01] [ 3.97856483e-03 5.06830596e-03 9.99979241e-01 1.68660258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.659259764 meters Centerline goodness [0,1] 0.5430163706025775 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.87 [[ 9.99990490e-01 2.09673412e-03 -3.82401784e-03 -2.63191934e+01] [-2.11588156e-03 9.99985211e-01 -5.00999846e-03 1.47605790e+01] [ 3.81345666e-03 5.01804198e-03 9.99980138e-01 1.68658166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.689259764 meters Centerline goodness [0,1] 0.5434612145325706 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.87 [[ 9.99992108e-01 1.84128934e-03 -3.52040556e-03 -2.63200574e+01] [-1.85917486e-03 9.99985348e-01 -5.08402315e-03 1.47609940e+01] [ 3.51099283e-03 5.09052808e-03 9.99980880e-01 1.68656169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.719259764 meters Centerline goodness [0,1] 0.5427303318635415 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.87 [[ 9.99992462e-01 1.78711179e-03 -3.44714122e-03 -2.63201757e+01] [-1.80452929e-03 9.99985589e-01 -5.05626331e-03 1.47612420e+01] [ 3.43805543e-03 5.06244567e-03 9.99981276e-01 1.68653965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.749259764 meters Centerline goodness [0,1] 0.5449782923299566 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99993118e-01 1.70781384e-03 -3.29354578e-03 -2.63201794e+01] [-1.72395712e-03 9.99986485e-01 -4.90489567e-03 1.47615864e+01] [ 3.28512462e-03 4.91053985e-03 9.99982547e-01 1.68645439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.779259764 meters Centerline goodness [0,1] 0.5432052211747643 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99993190e-01 1.71179270e-03 -3.26964010e-03 -2.63201108e+01] [-1.72738036e-03 9.99987129e-01 -4.77053460e-03 1.47617409e+01] [ 3.26143185e-03 4.77615002e-03 9.99983276e-01 1.68642011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.809259764 meters Centerline goodness [0,1] 0.5423138336478444 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99994151e-01 1.56402577e-03 -3.04154299e-03 -2.63204732e+01] [-1.57768244e-03 9.99988663e-01 -4.49284325e-03 1.47614367e+01] [ 3.03448159e-03 4.49761556e-03 9.99985282e-01 1.68633624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.839259764 meters Centerline goodness [0,1] 0.5451805483104388 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99994390e-01 1.56151232e-03 -2.96354316e-03 -2.63205468e+01] [-1.57388356e-03 9.99990039e-01 -4.17674473e-03 1.47607690e+01] [ 2.95699161e-03 4.18138557e-03 9.99986886e-01 1.68627901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.869259764 meters Centerline goodness [0,1] 0.5449195535584868 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99994546e-01 1.67825606e-03 -2.84439991e-03 -2.63204192e+01] [-1.68894020e-03 9.99991513e-01 -3.75797164e-03 1.47598224e+01] [ 2.83806893e-03 3.76275517e-03 9.99988893e-01 1.68618993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89925976399999 meters Centerline goodness [0,1] 0.5441803778184033 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99993547e-01 1.86505932e-03 -3.07026606e-03 -2.63196743e+01] [-1.87697302e-03 9.99990703e-01 -3.88205021e-03 1.47610951e+01] [ 3.06299726e-03 3.88778797e-03 9.99987752e-01 1.68619583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.929259764 meters Centerline goodness [0,1] 0.5480514951614309 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99993590e-01 1.83987856e-03 -3.07153186e-03 -2.63198351e+01] [-1.85244444e-03 9.99989907e-01 -4.09326188e-03 1.47619792e+01] [ 3.06396975e-03 4.09892548e-03 9.99986905e-01 1.68623254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.959259764 meters Centerline goodness [0,1] 0.54304 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99992609e-01 2.08532998e-03 -3.23014503e-03 -2.63193381e+01] [-2.09870170e-03 9.99989220e-01 -4.14182247e-03 1.47626489e+01] [ 3.22147314e-03 4.14857097e-03 9.99986206e-01 1.68625265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.989259764 meters Centerline goodness [0,1] 0.5395813317029143 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99992486e-01 2.17359509e-03 -3.20984494e-03 -2.63193294e+01] [-2.18673125e-03 9.99989226e-01 -4.09463402e-03 1.47626596e+01] [ 3.20091028e-03 4.10162232e-03 9.99986465e-01 1.68624897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.019259764 meters Centerline goodness [0,1] 0.5414361423330033 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99992283e-01 2.31618938e-03 -3.17328175e-03 -2.63195406e+01] [-2.32923016e-03 9.99988833e-01 -4.11204439e-03 1.47625496e+01] [ 3.16372204e-03 4.11940396e-03 9.99986511e-01 1.68628482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.049259764 meters Centerline goodness [0,1] 0.5400197916060306 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99992287e-01 2.37289253e-03 -3.12985097e-03 -2.63196954e+01] [-2.38574513e-03 9.99988712e-01 -4.10913702e-03 1.47627219e+01] [ 3.12006510e-03 4.11657235e-03 9.99986659e-01 1.68629376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.079259764 meters Centerline goodness [0,1] 0.5381661624389109 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99992287e-01 2.42040772e-03 -3.09323732e-03 -2.63198424e+01] [-2.43307269e-03 9.99988646e-01 -4.09722329e-03 1.47627527e+01] [ 3.08328525e-03 4.10471776e-03 9.99986822e-01 1.68630376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.109259764 meters Centerline goodness [0,1] 0.5379763392727379 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99990722e-01 2.88623557e-03 -3.19770609e-03 -2.63188902e+01] [-2.89787920e-03 9.99989167e-01 -3.64261505e-03 1.47620123e+01] [ 3.18715801e-03 3.65184782e-03 9.99988253e-01 1.68621743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.139259764 meters Centerline goodness [0,1] 0.5411108204725783 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99989776e-01 3.12506168e-03 -3.26839492e-03 -2.63183547e+01] [-3.13610783e-03 9.99989370e-01 -3.38004139e-03 1.47614931e+01] [ 3.25779734e-03 3.39025687e-03 9.99988946e-01 1.68616831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.169259764 meters Centerline goodness [0,1] 0.5393868952491646 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99989412e-01 3.20029617e-03 -3.30671644e-03 -2.63185244e+01] [-3.21205244e-03 9.99988518e-01 -3.55609760e-03 1.47615091e+01] [ 3.29529791e-03 3.56668130e-03 9.99988210e-01 1.68623669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.199259764 meters Centerline goodness [0,1] 0.5453938002963308 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99988598e-01 3.29090621e-03 -3.46038496e-03 -2.63182856e+01] [-3.30335769e-03 9.99988068e-01 -3.59875586e-03 1.47617253e+01] [ 3.44850051e-03 3.61014571e-03 9.99987537e-01 1.68626954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.229259764 meters Centerline goodness [0,1] 0.5383990719257541 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99986209e-01 3.66709634e-03 -3.75949263e-03 -2.63175497e+01] [-3.68059846e-03 9.99986779e-01 -3.59086758e-03 1.47616452e+01] [ 3.74627487e-03 3.60465524e-03 9.99986486e-01 1.68631963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.259259764 meters Centerline goodness [0,1] 0.5371289283537912 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99986151e-01 3.65214202e-03 -3.78947539e-03 -2.63177255e+01] [-3.66685835e-03 9.99985735e-01 -3.88382201e-03 1.47619544e+01] [ 3.77523706e-03 3.89766370e-03 9.99985278e-01 1.68638628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.289259764 meters Centerline goodness [0,1] 0.5350137621324063 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99986147e-01 3.68354670e-03 -3.75983087e-03 -2.63179444e+01] [-3.69850268e-03 9.99985246e-01 -3.97866277e-03 1.47620201e+01] [ 3.74511980e-03 3.99251340e-03 9.99985017e-01 1.68641572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.319259764 meters Centerline goodness [0,1] 0.5359800770277705 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.86 [[ 9.99985948e-01 3.82225186e-03 -3.67354197e-03 -2.63182923e+01] [-3.83751047e-03 9.99984002e-01 -4.15561577e-03 1.47616793e+01] [ 3.65759939e-03 4.16965463e-03 9.99984618e-01 1.68647709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.349259764 meters Centerline goodness [0,1] 0.5386395856841131 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.76, Z:16.87 [[ 9.99990622e-01 5.07532947e-04 -4.30101940e-03 -2.63162375e+01] [-5.43503817e-04 9.99964854e-01 -8.36629823e-03 1.47647156e+01] [ 4.29662207e-03 8.36855739e-03 9.99955752e-01 1.68652523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.379259764 meters Centerline goodness [0,1] 0.5453810156565948 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.76, Z:16.86 [[ 9.99988771e-01 1.36911256e-03 -4.53696620e-03 -2.63147679e+01] [-1.40219280e-03 9.99972400e-01 -7.29612685e-03 1.47619770e+01] [ 4.52685176e-03 7.30240662e-03 9.99963091e-01 1.68639538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.409259764 meters Centerline goodness [0,1] 0.5379926037212528 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.76, Z:16.86 [[ 9.99987857e-01 1.72171544e-03 -4.61745544e-03 -2.63141314e+01] [-1.75315086e-03 9.99975257e-01 -6.81256864e-03 1.47608552e+01] [ 4.60561189e-03 6.82058101e-03 9.99966133e-01 1.68632612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.439259764 meters Centerline goodness [0,1] 0.5473481029068594 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.76, Z:16.86 [[ 9.99986887e-01 2.11659209e-03 -4.66331626e-03 -2.63135131e+01] [-2.14591646e-03 9.99977901e-01 -6.29230377e-03 1.47596940e+01] [ 4.64989497e-03 6.30222835e-03 9.99969330e-01 1.68625136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.469259764 meters Centerline goodness [0,1] 0.5405078597339783 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.76, Z:16.86 [[ 9.99985058e-01 2.70639787e-03 -4.74964972e-03 -2.63128264e+01] [-2.73243150e-03 9.99981234e-01 -5.48326590e-03 1.47571993e+01] [ 4.73472069e-03 5.49616206e-03 9.99973687e-01 1.68617624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.499259764 meters Centerline goodness [0,1] 0.5426015418248763 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.76, Z:16.86 [[ 9.99984185e-01 3.11631092e-03 -4.68176145e-03 -2.63126109e+01] [-3.13901272e-03 9.99983314e-01 -4.84949046e-03 1.47550955e+01] [ 4.66657081e-03 4.86410988e-03 9.99977282e-01 1.68611491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.529259764 meters Centerline goodness [0,1] 0.540813408076879 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.75, Z:16.86 [[ 9.99986330e-01 3.17067071e-03 -4.15771660e-03 -2.63146995e+01] [-3.18930770e-03 9.99984863e-01 -4.48356342e-03 1.47505506e+01] [ 4.14343777e-03 4.49676237e-03 9.99981305e-01 1.68620686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.559259764 meters Centerline goodness [0,1] 0.5391955205119414 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.75, Z:16.86 [[ 9.99987434e-01 3.25281374e-03 -3.81462748e-03 -2.63158200e+01] [-3.26820696e-03 9.99986514e-01 -4.03604863e-03 1.47480748e+01] [ 3.80144753e-03 4.04846490e-03 9.99984579e-01 1.68621651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.589259764 meters Centerline goodness [0,1] 0.5362876778737844 Centerline is valid? [False, False] Translation: X:-26.31, Y:14.75, Z:16.86 [[ 9.99990085e-01 -6.33664347e-04 -4.40775851e-03 -2.63147851e+01] [ 5.96537580e-04 9.99964379e-01 -8.41927031e-03 1.47499465e+01] [ 4.41293649e-03 8.41655744e-03 9.99954843e-01 1.68633389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.619259764 meters Centerline goodness [0,1] 0.5341891240896597 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.74, Z:16.86 [[ 9.99992084e-01 -8.10422208e-04 -3.89562021e-03 -2.63172091e+01] [ 7.80859217e-04 9.99970934e-01 -7.58431650e-03 1.47447479e+01] [ 3.90165348e-03 7.58121453e-03 9.99963650e-01 1.68639360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64925976399999 meters Centerline goodness [0,1] 0.5307322589765338 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.74, Z:16.86 [[ 9.99993679e-01 -7.51721541e-04 -3.47530728e-03 -2.63185359e+01] [ 7.27806098e-04 9.99976084e-01 -6.87768400e-03 1.47413252e+01] [ 3.48039426e-03 6.87511117e-03 9.99970309e-01 1.68638187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.679259764 meters Centerline goodness [0,1] 0.524449809117449 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.74, Z:16.86 [[ 9.99982654e-01 -4.82701418e-03 -3.37529060e-03 -2.63194784e+01] [ 4.79134739e-03 9.99933432e-01 -1.04964506e-02 1.47381459e+01] [ 3.42573243e-03 1.04800963e-02 9.99939214e-01 1.68645500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.709259764 meters Centerline goodness [0,1] 0.5253806397541556 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.73, Z:16.86 [[ 9.99983090e-01 -5.11650949e-03 -2.76431443e-03 -2.63215687e+01] [ 5.08899684e-03 9.99938343e-01 -9.86980125e-03 1.47343710e+01] [ 2.81464292e-03 9.85556676e-03 9.99947471e-01 1.68644817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.739259764 meters Centerline goodness [0,1] 0.5253629234106458 Centerline is valid? [False, False] Translation: X:-26.32, Y:14.73, Z:16.86 [[ 9.99982665e-01 -5.48210646e-03 -2.14865487e-03 -2.63237777e+01] [ 5.46214339e-03 9.99942860e-01 -9.18923953e-03 1.47305571e+01] [ 2.19890849e-03 9.17734397e-03 9.99955470e-01 1.68643689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.769259764 meters Centerline goodness [0,1] 0.5205225941884875 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.73, Z:16.87 [[ 9.99944287e-01 -1.04328904e-02 -1.60543761e-03 -2.63269439e+01] [ 1.04112928e-02 9.99862336e-01 -1.29194945e-02 1.47262957e+01] [ 1.74000427e-03 1.29020600e-02 9.99915251e-01 1.68657826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.799259764 meters Centerline goodness [0,1] 0.511864872287833 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.72, Z:16.87 [[ 9.99870314e-01 -1.60684324e-02 -1.07756705e-03 -2.63308815e+01] [ 1.60479736e-02 9.99728831e-01 -1.68738547e-02 1.47212125e+01] [ 1.34841124e-03 1.68543737e-02 9.99857046e-01 1.68676934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.829259764 meters Centerline goodness [0,1] 0.5155476548612061 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.72, Z:16.87 [[ 9.99853418e-01 -1.71152177e-02 -4.59949433e-04 -2.63340751e+01] [ 1.71053141e-02 9.99717819e-01 -1.64830622e-02 1.47168973e+01] [ 7.41930842e-04 1.64727785e-02 9.99864039e-01 1.68683499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.859259764 meters Centerline goodness [0,1] 0.5131869029149996 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:16.87 [[ 9.99830714e-01 -1.83994253e-02 7.39432708e-05 -2.63373704e+01] [ 1.83981923e-02 9.99698316e-01 -1.62721395e-02 1.47130596e+01] [ 2.25477051e-04 1.62707452e-02 9.99867597e-01 1.68693116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.889259764 meters Centerline goodness [0,1] 0.5019131095492659 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.71, Z:16.87 [[ 9.99801583e-01 -1.99099213e-02 6.24293276e-04 -2.63408471e+01] [ 1.99174047e-02 9.99671410e-01 -1.61359374e-02 1.47090989e+01] [-3.02822895e-04 1.61451701e-02 9.99869612e-01 1.68701926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.919259764 meters Centerline goodness [0,1] 0.49608319827120473 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.71, Z:16.87 [[ 9.99549673e-01 -2.99781256e-02 1.32756046e-03 -2.63457009e+01] [ 3.00021553e-02 9.99228392e-01 -2.53474196e-02 1.47080056e+01] [-5.66667979e-04 2.53758347e-02 9.99677821e-01 1.68742543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.949259764 meters Centerline goodness [0,1] 0.4774475383914454 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.71, Z:16.87 [[ 9.99110287e-01 -4.19781364e-02 4.05850410e-03 -2.63697490e+01] [ 4.20624989e-02 9.98836125e-01 -2.36038390e-02 1.47051644e+01] [-3.06293533e-03 2.37535492e-02 9.99713153e-01 1.68697201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.979259764 meters Centerline goodness [0,1] 0.46874162961375687 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.70, Z:16.87 [[ 9.99057618e-01 -4.31334121e-02 4.83575455e-03 -2.63731312e+01] [ 4.32354600e-02 9.98788982e-01 -2.34790417e-02 1.47016771e+01] [-3.81716718e-03 2.36659915e-02 9.99712634e-01 1.68703304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.009259764 meters Centerline goodness [0,1] 0.4667095874242181 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.70, Z:16.87 [[ 9.99218810e-01 -3.91376317e-02 5.47860954e-03 -2.63749100e+01] [ 3.92342634e-02 9.99053004e-01 -1.88086888e-02 1.46995936e+01] [-4.73729378e-03 1.90089449e-02 9.99808091e-01 1.68693456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.039259764 meters Centerline goodness [0,1] 0.45944057823037854 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.70, Z:16.87 [[ 9.99342446e-01 -3.57505586e-02 6.04754217e-03 -2.63776533e+01] [ 3.58374830e-02 9.99246041e-01 -1.49339735e-02 1.46999230e+01] [-5.50908468e-03 1.51408823e-02 9.99870193e-01 1.68700000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.069259764 meters Centerline goodness [0,1] 0.47863385773833533 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.70, Z:16.87 [[ 9.99461591e-01 -3.20702788e-02 6.92999496e-03 -2.63800204e+01] [ 3.21406155e-02 9.99430402e-01 -1.02884758e-02 1.46974284e+01] [-6.59609336e-03 1.05056707e-02 9.99923058e-01 1.68687696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.099259764 meters Centerline goodness [0,1] 0.4633711988343542 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.70, Z:16.87 [[ 9.99597946e-01 -2.74084233e-02 7.26118010e-03 -2.63793353e+01] [ 2.74482988e-02 9.99608367e-01 -5.45006083e-03 1.46953066e+01] [-7.10895881e-03 5.64717665e-03 9.99958785e-01 1.68659561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.129259764 meters Centerline goodness [0,1] 0.47703304113283884 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.69, Z:16.87 [[ 9.99692527e-01 -2.34738737e-02 7.98931479e-03 -2.63811323e+01] [ 2.34852055e-02 9.99723303e-01 -1.32750402e-03 1.46942392e+01] [-7.95594251e-03 1.51472655e-03 9.99967204e-01 1.68653937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.159259764 meters Centerline goodness [0,1] 0.47703304113283884 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.69, Z:16.87 [[ 9.99692527e-01 -2.34738737e-02 7.98931479e-03 -2.63811323e+01] [ 2.34852055e-02 9.99723303e-01 -1.32750402e-03 1.46942392e+01] [-7.95594251e-03 1.51472655e-03 9.99967204e-01 1.68653937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.189259764 meters Centerline goodness [0,1] 0.47725180089909547 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.69, Z:16.87 [[ 9.99767600e-01 -1.97424920e-02 8.65911658e-03 -2.63834842e+01] [ 1.97218603e-02 9.99802475e-01 2.46162098e-03 1.46938917e+01] [-8.70600472e-03 -2.29027501e-03 9.99959479e-01 1.68659430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.219259764 meters Centerline goodness [0,1] 0.4853747218755088 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.70, Z:16.87 [[ 9.99830100e-01 -1.60510442e-02 9.06280399e-03 -2.63854597e+01] [ 1.60016505e-02 9.99856857e-01 5.49662562e-03 1.46964912e+01] [-9.14973329e-03 -5.35067193e-03 9.99943825e-01 1.68675721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.249259764 meters Centerline goodness [0,1] 0.49636863150450183 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.70, Z:16.87 [[ 9.99875444e-01 -1.23876290e-02 9.77973778e-03 -2.63878716e+01] [ 1.22963498e-02 9.99880783e-01 9.33909942e-03 1.46959731e+01] [-9.89426117e-03 -9.21768110e-03 9.99908565e-01 1.68680519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.279259764 meters Centerline goodness [0,1] 0.5060717696820849 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.88 [[ 9.99949551e-01 -9.10786661e-03 4.23592864e-03 -2.64053590e+01] [ 9.10635004e-03 9.99958465e-01 3.77175143e-04 1.47054671e+01] [-4.23918796e-03 -3.38582266e-04 9.99990957e-01 1.68778368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.309259764 meters Centerline goodness [0,1] 0.5023340886134695 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.88 [[ 9.99950337e-01 -9.08777134e-03 4.09101460e-03 -2.64050577e+01] [ 9.08760759e-03 9.99958705e-01 5.86138644e-05 1.47070676e+01] [-4.09137833e-03 -2.14334181e-05 9.99991630e-01 1.68781655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.339259764 meters Centerline goodness [0,1] 0.5004074536860976 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.88 [[ 9.99949679e-01 -9.16163564e-03 4.08709065e-03 -2.64052244e+01] [ 9.16253822e-03 9.99958003e-01 -2.02167172e-04 1.47081541e+01] [-4.08506683e-03 2.39605123e-04 9.99991627e-01 1.68785381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.369259764 meters Centerline goodness [0,1] 0.49872662047813343 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.88 [[ 9.99969792e-01 -5.90903925e-03 5.04952742e-03 -2.64080814e+01] [ 5.88966898e-03 9.99975274e-01 3.84235558e-03 1.47054477e+01] [-5.07210719e-03 -3.81249946e-03 9.99979869e-01 1.68781638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39925976399999 meters Centerline goodness [0,1] 0.5014225529353833 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.70, Z:16.88 [[ 9.99970048e-01 -5.79499697e-03 5.13043755e-03 -2.64080405e+01] [ 5.77442680e-03 9.99975267e-01 4.01521316e-03 1.47048803e+01] [-5.15357880e-03 -3.98546756e-03 9.99978778e-01 1.68777994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.429259764 meters Centerline goodness [0,1] 0.5041589143044762 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.70, Z:16.88 [[ 9.99967383e-01 -6.05034510e-03 5.35038134e-03 -2.64089666e+01] [ 6.02937839e-03 9.99974115e-01 3.92621764e-03 1.47044681e+01] [-5.37399782e-03 -3.89383011e-03 9.99977979e-01 1.68781214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.459259764 meters Centerline goodness [0,1] 0.49866497839191826 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.70, Z:16.88 [[ 9.99965906e-01 -6.19355829e-03 5.46130880e-03 -2.64094141e+01] [ 6.17185475e-03 9.99973026e-01 3.98199206e-03 1.47044354e+01] [-5.48582419e-03 -3.94814990e-03 9.99977159e-01 1.68781438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.489259764 meters Centerline goodness [0,1] 0.4914698343576882 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.70, Z:16.88 [[ 9.99961153e-01 -6.64328567e-03 5.79311403e-03 -2.64106741e+01] [ 6.61866759e-03 9.99969029e-01 4.25840951e-03 1.47031666e+01] [-5.82122444e-03 -4.21990138e-03 9.99974153e-01 1.68779709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.519259764 meters Centerline goodness [0,1] 0.4869909969439168 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.70, Z:16.88 [[ 9.99958207e-01 -6.88832363e-03 6.01130151e-03 -2.64115648e+01] [ 6.86265107e-03 9.99967288e-01 4.28094250e-03 1.47024564e+01] [-6.04059339e-03 -4.23951012e-03 9.99972769e-01 1.68781741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.549259764 meters Centerline goodness [0,1] 0.5067188016301355 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.88 [[ 9.99964101e-01 -6.54152572e-03 5.38560485e-03 -2.64098437e+01] [ 6.52141319e-03 9.99971728e-01 3.74362873e-03 1.47055904e+01] [-5.40994164e-03 -3.70837258e-03 9.99978490e-01 1.68787485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.579259764 meters Centerline goodness [0,1] 0.49390830835235555 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.88 [[ 9.99963492e-01 -6.68513316e-03 5.32196236e-03 -2.64098969e+01] [ 6.66738498e-03 9.99972176e-01 3.34567898e-03 1.47070997e+01] [-5.34418059e-03 -3.31007327e-03 9.99980241e-01 1.68791895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.609259764 meters Centerline goodness [0,1] 0.5020919350399119 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.88 [[ 9.99964913e-01 -6.56834275e-03 5.19904860e-03 -2.64094120e+01] [ 6.55256463e-03 9.99973892e-01 3.04604605e-03 1.47083567e+01] [-5.21892034e-03 -3.01187207e-03 9.99981846e-01 1.68793018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.639259764 meters Centerline goodness [0,1] 0.5094324034039273 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.88 [[ 9.99968219e-01 -6.31911292e-03 4.86103204e-03 -2.64082661e+01] [ 6.30563938e-03 9.99976249e-01 2.78209520e-03 1.47101312e+01] [-4.87849696e-03 -2.75135486e-03 9.99984315e-01 1.68792741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.669259764 meters Centerline goodness [0,1] 0.5114552280004416 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.88 [[ 9.99970685e-01 -6.14648727e-03 4.56623409e-03 -2.64074281e+01] [ 6.13472576e-03 9.99977840e-01 2.58531469e-03 1.47115867e+01] [-4.58202351e-03 -2.55722630e-03 9.99986233e-01 1.68794042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.699259764 meters Centerline goodness [0,1] 0.5166979984518412 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.88 [[ 9.99974835e-01 -5.76788866e-03 4.13044772e-03 -2.64059411e+01] [ 5.75714627e-03 9.99980027e-01 2.60796391e-03 1.47127559e+01] [-4.14540767e-03 -2.58411868e-03 9.99988069e-01 1.68791327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.729259764 meters Centerline goodness [0,1] 0.5148821884431154 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.88 [[ 9.99975325e-01 -5.70934183e-03 4.09297515e-03 -2.64055404e+01] [ 5.69841089e-03 9.99980180e-01 2.67736606e-03 1.47133689e+01] [-4.10818002e-03 -2.65397655e-03 9.99988040e-01 1.68786586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.759259764 meters Centerline goodness [0,1] 0.5130010533902534 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.88 [[ 9.99974845e-01 -5.73087894e-03 4.17937692e-03 -2.64056319e+01] [ 5.71904245e-03 9.99979617e-01 2.83859182e-03 1.47130855e+01] [-4.19555935e-03 -2.81461838e-03 9.99987238e-01 1.68783011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.789259764 meters Centerline goodness [0,1] 0.51523606928751 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.71, Z:16.88 [[ 9.99975997e-01 -5.54336999e-03 4.15641285e-03 -2.64053062e+01] [ 5.53033877e-03 9.99979777e-01 3.14017430e-03 1.47122079e+01] [-4.17373594e-03 -3.11711256e-03 9.99986432e-01 1.68779143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.819259764 meters Centerline goodness [0,1] 0.5282068316447988 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.88 [[ 9.99981027e-01 -5.05885452e-03 3.51483225e-03 -2.64033925e+01] [ 5.04980372e-03 9.99983924e-01 2.57915038e-03 1.47154559e+01] [-3.52782329e-03 -2.56135223e-03 9.99990497e-01 1.68785371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.849259764 meters Centerline goodness [0,1] 0.5265422844133489 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.88 [[ 9.99981378e-01 -5.10834706e-03 3.33907278e-03 -2.64031584e+01] [ 5.10121784e-03 9.99984699e-01 2.14013087e-03 1.47172991e+01] [-3.34995422e-03 -2.12305768e-03 9.99992135e-01 1.68790903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.879259764 meters Centerline goodness [0,1] 0.5224934660512707 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.88 [[ 9.99983045e-01 -4.97017042e-03 3.03429026e-03 -2.64021940e+01] [ 4.96466294e-03 9.99986020e-01 1.81992173e-03 1.47194018e+01] [-3.04329316e-03 -1.80482665e-03 9.99993740e-01 1.68791652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.909259764 meters Centerline goodness [0,1] 0.5018791236324156 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.88 [[ 9.99983627e-01 -4.88941023e-03 2.97301621e-03 -2.64020158e+01] [ 4.88426792e-03 9.99986568e-01 1.73446697e-03 1.47197959e+01] [-2.98145680e-03 -1.71991756e-03 9.99994076e-01 1.68792624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.939259764 meters Centerline goodness [0,1] 0.5260113999721951 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.88 [[ 9.99982928e-01 -5.12332871e-03 2.80986382e-03 -2.64020223e+01] [ 5.12007430e-03 9.99986215e-01 1.16417920e-03 1.47219811e+01] [-2.81578956e-03 -1.14977262e-03 9.99995375e-01 1.68800335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.969259764 meters Centerline goodness [0,1] 0.5302823758519961 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.72, Z:16.88 [[ 9.99985602e-01 -4.86956870e-03 2.25461195e-03 -2.64004593e+01] [ 4.86761175e-03 9.99987772e-01 8.72652069e-04 1.47242648e+01] [-2.25883382e-03 -8.61664929e-04 9.99997078e-01 1.68802409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.999259764 meters Centerline goodness [0,1] 0.5332274513082003 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.73, Z:16.88 [[ 9.99988456e-01 -4.51334652e-03 1.64858735e-03 -2.63986456e+01] [ 4.51246035e-03 9.99989673e-01 5.40853552e-04 1.47269344e+01] [-1.65101139e-03 -5.33408123e-04 9.99998495e-01 1.68804418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.029259764 meters Centerline goodness [0,1] 0.5293062368605466 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.73, Z:16.88 [[ 9.99991611e-01 -3.98444092e-03 9.50126520e-04 -2.63964885e+01] [ 3.98467921e-03 9.99992030e-01 -2.49036280e-04 1.47310382e+01] [-9.49126677e-04 2.52820140e-04 9.99999518e-01 1.68812655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.059259764 meters Centerline goodness [0,1] 0.5331705674355952 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.73, Z:16.88 [[ 9.99992661e-01 -3.74727602e-03 7.97484280e-04 -2.63957047e+01] [ 3.74757411e-03 9.99992908e-01 -3.72622582e-04 1.47322621e+01] [-7.96082305e-04 3.75608478e-04 9.99999613e-01 1.68810169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.089259764 meters Centerline goodness [0,1] 0.5368789363191042 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.73, Z:16.88 [[ 9.99994659e-01 -3.24975537e-03 3.48009722e-04 -2.63937686e+01] [ 3.24994262e-03 9.99994574e-01 -5.38874217e-04 1.47344012e+01] [-3.46256624e-04 5.40002351e-04 9.99999794e-01 1.68805467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.119259764 meters Centerline goodness [0,1] 0.5415961646926114 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.74, Z:16.88 [[ 9.99994897e-01 -3.19264480e-03 1.12306780e-04 -2.63931217e+01] [ 3.19273792e-03 9.99994551e-01 -8.39068776e-04 1.47361386e+01] [-1.09627320e-04 8.39423060e-04 9.99999642e-01 1.68807211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14925976399999 meters Centerline goodness [0,1] 0.5444974455954161 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.74, Z:16.88 [[ 9.99995627e-01 -2.93040928e-03 -3.97449062e-04 -2.63912778e+01] [ 2.92996403e-03 9.99995085e-01 -1.11626505e-03 1.47394929e+01] [ 4.00718222e-04 1.11509566e-03 9.99999298e-01 1.68803881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.179259764 meters Centerline goodness [0,1] 0.5504509343812728 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.74, Z:16.88 [[ 9.99996046e-01 -2.75242357e-03 -5.75465319e-04 -2.63903431e+01] [ 2.75180224e-03 9.99995633e-01 -1.07772784e-03 1.47404654e+01] [ 5.78429170e-04 1.07614001e-03 9.99999254e-01 1.68798324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.209259764 meters Centerline goodness [0,1] 0.5486580037451059 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.74, Z:16.88 [[ 9.99997565e-01 -1.93658691e-03 -1.05809263e-03 -2.63872790e+01] [ 1.93568261e-03 9.99997761e-01 -8.55011838e-04 1.47422233e+01] [ 1.05974607e-03 8.52961624e-04 9.99999075e-01 1.68779233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.239259764 meters Centerline goodness [0,1] 0.561417434443657 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.74, Z:16.88 [[ 9.99997869e-01 -1.62923606e-03 -1.26794923e-03 -2.63860438e+01] [ 1.62826898e-03 9.99998383e-01 -7.63367514e-04 1.47431615e+01] [ 1.26919088e-03 7.61301325e-04 9.99998905e-01 1.68771155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.269259764 meters Centerline goodness [0,1] 0.5583657035923899 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.88 [[ 9.99997932e-01 -1.08954749e-03 -1.71704096e-03 -2.63837628e+01] [ 1.08847478e-03 9.99999212e-01 -6.25554322e-04 1.47450569e+01] [ 1.71772117e-03 6.23684073e-04 9.99998330e-01 1.68758959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.299259764 meters Centerline goodness [0,1] 0.5638637269982338 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.88 [[ 9.99997750e-01 -1.14986737e-03 -1.78245375e-03 -2.63836190e+01] [ 1.14821920e-03 9.99998913e-01 -9.25413833e-04 1.47461674e+01] [ 1.78351591e-03 9.23365104e-04 9.99997983e-01 1.68761136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.329259764 meters Centerline goodness [0,1] 0.5606749233041699 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.88 [[ 9.99997923e-01 -1.02562676e-03 -1.76140234e-03 -2.63833340e+01] [ 1.02407060e-03 9.99999085e-01 -8.84152063e-04 1.47465701e+01] [ 1.76230754e-03 8.82346426e-04 9.99998058e-01 1.68757331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.359259764 meters Centerline goodness [0,1] 0.5612512096544657 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.88 [[ 9.99998140e-01 -1.04717426e-03 -1.61986614e-03 -2.63837461e+01] [ 1.04580322e-03 9.99999094e-01 -8.47005558e-04 1.47465873e+01] [ 1.62075163e-03 8.45309922e-04 9.99998329e-01 1.68756629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.389259764 meters Centerline goodness [0,1] 0.560892963922663 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.88 [[ 9.99998209e-01 -9.63663316e-04 -1.62894497e-03 -2.63836355e+01] [ 9.62428496e-04 9.99999249e-01 -7.58662559e-04 1.47467289e+01] [ 1.62967484e-03 7.57093458e-04 9.99998385e-01 1.68755002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.419259764 meters Centerline goodness [0,1] 0.5619023150923468 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.88 [[ 9.99998470e-01 -8.72488511e-04 -1.51637005e-03 -2.63837247e+01] [ 8.71406307e-04 9.99999365e-01 -7.14194710e-04 1.47466179e+01] [ 1.51699221e-03 7.12872243e-04 9.99998595e-01 1.68752742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.449259764 meters Centerline goodness [0,1] 0.5499842951372034 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.88 [[ 9.99998513e-01 -8.05663564e-04 -1.52462932e-03 -2.63837060e+01] [ 8.04568434e-04 9.99999418e-01 -7.18769116e-04 1.47467307e+01] [ 1.52520752e-03 7.17541379e-04 9.99998579e-01 1.68753376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.479259764 meters Centerline goodness [0,1] 0.5634963638956224 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.87 [[ 9.99998933e-01 -6.90275666e-04 -1.28740781e-03 -2.63840485e+01] [ 6.89681547e-04 9.99999656e-01 -4.61871339e-04 1.47460299e+01] [ 1.28772619e-03 4.60982945e-04 9.99999065e-01 1.68748389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50925976399999 meters Centerline goodness [0,1] 0.5629450299060097 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.87 [[ 9.99989540e-01 -4.12945063e-03 -1.96678955e-03 -2.63816871e+01] [ 4.12026553e-03 9.99980693e-01 -4.65147406e-03 1.47491847e+01] [ 1.98595962e-03 4.64332171e-03 9.99987248e-01 1.68748642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.539259764 meters Centerline goodness [0,1] 0.566136059458382 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.87 [[ 9.99989867e-01 -4.09184543e-03 -1.87708952e-03 -2.63817321e+01] [ 4.08342711e-03 9.99981686e-01 -4.46689041e-03 1.47490463e+01] [ 1.89533297e-03 4.45918019e-03 9.99988262e-01 1.68744219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.569259764 meters Centerline goodness [0,1] 0.5592577813248205 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.87 [[ 9.99990189e-01 -4.01092163e-03 -1.87987628e-03 -2.63816026e+01] [ 4.00271335e-03 9.99982528e-01 -4.35000485e-03 1.47489820e+01] [ 1.89729096e-03 4.34243757e-03 9.99988772e-01 1.68741869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.599259764 meters Centerline goodness [0,1] 0.5676594043573855 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.87 [[ 9.99990483e-01 -3.96953768e-03 -1.81017394e-03 -2.63815995e+01] [ 3.96179841e-03 9.99983082e-01 -4.25915851e-03 1.47491080e+01] [ 1.82705021e-03 4.25194643e-03 9.99989291e-01 1.68738695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.629259764 meters Centerline goodness [0,1] 0.5659422362024593 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.87 [[ 9.99991194e-01 -3.76586139e-03 -1.85223049e-03 -2.63811786e+01] [ 3.75801932e-03 9.99984037e-01 -4.21926702e-03 1.47497803e+01] [ 1.86809010e-03 4.21226914e-03 9.99989383e-01 1.68736071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.659259764 meters Centerline goodness [0,1] 0.5710480336837281 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.87 [[ 9.99992118e-01 -3.43138497e-03 -1.99730802e-03 -2.63801770e+01] [ 3.42314708e-03 9.99985681e-01 -4.11340344e-03 1.47505843e+01] [ 2.01139409e-03 4.10653394e-03 9.99989545e-01 1.68729691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.689259764 meters Centerline goodness [0,1] 0.5727411065491401 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.87 [[ 9.99992632e-01 -3.14931885e-03 -2.19491600e-03 -2.63791144e+01] [ 3.14038946e-03 9.99986828e-01 -4.05985713e-03 1.47513872e+01] [ 2.20767287e-03 4.05293432e-03 9.99989350e-01 1.68723559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.719259764 meters Centerline goodness [0,1] 0.5736541059469402 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.87 [[ 9.99993159e-01 -2.86318535e-03 -2.34179561e-03 -2.63781114e+01] [ 2.85396241e-03 9.99988196e-01 -3.93230721e-03 1.47520858e+01] [ 2.35302689e-03 3.92559692e-03 9.99989526e-01 1.68716006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.749259764 meters Centerline goodness [0,1] 0.5788338795928929 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.87 [[ 9.99994123e-01 -2.19970093e-03 -2.62963480e-03 -2.63758653e+01] [ 2.19013882e-03 9.99991000e-01 -3.63365215e-03 1.47532511e+01] [ 2.63760408e-03 3.62787153e-03 9.99989941e-01 1.68698912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.779259764 meters Centerline goodness [0,1] 0.580271461917524 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.87 [[ 9.99994429e-01 -1.88855432e-03 -2.75233257e-03 -2.63749046e+01] [ 1.87911512e-03 9.99992359e-01 -3.42808843e-03 1.47535350e+01] [ 2.75878567e-03 3.42289738e-03 9.99990336e-01 1.68690966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.809259764 meters Centerline goodness [0,1] 0.5810079972383637 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.87 [[ 9.99994669e-01 -1.42997702e-03 -2.93545150e-03 -2.63734574e+01] [ 1.42039961e-03 9.99993670e-01 -3.26216772e-03 1.47545540e+01] [ 2.94009775e-03 3.25798082e-03 9.99990371e-01 1.68680198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.839259764 meters Centerline goodness [0,1] 0.5832661986419612 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.87 [[ 9.99994716e-01 -1.36248906e-03 -2.95141443e-03 -2.63731799e+01] [ 1.35277427e-03 9.99993669e-01 -3.29107189e-03 1.47553417e+01] [ 2.95587979e-03 3.28706190e-03 9.99990229e-01 1.68677854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.869259764 meters Centerline goodness [0,1] 0.5830518261873827 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.87 [[ 9.99994844e-01 -1.29673990e-03 -2.93777713e-03 -2.63730573e+01] [ 1.28714870e-03 9.99993844e-01 -3.26432269e-03 1.47558980e+01] [ 2.94199203e-03 3.26052450e-03 9.99990357e-01 1.68675808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89925976399999 meters Centerline goodness [0,1] 0.5848855313995733 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.87 [[ 9.99995306e-01 -1.27457611e-03 -2.78637668e-03 -2.63733148e+01] [ 1.26580174e-03 9.99994242e-01 -3.14852342e-03 1.47559877e+01] [ 2.79037367e-03 3.14498164e-03 9.99991161e-01 1.68672955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.929259764 meters Centerline goodness [0,1] 0.5841518564392085 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.87 [[ 9.99996043e-01 -1.19005829e-03 -2.54895449e-03 -2.63736985e+01] [ 1.18268631e-03 9.99995120e-01 -2.89171527e-03 1.47553094e+01] [ 2.55238336e-03 2.88868922e-03 9.99992570e-01 1.68668461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.959259764 meters Centerline goodness [0,1] 0.5816846652267819 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.87 [[ 9.99996816e-01 -1.22595017e-03 -2.20551975e-03 -2.63744964e+01] [ 1.22057065e-03 9.99996281e-01 -2.43881146e-03 1.47538143e+01] [ 2.20850141e-03 2.43611170e-03 9.99994594e-01 1.68662078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.989259764 meters Centerline goodness [0,1] 0.5822890559732665 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.87 [[ 9.99997206e-01 -1.25129952e-03 -2.00559584e-03 -2.63749755e+01] [ 1.24685374e-03 9.99996766e-01 -2.21640536e-03 1.47533068e+01] [ 2.00836274e-03 2.21389848e-03 9.99995533e-01 1.68658953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.019259764 meters Centerline goodness [0,1] 0.5816121051723147 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.87 [[ 9.99982911e-01 -5.33474948e-03 -2.39132655e-03 -2.63743025e+01] [ 5.31795393e-03 9.99961529e-01 -6.97570519e-03 1.47569846e+01] [ 2.42844819e-03 6.96286902e-03 9.99972810e-01 1.68671729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.049259764 meters Centerline goodness [0,1] 0.5804738679980376 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.87 [[ 9.99997756e-01 -1.22809713e-03 -1.72622578e-03 -2.63754733e+01] [ 1.22431368e-03 9.99996850e-01 -2.19109650e-03 1.47547047e+01] [ 1.72891122e-03 2.18897814e-03 9.99996110e-01 1.68656747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.079259764 meters Centerline goodness [0,1] 0.5804738679980376 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.87 [[ 9.99997756e-01 -1.22809713e-03 -1.72622578e-03 -2.63754733e+01] [ 1.22431368e-03 9.99996850e-01 -2.19109650e-03 1.47547047e+01] [ 1.72891122e-03 2.18897814e-03 9.99996110e-01 1.68656747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.109259764 meters Centerline goodness [0,1] 0.5822590901208162 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.87 [[ 9.99997436e-01 -6.70955458e-04 -2.16262862e-03 -2.63736258e+01] [ 6.66066343e-04 9.99997223e-01 -2.26065601e-03 1.47569410e+01] [ 2.16413941e-03 2.25920976e-03 9.99995106e-01 1.68653361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.139259764 meters Centerline goodness [0,1] 0.5821923781285427 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.86 [[ 9.99996469e-01 2.13065791e-04 -2.64871413e-03 -2.63708539e+01] [-2.18991288e-04 9.99997474e-01 -2.23703326e-03 1.47600273e+01] [ 2.64823080e-03 2.23760541e-03 9.99993990e-01 1.68642165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.169259764 meters Centerline goodness [0,1] 0.5861878131189561 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.86 [[ 9.99996157e-01 6.12444931e-04 -2.70402768e-03 -2.63697820e+01] [-6.17818485e-04 9.99997835e-01 -1.98685268e-03 1.47603946e+01] [ 2.70280499e-03 1.98851564e-03 9.99994370e-01 1.68630692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.199259764 meters Centerline goodness [0,1] 0.5875532971204953 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.86 [[ 9.99995081e-01 1.41720516e-03 -2.79805289e-03 -2.63680425e+01] [-1.42139379e-03 9.99997871e-01 -1.49556123e-03 1.47602050e+01] [ 2.79592742e-03 1.49953101e-03 9.99994967e-01 1.68613857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.229259764 meters Centerline goodness [0,1] 0.5824339303424537 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.86 [[ 9.99994877e-01 1.52246063e-03 -2.81583227e-03 -2.63677962e+01] [-1.52702231e-03 9.99997524e-01 -1.61857155e-03 1.47608093e+01] [ 2.81336109e-03 1.62286310e-03 9.99994726e-01 1.68613407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25925976399999 meters Centerline goodness [0,1] 0.5888060136355691 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.86 [[ 9.99994755e-01 1.51949816e-03 -2.86032390e-03 -2.63677483e+01] [-1.52533494e-03 9.99996757e-01 -2.03952639e-03 1.47625270e+01] [ 2.85721557e-03 2.04387865e-03 9.99993829e-01 1.68618924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.289259764 meters Centerline goodness [0,1] 0.5865670770846706 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.86 [[ 9.99995455e-01 1.31139768e-03 -2.71476953e-03 -2.63684149e+01] [-1.31764944e-03 9.99996481e-01 -2.30236512e-03 1.47630506e+01] [ 2.71174066e-03 2.30593177e-03 9.99993665e-01 1.68623107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.319259764 meters Centerline goodness [0,1] 0.5848667788935973 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.86 [[ 9.99992282e-01 -2.15037421e-03 -3.28817330e-03 -2.63662918e+01] [ 2.12929046e-03 9.99977239e-01 -6.40210711e-03 1.47646749e+01] [ 3.30186538e-03 6.39505622e-03 9.99974100e-01 1.68623349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.349259764 meters Centerline goodness [0,1] 0.5819980332041419 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.86 [[ 9.99993403e-01 -1.88237796e-03 -3.10641042e-03 -2.63665226e+01] [ 1.86445356e-03 9.99981656e-01 -5.76297647e-03 1.47624204e+01] [ 3.11720154e-03 5.75714670e-03 9.99978569e-01 1.68616993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.379259764 meters Centerline goodness [0,1] 0.5848328678778107 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.86 [[ 9.99994702e-01 -1.86641420e-03 -2.66679689e-03 -2.63676402e+01] [ 1.85254640e-03 9.99984799e-01 -5.19321386e-03 1.47600836e+01] [ 2.67644904e-03 5.18824599e-03 9.99982959e-01 1.68611536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.409259764 meters Centerline goodness [0,1] 0.5829442619171135 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.86 [[ 9.99995222e-01 -1.80692755e-03 -2.50816856e-03 -2.63679780e+01] [ 1.79455096e-03 9.99986247e-01 -4.92802593e-03 1.47594809e+01] [ 2.51703865e-03 4.92350135e-03 9.99984712e-01 1.68608594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.439259764 meters Centerline goodness [0,1] 0.577409344290558 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.86 [[ 9.99995792e-01 -1.73996877e-03 -2.32139040e-03 -2.63684802e+01] [ 1.72919878e-03 9.99987771e-01 -4.63342486e-03 1.47584528e+01] [ 2.32942403e-03 4.62939121e-03 9.99986571e-01 1.68606521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.469259764 meters Centerline goodness [0,1] 0.576053827132095 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.86 [[ 9.99996169e-01 -1.68306169e-03 -2.19749606e-03 -2.63688256e+01] [ 1.67330528e-03 9.99988769e-01 -4.43410081e-03 1.47577159e+01] [ 2.20493425e-03 4.43040674e-03 9.99987755e-01 1.68605306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.499259764 meters Centerline goodness [0,1] 0.5738238598715104 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.86 [[ 9.99997048e-01 -1.42004523e-03 -1.97158377e-03 -2.63691909e+01] [ 1.41254522e-03 9.99991781e-01 -3.80024826e-03 1.47555820e+01] [ 1.97696409e-03 3.79745209e-03 9.99990835e-01 1.68598688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.529259764 meters Centerline goodness [0,1] 0.5688925971746699 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.86 [[ 9.99997522e-01 -1.30542936e-03 -1.80320335e-03 -2.63694059e+01] [ 1.29926165e-03 9.99993317e-01 -3.41736734e-03 1.47545487e+01] [ 1.80765243e-03 3.41501604e-03 9.99992535e-01 1.68593151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.559259764 meters Centerline goodness [0,1] 0.5687325323421788 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.86 [[ 9.99997797e-01 -1.25424140e-03 -1.68313759e-03 -2.63697384e+01] [ 1.24893753e-03 9.99994263e-01 -3.14854084e-03 1.47535458e+01] [ 1.68707697e-03 3.14643177e-03 9.99993627e-01 1.68591151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.589259764 meters Centerline goodness [0,1] 0.568193574343353 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.86 [[ 9.99998626e-01 -1.22558769e-03 -1.11611199e-03 -2.63707210e+01] [ 1.22317822e-03 9.99996926e-01 -2.15693732e-03 1.47501592e+01] [ 1.11875208e-03 2.15556915e-03 9.99997051e-01 1.68574755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.619259764 meters Centerline goodness [0,1] 0.5726292237966841 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.86 [[ 9.99999027e-01 -1.15284759e-03 -7.85650410e-04 -2.63713955e+01] [ 1.15158005e-03 9.99998038e-01 -1.61191452e-03 1.47481509e+01] [ 7.87507160e-04 1.61100821e-03 9.99998392e-01 1.68568112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64925976399999 meters Centerline goodness [0,1] 0.5697054778821912 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.86 [[ 9.99998496e-01 -1.72205468e-03 -2.06017069e-04 -2.63740265e+01] [ 1.72178710e-03 9.99997683e-01 -1.29200100e-03 1.47456371e+01] [ 2.08241488e-04 1.29164433e-03 9.99999144e-01 1.68573379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.679259764 meters Centerline goodness [0,1] 0.5703603964934395 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.86 [[ 9.99998391e-01 -1.79397949e-03 2.18136118e-06 -2.63750114e+01] [ 1.79398080e-03 9.99997765e-01 -1.11860436e-03 1.47446444e+01] [-1.74603023e-07 1.11860648e-03 9.99999374e-01 1.68577405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.709259764 meters Centerline goodness [0,1] 0.5654857142857143 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.86 [[ 9.99998288e-01 -1.83831375e-03 2.11114338e-04 -2.63757504e+01] [ 1.83851104e-03 9.99997870e-01 -9.38167854e-04 1.47438350e+01] [-2.09389241e-04 9.38554384e-04 9.99999538e-01 1.68578191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.739259764 meters Centerline goodness [0,1] 0.5624159922212372 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.86 [[ 9.99998348e-01 -1.76760375e-03 4.22892854e-04 -2.63761420e+01] [ 1.76789336e-03 9.99998202e-01 -6.85433923e-04 1.47429140e+01] [-4.21680518e-04 6.86180420e-04 9.99999676e-01 1.68574578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.769259764 meters Centerline goodness [0,1] 0.5651268296858505 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.86 [[ 9.99998509e-01 -1.64363175e-03 5.28919702e-04 -2.63761339e+01] [ 1.64383266e-03 9.99998577e-01 -3.79644673e-04 1.47422479e+01] [-5.28294953e-04 3.80513563e-04 9.99999788e-01 1.68568781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.799259764 meters Centerline goodness [0,1] 0.5585251880556188 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.86 [[ 9.99998343e-01 -1.55781402e-03 9.41543971e-04 -2.63767895e+01] [ 1.55765800e-03 9.99998773e-01 1.66421234e-04 1.47401991e+01] [-9.41802069e-04 -1.64954355e-04 9.99999543e-01 1.68558686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.829259764 meters Centerline goodness [0,1] 0.5586303006171611 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.86 [[ 9.99986490e-01 -5.18360692e-03 3.87368147e-04 -2.63750834e+01] [ 5.18521635e-03 9.99977414e-01 -4.27617817e-03 1.47430375e+01] [-3.65193371e-04 4.27812898e-03 9.99990782e-01 1.68565100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.859259764 meters Centerline goodness [0,1] 0.5580308814312575 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.86 [[ 9.99985333e-01 -5.37289342e-03 6.82358086e-04 -2.63761977e+01] [ 5.37564641e-03 9.99977150e-01 -4.09889772e-03 1.47422127e+01] [-6.60319554e-04 4.10250572e-03 9.99991367e-01 1.68566093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.889259764 meters Centerline goodness [0,1] 0.561882460448912 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.86 [[ 9.99986421e-01 -5.19466715e-03 4.17231837e-04 -2.63753610e+01] [ 5.19638883e-03 9.99977522e-01 -4.23716800e-03 1.47438365e+01] [-3.95211781e-04 4.23927856e-03 9.99990936e-01 1.68566721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.919259764 meters Centerline goodness [0,1] 0.5602994970278921 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.86 [[ 9.99986703e-01 -5.14477454e-03 3.53948596e-04 -2.63749979e+01] [ 5.14626394e-03 9.99977321e-01 -4.34428414e-03 1.47451541e+01] [-3.31590207e-04 4.34604788e-03 9.99990501e-01 1.68565136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.949259764 meters Centerline goodness [0,1] 0.560506459357494 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.74, Z:16.86 [[ 9.99989359e-01 -4.60747939e-03 2.28222481e-04 -2.63736735e+01] [ 4.60831956e-03 9.99982051e-01 -3.82888742e-03 1.47448287e+01] [-2.10576865e-04 3.82989840e-03 9.99992644e-01 1.68551788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.979259764 meters Centerline goodness [0,1] 0.5590833950863592 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.74, Z:16.85 [[ 9.99990353e-01 -4.37587006e-03 3.82910822e-04 -2.63735322e+01] [ 4.37715527e-03 9.99984563e-01 -3.42254612e-03 1.47437942e+01] [-3.67928294e-04 3.42418916e-03 9.99994070e-01 1.68542975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00925976399999 meters Centerline goodness [0,1] 0.5571888442583255 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.74, Z:16.85 [[ 9.99991035e-01 -4.18062216e-03 6.72599758e-04 -2.63740138e+01] [ 4.18254445e-03 9.99987099e-01 -2.88244266e-03 1.47416569e+01] [-6.60540677e-04 2.88523000e-03 9.99995620e-01 1.68536281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.039259764 meters Centerline goodness [0,1] 0.5562646003076748 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.74, Z:16.85 [[ 9.99991154e-01 -4.13168701e-03 7.88139376e-04 -2.63742647e+01] [ 4.13377635e-03 9.99987897e-01 -2.66802191e-03 1.47410847e+01] [-7.77106406e-04 2.67125630e-03 9.99996130e-01 1.68534221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.069259764 meters Centerline goodness [0,1] 0.5576616575591986 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.74, Z:16.85 [[ 9.99991185e-01 -4.09465305e-03 9.29163166e-04 -2.63747091e+01] [ 4.09686406e-03 9.99988751e-01 -2.39027520e-03 1.47403256e+01] [-9.19365366e-04 2.39406078e-03 9.99996712e-01 1.68532744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.099259764 meters Centerline goodness [0,1] 0.5543506105371019 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.85 [[ 9.99990084e-01 -4.25099829e-03 1.32702955e-03 -2.63762561e+01] [ 4.25386425e-03 9.99988610e-01 -2.16438310e-03 1.47388481e+01] [-1.31781364e-03 2.17000665e-03 9.99996777e-01 1.68536417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.129259764 meters Centerline goodness [0,1] 0.5521385044706418 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.85 [[ 9.99989719e-01 -4.27379154e-03 1.51535678e-03 -2.63769644e+01] [ 4.27665775e-03 9.99989063e-01 -1.89327670e-03 1.47378650e+01] [-1.50724874e-03 1.89973790e-03 9.99997060e-01 1.68536397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.159259764 meters Centerline goodness [0,1] 0.5395981927197295 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.85 [[ 9.99987556e-01 -4.52111008e-03 2.10876913e-03 -2.63790050e+01] [ 4.52397677e-03 9.99988847e-01 -1.35663083e-03 1.47351151e+01] [-2.10261213e-03 1.36615398e-03 9.99996856e-01 1.68535584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.189259764 meters Centerline goodness [0,1] 0.5502226760843049 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.73, Z:16.85 [[ 9.99986661e-01 -4.58035791e-03 2.38689195e-03 -2.63798469e+01] [ 4.58283379e-03 9.99988965e-01 -1.03284594e-03 1.47337645e+01] [-2.38213481e-03 1.04377090e-03 9.99996618e-01 1.68533615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.219259764 meters Centerline goodness [0,1] 0.5469365767911315 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.73, Z:16.85 [[ 9.99988231e-01 -4.21708657e-03 2.39857482e-03 -2.63794512e+01] [ 4.21805022e-03 9.99991025e-01 -3.96843160e-04 1.47319666e+01] [-2.39687977e-03 4.06955799e-04 9.99997045e-01 1.68525810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.249259764 meters Centerline goodness [0,1] 0.5473624503686898 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.73, Z:16.85 [[ 9.99988504e-01 -4.12260800e-03 2.44859191e-03 -2.63794180e+01] [ 4.12301850e-03 9.99991487e-01 -1.62622761e-04 1.47314217e+01] [-2.44790064e-03 1.72716481e-04 9.99996989e-01 1.68522194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.279259764 meters Centerline goodness [0,1] 0.54320358093943 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.73, Z:16.85 [[ 9.99988032e-01 -4.00233196e-03 2.81357848e-03 -2.63801573e+01] [ 4.00082690e-03 9.99991851e-01 5.40352805e-04 1.47288027e+01] [-2.81571823e-03 -5.29089698e-04 9.99995896e-01 1.68514363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.309259764 meters Centerline goodness [0,1] 0.5364253393665158 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.73, Z:16.85 [[ 9.99987905e-01 -3.91046157e-03 2.98282666e-03 -2.63806540e+01] [ 3.90773590e-03 9.99991942e-01 9.19069621e-04 1.47271703e+01] [-2.98639661e-03 -9.07402406e-04 9.99995129e-01 1.68512719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.339259764 meters Centerline goodness [0,1] 0.5425111500028228 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.73, Z:16.85 [[ 9.99986856e-01 -4.02182579e-03 3.17990950e-03 -2.63817445e+01] [ 4.01843055e-03 9.99991350e-01 1.07338487e-03 1.47258524e+01] [-3.18419896e-03 -1.06059252e-03 9.99994368e-01 1.68518157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.369259764 meters Centerline goodness [0,1] 0.5412802660878879 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.73, Z:16.85 [[ 9.99986829e-01 -4.02727145e-03 3.18163841e-03 -2.63820567e+01] [ 4.02411512e-03 9.99991405e-01 9.97826671e-04 1.47261482e+01] [-3.18562958e-03 -9.85010249e-04 9.99994441e-01 1.68522719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39925976399999 meters Centerline goodness [0,1] 0.5404581875634804 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.73, Z:16.85 [[ 9.99985837e-01 -4.19602405e-03 3.27414604e-03 -2.63828527e+01] [ 4.19344074e-03 9.99990891e-01 7.95466928e-04 1.47263827e+01] [-3.27745402e-03 -7.81725724e-04 9.99994324e-01 1.68529983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.429259764 meters Centerline goodness [0,1] 0.5404353710805323 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.73, Z:16.85 [[ 9.99985836e-01 -4.10646453e-03 3.38592466e-03 -2.63831000e+01] [ 4.10283570e-03 9.99991002e-01 1.07798982e-03 1.47251900e+01] [-3.39032092e-03 -1.06408265e-03 9.99993687e-01 1.68527706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.459259764 meters Centerline goodness [0,1] 0.5405869761153672 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.72, Z:16.85 [[ 9.99986099e-01 -3.94679175e-03 3.49627361e-03 -2.63831953e+01] [ 3.94184654e-03 9.99991222e-01 1.42018737e-03 1.47240413e+01] [-3.50184811e-03 -1.40638586e-03 9.99992880e-01 1.68523277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.489259764 meters Centerline goodness [0,1] 0.5392628881943857 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.72, Z:16.85 [[ 9.99987460e-01 -3.68027228e-03 3.39630089e-03 -2.63827249e+01] [ 3.67455875e-03 9.99991826e-01 1.68698937e-03 1.47230661e+01] [-3.40248171e-03 -1.67448831e-03 9.99992810e-01 1.68520797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.519259764 meters Centerline goodness [0,1] 0.5365345642873227 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.72, Z:16.85 [[ 9.99987449e-01 -3.69191294e-03 3.38697278e-03 -2.63828894e+01] [ 3.68651011e-03 9.99991925e-01 1.60003933e-03 1.47232681e+01] [-3.39285263e-03 -1.58753314e-03 9.99992984e-01 1.68524036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.549259764 meters Centerline goodness [0,1] 0.5393762620596814 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.72, Z:16.85 [[ 9.99987882e-01 -3.62947028e-03 3.32607484e-03 -2.63829272e+01] [ 3.62396798e-03 9.99992058e-01 1.65882906e-03 1.47231141e+01] [-3.33206910e-03 -1.64675537e-03 9.99993093e-01 1.68526439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.579259764 meters Centerline goodness [0,1] 0.5393368923855015 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.72, Z:16.85 [[ 9.99986333e-01 -3.79305861e-03 3.59826099e-03 -2.63840022e+01] [ 3.78697489e-03 9.99991391e-01 1.69604836e-03 1.47221958e+01] [-3.60466322e-03 -1.68239866e-03 9.99992088e-01 1.68530053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.609259764 meters Centerline goodness [0,1] 0.537251493144155 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.72, Z:16.85 [[ 9.99985628e-01 -3.73372434e-03 3.84742737e-03 -2.63848162e+01] [ 3.72570461e-03 9.99990877e-01 2.08950218e-03 1.47201955e+01] [-3.85519389e-03 -2.07513777e-03 9.99990416e-01 1.68529238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.639259764 meters Centerline goodness [0,1] 0.5367653247299762 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.72, Z:16.85 [[ 9.99986173e-01 -3.63883057e-03 3.79635734e-03 -2.63846671e+01] [ 3.63047012e-03 9.99990975e-01 2.20680055e-03 1.47200477e+01] [-3.80435325e-03 -2.19298748e-03 9.99990359e-01 1.68528478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.669259764 meters Centerline goodness [0,1] 0.5367206318973727 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.72, Z:16.85 [[ 9.99986405e-01 -3.49779395e-03 3.86727479e-03 -2.63847829e+01] [ 3.48873983e-03 9.99991164e-01 2.34548733e-03 1.47194341e+01] [-3.87544465e-03 -2.33196353e-03 9.99989771e-01 1.68527944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.699259764 meters Centerline goodness [0,1] 0.5352230795035223 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:16.85 [[ 9.99985300e-01 -3.49493932e-03 4.14541260e-03 -2.63858636e+01] [ 3.48377240e-03 9.99990292e-01 2.69797149e-03 1.47169365e+01] [-4.15480161e-03 -2.68349015e-03 9.99987768e-01 1.68530364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.729259764 meters Centerline goodness [0,1] 0.5297469415116474 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.85 [[ 9.99984652e-01 -3.41913859e-03 4.35947137e-03 -2.63865236e+01] [ 3.40563892e-03 9.99989395e-01 3.10030229e-03 1.47149582e+01] [-4.37002550e-03 -3.08540792e-03 9.99985691e-01 1.68529647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75925976399999 meters Centerline goodness [0,1] 0.5246321177223289 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.85 [[ 9.99963782e-01 -7.47573169e-03 4.06784557e-03 -2.63865668e+01] [ 7.47994128e-03 9.99971504e-01 -1.02061866e-03 1.47141304e+01] [-4.06009978e-03 1.05100895e-03 9.99991205e-01 1.68542935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.789259764 meters Centerline goodness [0,1] 0.5279630865021125 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.85 [[ 9.99959453e-01 -7.73495584e-03 4.61124043e-03 -2.63882681e+01] [ 7.73737780e-03 9.99969937e-01 -5.07622567e-04 1.47115000e+01] [-4.60717537e-03 5.43280893e-04 9.99989239e-01 1.68540239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.819259764 meters Centerline goodness [0,1] 0.5271377935312361 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.85 [[ 9.99954140e-01 -8.03787024e-03 5.20669248e-03 -2.63903057e+01] [ 8.03795662e-03 9.99967695e-01 4.33645819e-06 1.47087150e+01] [-5.20655914e-03 3.75149090e-05 9.99986445e-01 1.68540079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.849259764 meters Centerline goodness [0,1] 0.5095381387516219 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.85 [[ 9.99953395e-01 -8.05399593e-03 5.32356664e-03 -2.63911137e+01] [ 8.05163795e-03 9.99967477e-01 4.64216866e-04 1.47066631e+01] [-5.32713230e-03 -4.21331800e-04 9.99985722e-01 1.68543343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.879259764 meters Centerline goodness [0,1] 0.5088018483881616 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.70, Z:16.85 [[ 9.99950041e-01 -8.21245808e-03 5.69832735e-03 -2.63927692e+01] [ 8.20626120e-03 9.99965712e-01 1.11002111e-03 1.47032344e+01] [-5.70724797e-03 -1.06320369e-03 9.99983148e-01 1.68545763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.909259764 meters Centerline goodness [0,1] 0.5027985074626866 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.70, Z:16.85 [[ 9.99946126e-01 -8.26464359e-03 6.28018593e-03 -2.63943421e+01] [ 8.25369308e-03 9.99964375e-01 1.76758197e-03 1.47000375e+01] [-6.29457063e-03 -1.71565201e-03 9.99978717e-01 1.68541066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.939259764 meters Centerline goodness [0,1] 0.5036656089287668 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:16.85 [[ 9.99942031e-01 -8.34050011e-03 6.80953410e-03 -2.63957641e+01] [ 8.32390973e-03 9.99962327e-01 2.46106292e-03 1.46965139e+01] [-6.82980406e-03 -2.40423831e-03 9.99973786e-01 1.68535575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.969259764 meters Centerline goodness [0,1] 0.5036656089287668 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:16.85 [[ 9.99942031e-01 -8.34050011e-03 6.80953410e-03 -2.63957641e+01] [ 8.32390973e-03 9.99962327e-01 2.46106292e-03 1.46965139e+01] [-6.82980406e-03 -2.40423831e-03 9.99973786e-01 1.68535575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.999259764 meters Centerline goodness [0,1] 0.4932539034872967 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.85 [[ 9.99928753e-01 -9.63151618e-03 7.05139091e-03 -2.63981392e+01] [ 9.61308907e-03 9.99950302e-01 2.64250474e-03 1.46916854e+01] [-7.07649180e-03 -2.57453082e-03 9.99971647e-01 1.68542014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.029259764 meters Centerline goodness [0,1] 0.4883303411131059 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.85 [[ 9.99928106e-01 -9.63691199e-03 7.13533625e-03 -2.63986368e+01] [ 9.61596305e-03 9.99949371e-01 2.96445245e-03 1.46902137e+01] [-7.16354317e-03 -2.89562619e-03 9.99970149e-01 1.68543422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.059259764 meters Centerline goodness [0,1] 0.49418288572360547 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.85 [[ 9.99923899e-01 -9.91865550e-03 7.33593919e-03 -2.63999233e+01] [ 9.89486033e-03 9.99945689e-01 3.27285619e-03 1.46885783e+01] [-7.36800310e-03 -3.20001903e-03 9.99967736e-01 1.68548740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.089259764 meters Centerline goodness [0,1] 0.5001495174663586 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.85 [[ 9.99922373e-01 -9.94435550e-03 7.50714457e-03 -2.64004902e+01] [ 9.91762329e-03 9.99944376e-01 3.58977216e-03 1.46872686e+01] [-7.54242497e-03 -3.51504047e-03 9.99965378e-01 1.68547776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.119259764 meters Centerline goodness [0,1] 0.49500380145541434 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.85 [[ 9.99920338e-01 -9.91218500e-03 7.81453272e-03 -2.64011912e+01] [ 9.88049745e-03 9.99942850e-01 4.08318333e-03 1.46853143e+01] [-7.85455939e-03 -4.00564658e-03 9.99961130e-01 1.68542861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14925976399999 meters Centerline goodness [0,1] 0.4813961681255251 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:16.85 [[ 9.99922176e-01 -9.71891276e-03 7.82209127e-03 -2.64011951e+01] [ 9.68392178e-03 9.99942989e-01 4.49886728e-03 1.46834766e+01] [-7.86536943e-03 -4.42276864e-03 9.99959287e-01 1.68541622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.179259764 meters Centerline goodness [0,1] 0.4904441307416657 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:16.85 [[ 9.99921917e-01 -9.74997618e-03 7.81653367e-03 -2.64014424e+01] [ 9.71594887e-03 9.99943209e-01 4.37946627e-03 1.46837822e+01] [-7.85878945e-03 -4.30317927e-03 9.99959860e-01 1.68545791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.209259764 meters Centerline goodness [0,1] 0.4931677354763644 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:16.85 [[ 9.99916714e-01 -9.99675207e-03 8.16275463e-03 -2.64028035e+01] [ 9.96054076e-03 9.99940425e-01 4.46483278e-03 1.46826182e+01] [-8.20690215e-03 -4.38315547e-03 9.99956716e-01 1.68549561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.239259764 meters Centerline goodness [0,1] 0.4894317721689837 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:16.85 [[ 9.99913974e-01 -1.00566204e-02 8.42070788e-03 -2.64035640e+01] [ 1.00169162e-02 9.99938576e-01 4.74404150e-03 1.46810237e+01] [-8.46789967e-03 -4.65928387e-03 9.99953292e-01 1.68548505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.269259764 meters Centerline goodness [0,1] 0.49024370496316083 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:16.86 [[ 9.99911649e-01 -1.01896664e-02 8.53606429e-03 -2.64043222e+01] [ 1.01493310e-02 9.99937187e-01 4.75535186e-03 1.46804337e+01] [-8.58398357e-03 -4.66829637e-03 9.99952260e-01 1.68553437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.299259764 meters Centerline goodness [0,1] 0.4950161637931034 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.68, Z:16.86 [[ 9.99910041e-01 -1.03819589e-02 8.49267642e-03 -2.64048292e+01] [ 1.03445011e-02 9.99936625e-01 4.44270744e-03 1.46811754e+01] [-8.53826221e-03 -4.35445528e-03 9.99954067e-01 1.68562390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.329259764 meters Centerline goodness [0,1] 0.47371973112328913 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.68, Z:16.86 [[ 9.99908982e-01 -1.05884099e-02 8.36142084e-03 -2.64050491e+01] [ 1.05559855e-02 9.99936630e-01 3.91250859e-03 1.46829247e+01] [-8.40231822e-03 -3.82388944e-03 9.99957389e-01 1.68571829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.359259764 meters Centerline goodness [0,1] 0.49361897309985703 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.86 [[ 9.99918406e-01 -1.00993743e-02 7.82203092e-03 -2.64031412e+01] [ 1.00702279e-02 9.99942237e-01 3.75665837e-03 1.46854641e+01] [-7.85951900e-03 -3.67758222e-03 9.99962351e-01 1.68570041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.389259764 meters Centerline goodness [0,1] 0.49952627162231666 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.86 [[ 9.99920358e-01 -1.00357380e-02 7.65261643e-03 -2.64023947e+01] [ 1.00086074e-02 9.99943521e-01 3.57536615e-03 1.46867039e+01] [-7.68806565e-03 -3.49848937e-03 9.99964326e-01 1.68567138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.419259764 meters Centerline goodness [0,1] 0.4813702410909977 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.86 [[ 9.99928709e-01 -9.53566551e-03 7.18671567e-03 -2.64001938e+01] [ 9.51035863e-03 9.99948483e-01 3.54732882e-03 1.46886027e+01] [-7.22017157e-03 -3.47872768e-03 9.99967883e-01 1.68557964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.449259764 meters Centerline goodness [0,1] 0.49599437046660166 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.86 [[ 9.99931099e-01 -9.44745908e-03 6.96724267e-03 -2.63995471e+01] [ 9.42477827e-03 9.99950203e-01 3.28102986e-03 1.46903413e+01] [-6.99789312e-03 -3.21513908e-03 9.99970346e-01 1.68558445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.479259764 meters Centerline goodness [0,1] 0.4745679950085452 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.86 [[ 9.99932332e-01 -9.50683366e-03 6.70461296e-03 -2.63988236e+01] [ 9.48984484e-03 9.99951690e-01 2.56117738e-03 1.46936458e+01] [-6.72863775e-03 -2.49737833e-03 9.99974244e-01 1.68562592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50925976399999 meters Centerline goodness [0,1] 0.4911675182085009 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.69, Z:16.86 [[ 9.99933436e-01 -9.50011039e-03 6.54760098e-03 -2.63982940e+01] [ 9.48462961e-03 9.99952160e-01 2.39135338e-03 1.46949363e+01] [-6.57000587e-03 -2.32909263e-03 9.99975705e-01 1.68561614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.539259764 meters Centerline goodness [0,1] 0.4953426299161129 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:16.86 [[ 9.99934404e-01 -9.52459919e-03 6.36160894e-03 -2.63978284e+01] [ 9.51135984e-03 9.99952544e-01 2.10815512e-03 1.46964053e+01] [-6.38138637e-03 -2.04750928e-03 9.99977543e-01 1.68563147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.569259764 meters Centerline goodness [0,1] 0.49756697648988524 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:16.86 [[ 9.99966524e-01 -5.23529275e-03 6.28821956e-03 -2.63970604e+01] [ 5.19762306e-03 9.99968540e-01 5.99199537e-03 1.46987713e+01] [-6.31939158e-03 -5.95911099e-03 9.99962276e-01 1.68557041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.599259764 meters Centerline goodness [0,1] 0.49768499493164575 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.70, Z:16.86 [[ 9.99968558e-01 -5.14907863e-03 6.03076069e-03 -2.63962001e+01] [ 5.11612642e-03 9.99971969e-01 5.46676395e-03 1.47016037e+01] [-6.05874044e-03 -5.43573793e-03 9.99966872e-01 1.68559018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.629259764 meters Centerline goodness [0,1] 0.5152928267727335 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.86 [[ 9.99972668e-01 -4.86150117e-03 5.57034437e-03 -2.63945895e+01] [ 4.83512586e-03 9.99977083e-01 4.73867481e-03 1.47050339e+01] [-5.59325379e-03 -4.71161198e-03 9.99973258e-01 1.68561876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.659259764 meters Centerline goodness [0,1] 0.49827075098814233 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.86 [[ 9.99974056e-01 -4.86159620e-03 5.31532058e-03 -2.63940474e+01] [ 4.83865265e-03 9.99978959e-01 4.32086785e-03 1.47065826e+01] [-5.33621505e-03 -4.29503676e-03 9.99976538e-01 1.68565983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.689259764 meters Centerline goodness [0,1] 0.5054195323246218 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.86 [[ 9.99975285e-01 -4.90917609e-03 5.03278345e-03 -2.63932411e+01] [ 4.89080629e-03 9.99981357e-01 3.65586206e-03 1.47098233e+01] [-5.05063690e-03 -3.63115734e-03 9.99980653e-01 1.68569557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.719259764 meters Centerline goodness [0,1] 0.501807046100367 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.86 [[ 9.99974883e-01 -5.13637682e-03 4.88368895e-03 -2.63932637e+01] [ 5.12105519e-03 9.99981943e-01 3.14465156e-03 1.47116263e+01] [-4.89975288e-03 -3.11956293e-03 9.99983130e-01 1.68576511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.749259764 meters Centerline goodness [0,1] 0.5048098186643079 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.71, Z:16.86 [[ 9.99974548e-01 -5.28703549e-03 4.79057852e-03 -2.63931406e+01] [ 5.27366287e-03 9.99982175e-01 2.79978606e-03 1.47135126e+01] [-4.80529570e-03 -2.77445091e-03 9.99984606e-01 1.68578646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.779259764 meters Centerline goodness [0,1] 0.5265408106607441 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:16.86 [[ 9.99978657e-01 -5.06227121e-03 4.13030482e-03 -2.63913384e+01] [ 5.05355646e-03 9.99984988e-01 2.11766953e-03 1.47178767e+01] [-4.14096304e-03 -2.09675161e-03 9.99989228e-01 1.68584833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.809259764 meters Centerline goodness [0,1] 0.5214347234184424 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:16.86 [[ 9.99979852e-01 -5.05057910e-03 3.84544506e-03 -2.63906894e+01] [ 5.04411601e-03 9.99985853e-01 1.68856243e-03 1.47198959e+01] [-3.85391887e-03 -1.66913154e-03 9.99991181e-01 1.68588965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.839259764 meters Centerline goodness [0,1] 0.5283318475596166 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.72, Z:16.86 [[ 9.99985535e-01 -4.17926774e-03 3.38568959e-03 -2.63881561e+01] [ 4.17511817e-03 9.99990526e-01 1.23176428e-03 1.47240565e+01] [-3.39080538e-03 -1.21761080e-03 9.99993510e-01 1.68585002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.869259764 meters Centerline goodness [0,1] 0.5339051716912073 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.73, Z:16.86 [[ 9.99988976e-01 -3.71648862e-03 2.86982989e-03 -2.63861783e+01] [ 3.71358564e-03 9.99992588e-01 1.01621801e-03 1.47267351e+01] [-2.87358538e-03 -1.00554945e-03 9.99995366e-01 1.68581621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89925976399999 meters Centerline goodness [0,1] 0.5376743925965275 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.73, Z:16.86 [[ 9.99991139e-01 -3.38612395e-03 2.50117971e-03 -2.63845372e+01] [ 3.38403695e-03 9.99993923e-01 8.38169287e-04 1.47291357e+01] [-2.50400266e-03 -8.29697775e-04 9.99996521e-01 1.68575808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.929259764 meters Centerline goodness [0,1] 0.5385284787917919 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.73, Z:16.86 [[ 9.99994566e-01 -2.67580985e-03 1.92541527e-03 -2.63821257e+01] [ 2.67523833e-03 9.99996377e-01 2.99342332e-04 1.47331563e+01] [-1.92620928e-03 -2.94189761e-04 9.99998102e-01 1.68576326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.959259764 meters Centerline goodness [0,1] 0.5406099246762772 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.86 [[ 9.99996188e-01 -2.35127497e-03 1.44770479e-03 -2.63805996e+01] [ 2.35185898e-03 9.99997154e-01 -4.01830906e-04 1.47380558e+01] [-1.44675585e-03 4.05234172e-04 9.99998871e-01 1.68582023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.989259764 meters Centerline goodness [0,1] 0.5424424197838267 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.86 [[ 9.99996789e-01 -2.23524501e-03 1.19383417e-03 -2.63797208e+01] [ 2.23611692e-03 9.99997234e-01 -7.29512869e-04 1.47403906e+01] [-1.19220023e-03 7.32180080e-04 9.99999021e-01 1.68582551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.019259764 meters Centerline goodness [0,1] 0.5414019963702359 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.86 [[ 9.99996769e-01 -2.29882497e-03 1.08476898e-03 -2.63792846e+01] [ 2.30005421e-03 9.99996713e-01 -1.13329418e-03 1.47424738e+01] [-1.08216017e-03 1.13578555e-03 9.99998769e-01 1.68582974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.049259764 meters Centerline goodness [0,1] 0.5453745743473326 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.74, Z:16.86 [[ 9.99997828e-01 -1.94455914e-03 7.49526218e-04 -2.63773586e+01] [ 1.94545222e-03 9.99997396e-01 -1.19264019e-03 1.47447384e+01] [-7.47205107e-04 1.19409576e-03 9.99999008e-01 1.68571480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.079259764 meters Centerline goodness [0,1] 0.5450105071846425 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.86 [[ 9.99997953e-01 -1.89868533e-03 6.99742763e-04 -2.63769482e+01] [ 1.89961738e-03 9.99997306e-01 -1.33374186e-03 1.47458418e+01] [-6.97208522e-04 1.33506838e-03 9.99998866e-01 1.68568962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.109259764 meters Centerline goodness [0,1] 0.5526285681597163 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.86 [[ 9.99999339e-01 -1.12069142e-03 2.58848545e-04 -2.63747382e+01] [ 1.12114708e-03 9.99997811e-01 -1.76691841e-03 1.47504426e+01] [-2.56867808e-04 1.76720745e-03 9.99998405e-01 1.68568398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.139259764 meters Centerline goodness [0,1] 0.5555555555555556 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.86 [[ 9.99999432e-01 -1.04915848e-03 -1.89671794e-04 -2.63736531e+01] [ 1.04871062e-03 9.99996698e-01 -2.34610793e-03 1.47537474e+01] [ 1.92132606e-04 2.34590769e-03 9.99997230e-01 1.68574899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.169259764 meters Centerline goodness [0,1] 0.5544420835008328 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.86 [[ 9.99999464e-01 -8.71434580e-04 -5.58794270e-04 -2.63724925e+01] [ 8.69912117e-04 9.99995925e-01 -2.71903026e-03 1.47563672e+01] [ 5.61161450e-04 2.71854271e-03 9.99996147e-01 1.68576475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.199259764 meters Centerline goodness [0,1] 0.5553410924176078 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.86 [[ 9.99999509e-01 -5.70556372e-04 -8.10639017e-04 -2.63711087e+01] [ 5.68222865e-04 9.99995703e-01 -2.87592282e-03 1.47582710e+01] [ 8.12276410e-04 2.87546078e-03 9.99995536e-01 1.68570897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.229259764 meters Centerline goodness [0,1] 0.557869767710955 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.86 [[ 9.99999011e-01 3.65530950e-04 -1.35835862e-03 -2.63678210e+01] [-3.68992766e-04 9.99996683e-01 -2.54915248e-03 1.47602134e+01] [ 1.35742232e-03 2.54965118e-03 9.99995828e-01 1.68551504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25925976399999 meters Centerline goodness [0,1] 0.5547153411560191 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.86 [[ 9.99998388e-01 5.78781193e-04 -1.69985062e-03 -2.63666643e+01] [-5.83876826e-04 9.99995333e-01 -2.99872975e-03 1.47630460e+01] [ 1.69810708e-03 2.99971742e-03 9.99994059e-01 1.68553967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.289259764 meters Centerline goodness [0,1] 0.5548815881123752 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.77, Z:16.86 [[ 9.99998369e-01 4.07486212e-04 -1.75951623e-03 -2.63668188e+01] [-4.13628449e-04 9.99993818e-01 -3.49191557e-03 1.47651541e+01] [ 1.75808245e-03 3.49263766e-03 9.99992355e-01 1.68560622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.319259764 meters Centerline goodness [0,1] 0.5543933054393305 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.77, Z:16.86 [[ 9.99998097e-01 2.36038058e-04 -1.93646044e-03 -2.63667412e+01] [-2.43759898e-04 9.99992017e-01 -3.98833887e-03 1.47674987e+01] [ 1.93550358e-03 3.98880331e-03 9.99990172e-01 1.68567935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.349259764 meters Centerline goodness [0,1] 0.5593442814222793 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.86 [[ 9.99996735e-01 5.70878968e-04 -2.49088227e-03 -2.63648287e+01] [-5.81378253e-04 9.99990942e-01 -4.21640067e-03 1.47704902e+01] [ 2.48845265e-03 4.21783505e-03 9.99988009e-01 1.68565865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.379259764 meters Centerline goodness [0,1] 0.5546365841540755 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.86 [[ 9.99996647e-01 6.42523227e-04 -2.50866130e-03 -2.63644371e+01] [-6.53108146e-04 9.99990879e-01 -4.22081278e-03 1.47713190e+01] [ 2.50592645e-03 4.22243706e-03 9.99987946e-01 1.68561245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.409259764 meters Centerline goodness [0,1] 0.5607375588089185 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.86 [[ 9.99995253e-01 1.05355905e-03 -2.89552302e-03 -2.63628247e+01] [-1.06627210e-03 9.99989784e-01 -4.39255753e-03 1.47733913e+01] [ 2.89086562e-03 4.39562409e-03 9.99986161e-01 1.68558959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.439259764 meters Centerline goodness [0,1] 0.5595154288396105 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.86 [[ 9.99994817e-01 1.07065046e-03 -3.03638821e-03 -2.63624756e+01] [-1.08456733e-03 9.99988899e-01 -4.58542451e-03 1.47746614e+01] [ 3.03144512e-03 4.58869391e-03 9.99984877e-01 1.68560326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.469259764 meters Centerline goodness [0,1] 0.558923545966229 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.78, Z:16.86 [[ 9.99994663e-01 1.08363673e-03 -3.08219476e-03 -2.63623531e+01] [-1.09823843e-03 9.99988164e-01 -4.73969766e-03 1.47755371e+01] [ 3.07702217e-03 4.74305735e-03 9.99984018e-01 1.68561673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.499259764 meters Centerline goodness [0,1] 0.5628213037219822 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.78, Z:16.86 [[ 9.99991997e-01 1.75527360e-03 -3.59515304e-03 -2.63603889e+01] [-1.77334974e-03 9.99985772e-01 -5.03091654e-03 1.47784639e+01] [ 3.58627126e-03 5.03725174e-03 9.99980882e-01 1.68564316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.529259764 meters Centerline goodness [0,1] 0.5658898742008662 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.78, Z:16.86 [[ 9.99989659e-01 2.19593969e-03 -3.98241452e-03 -2.63589811e+01] [-2.21646509e-03 9.99984247e-01 -5.15693927e-03 1.47800262e+01] [ 3.97102745e-03 5.16571283e-03 9.99978773e-01 1.68564725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.559259764 meters Centerline goodness [0,1] 0.5640163910262079 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.78, Z:16.86 [[ 9.99988666e-01 2.38376946e-03 -4.12125002e-03 -2.63583401e+01] [-2.40469174e-03 9.99984209e-01 -5.07920245e-03 1.47803800e+01] [ 4.10907729e-03 5.08905522e-03 9.99978608e-01 1.68561801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.589259764 meters Centerline goodness [0,1] 0.5613988490482514 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.78, Z:16.86 [[ 9.99988679e-01 2.49683638e-03 -4.05068486e-03 -2.63582372e+01] [-2.51689328e-03 9.99984562e-01 -4.95396518e-03 1.47804711e+01] [ 4.03825308e-03 4.96410424e-03 9.99979525e-01 1.68557538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.619259764 meters Centerline goodness [0,1] 0.5636647794291106 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.78, Z:16.86 [[ 9.99987983e-01 2.70019447e-03 -4.09175257e-03 -2.63579106e+01] [-2.71965434e-03 9.99984983e-01 -4.75779944e-03 1.47800524e+01] [ 4.07884414e-03 4.76887042e-03 9.99980310e-01 1.68554719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64925976399999 meters Centerline goodness [0,1] 0.5653210847098313 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.78, Z:16.86 [[ 9.99987688e-01 2.92014118e-03 -4.01213262e-03 -2.63580499e+01] [-2.93793353e-03 9.99985845e-01 -4.43592270e-03 1.47787207e+01] [ 3.99912231e-03 4.44765547e-03 9.99982113e-01 1.68553314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.679259764 meters Centerline goodness [0,1] 0.5636230397185988 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.78, Z:16.86 [[ 9.99988769e-01 -5.71023840e-04 -4.70480845e-03 -2.63563587e+01] [ 5.29615426e-04 9.99961158e-01 -8.79784633e-03 1.47818085e+01] [ 4.70964948e-03 8.79525578e-03 9.99950230e-01 1.68566030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.709259764 meters Centerline goodness [0,1] 0.5649417358889313 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.78, Z:16.86 [[ 9.99989252e-01 -4.58434641e-04 -4.61367430e-03 -2.63565907e+01] [ 4.19422399e-04 9.99964183e-01 -8.45320408e-03 1.47808529e+01] [ 4.61738430e-03 8.45117815e-03 9.99953628e-01 1.68563843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.739259764 meters Centerline goodness [0,1] 0.5632955945327623 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.78, Z:16.86 [[ 9.99989860e-01 -3.04754431e-04 -4.49290211e-03 -2.63566854e+01] [ 2.68702491e-04 9.99967782e-01 -8.02261977e-03 1.47796337e+01] [ 4.49520229e-03 8.02133117e-03 9.99957725e-01 1.68558372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.769259764 meters Centerline goodness [0,1] 0.563598155390812 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.78, Z:16.85 [[ 9.99990255e-01 -2.83053121e-05 -4.41457611e-03 -2.63565007e+01] [-3.71063089e-06 9.99973703e-01 -7.25214873e-03 1.47772541e+01] [ 4.41466529e-03 7.25209444e-03 9.99963958e-01 1.68548179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.799259764 meters Centerline goodness [0,1] 0.567538285848145 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.78, Z:16.85 [[ 9.99990557e-01 2.29995074e-04 -4.33978202e-03 -2.63562176e+01] [-2.59673581e-04 9.99976577e-01 -6.83938541e-03 1.47761906e+01] [ 4.33810735e-03 6.84044775e-03 9.99967194e-01 1.68540723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.829259764 meters Centerline goodness [0,1] 0.5616578493555082 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99990666e-01 6.01062415e-04 -4.27854310e-03 -2.63557652e+01] [-6.27539031e-04 9.99980647e-01 -6.18958155e-03 1.47744482e+01] [ 4.27473998e-03 6.19220873e-03 9.99971691e-01 1.68530020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.859259764 meters Centerline goodness [0,1] 0.565768390386016 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99990861e-01 6.21665729e-04 -4.22974244e-03 -2.63560527e+01] [-6.47220413e-04 9.99981532e-01 -6.04298049e-03 1.47738713e+01] [ 4.22590761e-03 6.04566284e-03 9.99972795e-01 1.68530870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.889259764 meters Centerline goodness [0,1] 0.565768390386016 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99990861e-01 6.21665729e-04 -4.22974244e-03 -2.63560527e+01] [-6.47220413e-04 9.99981532e-01 -6.04298049e-03 1.47738713e+01] [ 4.22590761e-03 6.04566284e-03 9.99972795e-01 1.68530870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.919259764 meters Centerline goodness [0,1] 0.5625802310654686 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99991541e-01 4.64904183e-04 -4.08682324e-03 -2.63570906e+01] [-4.89288854e-04 9.99982074e-01 -5.96768299e-03 1.47732045e+01] [ 4.08397557e-03 5.96963215e-03 9.99973842e-01 1.68537378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.949259764 meters Centerline goodness [0,1] 0.5655453618756371 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99991882e-01 4.80890299e-04 -4.00070046e-03 -2.63573533e+01] [-5.03832990e-04 9.99983424e-01 -5.73563868e-03 1.47727079e+01] [ 3.99787593e-03 5.73760780e-03 9.99975548e-01 1.68535489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.979259764 meters Centerline goodness [0,1] 0.5637910439064184 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99992069e-01 5.65610891e-04 -3.94238226e-03 -2.63573475e+01] [-5.87032972e-04 9.99985059e-01 -5.43475357e-03 1.47721433e+01] [ 3.93924941e-03 5.43702478e-03 9.99977460e-01 1.68530914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00925976399999 meters Centerline goodness [0,1] 0.5657787600325694 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99993313e-01 3.58771118e-04 -3.63938926e-03 -2.63584190e+01] [-3.77747485e-04 9.99986331e-01 -5.21481589e-03 1.47709914e+01] [ 3.63746859e-03 5.21615579e-03 9.99979780e-01 1.68530130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.039259764 meters Centerline goodness [0,1] 0.562783793223891 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99994146e-01 2.84335769e-04 -3.40992224e-03 -2.63590834e+01] [-3.01517545e-04 9.99987257e-01 -5.03930401e-03 1.47703278e+01] [ 3.40844593e-03 5.04030266e-03 9.99981489e-01 1.68528579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.069259764 meters Centerline goodness [0,1] 0.5622707423580786 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99995399e-01 -8.66057470e-05 -3.03215267e-03 -2.63606276e+01] [ 7.17991291e-05 9.99988076e-01 -4.88297163e-03 1.47692124e+01] [ 3.03253941e-03 4.88273146e-03 9.99983481e-01 1.68530260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.099259764 meters Centerline goodness [0,1] 0.5594246782740349 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99996059e-01 -1.93880447e-04 -2.80074557e-03 -2.63612820e+01] [ 1.80799317e-04 9.99989079e-01 -4.67008686e-03 1.47686070e+01] [ 2.80162042e-03 4.66956209e-03 9.99985173e-01 1.68527384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.129259764 meters Centerline goodness [0,1] 0.5619543708532184 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99996679e-01 -2.87006354e-04 -2.56110945e-03 -2.63619051e+01] [ 2.75529147e-04 9.99989924e-01 -4.48056995e-03 1.47679979e+01] [ 2.56236959e-03 4.47984941e-03 9.99986683e-01 1.68524666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.159259764 meters Centerline goodness [0,1] 0.5592889406964885 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99997338e-01 -4.41179780e-04 -2.26500644e-03 -2.63626732e+01] [ 4.32250030e-04 9.99992139e-01 -3.94146052e-03 1.47661285e+01] [ 2.26672753e-03 3.94047097e-03 9.99989667e-01 1.68516754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.189259764 meters Centerline goodness [0,1] 0.5588800839063046 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99997511e-01 -3.18524109e-04 -2.20831643e-03 -2.63623052e+01] [ 3.10496008e-04 9.99993346e-01 -3.63478473e-03 1.47659153e+01] [ 2.20945950e-03 3.63409001e-03 9.99990956e-01 1.68507364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.219259764 meters Centerline goodness [0,1] 0.5634183955538743 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99997118e-01 -3.53612749e-04 -2.37472949e-03 -2.63619671e+01] [ 3.44243677e-04 9.99992161e-01 -3.94457213e-03 1.47677330e+01] [ 2.37610572e-03 3.94374327e-03 9.99989400e-01 1.68510082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.249259764 meters Centerline goodness [0,1] 0.5613072658301721 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99996527e-01 -4.01701086e-04 -2.60468427e-03 -2.63615551e+01] [ 3.90360098e-04 9.99990449e-01 -4.35312146e-03 1.47698068e+01] [ 2.60640804e-03 4.35208958e-03 9.99987133e-01 1.68514941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.279259764 meters Centerline goodness [0,1] 0.5659859175504718 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99995465e-01 7.89821181e-05 -3.01045644e-03 -2.63597245e+01] [-9.26048794e-05 9.99989757e-01 -4.52527737e-03 1.47723227e+01] [ 3.01006819e-03 4.52553563e-03 9.99985229e-01 1.68510809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.309259764 meters Centerline goodness [0,1] 0.5652199361994791 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99994941e-01 3.74791327e-04 -3.15881374e-03 -2.63586863e+01] [-3.88381883e-04 9.99990667e-01 -4.30290939e-03 1.47727009e+01] [ 3.15717156e-03 4.30411445e-03 9.99985753e-01 1.68501972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.339259764 meters Centerline goodness [0,1] 0.5622059210334045 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99993496e-01 1.04995167e-03 -3.45054026e-03 -2.63566617e+01] [-1.06350840e-03 9.99991714e-01 -3.92938809e-03 1.47731086e+01] [ 3.44638601e-03 3.93303221e-03 9.99986327e-01 1.68487739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.369259764 meters Centerline goodness [0,1] 0.5663527271660358 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99993376e-01 1.08734192e-03 -3.47360537e-03 -2.63564105e+01] [-1.10125126e-03 9.99991374e-01 -4.00489566e-03 1.47739465e+01] [ 3.46922072e-03 4.00869444e-03 9.99985947e-01 1.68485570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39925976399999 meters Centerline goodness [0,1] 0.5682845237396561 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.85 [[ 9.99992837e-01 1.21963048e-03 -3.58317250e-03 -2.63559008e+01] [-1.23406670e-03 9.99991120e-01 -4.02944749e-03 1.47747981e+01] [ 3.57822624e-03 4.03384050e-03 9.99985462e-01 1.68483638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.429259764 meters Centerline goodness [0,1] 0.5692669311003379 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.78, Z:16.85 [[ 9.99990829e-01 1.58689471e-03 -3.97792660e-03 -2.63544556e+01] [-1.60322600e-03 9.99990287e-01 -4.10565492e-03 1.47767488e+01] [ 3.97137272e-03 4.11199478e-03 9.99983660e-01 1.68482038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.459259764 meters Centerline goodness [0,1] 0.5714790286975717 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.78, Z:16.85 [[ 9.99990752e-01 1.57049270e-03 -4.00377015e-03 -2.63543746e+01] [-1.58756143e-03 9.99989651e-01 -4.26355726e-03 1.47778360e+01] [ 3.99703283e-03 4.26987406e-03 9.99982896e-01 1.68482729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.489259764 meters Centerline goodness [0,1] 0.5725121270027929 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.78, Z:16.85 [[ 9.99989671e-01 1.88853408e-03 -4.13408224e-03 -2.63536411e+01] [-1.90571421e-03 9.99989549e-01 -4.15574355e-03 1.47782613e+01] [ 4.12619078e-03 4.16357901e-03 9.99982819e-01 1.68479464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.519259764 meters Centerline goodness [0,1] 0.571042187270322 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.78, Z:16.85 [[ 9.99989816e-01 1.96849438e-03 -4.06106926e-03 -2.63537223e+01] [-1.98525393e-03 9.99989513e-01 -4.12698465e-03 1.47783284e+01] [ 4.05290272e-03 4.13500488e-03 9.99983238e-01 1.68478443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.549259764 meters Centerline goodness [0,1] 0.5678504233301975 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.78, Z:16.85 [[ 9.99989140e-01 2.26428848e-03 -4.07346075e-03 -2.63531680e+01] [-2.28030842e-03 9.99989668e-01 -3.93242261e-03 1.47785499e+01] [ 4.06451452e-03 3.94166865e-03 9.99983971e-01 1.68472209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.579259764 meters Centerline goodness [0,1] 0.5681551461096115 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.78, Z:16.85 [[ 9.99989227e-01 2.25043891e-03 -4.05965820e-03 -2.63532742e+01] [-2.26736049e-03 9.99988741e-01 -4.16845117e-03 1.47789600e+01] [ 4.05023165e-03 4.17761097e-03 9.99983071e-01 1.68475711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.609259764 meters Centerline goodness [0,1] 0.568863503222027 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.78, Z:16.85 [[ 9.99988837e-01 2.30666832e-03 -4.12376012e-03 -2.63530961e+01] [-2.32387886e-03 9.99988590e-01 -4.17359907e-03 1.47793574e+01] [ 4.11408596e-03 4.18313559e-03 9.99982788e-01 1.68475610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.639259764 meters Centerline goodness [0,1] 0.5704497540407589 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.78, Z:16.85 [[ 9.99989446e-01 2.31009927e-03 -3.97123529e-03 -2.63533714e+01] [-2.32718266e-03 9.99988036e-01 -4.30255830e-03 1.47795849e+01] [ 3.96124844e-03 4.31175468e-03 9.99982858e-01 1.68475799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.669259764 meters Centerline goodness [0,1] 0.5707016055917877 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.78, Z:16.85 [[ 9.99988852e-01 2.57523938e-03 -3.95786957e-03 -2.63530385e+01] [-2.59086774e-03 9.99988848e-01 -3.94863939e-03 1.47787241e+01] [ 3.94765674e-03 3.95884968e-03 9.99984372e-01 1.68470499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.699259764 meters Centerline goodness [0,1] 0.5700446441597853 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.78, Z:16.85 [[ 9.99989085e-01 2.66740356e-03 -3.83588011e-03 -2.63531406e+01] [-2.68170048e-03 9.99989459e-01 -3.72685380e-03 1.47778065e+01] [ 3.82589866e-03 3.73709980e-03 9.99985698e-01 1.68466630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.729259764 meters Centerline goodness [0,1] 0.570083377062562 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.78, Z:16.85 [[ 9.99989307e-01 2.74182603e-03 -3.72397537e-03 -2.63533018e+01] [-2.75510747e-03 9.99989846e-01 -3.56603091e-03 1.47771636e+01] [ 3.71416012e-03 3.57625274e-03 9.99986708e-01 1.68464202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75925976399999 meters Centerline goodness [0,1] 0.5721240743979943 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.78, Z:16.85 [[ 9.99989666e-01 2.81517454e-03 -3.56973463e-03 -2.63534337e+01] [-2.82630727e-03 9.99991147e-01 -3.11744493e-03 1.47757470e+01] [ 3.56092687e-03 3.12750188e-03 9.99988769e-01 1.68456420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.789259764 meters Centerline goodness [0,1] 0.5693647511140885 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.78, Z:16.85 [[ 9.99990957e-01 -8.28667558e-04 -4.17133078e-03 -2.63516825e+01] [ 7.97571663e-04 9.99971924e-01 -7.45082176e-03 1.47788778e+01] [ 4.17738793e-03 7.44742744e-03 9.99963542e-01 1.68461262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.819259764 meters Centerline goodness [0,1] 0.5765530071800238 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.78, Z:16.85 [[ 9.99992166e-01 -7.74069805e-04 -3.88188368e-03 -2.63523127e+01] [ 7.47625572e-04 9.99976539e-01 -6.80904731e-03 1.47767674e+01] [ 3.88706328e-03 6.80609177e-03 9.99969283e-01 1.68453377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.849259764 meters Centerline goodness [0,1] 0.5778907611853574 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.78, Z:16.84 [[ 9.99993037e-01 -7.19337300e-04 -3.66188386e-03 -2.63527957e+01] [ 6.95929866e-04 9.99979345e-01 -6.38944958e-03 1.47755339e+01] [ 3.66640440e-03 6.38685667e-03 9.99972882e-01 1.68448919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.879259764 meters Centerline goodness [0,1] 0.5753174465124369 Centerline is valid? [False, False] Translation: X:-26.35, Y:14.77, Z:16.84 [[ 9.99993835e-01 -8.08883464e-04 -3.41709867e-03 -2.63536382e+01] [ 7.88000553e-04 9.99981034e-01 -6.10823096e-03 1.47743538e+01] [ 3.42197470e-03 6.10550062e-03 9.99975506e-01 1.68447836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.909259764 meters Centerline goodness [0,1] 0.5717177559282822 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.84 [[ 9.99994951e-01 -1.19754316e-03 -2.94328647e-03 -2.63554851e+01] [ 1.18131026e-03 9.99984118e-01 -5.51079176e-03 1.47714941e+01] [ 2.94983914e-03 5.50728701e-03 9.99980484e-01 1.68444992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.939259764 meters Centerline goodness [0,1] 0.5701632912122786 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.84 [[ 9.99995910e-01 -1.22022080e-03 -2.58652254e-03 -2.63564735e+01] [ 1.20714242e-03 9.99986510e-01 -5.05190240e-03 1.47696069e+01] [ 2.59265208e-03 5.04875944e-03 9.99983894e-01 1.68441365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.969259764 meters Centerline goodness [0,1] 0.5673961306692039 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.84 [[ 9.99996883e-01 -1.42621287e-03 -2.04950709e-03 -2.63580377e+01] [ 1.41730156e-03 9.99989565e-01 -4.34292075e-03 1.47665428e+01] [ 2.05567963e-03 4.34000244e-03 9.99988469e-01 1.68433710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.999259764 meters Centerline goodness [0,1] 0.573337942159235 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.77, Z:16.84 [[ 9.99997457e-01 -1.32184880e-03 -1.82722633e-03 -2.63583326e+01] [ 1.31479154e-03 9.99991693e-01 -3.85810133e-03 1.47650794e+01] [ 1.83231098e-03 3.85568910e-03 9.99990888e-01 1.68426261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.029259764 meters Centerline goodness [0,1] 0.5730291886922547 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.76, Z:16.84 [[ 9.99997931e-01 -1.21583520e-03 -1.63086122e-03 -2.63584548e+01] [ 1.21031912e-03 9.99993559e-01 -3.37904346e-03 1.47636334e+01] [ 1.63495908e-03 3.37706261e-03 9.99992961e-01 1.68417678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.059259764 meters Centerline goodness [0,1] 0.5728865063211306 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.76, Z:16.84 [[ 9.99998436e-01 -1.32870351e-03 -1.16737482e-03 -2.63593589e+01] [ 1.32557841e-03 9.99995547e-01 -2.67374377e-03 1.47611297e+01] [ 1.17092223e-03 2.67219214e-03 9.99995744e-01 1.68404694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.089259764 meters Centerline goodness [0,1] 0.5717352107838929 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.76, Z:16.84 [[ 9.99998657e-01 -1.36718361e-03 -9.03529346e-04 -2.63600139e+01] [ 1.36504755e-03 9.99996282e-01 -2.36053639e-03 1.47599765e+01] [ 9.06753273e-04 2.35929986e-03 9.99996806e-01 1.68400346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.119259764 meters Centerline goodness [0,1] 0.5702132518770162 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.76, Z:16.84 [[ 9.99998686e-01 -1.52797209e-03 -5.42194541e-04 -2.63611441e+01] [ 1.52686770e-03 9.99996771e-01 -2.03149295e-03 1.47586361e+01] [ 5.45296855e-04 2.03066242e-03 9.99997790e-01 1.68397599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14925976399999 meters Centerline goodness [0,1] 0.5697604704941902 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.76, Z:16.84 [[ 9.99998647e-01 -1.57462822e-03 -4.75231783e-04 -2.63614941e+01] [ 1.57370696e-03 9.99996894e-01 -1.93272821e-03 1.47584088e+01] [ 4.78273635e-04 1.93197772e-03 9.99998019e-01 1.68397921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.179259764 meters Centerline goodness [0,1] 0.5524122180987725 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.76, Z:16.84 [[ 9.99998697e-01 -1.55006008e-03 -4.51173393e-04 -2.63615792e+01] [ 1.54924155e-03 9.99997164e-01 -1.80896225e-03 1.47582218e+01] [ 4.53976114e-04 1.80826092e-03 9.99998262e-01 1.68396902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.209259764 meters Centerline goodness [0,1] 0.5702319220468403 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.76, Z:16.84 [[ 9.99998822e-01 -1.53491887e-03 9.02831425e-06 -2.63624012e+01] [ 1.53493014e-03 9.99997813e-01 -1.42036453e-03 1.47566623e+01] [-6.84815020e-06 1.42037671e-03 9.99998991e-01 1.68388135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.239259764 meters Centerline goodness [0,1] 0.5713797035347776 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.76, Z:16.84 [[ 9.99998973e-01 -1.41827610e-03 2.06398729e-04 -2.63627080e+01] [ 1.41851451e-03 9.99998322e-01 -1.15958749e-03 1.47554600e+01] [-2.04753768e-04 1.15987907e-03 9.99999306e-01 1.68384555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.269259764 meters Centerline goodness [0,1] 0.5668280182232346 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.75, Z:16.84 [[ 9.99999133e-01 -1.23314260e-03 4.61869840e-04 -2.63631263e+01] [ 1.23358278e-03 9.99998784e-01 -9.53966867e-04 1.47543951e+01] [-4.60692901e-04 9.54535795e-04 9.99999438e-01 1.68381814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.299259764 meters Centerline goodness [0,1] 0.5645055850837052 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.75, Z:16.84 [[ 9.99999241e-01 -1.10750293e-03 5.39748358e-04 -2.63632889e+01] [ 1.10793197e-03 9.99999070e-01 -7.95239157e-04 1.47539916e+01] [-5.38867127e-04 7.95836558e-04 9.99999538e-01 1.68381020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.329259764 meters Centerline goodness [0,1] 0.5683860327570518 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.75, Z:16.84 [[ 9.99999386e-01 -8.98145641e-04 6.49166346e-04 -2.63633490e+01] [ 8.98429975e-04 9.99999501e-01 -4.37840286e-04 1.47530470e+01] [-6.48772778e-04 4.38423247e-04 9.99999693e-01 1.68376820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.359259764 meters Centerline goodness [0,1] 0.565112585786399 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.75, Z:16.84 [[ 9.99991152e-01 -4.19870734e-03 2.56560625e-04 -2.63613942e+01] [ 4.19978748e-03 9.99981652e-01 -4.36553633e-03 1.47545045e+01] [-2.38226308e-04 4.36657521e-03 9.99990438e-01 1.68373700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.389259764 meters Centerline goodness [0,1] 0.5646835299455535 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.75, Z:16.84 [[ 9.99991701e-01 -4.03334459e-03 5.75114714e-04 -2.63619137e+01] [ 4.03531511e-03 9.99985847e-01 -3.46733171e-03 1.47512744e+01] [-5.61121631e-04 3.46962370e-03 9.99993823e-01 1.68362351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.419259764 meters Centerline goodness [0,1] 0.552963822680179 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.75, Z:16.84 [[ 9.99991773e-01 -3.95891221e-03 8.83499863e-04 -2.63625343e+01] [ 3.96149010e-03 9.99987845e-01 -2.93539984e-03 1.47492554e+01] [-8.71868134e-04 2.93887566e-03 9.99995301e-01 1.68356113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.449259764 meters Centerline goodness [0,1] 0.5577048160402703 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.75, Z:16.83 [[ 9.99991200e-01 -3.97565373e-03 1.33959099e-03 -2.63635864e+01] [ 3.97878738e-03 9.99989336e-01 -2.34477086e-03 1.47469864e+01] [-1.33025470e-03 2.35008017e-03 9.99996354e-01 1.68348555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.479259764 meters Centerline goodness [0,1] 0.550686244116901 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.74, Z:16.83 [[ 9.99988464e-01 -4.36316970e-03 2.00853845e-03 -2.63657328e+01] [ 4.36651341e-03 9.99989083e-01 -1.66338275e-03 1.47429084e+01] [-2.00125890e-03 1.67213387e-03 9.99996599e-01 1.68343268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50925976399999 meters Centerline goodness [0,1] 0.5459276972851315 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.74, Z:16.83 [[ 9.99987395e-01 -4.38883103e-03 2.43901137e-03 -2.63667903e+01] [ 4.39165316e-03 9.99989692e-01 -1.15293046e-03 1.47409469e+01] [-2.43392621e-03 1.16362722e-03 9.99996361e-01 1.68337317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.539259764 meters Centerline goodness [0,1] 0.5358607132827857 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.74, Z:16.83 [[ 9.99982263e-01 -5.12904943e-03 3.02752311e-03 -2.63693196e+01] [ 5.13214173e-03 9.99986316e-01 -1.01451113e-03 1.47390877e+01] [-3.02227820e-03 1.03003082e-03 9.99994902e-01 1.68341154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.569259764 meters Centerline goodness [0,1] 0.5360174833991762 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.74, Z:16.83 [[ 9.99980221e-01 -5.32996916e-03 3.33898522e-03 -2.63703815e+01] [ 5.33280183e-03 9.99985428e-01 -8.40032976e-04 1.47383658e+01] [-3.33445922e-03 8.57822507e-04 9.99994073e-01 1.68340896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.599259764 meters Centerline goodness [0,1] 0.5381771329337293 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.74, Z:16.83 [[ 9.99979962e-01 -5.40624427e-03 3.29370015e-03 -2.63705776e+01] [ 5.41031084e-03 9.99984611e-01 -1.22699664e-03 1.47400084e+01] [-3.28701602e-03 1.24479200e-03 9.99993823e-01 1.68348165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.629259764 meters Centerline goodness [0,1] 0.5532980639351643 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.74, Z:16.84 [[ 9.99979662e-01 -5.42511799e-03 3.35316322e-03 -2.63709501e+01] [ 5.43216105e-03 9.99983051e-01 -2.09489479e-03 1.47431602e+01] [-3.34174134e-03 2.11306711e-03 9.99992184e-01 1.68361218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.659259764 meters Centerline goodness [0,1] 0.5469439370521287 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.74, Z:16.84 [[ 9.99980301e-01 -5.26827794e-03 3.41212760e-03 -2.63706006e+01] [ 5.27558574e-03 9.99983802e-01 -2.13626609e-03 1.47441411e+01] [-3.40081789e-03 2.15422498e-03 9.99991897e-01 1.68355839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.689259764 meters Centerline goodness [0,1] 0.5531998539777034 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.83 [[ 9.99985315e-01 -4.41407895e-03 3.14405783e-03 -2.63678450e+01] [ 4.41987068e-03 9.99988544e-01 -1.83755895e-03 1.47458708e+01] [-3.13591068e-03 1.85142829e-03 9.99993369e-01 1.68333323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.719259764 meters Centerline goodness [0,1] 0.5576776596044799 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.83 [[ 9.99985749e-01 -4.27001549e-03 3.20444334e-03 -2.63672874e+01] [ 4.27607701e-03 9.99989077e-01 -1.88713724e-03 1.47473531e+01] [-3.19635023e-03 1.90081279e-03 9.99993085e-01 1.68324896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.749259764 meters Centerline goodness [0,1] 0.5604889141557703 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.83 [[ 9.99987794e-01 -3.88134624e-03 3.05741692e-03 -2.63659016e+01] [ 3.88793565e-03 9.99990126e-01 -2.15223183e-03 1.47502502e+01] [-3.04903317e-03 2.16409260e-03 9.99993010e-01 1.68318412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.779259764 meters Centerline goodness [0,1] 0.5604889141557703 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.83 [[ 9.99987794e-01 -3.88134624e-03 3.05741692e-03 -2.63659016e+01] [ 3.88793565e-03 9.99990126e-01 -2.15223183e-03 1.47502502e+01] [-3.04903317e-03 2.16409260e-03 9.99993010e-01 1.68318412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.809259764 meters Centerline goodness [0,1] 0.5627579924274775 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.83 [[ 9.99987611e-01 -3.93333931e-03 3.05060156e-03 -2.63659209e+01] [ 3.94087816e-03 9.99989186e-01 -2.46920411e-03 1.47518907e+01] [-3.04085636e-03 2.48119557e-03 9.99992298e-01 1.68320788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.839259764 meters Centerline goodness [0,1] 0.5655803316180674 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.83 [[ 9.99987324e-01 -4.01462315e-03 3.03878257e-03 -2.63659658e+01] [ 4.02350596e-03 9.99987635e-01 -2.92270099e-03 1.47541321e+01] [-3.02701145e-03 2.93489050e-03 9.99991112e-01 1.68324652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.869259764 meters Centerline goodness [0,1] 0.5671830540625988 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.83 [[ 9.99988862e-01 -3.72906964e-03 2.89298762e-03 -2.63652499e+01] [ 3.73972392e-03 9.99986213e-01 -3.68617001e-03 1.47583654e+01] [-2.87920175e-03 3.69694793e-03 9.99989021e-01 1.68332614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89925976399999 meters Centerline goodness [0,1] 0.5631459250942799 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.83 [[ 9.99989110e-01 -3.56855363e-03 3.00760414e-03 -2.63651261e+01] [ 3.57991729e-03 9.99986442e-01 -3.78143241e-03 1.47596245e+01] [-2.99406912e-03 3.79215821e-03 9.99988327e-01 1.68329541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.929259764 meters Centerline goodness [0,1] 0.5683519520902913 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.76, Z:16.83 [[ 9.99991105e-01 -2.92356472e-03 3.04029169e-03 -2.63637597e+01] [ 2.93437454e-03 9.99989368e-01 -3.55716119e-03 1.47606670e+01] [-3.02985977e-03 3.56605091e-03 9.99989052e-01 1.68314983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.959259764 meters Centerline goodness [0,1] 0.5631219174526261 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.76, Z:16.83 [[ 9.99991914e-01 -2.69452061e-03 2.98518732e-03 -2.63632059e+01] [ 2.70480934e-03 9.99990398e-01 -3.44793308e-03 1.47611217e+01] [-2.97586813e-03 3.45597956e-03 9.99989600e-01 1.68310002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.989259764 meters Centerline goodness [0,1] 0.5664394004775466 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.76, Z:16.83 [[ 9.99992031e-01 -2.60814654e-03 3.02263782e-03 -2.63630596e+01] [ 2.61878363e-03 9.99990374e-01 -3.52054175e-03 1.47619115e+01] [-3.01342663e-03 3.52842933e-03 9.99989235e-01 1.68307765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.019259764 meters Centerline goodness [0,1] 0.5706510784116106 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.76, Z:16.83 [[ 9.99992406e-01 -2.44758443e-03 3.03275390e-03 -2.63628515e+01] [ 2.45818354e-03 9.99990867e-01 -3.49609603e-03 1.47626093e+01] [-3.02416922e-03 3.50352454e-03 9.99989290e-01 1.68306023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.049259764 meters Centerline goodness [0,1] 0.5617714945181767 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.76, Z:16.83 [[ 9.99992118e-01 -2.47919730e-03 3.10118784e-03 -2.63631598e+01] [ 2.48983007e-03 9.99991020e-01 -3.42946226e-03 1.47626836e+01] [-3.09265768e-03 3.43715666e-03 9.99989311e-01 1.68305927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.079259764 meters Centerline goodness [0,1] 0.5735531009089863 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.76, Z:16.83 [[ 9.99991905e-01 -2.32017368e-03 3.28732963e-03 -2.63631736e+01] [ 2.33007938e-03 9.99992747e-01 -3.01267827e-03 1.47616370e+01] [-3.28031585e-03 3.02031362e-03 9.99990059e-01 1.68297230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.109259764 meters Centerline goodness [0,1] 0.5726294649261225 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.76, Z:16.83 [[ 9.99991587e-01 -2.10238365e-03 3.52220415e-03 -2.63632372e+01] [ 2.11130155e-03 9.99994570e-01 -2.53010771e-03 1.47604930e+01] [-3.51686577e-03 2.53752286e-03 9.99990596e-01 1.68287056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.139259764 meters Centerline goodness [0,1] 0.5713382568464611 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.76, Z:16.83 [[ 9.99990823e-01 -2.07083209e-03 3.75052979e-03 -2.63636114e+01] [ 2.07895105e-03 9.99995502e-01 -2.16214608e-03 1.47594963e+01] [-3.74603548e-03 2.16992341e-03 9.99990629e-01 1.68279196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.169259764 meters Centerline goodness [0,1] 0.5689086476409007 Centerline is valid? [False, False] Translation: X:-26.36, Y:14.76, Z:16.83 [[ 9.99989287e-01 -2.17267002e-03 4.08721137e-03 -2.63646541e+01] [ 2.18060670e-03 9.99995744e-01 -1.93837976e-03 1.47582259e+01] [-4.08298252e-03 1.94727160e-03 9.99989769e-01 1.68278518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.199259764 meters Centerline goodness [0,1] 0.5722806916922372 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.83 [[ 9.99987643e-01 -2.36023339e-03 4.37534965e-03 -2.63658140e+01] [ 2.36836878e-03 9.99995475e-01 -1.85512085e-03 1.47576946e+01] [-4.37095133e-03 1.86546036e-03 9.99988707e-01 1.68280486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.229259764 meters Centerline goodness [0,1] 0.5671017977785411 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.83 [[ 9.99983469e-01 -2.89377986e-03 4.96876598e-03 -2.63682576e+01] [ 2.90327904e-03 9.99993970e-01 -1.90563085e-03 1.47566470e+01] [-4.96322154e-03 1.92002506e-03 9.99985840e-01 1.68287622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25925976399999 meters Centerline goodness [0,1] 0.5673918622223489 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.83 [[ 9.99981747e-01 -3.00421976e-03 5.24211669e-03 -2.63692098e+01] [ 3.01326939e-03 9.99993982e-01 -1.71928922e-03 1.47558515e+01] [-5.23692002e-03 1.73505375e-03 9.99984782e-01 1.68286989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.289259764 meters Centerline goodness [0,1] 0.5643945881144031 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.76, Z:16.83 [[ 9.99979676e-01 -3.11079645e-03 5.56520601e-03 -2.63701364e+01] [ 3.11917945e-03 9.99994013e-01 -1.49827719e-03 1.47551363e+01] [-5.56051186e-03 1.51560562e-03 9.99983392e-01 1.68283971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.319259764 meters Centerline goodness [0,1] 0.5623934053439454 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.83 [[ 9.99975814e-01 -3.42338721e-03 6.05413928e-03 -2.63714071e+01] [ 3.43101314e-03 9.99993333e-01 -1.24968566e-03 1.47541466e+01] [-6.04982076e-03 1.27042727e-03 9.99980893e-01 1.68276381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.349259764 meters Centerline goodness [0,1] 0.5615679590967192 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.83 [[ 9.99973474e-01 -3.59354066e-03 6.33536309e-03 -2.63722161e+01] [ 3.60073589e-03 9.99992885e-01 -1.12468460e-03 1.47538435e+01] [-6.33127641e-03 1.14746673e-03 9.99979299e-01 1.68273168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.379259764 meters Centerline goodness [0,1] 0.5627478753541076 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.75, Z:16.83 [[ 9.99968389e-01 -4.13755014e-03 6.78983351e-03 -2.63739770e+01] [ 4.14575956e-03 9.99990692e-01 -1.19544618e-03 1.47538472e+01] [-6.78482409e-03 1.22355740e-03 9.99976234e-01 1.68274108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.409259764 meters Centerline goodness [0,1] 0.5536149702296569 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.83 [[ 9.99964749e-01 -4.52426735e-03 7.07330215e-03 -2.63752964e+01] [ 4.53376342e-03 9.99988842e-01 -1.32706436e-03 1.47540162e+01] [-7.06721924e-03 1.35908626e-03 9.99974103e-01 1.68277793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.439259764 meters Centerline goodness [0,1] 0.5498353956181179 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.75, Z:16.83 [[ 9.99957212e-01 -5.22973759e-03 7.63050636e-03 -2.63778200e+01] [ 5.24283969e-03 9.99984814e-01 -1.69807723e-03 1.47544701e+01] [-7.62150999e-03 1.73801010e-03 9.99969445e-01 1.68287336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.469259764 meters Centerline goodness [0,1] 0.5560751636765582 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.76, Z:16.83 [[ 9.99956245e-01 -5.30957568e-03 7.70168199e-03 -2.63782013e+01] [ 5.32562974e-03 9.99983686e-01 -2.06547930e-03 1.47560167e+01] [-7.69058952e-03 2.10640523e-03 9.99968208e-01 1.68292158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.499259764 meters Centerline goodness [0,1] 0.5503563417473523 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.76, Z:16.83 [[ 9.99955614e-01 -5.34938750e-03 7.75585145e-03 -2.63783709e+01] [ 5.36809015e-03 9.99982729e-01 -2.39261596e-03 1.47575620e+01] [-7.74291847e-03 2.43414387e-03 9.99967061e-01 1.68294735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.529259764 meters Centerline goodness [0,1] 0.5538719581532863 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.76, Z:16.83 [[ 9.99957423e-01 -5.07972005e-03 7.70384604e-03 -2.63778014e+01] [ 5.10097131e-03 9.99983232e-01 -2.74139041e-03 1.47598232e+01] [-7.68979136e-03 2.78057079e-03 9.99966567e-01 1.68295554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.559259764 meters Centerline goodness [0,1] 0.5600159662428009 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.76, Z:16.83 [[ 9.99957333e-01 -5.03044791e-03 7.74764870e-03 -2.63777068e+01] [ 5.05295349e-03 9.99983063e-01 -2.88799688e-03 1.47609116e+01] [-7.73298956e-03 2.92702216e-03 9.99965816e-01 1.68294002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.589259764 meters Centerline goodness [0,1] 0.5536224431493544 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.76, Z:16.83 [[ 9.99958133e-01 -4.86239814e-03 7.75177220e-03 -2.63774309e+01] [ 4.88675291e-03 9.99983174e-01 -3.12599416e-03 1.47623492e+01] [-7.73644194e-03 3.16374428e-03 9.99965068e-01 1.68294047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.619259764 meters Centerline goodness [0,1] 0.5565038089237642 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.76, Z:16.83 [[ 9.99956406e-01 -4.96665714e-03 7.90689449e-03 -2.63780630e+01] [ 4.99287803e-03 9.99982091e-01 -3.29992714e-03 1.47630802e+01] [-7.89036328e-03 3.33926144e-03 9.99963295e-01 1.68296951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64925976399999 meters Centerline goodness [0,1] 0.5582461670726465 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.76, Z:16.83 [[ 9.99954534e-01 -5.16250751e-03 8.01735896e-03 -2.63788810e+01] [ 5.19193629e-03 9.99979845e-01 -3.65416787e-03 1.47641309e+01] [-7.99833270e-03 3.69562735e-03 9.99961184e-01 1.68305225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.679259764 meters Centerline goodness [0,1] 0.5622146282629297 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.77, Z:16.83 [[ 9.99952039e-01 -5.38924833e-03 8.17780987e-03 -2.63801002e+01] [ 5.42301863e-03 9.99976837e-01 -4.11296296e-03 1.47655255e+01] [-8.15545467e-03 4.15711411e-03 9.99958103e-01 1.68318215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.709259764 meters Centerline goodness [0,1] 0.5594690875660768 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.77, Z:16.83 [[ 9.99949270e-01 -5.54033304e-03 8.41206440e-03 -2.63809928e+01] [ 5.57561656e-03 9.99975733e-01 -4.17675202e-03 1.47657263e+01] [-8.38871967e-03 4.22344258e-03 9.99955895e-01 1.68320505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.739259764 meters Centerline goodness [0,1] 0.5548072789797965 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.76, Z:16.83 [[ 9.99945391e-01 -5.62021779e-03 8.81073349e-03 -2.63821592e+01] [ 5.65389302e-03 9.99976790e-01 -3.80183156e-03 1.47640695e+01] [-8.78916187e-03 3.85143889e-03 9.99953957e-01 1.68317175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.769259764 meters Centerline goodness [0,1] 0.5509023202520767 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.76, Z:16.83 [[ 9.99941073e-01 -5.79219537e-03 9.18160296e-03 -2.63834262e+01] [ 5.82496298e-03 9.99976747e-01 -3.54611786e-03 1.47629670e+01] [-9.16084965e-03 3.59939139e-03 9.99951560e-01 1.68316171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.799259764 meters Centerline goodness [0,1] 0.5524193548387097 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.76, Z:16.83 [[ 9.99935790e-01 -5.94696694e-03 9.64624407e-03 -2.63848662e+01] [ 5.97830204e-03 9.99976936e-01 -3.22284882e-03 1.47613898e+01] [-9.62685541e-03 3.28031004e-03 9.99948280e-01 1.68314475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.829259764 meters Centerline goodness [0,1] 0.5466880403045744 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.76, Z:16.83 [[ 9.99924819e-01 -6.61484279e-03 1.03247312e-02 -2.63875801e+01] [ 6.64128129e-03 9.99974750e-01 -2.52851403e-03 1.47575860e+01] [-1.03077447e-02 2.59689337e-03 9.99943502e-01 1.68311697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.859259764 meters Centerline goodness [0,1] 0.5433654558932542 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.76, Z:16.83 [[ 9.99918798e-01 -6.80591040e-03 1.07739221e-02 -2.63891039e+01] [ 6.82819831e-03 9.99974620e-01 -2.03325888e-03 1.47552794e+01] [-1.07598105e-02 2.10666025e-03 9.99939892e-01 1.68309680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.889259764 meters Centerline goodness [0,1] 0.5293330676610402 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.75, Z:16.83 [[ 9.99909895e-01 -7.14839035e-03 1.13623180e-02 -2.63910356e+01] [ 7.16690057e-03 9.99973055e-01 -1.58920669e-03 1.47531238e+01] [-1.13506516e-02 1.67049610e-03 9.99934184e-01 1.68307267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.919259764 meters Centerline goodness [0,1] 0.5280694783447806 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.75, Z:16.83 [[ 9.99905762e-01 -7.24893000e-03 1.16584823e-02 -2.63921369e+01] [ 7.26081075e-03 9.99973163e-01 -9.77060650e-04 1.47507996e+01] [-1.16510868e-02 1.06161861e-03 9.99931560e-01 1.68304795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.949259764 meters Centerline goodness [0,1] 0.5331575515295852 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.75, Z:16.83 [[ 9.99906298e-01 -7.11164371e-03 1.16969734e-02 -2.63921560e+01] [ 7.12193069e-03 9.99974288e-01 -8.38037413e-04 1.47506082e+01] [-1.16907128e-02 9.21263921e-04 9.99931237e-01 1.68303969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.979259764 meters Centerline goodness [0,1] 0.540603117235148 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.75, Z:16.83 [[ 9.99902401e-01 -7.04246867e-03 1.20661811e-02 -2.63929458e+01] [ 7.04548323e-03 9.99975159e-01 -2.07345523e-04 1.47483375e+01] [-1.20644212e-02 2.92337363e-04 9.99927179e-01 1.68296352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00925976399999 meters Centerline goodness [0,1] 0.5418422975327376 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.75, Z:16.83 [[ 9.99901043e-01 -6.85152152e-03 1.22866154e-02 -2.63933267e+01] [ 6.84691960e-03 9.99976473e-01 4.16573104e-04 1.47460305e+01] [-1.22891805e-02 -3.32406413e-04 9.99924430e-01 1.68290008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.039259764 meters Centerline goodness [0,1] 0.5403531426325688 Centerline is valid? [False, False] Translation: X:-26.39, Y:14.74, Z:16.83 [[ 9.99895210e-01 -6.95417014e-03 1.26968120e-02 -2.63946648e+01] [ 6.94684406e-03 9.99975678e-01 6.21014162e-04 1.47442619e+01] [-1.27008218e-02 -5.32746312e-04 9.99919199e-01 1.68290938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.069259764 meters Centerline goodness [0,1] 0.5241573503582481 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.83 [[ 9.99887341e-01 -7.20765328e-03 1.31664584e-02 -2.63965852e+01] [ 7.19847343e-03 9.99973814e-01 7.44473772e-04 1.47423208e+01] [-1.31714795e-02 -6.49611499e-04 9.99913041e-01 1.68296894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.099259764 meters Centerline goodness [0,1] 0.5368596881959911 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.83 [[ 9.99885928e-01 -7.23469285e-03 1.32586120e-02 -2.63972117e+01] [ 7.22524779e-03 9.99973609e-01 7.60134456e-04 1.47420128e+01] [-1.32637614e-02 -6.64250989e-04 9.99911812e-01 1.68301828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.129259764 meters Centerline goodness [0,1] 0.5233439188812747 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.83 [[ 9.99882190e-01 -7.38895650e-03 1.34539437e-02 -2.63981668e+01] [ 7.37929065e-03 9.99972478e-01 7.67941381e-04 1.47415854e+01] [-1.34592477e-02 -6.68570349e-04 9.99909197e-01 1.68306599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.159259764 meters Centerline goodness [0,1] 0.5238002449615855 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.83 [[ 9.99880516e-01 -7.36100881e-03 1.35929680e-02 -2.63985391e+01] [ 7.34836486e-03 9.99972520e-01 9.79894786e-04 1.47409728e+01] [-1.35998075e-02 -8.79891616e-04 9.99907131e-01 1.68304854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.189259764 meters Centerline goodness [0,1] 0.5233772002887445 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.83 [[ 9.99876302e-01 -7.33844867e-03 1.39114449e-02 -2.63992411e+01] [ 7.32111521e-03 9.99972360e-01 1.29650373e-03 1.47397577e+01] [-1.39205747e-02 -1.19449607e-03 9.99902391e-01 1.68300514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.219259764 meters Centerline goodness [0,1] 0.5213566095861897 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.83 [[ 9.99868057e-01 -7.53889865e-03 1.43886605e-02 -2.64007325e+01] [ 7.51627366e-03 9.99970431e-01 1.62584912e-03 1.47374176e+01] [-1.44004921e-02 -1.51748549e-03 9.99895156e-01 1.68298602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.249259764 meters Centerline goodness [0,1] 0.5166041406141448 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.83 [[ 9.99865981e-01 -7.61603955e-03 1.44919460e-02 -2.64013424e+01] [ 7.59434533e-03 9.99969959e-01 1.55142814e-03 1.47373597e+01] [-1.45033263e-02 -1.44116337e-03 9.99893783e-01 1.68303066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.279259764 meters Centerline goodness [0,1] 0.5219346956908041 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.83 [[ 9.99870289e-01 -7.38116888e-03 1.43151668e-02 -2.64011820e+01] [ 7.36866712e-03 9.99972422e-01 9.25871527e-04 1.47400277e+01] [-1.43216061e-02 -8.20267732e-04 9.99897104e-01 1.68317040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.309259764 meters Centerline goodness [0,1] 0.5218417617817768 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.83 [[ 9.99868601e-01 -7.40998817e-03 1.44177944e-02 -2.64018009e+01] [ 7.40036348e-03 9.99972357e-01 7.20794202e-04 1.47404567e+01] [-1.44227369e-02 -6.14002571e-04 9.99895798e-01 1.68323660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.339259764 meters Centerline goodness [0,1] 0.5246915291834189 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.83 [[ 9.99866226e-01 -7.19726704e-03 1.46877554e-02 -2.64024356e+01] [ 7.18373331e-03 9.99973722e-01 9.73981253e-04 1.47387715e+01] [-1.46943794e-02 -8.68338042e-04 9.99891655e-01 1.68323291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.369259764 meters Centerline goodness [0,1] 0.5275117630777747 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.83 [[ 9.99866440e-01 -6.85366301e-03 1.48367819e-02 -2.64022605e+01] [ 6.83192759e-03 9.99975514e-01 1.51515822e-03 1.47373608e+01] [-1.48468030e-02 -1.41359204e-03 9.99888781e-01 1.68313615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39925976399999 meters Centerline goodness [0,1] 0.5240308790570267 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.83 [[ 9.99863844e-01 -6.90210781e-03 1.49884767e-02 -2.64028590e+01] [ 6.88045707e-03 9.99975211e-01 1.49557932e-03 1.47369013e+01] [-1.49984278e-02 -1.39224812e-03 9.99886548e-01 1.68316100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.429259764 meters Centerline goodness [0,1] 0.5206442893786027 Centerline is valid? [False, False] Translation: X:-26.40, Y:14.74, Z:16.83 [[ 9.99858617e-01 -6.94287250e-03 1.53147965e-02 -2.64041865e+01] [ 6.91664364e-03 9.99974522e-01 1.76495060e-03 1.47351914e+01] [-1.53266602e-02 -1.65877408e-03 9.99881164e-01 1.68320444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.459259764 meters Centerline goodness [0,1] 0.5227642052496764 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.73, Z:16.83 [[ 9.99854808e-01 -6.98487814e-03 1.55426346e-02 -2.64051362e+01] [ 6.95463964e-03 9.99973819e-01 1.99872019e-03 1.47340486e+01] [-1.55561885e-02 -1.89033657e-03 9.99877208e-01 1.68322592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.489259764 meters Centerline goodness [0,1] 0.5232003528990102 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.73, Z:16.83 [[ 9.99848891e-01 -7.19084942e-03 1.58267973e-02 -2.64064610e+01] [ 7.15907112e-03 9.99972244e-01 2.06362121e-03 1.47327504e+01] [-1.58411972e-02 -1.95000421e-03 9.99872619e-01 1.68328406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.519259764 meters Centerline goodness [0,1] 0.5110213280562885 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.73, Z:16.83 [[ 9.99835744e-01 -7.75992896e-03 1.63788864e-02 -2.64090634e+01] [ 7.72052769e-03 9.99967152e-01 2.46747583e-03 1.47284777e+01] [-1.63974958e-02 -2.34061689e-03 9.99862812e-01 1.68335246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.549259764 meters Centerline goodness [0,1] 0.505130941630408 Centerline is valid? [False, False] Translation: X:-26.41, Y:14.73, Z:16.83 [[ 9.99825605e-01 -7.97967258e-03 1.68844304e-02 -2.64109232e+01] [ 7.93179726e-03 9.99964336e-01 2.90054231e-03 1.47260287e+01] [-1.69069737e-02 -2.76611259e-03 9.99853241e-01 1.68336747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.579259764 meters Centerline goodness [0,1] 0.4928922908693275 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.72, Z:16.83 [[ 9.99799393e-01 -9.22128644e-03 1.77803479e-02 -2.64151041e+01] [ 9.16945114e-03 9.99953476e-01 2.99463973e-03 1.47225570e+01] [-1.78071351e-02 -2.83100295e-03 9.99837432e-01 1.68346981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.609259764 meters Centerline goodness [0,1] 0.49032170119956375 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.72, Z:16.83 [[ 9.99789859e-01 -9.45729015e-03 1.81878179e-02 -2.64165809e+01] [ 9.39763978e-03 9.99950188e-01 3.36236679e-03 1.47202688e+01] [-1.82187108e-02 -3.19073766e-03 9.99828934e-01 1.68347105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.639259764 meters Centerline goodness [0,1] 0.4939265766498563 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.72, Z:16.84 [[ 9.99762462e-01 -1.13383920e-02 1.86134679e-02 -2.64202558e+01] [ 1.12874632e-02 9.99932265e-01 2.83891495e-03 1.47165403e+01] [-1.86443958e-02 -2.62814177e-03 9.99822724e-01 1.68364207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.669259764 meters Centerline goodness [0,1] 0.48033456947188913 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.72, Z:16.84 [[ 9.99746176e-01 -1.18990485e-02 1.91310170e-02 -2.64225135e+01] [ 1.18531175e-02 9.99926593e-01 2.51247380e-03 1.47161437e+01] [-1.91595087e-02 -2.28507388e-03 9.99813829e-01 1.68374032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.699259764 meters Centerline goodness [0,1] 0.48342826145918094 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.72, Z:16.85 [[ 9.99862228e-01 -1.01312910e-02 1.31484295e-02 -2.64410287e+01] [ 1.02035972e-02 9.99933123e-01 -5.44384319e-03 1.47210613e+01] [-1.30923971e-02 5.57725446e-03 9.99898737e-01 1.68453498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.729259764 meters Centerline goodness [0,1] 0.48342826145918094 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.72, Z:16.85 [[ 9.99862228e-01 -1.01312910e-02 1.31484295e-02 -2.64410287e+01] [ 1.02035972e-02 9.99933123e-01 -5.44384319e-03 1.47210613e+01] [-1.30923971e-02 5.57725446e-03 9.99898737e-01 1.68453498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75925976399999 meters Centerline goodness [0,1] 0.4876688594710198 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.72, Z:16.84 [[ 9.99883347e-01 -6.74427903e-03 1.37042571e-02 -2.64432862e+01] [ 6.75402407e-03 9.99976970e-01 -6.64938603e-04 1.47173016e+01] [-1.36994570e-02 7.57419919e-04 9.99905871e-01 1.68447136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.789259764 meters Centerline goodness [0,1] 0.47886106383553506 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.72, Z:16.84 [[ 9.99882312e-01 -6.66547459e-03 1.38178534e-02 -2.64436123e+01] [ 6.67388910e-03 9.99977571e-01 -5.62936688e-04 1.47170407e+01] [-1.38137912e-02 6.55089258e-04 9.99904370e-01 1.68447213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.819259764 meters Centerline goodness [0,1] 0.4842435554112905 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.72, Z:16.84 [[ 9.99887467e-01 -6.09017173e-03 1.37099578e-02 -2.64426674e+01] [ 6.09814019e-03 9.99981261e-01 -5.39486970e-04 1.47182978e+01] [-1.37064153e-02 6.23031505e-04 9.99905869e-01 1.68443617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.849259764 meters Centerline goodness [0,1] 0.48527940739138664 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.72, Z:16.84 [[ 9.99888436e-01 -5.87126932e-03 1.37347351e-02 -2.64424933e+01] [ 5.87958137e-03 9.99982556e-01 -5.64883150e-04 1.47190512e+01] [-1.37311790e-02 6.45574623e-04 9.99905515e-01 1.68442719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.879259764 meters Centerline goodness [0,1] 0.4906144496961512 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.72, Z:16.84 [[ 9.99894487e-01 -5.29481695e-03 1.35270221e-02 -2.64408314e+01] [ 5.30315781e-03 9.99985769e-01 -5.80811312e-04 1.47210425e+01] [-1.35237543e-02 6.52485961e-04 9.99908337e-01 1.68433192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.909259764 meters Centerline goodness [0,1] 0.48733128751052335 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.72, Z:16.84 [[ 9.99897596e-01 -1.49161651e-03 1.42328130e-02 -2.64423808e+01] [ 1.43482846e-03 9.99990973e-01 3.99931640e-03 1.47188426e+01] [-1.42386500e-02 -3.97848521e-03 9.99890710e-01 1.68420683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.939259764 meters Centerline goodness [0,1] 0.5110011150697599 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.72, Z:16.84 [[ 9.99902133e-01 -1.03024946e-03 1.39522015e-02 -2.64407238e+01] [ 9.80565474e-04 9.99993156e-01 3.56738710e-03 1.47222476e+01] [-1.39557813e-02 -3.55335692e-03 9.99896300e-01 1.68416393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.969259764 meters Centerline goodness [0,1] 0.512956756314886 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.72, Z:16.84 [[ 9.99904455e-01 -8.33816513e-04 1.37980493e-02 -2.64401869e+01] [ 7.90818456e-04 9.99994816e-01 3.12140449e-03 1.47244176e+01] [-1.38005804e-02 -3.11019450e-03 9.99899930e-01 1.68420251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.999259764 meters Centerline goodness [0,1] 0.5180894086785441 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.73, Z:16.84 [[ 9.99907252e-01 -6.61013717e-04 1.36033101e-02 -2.64396522e+01] [ 6.27355529e-04 9.99996732e-01 2.47838305e-03 1.47272516e+01] [-1.36049039e-02 -2.46961907e-03 9.99904399e-01 1.68427131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.029259764 meters Centerline goodness [0,1] 0.5195004803073968 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.73, Z:16.85 [[ 9.99921339e-01 1.76379594e-03 1.24179349e-02 -2.64345474e+01] [-1.76733943e-03 9.99998401e-01 2.74384653e-04 1.47341171e+01] [-1.24174311e-02 -2.96309776e-04 9.99922857e-01 1.68466157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.059259764 meters Centerline goodness [0,1] 0.5133028533656494 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.74, Z:16.85 [[ 9.99923997e-01 2.21109422e-03 1.21289204e-02 -2.64334813e+01] [-2.20549675e-03 9.99997455e-01 -4.74854298e-04 1.47379693e+01] [-1.21299394e-02 4.48067913e-04 9.99926329e-01 1.68474100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.089259764 meters Centerline goodness [0,1] 0.5209564228454134 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.74, Z:16.85 [[ 9.99901834e-01 6.86401734e-03 1.22150392e-02 -2.64325704e+01] [-6.90182156e-03 9.99971514e-01 3.05543257e-03 1.47410525e+01] [-1.21937187e-02 -3.13943866e-03 9.99920725e-01 1.68471776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.119259764 meters Centerline goodness [0,1] 0.5224158536924317 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.74, Z:16.85 [[ 9.99901918e-01 7.25297875e-03 1.19811955e-02 -2.64313851e+01] [-7.28242326e-03 9.99970565e-01 2.41576324e-03 1.47444348e+01] [-1.19633213e-02 -2.50277844e-03 9.99925305e-01 1.68474424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14925976399999 meters Centerline goodness [0,1] 0.524970704759779 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.75, Z:16.85 [[ 9.99902102e-01 7.60584344e-03 1.17447241e-02 -2.64302993e+01] [-7.62687584e-03 9.99969389e-01 1.74704526e-03 1.47477338e+01] [-1.17310768e-02 -1.83644978e-03 9.99929502e-01 1.68478205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.179259764 meters Centerline goodness [0,1] 0.5310193888717416 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.75, Z:16.85 [[ 9.99889673e-01 9.08501913e-03 1.17517567e-02 -2.64281209e+01] [-9.09782238e-03 9.99958077e-01 1.03647347e-03 1.47532886e+01] [-1.17418477e-02 -1.14327452e-03 9.99930409e-01 1.68476615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.209259764 meters Centerline goodness [0,1] 0.5359742678178432 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.76, Z:16.85 [[ 9.99881516e-01 1.02050566e-02 1.15243441e-02 -2.64260177e+01] [-1.02047265e-02 9.99947927e-01 -8.74473381e-05 1.47591052e+01] [-1.15246364e-02 -3.01658027e-05 9.99933589e-01 1.68484896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.239259764 meters Centerline goodness [0,1] 0.5443704857668885 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.76, Z:16.85 [[ 9.99880525e-01 1.05743391e-02 1.12747399e-02 -2.64249090e+01] [-1.05692414e-02 9.99944013e-01 -5.11619099e-04 1.47616980e+01] [-1.12795187e-02 3.92392525e-04 9.99936307e-01 1.68487170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.269259764 meters Centerline goodness [0,1] 0.5524781755623169 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.76, Z:16.85 [[ 9.99881078e-01 1.06002288e-02 1.12010872e-02 -2.64247844e+01] [-1.05877341e-02 9.99943259e-01 -1.17420300e-03 1.47642291e+01] [-1.12128985e-02 1.05546923e-03 9.99936576e-01 1.68495069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.299259764 meters Centerline goodness [0,1] 0.5558468948613446 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.77, Z:16.85 [[ 9.99879077e-01 1.09225410e-02 1.10693348e-02 -2.64243977e+01] [-1.08994287e-02 9.99938296e-01 -2.14613225e-03 1.47677634e+01] [-1.10920930e-02 2.02522331e-03 9.99936430e-01 1.68510216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.329259764 meters Centerline goodness [0,1] 0.5622683469236471 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.77, Z:16.85 [[ 9.99878394e-01 1.09040843e-02 1.11489249e-02 -2.64247849e+01] [-1.08771094e-02 9.99937774e-01 -2.47728797e-03 1.47689820e+01] [-1.11752437e-02 2.35571864e-03 9.99934780e-01 1.68515391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.359259764 meters Centerline goodness [0,1] 0.5583788264212421 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.77, Z:16.85 [[ 9.99875870e-01 1.10271605e-02 1.12537027e-02 -2.64250221e+01] [-1.09983986e-02 9.99936098e-01 -2.61447067e-03 1.47695089e+01] [-1.12818137e-02 2.49037343e-03 9.99933257e-01 1.68518595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.389259764 meters Centerline goodness [0,1] 0.5494925305051888 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.77, Z:16.85 [[ 9.99873631e-01 1.10083262e-02 1.14690625e-02 -2.64256404e+01] [-1.09804608e-02 9.99936613e-01 -2.48975986e-03 1.47690442e+01] [-1.14957436e-02 2.36350964e-03 9.99931128e-01 1.68517805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.419259764 meters Centerline goodness [0,1] 0.5520975832193342 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.77, Z:16.85 [[ 9.99871797e-01 1.08752544e-02 1.17524132e-02 -2.64265525e+01] [-1.08477586e-02 9.99938279e-01 -2.40080819e-03 1.47684963e+01] [-1.17777972e-02 2.27301305e-03 9.99928056e-01 1.68517615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.449259764 meters Centerline goodness [0,1] 0.5514308471297719 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.77, Z:16.85 [[ 9.99910482e-01 6.90401879e-03 1.14613212e-02 -2.64264223e+01] [-6.82603665e-03 9.99953383e-01 -6.82917368e-03 1.47701186e+01] [-1.15079356e-02 6.75032695e-03 9.99910996e-01 1.68530247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.479259764 meters Centerline goodness [0,1] 0.541289624950202 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.77, Z:16.85 [[ 9.99906562e-01 6.78282508e-03 1.18684776e-02 -2.64277244e+01] [-6.70579118e-03 9.99956270e-01 -6.51843162e-03 1.47684694e+01] [-1.19121720e-02 6.43823501e-03 9.99908320e-01 1.68529703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50925976399999 meters Centerline goodness [0,1] 0.5411102903574067 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.77, Z:16.85 [[ 9.99903740e-01 6.16049192e-03 1.24322154e-02 -2.64303740e+01] [-6.08293117e-03 9.99961861e-01 -6.26689140e-03 1.47658201e+01] [-1.24703484e-02 6.19066384e-03 9.99903078e-01 1.68536550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.539259764 meters Centerline goodness [0,1] 0.537117408447508 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.76, Z:16.85 [[ 9.99900374e-01 5.98903486e-03 1.27818036e-02 -2.64317063e+01] [-5.91198976e-03 9.99964180e-01 -6.05701399e-03 1.47645945e+01] [-1.28176215e-02 5.98084466e-03 9.99899964e-01 1.68538846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.569259764 meters Centerline goodness [0,1] 0.5344354176692049 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.76, Z:16.85 [[ 9.99896743e-01 5.76146264e-03 1.31646650e-02 -2.64331194e+01] [-5.68445910e-03 9.99966560e-01 -5.87920997e-03 1.47636721e+01] [-1.31980976e-02 5.80376890e-03 9.99896058e-01 1.68540175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.599259764 meters Centerline goodness [0,1] 0.5339438132383698 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.76, Z:16.85 [[ 9.99894523e-01 5.33419129e-03 1.35088565e-02 -2.64346657e+01] [-5.26031317e-03 9.99971047e-01 -5.49850576e-03 1.47618672e+01] [-1.35377955e-02 5.42686498e-03 9.99893633e-01 1.68539422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.629259764 meters Centerline goodness [0,1] 0.5329783337559519 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.76, Z:16.85 [[ 9.99890498e-01 5.01651006e-03 1.39221485e-02 -2.64359047e+01] [-4.94886243e-03 9.99975802e-01 -4.88919909e-03 1.47592522e+01] [-1.39463384e-02 4.81976492e-03 9.99891129e-01 1.68530835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.659259764 meters Centerline goodness [0,1] 0.5346090975705992 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.76, Z:16.85 [[ 9.99887132e-01 5.00045361e-03 1.41675185e-02 -2.64364942e+01] [-4.93797307e-03 9.99977944e-01 -4.44168037e-03 1.47577503e+01] [-1.41894164e-02 4.37122022e-03 9.99889770e-01 1.68525659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.689259764 meters Centerline goodness [0,1] 0.533175355450237 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.76, Z:16.85 [[ 9.99884197e-01 4.90607003e-03 1.44056755e-02 -2.64373325e+01] [-4.84721145e-03 9.99979774e-01 -4.11786813e-03 1.47565480e+01] [-1.44255867e-02 4.04756391e-03 9.99887754e-01 1.68524233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.719259764 meters Centerline goodness [0,1] 0.5348883011648191 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.76, Z:16.85 [[ 9.99881066e-01 4.27004004e-03 1.48196216e-02 -2.64395797e+01] [-4.20895739e-03 9.99982529e-01 -4.15048687e-03 1.47553290e+01] [-1.48370854e-02 4.08761808e-03 9.99881569e-01 1.68533372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.749259764 meters Centerline goodness [0,1] 0.5310393456494147 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.76, Z:16.85 [[ 9.99877249e-01 4.01825400e-03 1.51440111e-02 -2.64409622e+01] [-3.95454240e-03 9.99983215e-01 -4.23464923e-03 1.47552566e+01] [-1.51607728e-02 4.17424178e-03 9.99876356e-01 1.68538659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.779259764 meters Centerline goodness [0,1] 0.5313588850174216 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.76, Z:16.85 [[ 9.99875202e-01 3.71905561e-03 1.53541300e-02 -2.64423595e+01] [-3.65098683e-03 9.99983394e-01 -4.45890806e-03 1.47553353e+01] [-1.53704580e-02 4.40229387e-03 9.99872176e-01 1.68549248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.809259764 meters Centerline goodness [0,1] 0.5305737681852717 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.76, Z:16.86 [[ 9.99872630e-01 3.67871828e-03 1.55303350e-02 -2.64430471e+01] [-3.61012847e-03 9.99983617e-01 -4.44223277e-03 1.47553159e+01] [-1.55464222e-02 4.38560046e-03 9.99869529e-01 1.68551656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.839259764 meters Centerline goodness [0,1] 0.5265832023355042 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.76, Z:16.86 [[ 9.99870996e-01 3.67133141e-03 1.56368935e-02 -2.64434637e+01] [-3.60375498e-03 9.99984056e-01 -4.34758930e-03 1.47550703e+01] [-1.56526056e-02 4.29067691e-03 9.99868284e-01 1.68552191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.869259764 meters Centerline goodness [0,1] 0.5264648957953494 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.75, Z:16.85 [[ 9.99866872e-01 3.72503716e-03 1.58859038e-02 -2.64441382e+01] [-3.66135882e-03 9.99985154e-01 -4.03568267e-03 1.47540663e+01] [-1.59007010e-02 3.97698141e-03 9.99865667e-01 1.68549890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89925976399999 meters Centerline goodness [0,1] 0.5256726457399103 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.75, Z:16.85 [[ 9.99864309e-01 3.81316461e-03 1.60256907e-02 -2.64446141e+01] [-3.75368327e-03 9.99985961e-01 -3.74006685e-03 1.47529958e+01] [-1.60397272e-02 3.67940399e-03 9.99864585e-01 1.68549238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.929259764 meters Centerline goodness [0,1] 0.5231040663156716 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.75, Z:16.85 [[ 9.99859818e-01 3.85191767e-03 1.62943621e-02 -2.64455990e+01] [-3.79900892e-03 9.99987415e-01 -3.27676684e-03 1.47509189e+01] [-1.63067789e-02 3.21440507e-03 9.99861869e-01 1.68549374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.959259764 meters Centerline goodness [0,1] 0.5235341769323165 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.75, Z:16.85 [[ 9.99858077e-01 3.99154970e-03 1.63674559e-02 -2.64459120e+01] [-3.94489688e-03 9.99988067e-01 -2.88163654e-03 1.47495117e+01] [-1.63787627e-02 2.81665965e-03 9.99861892e-01 1.68549026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.989259764 meters Centerline goodness [0,1] 0.5262293256111823 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.75, Z:16.85 [[ 9.99854959e-01 4.06504637e-03 1.65389164e-02 -2.64465535e+01] [-4.02385931e-03 9.99988722e-01 -2.52282794e-03 1.47480630e+01] [-1.65489853e-02 2.45591176e-03 9.99860040e-01 1.68549187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.019259764 meters Centerline goodness [0,1] 0.5245673971613476 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.75, Z:16.86 [[ 9.99851620e-01 4.05703863e-03 1.67415300e-02 -2.64476844e+01] [-4.02302178e-03 9.99989775e-01 -2.06506284e-03 1.47450557e+01] [-1.67497369e-02 1.99740488e-03 9.99857718e-01 1.68553143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.049259764 meters Centerline goodness [0,1] 0.5231421211533668 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.74, Z:16.86 [[ 9.99847929e-01 4.20237739e-03 1.69250763e-02 -2.64482586e+01] [-4.17554724e-03 9.99989970e-01 -1.62025707e-03 1.47432383e+01] [-1.69317155e-02 1.54933922e-03 9.99855448e-01 1.68551607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.079259764 meters Centerline goodness [0,1] 0.5210084033613445 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.74, Z:16.86 [[ 9.99845061e-01 4.26744828e-03 1.70775596e-02 -2.64492802e+01] [-4.24967547e-03 9.99990390e-01 -1.07686599e-03 1.47399408e+01] [-1.70819910e-02 1.00412505e-03 9.99853588e-01 1.68555521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.109259764 meters Centerline goodness [0,1] 0.5222474021667035 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.74, Z:16.86 [[ 9.99842175e-01 4.26188460e-03 1.72470468e-02 -2.64502790e+01] [-4.24824890e-03 9.99990634e-01 -8.27171290e-04 1.47382014e+01] [-1.72504105e-02 7.53770994e-04 9.99850916e-01 1.68561148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.139259764 meters Centerline goodness [0,1] 0.5212007297252474 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.74, Z:16.86 [[ 9.99837597e-01 4.12516119e-03 1.75431880e-02 -2.64518712e+01] [-4.11281165e-03 9.99991269e-01 -7.39971488e-04 1.47364784e+01] [-1.75460873e-02 6.67699486e-04 9.99845833e-01 1.68570919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.169259764 meters Centerline goodness [0,1] 0.5171911501992579 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.73, Z:16.86 [[ 9.99830593e-01 3.56970852e-03 1.80566654e-02 -2.64548273e+01] [-3.56010156e-03 9.99993504e-01 -5.64161853e-04 1.47333366e+01] [-1.80585620e-02 4.99782717e-04 9.99836806e-01 1.68585700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.199259764 meters Centerline goodness [0,1] 0.5145036911001948 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.73, Z:16.86 [[ 9.99826952e-01 3.42952183e-03 1.82840202e-02 -2.64559789e+01] [-3.42325854e-03 9.99994071e-01 -3.73842563e-04 1.47317898e+01] [-1.82851939e-02 3.11186942e-04 9.99832763e-01 1.68590407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.229259764 meters Centerline goodness [0,1] 0.5070980070980071 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.73, Z:16.86 [[ 9.99838301e-01 -4.75320533e-04 1.79762632e-02 -2.64558791e+01] [ 5.53176417e-04 9.99990488e-01 -4.32631384e-03 1.47313387e+01] [-1.79740358e-02 4.33555832e-03 9.99829054e-01 1.68599631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25925976399999 meters Centerline goodness [0,1] 0.5027839947595393 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.73, Z:16.86 [[ 9.99832585e-01 -4.98969013e-04 1.82907984e-02 -2.64568386e+01] [ 5.66189075e-04 9.99993105e-01 -3.67008115e-03 1.47287984e+01] [-1.82888410e-02 3.67982278e-03 9.99825973e-01 1.68594864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.289259764 meters Centerline goodness [0,1] 0.4425074789230351 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.73, Z:16.86 [[ 9.99824673e-01 -6.26732935e-04 1.87144679e-02 -2.64581684e+01] [ 6.85303445e-04 9.99994887e-01 -3.12344238e-03 1.47264185e+01] [-1.87124147e-02 3.13571984e-03 9.99819990e-01 1.68591635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.319259764 meters Centerline goodness [0,1] 0.500461605300315 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.72, Z:16.86 [[ 9.99816813e-01 -1.89607955e-03 1.90458598e-02 -2.64610936e+01] [ 1.95440987e-03 9.99993456e-01 -3.04447813e-03 1.47231481e+01] [-1.90399626e-02 3.08114384e-03 9.99813976e-01 1.68602182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.349259764 meters Centerline goodness [0,1] 0.49348003259983697 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.72, Z:16.86 [[ 9.99802959e-01 -2.60572926e-03 1.96787351e-02 -2.64639590e+01] [ 2.66761458e-03 9.99991577e-01 -3.11918622e-03 1.47216314e+01] [-1.96704416e-02 3.17106690e-03 9.99801489e-01 1.68612059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.379259764 meters Centerline goodness [0,1] 0.4695550669164156 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.72, Z:16.86 [[ 9.99808054e-01 -2.42293131e-03 1.94418042e-02 -2.64635822e+01] [ 2.48238363e-03 9.99992315e-01 -3.03441297e-03 1.47221695e+01] [-1.94343026e-02 3.08209254e-03 9.99806386e-01 1.68615285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.409259764 meters Centerline goodness [0,1] 0.49251782118953036 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.72, Z:16.86 [[ 9.99808469e-01 -2.52886660e-03 1.94069793e-02 -2.64639449e+01] [ 2.59175698e-03 9.99991470e-01 -3.21613976e-03 1.47232905e+01] [-1.93986805e-02 3.26582195e-03 9.99806494e-01 1.68620830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.439259764 meters Centerline goodness [0,1] 0.4858443009346304 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.72, Z:16.86 [[ 9.99808774e-01 -2.53609202e-03 1.93903198e-02 -2.64641426e+01] [ 2.59930163e-03 9.99991388e-01 -3.23534567e-03 1.47238438e+01] [-1.93819477e-02 3.28512828e-03 9.99806755e-01 1.68623409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.469259764 meters Centerline goodness [0,1] 0.4972769850778782 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.72, Z:16.86 [[ 9.99810996e-01 -2.27360843e-03 1.93080812e-02 -2.64637529e+01] [ 2.33143031e-03 9.99992864e-01 -2.97271663e-03 1.47237865e+01] [-1.93011846e-02 3.01717022e-03 9.99809162e-01 1.68619482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.499259764 meters Centerline goodness [0,1] 0.5065212041670084 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.87 [[ 9.99914240e-01 1.04578039e-03 1.30544245e-02 -2.64807306e+01] [-9.14087243e-04 9.99948678e-01 -1.00899026e-02 1.47294201e+01] [-1.30643063e-02 1.00771044e-02 9.99863879e-01 1.68695757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.529259764 meters Centerline goodness [0,1] 0.495208629941956 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.87 [[ 9.99917426e-01 1.44455272e-03 1.27692723e-02 -2.64794942e+01] [-1.31564510e-03 9.99948151e-01 -1.00977844e-02 1.47314102e+01] [-1.27831970e-02 1.00801507e-02 9.99867481e-01 1.68692291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.559259764 meters Centerline goodness [0,1] 0.5281179636443517 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.87 [[ 9.99921601e-01 1.94112074e-03 1.23702842e-02 -2.64779333e+01] [-1.81591484e-03 9.99947095e-01 -1.01247120e-02 1.47334801e+01] [-1.23892830e-02 1.01014548e-02 9.99872225e-01 1.68689723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.589259764 meters Centerline goodness [0,1] 0.5247497449190635 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.87 [[ 9.99899460e-01 6.38783973e-03 1.26595739e-02 -2.64777192e+01] [-6.31972257e-03 9.99965377e-01 -5.41340323e-03 1.47327508e+01] [-1.26937155e-02 5.33285397e-03 9.99905211e-01 1.68673189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.619259764 meters Centerline goodness [0,1] 0.5247497449190635 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.87 [[ 9.99899460e-01 6.38783973e-03 1.26595739e-02 -2.64777192e+01] [-6.31972257e-03 9.99965377e-01 -5.41340323e-03 1.47327508e+01] [-1.26937155e-02 5.33285397e-03 9.99905211e-01 1.68673189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64925976399999 meters Centerline goodness [0,1] 0.5290805200541033 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.87 [[ 9.99899926e-01 6.60730745e-03 1.25092243e-02 -2.64770743e+01] [-6.54010628e-03 9.99964003e-01 -5.40543728e-03 1.47337797e+01] [-1.25444894e-02 5.32308468e-03 9.99907146e-01 1.68671017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.679259764 meters Centerline goodness [0,1] 0.5302720336171625 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.74, Z:16.87 [[ 9.99900688e-01 6.65748285e-03 1.24214535e-02 -2.64771043e+01] [-6.58581298e-03 9.99961482e-01 -5.80185644e-03 1.47352043e+01] [-1.24596008e-02 5.71947488e-03 9.99906019e-01 1.68678346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.709259764 meters Centerline goodness [0,1] 0.4814517912428129 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.74, Z:16.87 [[ 9.99900366e-01 6.49807868e-03 1.25312744e-02 -2.64777024e+01] [-6.42275975e-03 9.99961124e-01 -6.04138304e-03 1.47361831e+01] [-1.25700446e-02 5.96029575e-03 9.99903230e-01 1.68682802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.739259764 meters Centerline goodness [0,1] 0.5141988950276244 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.74, Z:16.87 [[ 9.99901121e-01 6.33223548e-03 1.25558862e-02 -2.64781402e+01] [-6.25318297e-03 9.99960443e-01 -6.32534616e-03 1.47372447e+01] [-1.25954431e-02 6.24620647e-03 9.99901165e-01 1.68688458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.769259764 meters Centerline goodness [0,1] 0.48397444760930286 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.74, Z:16.87 [[ 9.99902545e-01 6.11328171e-03 1.25510379e-02 -2.64787617e+01] [-6.03194637e-03 9.99960630e-01 -6.50802807e-03 1.47379876e+01] [-1.25903292e-02 6.43168664e-03 9.99900054e-01 1.68695550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.799259764 meters Centerline goodness [0,1] 0.5318183076369474 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.74, Z:16.87 [[ 9.99900657e-01 5.97866600e-03 1.27644714e-02 -2.64795412e+01] [-5.89658089e-03 9.99961757e-01 -6.45872856e-03 1.47378433e+01] [-1.28025978e-02 6.38282019e-03 9.99897671e-01 1.68696236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.829259764 meters Centerline goodness [0,1] 0.4793464088551058 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.74, Z:16.87 [[ 9.99898172e-01 5.77176650e-03 1.30511268e-02 -2.64804570e+01] [-5.69256046e-03 9.99965204e-01 -6.09793061e-03 1.47367029e+01] [-1.30858685e-02 6.02301534e-03 9.99896236e-01 1.68691706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.859259764 meters Centerline goodness [0,1] 0.484929151762194 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.74, Z:16.87 [[ 9.99901652e-01 6.29317576e-03 1.25332517e-02 -2.64784411e+01] [-6.21884910e-03 9.99962898e-01 -5.96052699e-03 1.47382423e+01] [-1.25702973e-02 5.88199838e-03 9.99903690e-01 1.68685495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.889259764 meters Centerline goodness [0,1] 0.490571801494071 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.74, Z:16.87 [[ 9.99904365e-01 6.80558596e-03 1.20393003e-02 -2.64767512e+01] [-6.73499275e-03 9.99959947e-01 -5.89442293e-03 1.47398620e+01] [-1.20789331e-02 5.81277462e-03 9.99910151e-01 1.68683805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.919259764 meters Centerline goodness [0,1] 0.5029137041684093 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.74, Z:16.87 [[ 9.99903849e-01 7.58624528e-03 1.16078200e-02 -2.64745716e+01] [-7.51867452e-03 9.99954601e-01 -5.85374996e-03 1.47419669e+01] [-1.16517010e-02 5.76591170e-03 9.99915492e-01 1.68676837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.949259764 meters Centerline goodness [0,1] 0.5080203497261684 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.74, Z:16.87 [[ 9.99901738e-01 7.98820106e-03 1.15196728e-02 -2.64738283e+01] [-7.92523327e-03 9.99953461e-01 -5.50143910e-03 1.47415560e+01] [-1.15630833e-02 5.40960242e-03 9.99918512e-01 1.68669746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.979259764 meters Centerline goodness [0,1] 0.5320674988184927 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.74, Z:16.87 [[ 9.99898882e-01 8.41998267e-03 1.14598861e-02 -2.64733264e+01] [-8.36155787e-03 9.99951849e-01 -5.13660143e-03 1.47403907e+01] [-1.15025844e-02 5.04025953e-03 9.99921140e-01 1.68664936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00925976399999 meters Centerline goodness [0,1] 0.5163171781696987 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.74, Z:16.87 [[ 9.99898190e-01 8.41279728e-03 1.15253647e-02 -2.64736988e+01] [-8.35482611e-03 9.99952251e-01 -5.06882546e-03 1.47400686e+01] [-1.15674574e-02 4.97201698e-03 9.99920733e-01 1.68666333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.039259764 meters Centerline goodness [0,1] 0.5151919124590346 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.74, Z:16.87 [[ 9.99897997e-01 8.37005668e-03 1.15731629e-02 -2.64742246e+01] [-8.31254119e-03 9.99952905e-01 -5.00893433e-03 1.47396684e+01] [-1.16145429e-02 4.91222101e-03 9.99920483e-01 1.68670501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.069259764 meters Centerline goodness [0,1] 0.515373718856762 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.74, Z:16.87 [[ 9.99898006e-01 8.00362676e-03 1.18287671e-02 -2.64758816e+01] [-7.94785429e-03 9.99957112e-01 -4.75449817e-03 1.47379154e+01] [-1.18663131e-02 4.65999992e-03 9.99918734e-01 1.68676441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.099259764 meters Centerline goodness [0,1] 0.5115273775216138 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.74, Z:16.87 [[ 9.99895263e-01 7.84898342e-03 1.21596303e-02 -2.64770767e+01] [-7.79539372e-03 9.99959721e-01 -4.44832776e-03 1.47362495e+01] [-1.21940554e-02 4.35307275e-03 9.99916174e-01 1.68676291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.129259764 meters Centerline goodness [0,1] 0.49957093425605537 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.74, Z:16.87 [[ 9.99922539e-01 3.43831774e-03 1.19621810e-02 -2.64779460e+01] [-3.33203628e-03 9.99954901e-01 -8.89340312e-03 1.47366822e+01] [-1.19922198e-02 8.85285581e-03 9.99888901e-01 1.68694052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.159259764 meters Centerline goodness [0,1] 0.505058905058905 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.74, Z:16.87 [[ 9.99922199e-01 3.50438330e-03 1.19714077e-02 -2.64781579e+01] [-3.40137544e-03 9.99957114e-01 -8.61404064e-03 1.47357365e+01] [-1.20010812e-02 8.57265121e-03 9.99891236e-01 1.68694710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.189259764 meters Centerline goodness [0,1] 0.5029145617054349 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.74, Z:16.87 [[ 9.99920621e-01 3.57812543e-03 1.20809272e-02 -2.64784764e+01] [-3.47739375e-03 9.99959102e-01 -8.34881035e-03 1.47350579e+01] [-1.21103062e-02 8.30613749e-03 9.99892168e-01 1.68693170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.219259764 meters Centerline goodness [0,1] 0.5083540802213001 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.87 [[ 9.99917499e-01 3.71847647e-03 1.22950815e-02 -2.64790110e+01] [-3.62305907e-03 9.99963220e-01 -7.77380312e-03 1.47330525e+01] [-1.23235360e-02 7.72861596e-03 9.99894194e-01 1.68688379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.249259764 meters Centerline goodness [0,1] 0.5092390553790913 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.87 [[ 9.99916106e-01 4.01882295e-03 1.23137946e-02 -2.64786237e+01] [-3.93008771e-03 9.99966199e-01 -7.22190988e-03 1.47316677e+01] [-1.23424020e-02 7.17290972e-03 9.99898102e-01 1.68680030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.279259764 meters Centerline goodness [0,1] 0.5197686965664168 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.87 [[ 9.99916530e-01 4.46701296e-03 1.21234742e-02 -2.64776768e+01] [-4.38608386e-03 9.99967977e-01 -6.69380407e-03 1.47308759e+01] [-1.21529873e-02 6.64007076e-03 9.99904103e-01 1.68672073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.309259764 meters Centerline goodness [0,1] 0.5211828105568606 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.87 [[ 9.99917227e-01 4.62358744e-03 1.20067659e-02 -2.64773181e+01] [-4.54520851e-03 9.99968238e-01 -6.54700056e-03 1.47311906e+01] [-1.20366552e-02 6.49188538e-03 9.99906483e-01 1.68670546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.339259764 meters Centerline goodness [0,1] 0.4970857158642027 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.87 [[ 9.99917398e-01 4.57125994e-03 1.20125456e-02 -2.64775986e+01] [-4.49246368e-03 9.99968271e-01 -6.57831477e-03 1.47314501e+01] [-1.20422357e-02 6.52380547e-03 9.99906208e-01 1.68673321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.369259764 meters Centerline goodness [0,1] 0.5257057703452273 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.87 [[ 9.99915379e-01 4.55065771e-03 1.21871666e-02 -2.64783548e+01] [-4.47392936e-03 9.99970047e-01 -6.31571162e-03 1.47301112e+01] [-1.22155422e-02 6.26065265e-03 9.99905788e-01 1.68674418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39925976399999 meters Centerline goodness [0,1] 0.5247445457056061 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.87 [[ 9.99912379e-01 4.66446457e-03 1.23885768e-02 -2.64787409e+01] [-4.59158388e-03 9.99972025e-01 -5.90483637e-03 1.47287039e+01] [-1.24157731e-02 5.84743580e-03 9.99905824e-01 1.68669846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.429259764 meters Centerline goodness [0,1] 0.49786047538856526 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.87 [[ 9.99910176e-01 5.07347338e-03 1.24056691e-02 -2.64781514e+01] [-5.00899523e-03 9.99973815e-01 -5.22303437e-03 1.47271225e+01] [-1.24318432e-02 5.16042528e-03 9.99909406e-01 1.68658217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.459259764 meters Centerline goodness [0,1] 0.5005943331029716 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.87 [[ 9.99910230e-01 5.30572016e-03 1.23037345e-02 -2.64775623e+01] [-5.24510741e-03 9.99973976e-01 -4.95341722e-03 1.47269882e+01] [-1.23296958e-02 4.88843814e-03 9.99912037e-01 1.68653181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.489259764 meters Centerline goodness [0,1] 0.5080789946140036 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.86 [[ 9.99910409e-01 5.50875592e-03 1.21994931e-02 -2.64770928e+01] [-5.45175351e-03 9.99974090e-01 -4.70086025e-03 1.47268246e+01] [-1.22250729e-02 4.63393047e-03 9.99914533e-01 1.68649554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.519259764 meters Centerline goodness [0,1] 0.525611610228058 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.86 [[ 9.99908893e-01 5.77559988e-03 1.22003312e-02 -2.64768100e+01] [-5.72395118e-03 9.99974527e-01 -4.26406989e-03 1.47258739e+01] [-1.22246480e-02 4.19384731e-03 9.99916481e-01 1.68643813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.549259764 meters Centerline goodness [0,1] 0.5233400347002286 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99907272e-01 5.91165924e-03 1.22678621e-02 -2.64771090e+01] [-5.86374979e-03 9.99975056e-01 -3.93758267e-03 1.47244971e+01] [-1.22908337e-02 3.86528188e-03 9.99916994e-01 1.68643662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.579259764 meters Centerline goodness [0,1] 0.5090148366318918 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99904933e-01 5.56408550e-03 1.26160704e-02 -2.64787125e+01] [-5.51681916e-03 9.99977645e-01 -3.77823015e-03 1.47225859e+01] [-1.26368107e-02 3.70827038e-03 9.99913276e-01 1.68647367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.609259764 meters Centerline goodness [0,1] 0.52159084658122 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99904699e-01 5.57531328e-03 1.26296552e-02 -2.64790182e+01] [-5.52987829e-03 9.99978123e-01 -3.62955456e-03 1.47219563e+01] [-1.26496148e-02 3.55936820e-03 9.99913655e-01 1.68649465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.639259764 meters Centerline goodness [0,1] 0.5214683348950009 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.87 [[ 9.99906618e-01 5.44048672e-03 1.25361753e-02 -2.64795002e+01] [-5.39265076e-03 9.99978062e-01 -3.84648247e-03 1.47227704e+01] [-1.25568271e-02 3.77852006e-03 9.99914021e-01 1.68659836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.669259764 meters Centerline goodness [0,1] 0.48619543419136835 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.87 [[ 9.99906973e-01 5.57184864e-03 1.24498955e-02 -2.64793845e+01] [-5.52533447e-03 9.99977638e-01 -3.76738792e-03 1.47228030e+01] [-1.24706084e-02 3.69824762e-03 9.99915400e-01 1.68661503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.699259764 meters Centerline goodness [0,1] 0.4883752923373229 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.87 [[ 9.99906387e-01 5.58303093e-03 1.24918742e-02 -2.64797254e+01] [-5.53669235e-03 9.99977675e-01 -3.74101151e-03 1.47226726e+01] [-1.25124815e-02 3.67149764e-03 9.99914975e-01 1.68664023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.729259764 meters Centerline goodness [0,1] 0.5037047200878155 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.87 [[ 9.99902697e-01 5.92159816e-03 1.26305586e-02 -2.64793791e+01] [-5.87940271e-03 9.99977020e-01 -3.37526268e-03 1.47214504e+01] [-1.26502553e-02 3.30067412e-03 9.99914535e-01 1.68654370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75925976399999 meters Centerline goodness [0,1] 0.4805999616112314 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99900087e-01 6.21347154e-03 1.26967706e-02 -2.64788565e+01] [-6.17649127e-03 9.99976575e-01 -2.94971353e-03 1.47206502e+01] [-1.27148012e-02 2.87099733e-03 9.99915042e-01 1.68643676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.789259764 meters Centerline goodness [0,1] 0.5119785099501124 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99898415e-01 6.34651456e-03 1.27624632e-02 -2.64786126e+01] [-6.31583126e-03 9.99977071e-01 -2.44305303e-03 1.47190483e+01] [-1.27776754e-02 2.36219929e-03 9.99915572e-01 1.68633917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.819259764 meters Centerline goodness [0,1] 0.4944726374982855 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99897397e-01 6.42199053e-03 1.28044347e-02 -2.64787626e+01] [-6.39485535e-03 9.99977222e-01 -2.15901972e-03 1.47181257e+01] [-1.28180083e-02 2.07691569e-03 9.99915689e-01 1.68632105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.849259764 meters Centerline goodness [0,1] 0.497697873273405 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99895304e-01 6.45399152e-03 1.29509415e-02 -2.64792417e+01] [-6.42851182e-03 9.99977321e-01 -2.00806744e-03 1.47173477e+01] [-1.29636078e-02 1.92460193e-03 9.99914117e-01 1.68632460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.879259764 meters Centerline goodness [0,1] 0.49738964056307233 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99895450e-01 6.35586143e-03 1.29881355e-02 -2.64801188e+01] [-6.32779732e-03 9.99977558e-01 -2.20070393e-03 1.47172117e+01] [-1.30018313e-02 2.11828756e-03 9.99913229e-01 1.68644461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.909259764 meters Centerline goodness [0,1] 0.4985658480618461 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99894747e-01 6.32237540e-03 1.30584461e-02 -2.64806100e+01] [-6.29413940e-03 9.99977767e-01 -2.20224606e-03 1.47170853e+01] [-1.30720791e-02 2.11982259e-03 9.99912310e-01 1.68648446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.939259764 meters Centerline goodness [0,1] 0.4883771631012399 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99890847e-01 6.24479509e-03 1.33901959e-02 -2.64815343e+01] [-6.22062143e-03 9.99978947e-01 -1.84621618e-03 1.47153026e+01] [-1.34014432e-02 1.76271932e-03 9.99908643e-01 1.68645068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.969259764 meters Centerline goodness [0,1] 0.49261525907792736 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.71, Z:16.86 [[ 9.99888622e-01 6.42357356e-03 1.34714860e-02 -2.64814218e+01] [-6.40493717e-03 9.99978471e-01 -1.42608370e-03 1.47140698e+01] [-1.34803565e-02 1.33964085e-03 9.99908238e-01 1.68638500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.999259764 meters Centerline goodness [0,1] 0.5028282388774068 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.71, Z:16.86 [[ 9.99885215e-01 6.44986553e-03 1.37097377e-02 -2.64822358e+01] [-6.43494044e-03 9.99978654e-01 -1.13248345e-03 1.47125433e+01] [-1.37167494e-02 1.04413211e-03 9.99905376e-01 1.68638451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.029259764 meters Centerline goodness [0,1] 0.5028299319727891 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.71, Z:16.86 [[ 9.99883485e-01 6.26407578e-03 1.39204108e-02 -2.64834146e+01] [-6.24968623e-03 9.99979891e-01 -1.07696306e-03 1.47114863e+01] [-1.39268770e-02 9.89839373e-04 9.99902526e-01 1.68644487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.059259764 meters Centerline goodness [0,1] 0.5009639143066604 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.71, Z:16.86 [[ 9.99879587e-01 6.24713090e-03 1.42051118e-02 -2.64842903e+01] [-6.23641827e-03 9.99980235e-01 -7.98310875e-04 1.47099766e+01] [-1.42098182e-02 7.09625729e-04 9.99898784e-01 1.68644046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.089259764 meters Centerline goodness [0,1] 0.502417164584465 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.71, Z:16.86 [[ 9.99878491e-01 6.28697496e-03 1.42645604e-02 -2.64846376e+01] [-6.27782422e-03 9.99980059e-01 -6.86189005e-04 1.47092336e+01] [-1.42685900e-02 5.96555223e-04 9.99898021e-01 1.68645805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.119259764 meters Centerline goodness [0,1] 0.49743059898311537 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.71, Z:16.86 [[ 9.99877363e-01 6.31668753e-03 1.43303348e-02 -2.64849536e+01] [-6.30782891e-03 9.99979885e-01 -6.63287845e-04 1.47087864e+01] [-1.43342363e-02 5.72813201e-04 9.99897095e-01 1.68647915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14925976399999 meters Centerline goodness [0,1] 0.4813738799891393 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.71, Z:16.86 [[ 9.99874850e-01 6.27537402e-03 1.45225326e-02 -2.64856527e+01] [-6.26986449e-03 9.99980254e-01 -4.24876789e-04 1.47074715e+01] [-1.45249121e-02 3.33769304e-04 9.99894452e-01 1.68647846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.179259764 meters Centerline goodness [0,1] 0.49444323972677007 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.71, Z:16.86 [[ 9.99894238e-01 2.38020304e-03 1.43474052e-02 -2.64853090e+01] [-2.31778367e-03 9.99987785e-01 -4.36562725e-03 1.47068433e+01] [-1.43576210e-02 4.33191135e-03 9.99887540e-01 1.68649233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.209259764 meters Centerline goodness [0,1] 0.48873563218390803 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99890154e-01 2.27758052e-03 1.46455517e-02 -2.64864412e+01] [-2.22281711e-03 9.99990482e-01 -3.75444362e-03 1.47039179e+01] [-1.46539634e-02 3.72147683e-03 9.99885699e-01 1.68646945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.239259764 meters Centerline goodness [0,1] 0.4820357663839213 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99890089e-01 2.35920155e-03 1.46370779e-02 -2.64867032e+01] [-2.30769901e-03 9.99991091e-01 -3.53452851e-03 1.47031474e+01] [-1.46452862e-02 3.50036206e-03 9.99886625e-01 1.68649400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.269259764 meters Centerline goodness [0,1] 0.4812322659100121 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.87 [[ 9.99888389e-01 2.34614978e-03 1.47548568e-02 -2.64872375e+01] [-2.29615983e-03 9.99991570e-01 -3.40406257e-03 1.47025327e+01] [-1.47627189e-02 3.36980313e-03 9.99885347e-01 1.68651299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.299259764 meters Centerline goodness [0,1] 0.46383414660448063 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99885093e-01 2.41512067e-03 1.49655688e-02 -2.64877787e+01] [-2.37052453e-03 9.99992699e-01 -2.99693894e-03 1.47012200e+01] [-1.49726975e-02 2.96111832e-03 9.99883518e-01 1.68648301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.329259764 meters Centerline goodness [0,1] 0.4797586661998007 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99881948e-01 2.67493607e-03 1.51306166e-02 -2.64877831e+01] [-2.63789873e-03 9.99993477e-01 -2.46726919e-03 1.46993844e+01] [-1.51371177e-02 2.42706489e-03 9.99882482e-01 1.68640319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.359259764 meters Centerline goodness [0,1] 0.48127895700894296 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99880843e-01 2.90138331e-03 1.51618640e-02 -2.64873974e+01] [-2.86865627e-03 9.99993510e-01 -2.17981311e-03 1.46990244e+01] [-1.51680900e-02 2.13605920e-03 9.99882676e-01 1.68633265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.389259764 meters Centerline goodness [0,1] 0.4864327548224169 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99878371e-01 2.98135074e-03 1.53086240e-02 -2.64878021e+01] [-2.95082629e-03 9.99993614e-01 -2.01613898e-03 1.46980243e+01] [-1.53145370e-02 1.97072067e-03 9.99880784e-01 1.68632633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.419259764 meters Centerline goodness [0,1] 0.4690260734137107 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99876763e-01 2.94262733e-03 1.54207252e-02 -2.64881836e+01] [-2.91177532e-03 9.99993715e-01 -2.02275497e-03 1.46977983e+01] [-1.54265805e-02 1.97760400e-03 9.99879048e-01 1.68633488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.449259764 meters Centerline goodness [0,1] 0.47134440278521694 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99874664e-01 2.98287475e-03 1.55485631e-02 -2.64885149e+01] [-2.95510455e-03 9.99993998e-01 -1.80869937e-03 1.46970959e+01] [-1.55538649e-02 1.76252504e-03 9.99877478e-01 1.68631384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.479259764 meters Centerline goodness [0,1] 0.4851567310008834 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99868498e-01 2.63570589e-03 1.60012709e-02 -2.64902041e+01] [-2.60777852e-03 9.99995040e-01 -1.76593664e-03 1.46956834e+01] [-1.60058460e-02 1.72397664e-03 9.99870412e-01 1.68634410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50925976399999 meters Centerline goodness [0,1] 0.4851567310008834 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99868498e-01 2.63570589e-03 1.60012709e-02 -2.64902041e+01] [-2.60777852e-03 9.99995040e-01 -1.76593664e-03 1.46956834e+01] [-1.60058460e-02 1.72397664e-03 9.99870412e-01 1.68634410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.539259764 meters Centerline goodness [0,1] 0.46352344063042605 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.69, Z:16.86 [[ 9.99864125e-01 2.49318578e-03 1.62946716e-02 -2.64912193e+01] [-2.46766948e-03 9.99995698e-01 -1.58584776e-03 1.46945174e+01] [-1.62985553e-02 1.54542242e-03 9.99865975e-01 1.68635183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.569259764 meters Centerline goodness [0,1] 0.4659154479341485 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.69, Z:16.86 [[ 9.99864373e-01 2.59018787e-03 1.62642597e-02 -2.64909796e+01] [-2.56582643e-03 9.99995555e-01 -1.51853946e-03 1.46946145e+01] [-1.62681207e-02 1.47660224e-03 9.99866575e-01 1.68632981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.599259764 meters Centerline goodness [0,1] 0.47154840777944007 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99867218e-01 2.62451638e-03 1.60828524e-02 -2.64906207e+01] [-2.59529826e-03 9.99994944e-01 -1.83732676e-03 1.46960892e+01] [-1.60875931e-02 1.79534300e-03 9.99868974e-01 1.68636945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.629259764 meters Centerline goodness [0,1] 0.47229791099000906 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99868756e-01 2.62713043e-03 1.59865358e-02 -2.64905247e+01] [-2.59508098e-03 9.99994582e-01 -2.02519177e-03 1.46970286e+01] [-1.59917696e-02 1.98343962e-03 9.99870156e-01 1.68640020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.659259764 meters Centerline goodness [0,1] 0.48578832077790246 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99866716e-01 2.74119709e-03 1.60946150e-02 -2.64906639e+01] [-2.70833359e-03 9.99994204e-01 -2.06333512e-03 1.46974256e+01] [-1.61001777e-02 2.01947052e-03 9.99868344e-01 1.68639135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.689259764 meters Centerline goodness [0,1] 0.46598075895243185 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99865774e-01 2.70597016e-03 1.61589579e-02 -2.64908372e+01] [-2.67019305e-03 9.99993937e-01 -2.23523771e-03 1.46977374e+01] [-1.61649084e-02 2.19179015e-03 9.99866937e-01 1.68640038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.719259764 meters Centerline goodness [0,1] 0.46658657055132824 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99867563e-01 3.06440043e-03 1.59832890e-02 -2.64896374e+01] [-3.02908388e-03 9.99992918e-01 -2.23333377e-03 1.46991434e+01] [-1.59900196e-02 2.18462327e-03 9.99869765e-01 1.68632697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.749259764 meters Centerline goodness [0,1] 0.4886847532071025 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99867127e-01 2.93444358e-03 1.60348730e-02 -2.64899229e+01] [-2.89570182e-03 9.99992834e-01 -2.43877772e-03 1.46999980e+01] [-1.60419145e-02 2.39202146e-03 9.99868459e-01 1.68634722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.779259764 meters Centerline goodness [0,1] 0.4691057128317755 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99866893e-01 2.94577932e-03 1.60473676e-02 -2.64898139e+01] [-2.90735276e-03 9.99992852e-01 -2.41737373e-03 1.47005180e+01] [-1.60543739e-02 2.37039660e-03 9.99868310e-01 1.68632568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.809259764 meters Centerline goodness [0,1] 0.46674179613083255 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99867974e-01 2.99574278e-03 1.59706255e-02 -2.64892678e+01] [-2.95691150e-03 9.99992616e-01 -2.45447795e-03 1.47015545e+01] [-1.59778606e-02 2.40693017e-03 9.99869449e-01 1.68627722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.839259764 meters Centerline goodness [0,1] 0.48868911847578156 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99867530e-01 3.04121297e-03 1.59897999e-02 -2.64890111e+01] [-3.00373028e-03 9.99992686e-01 -2.36765689e-03 1.47018226e+01] [-1.59968835e-02 2.31931420e-03 9.99869352e-01 1.68622626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.869259764 meters Centerline goodness [0,1] 0.47565472505585016 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99871907e-01 3.63584109e-03 1.55868396e-02 -2.64869207e+01] [-3.60250717e-03 9.99991165e-01 -2.16613809e-03 1.47028056e+01] [-1.55945776e-02 2.10970892e-03 9.99876171e-01 1.68611261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89925976399999 meters Centerline goodness [0,1] 0.48464468033384656 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.71, Z:16.86 [[ 9.99877273e-01 4.25297683e-03 1.50781993e-02 -2.64848016e+01] [-4.21698039e-03 9.99988184e-01 -2.41830763e-03 1.47057945e+01] [-1.50883062e-02 2.35442636e-03 9.99883393e-01 1.68607899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.929259764 meters Centerline goodness [0,1] 0.48416191839269807 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.71, Z:16.86 [[ 9.99882294e-01 4.62251199e-03 1.46297938e-02 -2.64832058e+01] [-4.58080059e-03 9.99985351e-01 -2.88335416e-03 1.47091241e+01] [-1.46429078e-02 2.81599860e-03 9.99888822e-01 1.68609225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.959259764 meters Centerline goodness [0,1] 0.48513616144081584 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.71, Z:16.86 [[ 9.99884444e-01 5.46087180e-03 1.41872209e-02 -2.64809500e+01] [-5.41645954e-03 9.99980316e-01 -3.16698183e-03 1.47128918e+01] [-1.42042361e-02 3.08977136e-03 9.99894341e-01 1.68605513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.989259764 meters Centerline goodness [0,1] 0.4905829353017803 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.71, Z:16.86 [[ 9.99883408e-01 6.09027751e-03 1.40027972e-02 -2.64793528e+01] [-6.04566295e-03 9.99976520e-01 -3.22624367e-03 1.47144555e+01] [-1.40221171e-02 3.14121133e-03 9.99896751e-01 1.68596767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.019259764 meters Centerline goodness [0,1] 0.49649399358591073 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99884690e-01 6.09447519e-03 1.39091127e-02 -2.64791796e+01] [-6.04568382e-03 9.99975433e-01 -3.54722704e-03 1.47158835e+01] [-1.39303895e-02 3.46272791e-03 9.99896972e-01 1.68600184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.049259764 meters Centerline goodness [0,1] 0.5053859964093357 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99885160e-01 6.15865038e-03 1.38469763e-02 -2.64788487e+01] [-6.10847457e-03 9.99974634e-01 -3.66297222e-03 1.47171319e+01] [-1.38691841e-02 3.57796766e-03 9.99897417e-01 1.68599242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.079259764 meters Centerline goodness [0,1] 0.5073382710650742 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99888317e-01 6.09780779e-03 1.36444003e-02 -2.64784990e+01] [-6.04476247e-03 9.99974025e-01 -3.92556779e-03 1.47188754e+01] [-1.36679832e-02 3.84265221e-03 9.99899205e-01 1.68602763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.109259764 meters Centerline goodness [0,1] 0.507763254836685 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99887363e-01 6.03743881e-03 1.37408476e-02 -2.64788586e+01] [-5.98464263e-03 9.99974564e-01 -3.88016150e-03 1.47188493e+01] [-1.37639243e-02 3.79749038e-03 9.99898062e-01 1.68602862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.139259764 meters Centerline goodness [0,1] 0.4991933058054636 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99885011e-01 5.81932408e-03 1.40035973e-02 -2.64797731e+01] [-5.76566607e-03 9.99975893e-01 -3.86905704e-03 1.47181851e+01] [-1.40257750e-02 3.78787207e-03 9.99894459e-01 1.68603571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.169259764 meters Centerline goodness [0,1] 0.4986897417699405 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99882924e-01 5.79653937e-03 1.41611757e-02 -2.64801806e+01] [-5.74422390e-03 9.99976537e-01 -3.73217430e-03 1.47176740e+01] [-1.41824771e-02 3.65039239e-03 9.99892760e-01 1.68601885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.199259764 meters Centerline goodness [0,1] 0.49997268356643354 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99881935e-01 5.80089956e-03 1.42290548e-02 -2.64803065e+01] [-5.74880530e-03 9.99976633e-01 -3.69929296e-03 1.47177812e+01] [-1.42501816e-02 3.61705614e-03 9.99891919e-01 1.68600592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.229259764 meters Centerline goodness [0,1] 0.5017828734434143 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99884678e-01 6.75481392e-03 1.36015955e-02 -2.64776334e+01] [-6.70206126e-03 9.99969856e-01 -3.92027121e-03 1.47215439e+01] [-1.36276662e-02 3.82866039e-03 9.99899809e-01 1.68599045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25925976399999 meters Centerline goodness [0,1] 0.5126470911690311 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99887189e-01 6.89838654e-03 1.33424750e-02 -2.64769485e+01] [-6.84145070e-03 9.99967316e-01 -4.30820915e-03 1.47235964e+01] [-1.33717586e-02 4.21644125e-03 9.99901704e-01 1.68603641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.289259764 meters Centerline goodness [0,1] 0.5132743362831859 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.86 [[ 9.99886855e-01 7.32519126e-03 1.31384804e-02 -2.64758626e+01] [-7.26747670e-03 9.99963756e-01 -4.43516633e-03 1.47250506e+01] [-1.31704926e-02 4.33918091e-03 9.99903850e-01 1.68601656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.319259764 meters Centerline goodness [0,1] 0.511551700399284 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99885027e-01 7.53150755e-03 1.31609070e-02 -2.64754339e+01] [-7.47569276e-03 9.99962876e-01 -4.28501606e-03 1.47249271e+01] [-1.31926911e-02 4.18613650e-03 9.99904210e-01 1.68595282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.349259764 meters Centerline goodness [0,1] 0.5098012186043948 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99883247e-01 7.68632372e-03 1.32065804e-02 -2.64752064e+01] [-7.63251377e-03 9.99962384e-01 -4.12006315e-03 1.47246107e+01] [-1.32377518e-02 4.01878271e-03 9.99904301e-01 1.68590290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.379259764 meters Centerline goodness [0,1] 0.5023976189163866 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99881600e-01 7.41515998e-03 1.34833705e-02 -2.64762024e+01] [-7.35974564e-03 9.99964285e-01 -4.15481442e-03 1.47246047e+01] [-1.35136976e-02 4.05508832e-03 9.99900463e-01 1.68591344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.409259764 meters Centerline goodness [0,1] 0.5005366726296958 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99880603e-01 6.87279327e-03 1.38399474e-02 -2.64779914e+01] [-6.81212361e-03 9.99967002e-01 -4.42604433e-03 1.47247141e+01] [-1.38699100e-02 4.33123644e-03 9.99894427e-01 1.68600542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.439259764 meters Centerline goodness [0,1] 0.5016507098052163 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99878404e-01 6.73260306e-03 1.40658809e-02 -2.64786919e+01] [-6.67256679e-03 9.99968446e-01 -4.31079898e-03 1.47241867e+01] [-1.40944599e-02 4.21641927e-03 9.99891778e-01 1.68599528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.469259764 meters Centerline goodness [0,1] 0.4986245598591549 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99879433e-01 6.90817277e-03 1.39067015e-02 -2.64780035e+01] [-6.85050619e-03 9.99967757e-01 -4.19005005e-03 1.47243661e+01] [-1.39351987e-02 4.09427692e-03 9.99894518e-01 1.68596198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.499259764 meters Centerline goodness [0,1] 0.5048067652811062 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.86 [[ 9.99882936e-01 7.19013950e-03 1.35061677e-02 -2.64766897e+01] [-7.13163113e-03 9.99964998e-01 -4.37515399e-03 1.47261924e+01] [-1.35371530e-02 4.27832081e-03 9.99899216e-01 1.68596274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.529259764 meters Centerline goodness [0,1] 0.5076821045650493 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.73, Z:16.86 [[ 9.99886817e-01 7.58995148e-03 1.29902564e-02 -2.64748474e+01] [-7.52724227e-03 9.99959813e-01 -4.86950834e-03 1.47298209e+01] [-1.30266937e-02 4.77117639e-03 9.99903766e-01 1.68598263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.559259764 meters Centerline goodness [0,1] 0.5118922215446028 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.73, Z:16.86 [[ 9.99888122e-01 7.54763535e-03 1.29142010e-02 -2.64746340e+01] [-7.48123089e-03 9.99958585e-01 -5.18257822e-03 1.47311054e+01] [-1.29527823e-02 5.08538428e-03 9.99903177e-01 1.68599879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.589259764 meters Centerline goodness [0,1] 0.5027254364848787 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.73, Z:16.86 [[ 9.99886996e-01 7.64944597e-03 1.29414824e-02 -2.64744218e+01] [-7.57829770e-03 9.99955950e-01 -5.53782702e-03 1.47327413e+01] [-1.29832736e-02 5.43912682e-03 9.99900920e-01 1.68600285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.619259764 meters Centerline goodness [0,1] 0.506258344459279 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.73, Z:16.86 [[ 9.99888273e-01 7.47045553e-03 1.29473431e-02 -2.64747230e+01] [-7.39327037e-03 9.99954674e-01 -5.99911360e-03 1.47345172e+01] [-1.29915723e-02 5.90272013e-03 9.99898183e-01 1.68606075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64925976399999 meters Centerline goodness [0,1] 0.5108729028836223 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.74, Z:16.86 [[ 9.99891132e-01 7.40143956e-03 1.27648694e-02 -2.64743654e+01] [-7.31908124e-03 9.99952176e-01 -6.48664393e-03 1.47370353e+01] [-1.28122695e-02 6.39251063e-03 9.99897486e-01 1.68611069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.679259764 meters Centerline goodness [0,1] 0.5157177834688881 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.74, Z:16.86 [[ 9.99847349e-01 1.19472005e-02 1.27492298e-02 -2.64727631e+01] [-1.19191214e-02 9.99926374e-01 -2.27613517e-03 1.47393424e+01] [-1.27754846e-02 2.12382810e-03 9.99916135e-01 1.68594221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.709259764 meters Centerline goodness [0,1] 0.5088576837227701 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.74, Z:16.86 [[ 9.99848647e-01 1.23138621e-02 1.22903314e-02 -2.64708551e+01] [-1.22829529e-02 9.99921215e-01 -2.58724900e-03 1.47420093e+01] [-1.23212221e-02 2.43589585e-03 9.99921124e-01 1.68590661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.739259764 meters Centerline goodness [0,1] 0.5178916827852997 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.75, Z:16.86 [[ 9.99845427e-01 1.30528939e-02 1.17789348e-02 -2.64684410e+01] [-1.30184598e-02 9.99910770e-01 -2.99532377e-03 1.47451140e+01] [-1.18169814e-02 2.84151719e-03 9.99926140e-01 1.68588287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.769259764 meters Centerline goodness [0,1] 0.5207105645230166 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.75, Z:16.86 [[ 9.99847538e-01 1.28984936e-02 1.17698940e-02 -2.64687677e+01] [-1.28558916e-02 9.99910558e-01 -3.68809083e-03 1.47471107e+01] [-1.18164121e-02 3.53621606e-03 9.99923931e-01 1.68597994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.799259764 meters Centerline goodness [0,1] 0.5087404623619178 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.75, Z:16.86 [[ 9.99850996e-01 1.28500804e-02 1.15265715e-02 -2.64688079e+01] [-1.27905401e-02 9.99904549e-01 -5.22441997e-03 1.47518270e+01] [-1.15926055e-02 5.07621043e-03 9.99919919e-01 1.68624451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.829259764 meters Centerline goodness [0,1] 0.5031218816821097 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.75, Z:16.86 [[ 9.99856894e-01 1.25149930e-02 1.13827595e-02 -2.64691946e+01] [-1.24461580e-02 9.99903948e-01 -6.09817107e-03 1.47548523e+01] [-1.14579847e-02 5.95562676e-03 9.99916619e-01 1.68639077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.859259764 meters Centerline goodness [0,1] 0.5014092526690391 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.76, Z:16.86 [[ 9.99860781e-01 1.23781268e-02 1.11893023e-02 -2.64691322e+01] [-1.23036513e-02 9.99901857e-01 -6.70047077e-03 1.47572658e+01] [-1.12711434e-02 6.56186866e-03 9.99914948e-01 1.68648902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.889259764 meters Centerline goodness [0,1] 0.4995728199578515 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.76, Z:16.87 [[ 9.99863519e-01 1.22431119e-02 1.10928129e-02 -2.64692556e+01] [-1.21630582e-02 9.99899703e-01 -7.25567021e-03 1.47593810e+01] [-1.11805323e-02 7.11975741e-03 9.99912149e-01 1.68657798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.919259764 meters Centerline goodness [0,1] 0.5058443599782801 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.76, Z:16.87 [[ 9.99863275e-01 1.25648258e-02 1.07497230e-02 -2.64679956e+01] [-1.24832782e-02 9.99893048e-01 -7.61977401e-03 1.47615468e+01] [-1.08443144e-02 7.48454041e-03 9.99913187e-01 1.68660179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.949259764 meters Centerline goodness [0,1] 0.5084774888303356 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.76, Z:16.87 [[ 9.99863689e-01 1.26226013e-02 1.06429795e-02 -2.64675815e+01] [-1.25411992e-02 9.99891856e-01 -7.68079693e-03 1.47622740e+01] [-1.07387802e-02 7.54627423e-03 9.99913862e-01 1.68659096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.979259764 meters Centerline goodness [0,1] 0.5126356900809833 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.76, Z:16.87 [[ 9.99862752e-01 1.28448373e-02 1.04636581e-02 -2.64667174e+01] [-1.27649869e-02 9.99889164e-01 -7.66258739e-03 1.47630616e+01] [-1.05609230e-02 7.52796725e-03 9.99915895e-01 1.68655931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00925976399999 meters Centerline goodness [0,1] 0.5140685501218987 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.76, Z:16.87 [[ 9.99861379e-01 1.29952839e-02 1.04088803e-02 -2.64663984e+01] [-1.29165572e-02 9.99887731e-01 -7.59527064e-03 1.47632028e+01] [-1.05064144e-02 7.45977088e-03 9.99916980e-01 1.68654380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.039259764 meters Centerline goodness [0,1] 0.5145488559504965 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.76, Z:16.87 [[ 9.99862136e-01 1.29696749e-02 1.03680241e-02 -2.64663263e+01] [-1.28901890e-02 9.99887294e-01 -7.69685677e-03 1.47635722e+01] [-1.04666813e-02 7.56214986e-03 9.99916628e-01 1.68655298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.069259764 meters Centerline goodness [0,1] 0.5147731522771081 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.76, Z:16.87 [[ 9.99863653e-01 1.29110841e-02 1.02946411e-02 -2.64661049e+01] [-1.28294530e-02 9.99886043e-01 -7.95647543e-03 1.47649900e+01] [-1.03961947e-02 7.82331597e-03 9.99915354e-01 1.68656915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.099259764 meters Centerline goodness [0,1] 0.5179818738093864 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.77, Z:16.87 [[ 9.99864353e-01 1.29707202e-02 1.01507069e-02 -2.64655845e+01] [-1.28892875e-02 9.99884549e-01 -8.04708727e-03 1.47659307e+01] [-1.02539115e-02 7.91516032e-03 9.99916100e-01 1.68655884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.129259764 meters Centerline goodness [0,1] 0.5200554448583556 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.86 [[ 9.99860765e-01 1.34268523e-02 9.90810166e-03 -2.64639283e+01] [-1.33491098e-02 9.99879915e-01 -7.87121863e-03 1.47668742e+01] [-1.00125975e-02 7.73785834e-03 9.99919934e-01 1.68644580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.159259764 meters Centerline goodness [0,1] 0.5191071738752823 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.86 [[ 9.99859602e-01 1.37212250e-02 9.61793251e-03 -2.64626904e+01] [-1.36442945e-02 9.99874755e-01 -8.01914893e-03 1.47685323e+01] [-9.72676047e-03 7.88679315e-03 9.99921591e-01 1.68642316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.189259764 meters Centerline goodness [0,1] 0.5216659410825715 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.86 [[ 9.99859261e-01 1.40314920e-02 9.19653672e-03 -2.64613406e+01] [-1.39544310e-02 9.99867427e-01 -8.39062923e-03 1.47708715e+01] [-9.31305055e-03 8.26111590e-03 9.99922508e-01 1.68645539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.219259764 meters Centerline goodness [0,1] 0.5225180610580284 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.78, Z:16.87 [[ 9.99855056e-01 1.45996949e-02 8.75876829e-03 -2.64596986e+01] [-1.45211488e-02 9.99854369e-01 -8.96527687e-03 1.47757666e+01] [-8.88838306e-03 8.83679003e-03 9.99921451e-01 1.68652206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.249259764 meters Centerline goodness [0,1] 0.5251069775565453 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.78, Z:16.87 [[ 9.99851097e-01 1.51744715e-02 8.21701577e-03 -2.64580176e+01] [-1.50985603e-02 9.99843474e-01 -9.22284010e-03 1.47779230e+01] [-8.35568132e-03 9.09740168e-03 9.99923707e-01 1.68658003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.279259764 meters Centerline goodness [0,1] 0.5265745454545454 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.78, Z:16.87 [[ 9.99848377e-01 1.54084794e-02 8.11179352e-03 -2.64575268e+01] [-1.53343392e-02 9.99840793e-01 -9.12401157e-03 1.47779584e+01] [-8.25108921e-03 8.99823917e-03 9.99925473e-01 1.68656590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.309259764 meters Centerline goodness [0,1] 0.5256130552404223 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.78, Z:16.87 [[ 9.99846764e-01 1.55545062e-02 8.03152103e-03 -2.64572186e+01] [-1.54817389e-02 9.99839246e-01 -9.04426354e-03 1.47778751e+01] [-8.17090898e-03 8.91853572e-03 9.99926845e-01 1.68655806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.339259764 meters Centerline goodness [0,1] 0.524897532048487 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.78, Z:16.87 [[ 9.99842097e-01 1.59254286e-02 7.88425319e-03 -2.64565651e+01] [-1.58570301e-02 9.99836739e-01 -8.66313881e-03 1.47768840e+01] [-8.02093020e-03 8.53675004e-03 9.99931392e-01 1.68652132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.369259764 meters Centerline goodness [0,1] 0.5244915746658919 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.78, Z:16.87 [[ 9.99840113e-01 1.60204019e-02 7.94322257e-03 -2.64568193e+01] [-1.59525495e-02 9.99836337e-01 -8.53318838e-03 1.47762173e+01] [-8.07862767e-03 8.40510939e-03 9.99932043e-01 1.68653381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39925976399999 meters Centerline goodness [0,1] 0.5244915746658919 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.78, Z:16.87 [[ 9.99840113e-01 1.60204019e-02 7.94322257e-03 -2.64568193e+01] [-1.59525495e-02 9.99836337e-01 -8.53318838e-03 1.47762173e+01] [-8.07862767e-03 8.40510939e-03 9.99932043e-01 1.68653381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.429259764 meters Centerline goodness [0,1] 0.5197749942008815 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.87 [[ 9.99837112e-01 1.61550712e-02 8.04753235e-03 -2.64573623e+01] [-1.60900542e-02 9.99837904e-01 -8.07938779e-03 1.47740550e+01] [-8.17675096e-03 7.94858653e-03 9.99934978e-01 1.68654138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.459259764 meters Centerline goodness [0,1] 0.5196996492041863 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.87 [[ 9.99836545e-01 1.60980928e-02 8.23014240e-03 -2.64581735e+01] [-1.60328551e-02 9.99840002e-01 -7.93213576e-03 1.47729282e+01] [-8.35651784e-03 7.79888653e-03 9.99934671e-01 1.68657156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.489259764 meters Centerline goodness [0,1] 0.5184853043277019 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.87 [[ 9.99834399e-01 1.61135557e-02 8.45743540e-03 -2.64588747e+01] [-1.60489876e-02 9.99841959e-01 -7.64762745e-03 1.47715057e+01] [-8.57932925e-03 7.51062772e-03 9.99934991e-01 1.68656683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.519259764 meters Centerline goodness [0,1] 0.518969054292236 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.87 [[ 9.99892776e-01 1.23564541e-02 7.85837054e-03 -2.64577065e+01] [-1.22630019e-02 9.99854812e-01 -1.18310823e-02 1.47723460e+01] [-8.00341982e-03 1.17334466e-02 9.99899131e-01 1.68664957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.549259764 meters Centerline goodness [0,1] 0.518575092947517 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.87 [[ 9.99890953e-01 1.22548629e-02 8.24018598e-03 -2.64591530e+01] [-1.21630120e-02 9.99864351e-01 -1.11059198e-02 1.47689179e+01] [-8.37516973e-03 1.10044833e-02 9.99904374e-01 1.68663289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.579259764 meters Centerline goodness [0,1] 0.5190578773517163 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.87 [[ 9.99888568e-01 1.23262217e-02 8.42115948e-03 -2.64596200e+01] [-1.22359453e-02 9.99868006e-01 -1.06888976e-02 1.47673176e+01] [-8.55180166e-03 1.05846657e-02 9.99907411e-01 1.68660084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.609259764 meters Centerline goodness [0,1] 0.519640240222982 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.87 [[ 9.99886086e-01 1.24437830e-02 8.54208498e-03 -2.64598944e+01] [-1.23554174e-02 9.99870405e-01 -1.03207105e-02 1.47659378e+01] [-8.66940665e-03 1.02139938e-02 9.99910254e-01 1.68657785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.639259764 meters Centerline goodness [0,1] 0.5204653166738475 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.87 [[ 9.99884456e-01 1.24724932e-02 8.68977154e-03 -2.64604607e+01] [-1.23878047e-02 9.99875904e-01 -9.73236557e-03 1.47636026e+01] [-8.81008003e-03 9.62359386e-03 9.99914881e-01 1.68654185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.669259764 meters Centerline goodness [0,1] 0.5201892744479495 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.87 [[ 9.99881976e-01 1.25690447e-02 8.83471499e-03 -2.64608131e+01] [-1.24861669e-02 9.99878102e-01 -9.37430908e-03 1.47621793e+01] [-8.95146416e-03 9.26289097e-03 9.99917032e-01 1.68651333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.699259764 meters Centerline goodness [0,1] 0.518339988590987 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.87 [[ 9.99881285e-01 1.23426213e-02 9.22369078e-03 -2.64623702e+01] [-1.22599196e-02 9.99884613e-01 -8.96962432e-03 1.47593559e+01] [-9.33333517e-03 8.85547778e-03 9.99917231e-01 1.68652308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.729259764 meters Centerline goodness [0,1] 0.5157594756340838 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.87 [[ 9.99878796e-01 1.23612170e-02 9.46542863e-03 -2.64630943e+01] [-1.22793391e-02 9.99887105e-01 -8.66001006e-03 1.47579935e+01] [-9.57140829e-03 8.54273122e-03 9.99917702e-01 1.68651437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75925976399999 meters Centerline goodness [0,1] 0.5134358098491318 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.87 [[ 9.99879933e-01 1.21118143e-02 9.66562897e-03 -2.64643880e+01] [-1.20299780e-02 9.99891675e-01 -8.48043238e-03 1.47565100e+01] [-9.76729537e-03 8.36313686e-03 9.99917326e-01 1.68657447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.789259764 meters Centerline goodness [0,1] 0.5189613939186881 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.87 [[ 9.99880197e-01 1.20605973e-02 9.70223029e-03 -2.64646432e+01] [-1.19789928e-02 9.99892752e-01 -8.42550238e-03 1.47562793e+01] [-9.80280633e-03 8.30827004e-03 9.99917435e-01 1.68658351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.819259764 meters Centerline goodness [0,1] 0.5186937193662373 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.87 [[ 9.99879134e-01 1.21600455e-02 9.68765119e-03 -2.64645428e+01] [-1.20809406e-02 9.99893542e-01 -8.18264226e-03 1.47558670e+01] [-9.78612116e-03 8.06461732e-03 9.99919594e-01 1.68656157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.849259764 meters Centerline goodness [0,1] 0.517500640788312 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.86 [[ 9.99876553e-01 1.24469878e-02 9.58914061e-03 -2.64638471e+01] [-1.23720397e-02 9.99892759e-01 -7.83600887e-03 1.47552101e+01] [-9.68564697e-03 7.71640430e-03 9.99923320e-01 1.68649608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.879259764 meters Centerline goodness [0,1] 0.518897414038079 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.86 [[ 9.99874508e-01 1.26102250e-02 9.58911557e-03 -2.64635546e+01] [-1.25368620e-02 9.99891973e-01 -7.67266593e-03 1.47550184e+01] [-9.68483373e-03 7.55148565e-03 9.99924587e-01 1.68645464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.909259764 meters Centerline goodness [0,1] 0.5211928248571509 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.86 [[ 9.99874918e-01 1.27351845e-02 9.37885068e-03 -2.64629422e+01] [-1.26613533e-02 9.99888714e-01 -7.88984525e-03 1.47564704e+01] [-9.47828558e-03 7.77010943e-03 9.99924891e-01 1.68647738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.939259764 meters Centerline goodness [0,1] 0.5223255018248175 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.87 [[ 9.99876396e-01 1.27300983e-02 9.22696012e-03 -2.64626611e+01] [-1.26556262e-02 9.99887227e-01 -8.08508048e-03 1.47575699e+01] [-9.32884344e-03 7.96730818e-03 9.99924745e-01 1.68650663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.969259764 meters Centerline goodness [0,1] 0.5172590421445036 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.87 [[ 9.99876455e-01 1.27947747e-02 9.13064815e-03 -2.64623454e+01] [-1.27205749e-02 9.99885967e-01 -8.13878567e-03 1.47581941e+01] [-9.23374088e-03 8.02163307e-03 9.99925193e-01 1.68650644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.999259764 meters Centerline goodness [0,1] 0.517422447989498 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.86 [[ 9.99875921e-01 1.29285230e-02 8.99980624e-03 -2.64618488e+01] [-1.28552790e-02 9.99884159e-01 -8.14922037e-03 1.47586448e+01] [-9.10412108e-03 8.03251420e-03 9.99926294e-01 1.68649648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.029259764 meters Centerline goodness [0,1] 0.5170163037281952 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.86 [[ 9.99875251e-01 1.29813673e-02 8.99818543e-03 -2.64617161e+01] [-1.29092098e-02 9.99884418e-01 -8.03134240e-03 1.47585357e+01] [-9.10140321e-03 7.91418103e-03 9.99927262e-01 1.68646913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.059259764 meters Centerline goodness [0,1] 0.5193752133834073 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.86 [[ 9.99874286e-01 1.29831905e-02 9.10211244e-03 -2.64619933e+01] [-1.29120896e-02 9.99886000e-01 -7.82719580e-03 1.47579439e+01] [-9.20269678e-03 7.70868453e-03 9.99927941e-01 1.68644775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.089259764 meters Centerline goodness [0,1] 0.5147100584994604 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.86 [[ 9.99873903e-01 1.29740377e-02 9.15707438e-03 -2.64622885e+01] [-1.29032882e-02 9.99886766e-01 -7.74345950e-03 1.47573799e+01] [-9.25650142e-03 7.62432670e-03 9.99928091e-01 1.68645860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.119259764 meters Centerline goodness [0,1] 0.5183503164826431 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.86 [[ 9.99872932e-01 1.28744827e-02 9.40040112e-03 -2.64630291e+01] [-1.28057875e-02 9.99891123e-01 -7.33167279e-03 1.47556748e+01] [-9.49376913e-03 7.21036163e-03 9.99928937e-01 1.68642057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14925976399999 meters Centerline goodness [0,1] 0.5198311519066237 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.75, Z:16.86 [[ 9.99871408e-01 1.28374873e-02 9.61072530e-03 -2.64635365e+01] [-1.27702195e-02 9.99893757e-01 -7.02819871e-03 1.47545220e+01] [-9.69992864e-03 6.90456387e-03 9.99929117e-01 1.68637927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.179259764 meters Centerline goodness [0,1] 0.5221944712493614 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.75, Z:16.86 [[ 9.99868513e-01 1.29578474e-02 9.74937025e-03 -2.64637779e+01] [-1.28936116e-02 9.99894940e-01 -6.62297341e-03 1.47529874e+01] [-9.83416546e-03 6.49639798e-03 9.99930541e-01 1.68633772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.209259764 meters Centerline goodness [0,1] 0.5249887056697538 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.86 [[ 9.99918364e-01 8.76853831e-03 9.29396189e-03 -2.64632986e+01] [-8.66407338e-03 9.99899502e-01 -1.12213732e-02 1.47553182e+01] [-9.39142290e-03 1.11399336e-02 9.99893846e-01 1.68646157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.239259764 meters Centerline goodness [0,1] 0.5210098319780126 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.75, Z:16.86 [[ 9.99917459e-01 8.55785873e-03 9.58326259e-03 -2.64644841e+01] [-8.45148837e-03 9.99902836e-01 -1.10856233e-02 1.47545727e+01] [-9.67720064e-03 1.10037154e-02 9.99892629e-01 1.68648791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.269259764 meters Centerline goodness [0,1] 0.525596112555091 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.75, Z:16.87 [[ 9.99918860e-01 7.84839403e-03 1.00337683e-02 -2.64671352e+01] [-7.73459870e-03 9.99905897e-01 -1.13301759e-02 1.47535868e+01] [-1.01217478e-02 1.12516494e-02 9.99885469e-01 1.68663872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.299259764 meters Centerline goodness [0,1] 0.5222724703222159 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.75, Z:16.87 [[ 9.99917076e-01 7.68305742e-03 1.03350169e-02 -2.64682184e+01] [-7.56736631e-03 9.99908789e-01 -1.11870015e-02 1.47526323e+01] [-1.04200246e-02 1.11078650e-02 9.99884012e-01 1.68664859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.329259764 meters Centerline goodness [0,1] 0.5212982317383199 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.75, Z:16.87 [[ 9.99914385e-01 7.59747522e-03 1.06537231e-02 -2.64690139e+01] [-7.48223909e-03 9.99913523e-01 -1.08149716e-02 1.47513271e+01] [-1.07349683e-02 1.07343320e-02 9.99884761e-01 1.68659632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.359259764 meters Centerline goodness [0,1] 0.5235854405261368 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.75, Z:16.86 [[ 9.99912121e-01 7.70371853e-03 1.07890023e-02 -2.64689376e+01] [-7.59293425e-03 9.99918415e-01 -1.02718509e-02 1.47501931e+01] [-1.08672535e-02 1.01890280e-02 9.99889037e-01 1.68649064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.389259764 meters Centerline goodness [0,1] 0.5297381457891013 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.75, Z:16.87 [[ 9.99913599e-01 7.93412884e-03 1.04806620e-02 -2.64680638e+01] [-7.82459214e-03 9.99914769e-01 -1.04512977e-02 1.47516637e+01] [-1.05626907e-02 1.03683878e-02 9.99890457e-01 1.68651775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.419259764 meters Centerline goodness [0,1] 0.5301820867539698 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.75, Z:16.87 [[ 9.99915632e-01 8.21063241e-03 1.00654615e-02 -2.64671410e+01] [-8.10223644e-03 9.99909252e-01 -1.07629870e-02 1.47537937e+01] [-1.01529190e-02 1.06805262e-02 9.99891416e-01 1.68659588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.449259764 meters Centerline goodness [0,1] 0.5256931608133086 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.75, Z:16.87 [[ 9.99913606e-01 8.53165967e-03 9.99957720e-03 -2.64665180e+01] [-8.42680850e-03 9.99909563e-01 -1.04812038e-02 1.47535561e+01] [-1.00880949e-02 1.03960338e-02 9.99895071e-01 1.68654017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.479259764 meters Centerline goodness [0,1] 0.5267806429626264 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.75, Z:16.86 [[ 9.99910632e-01 8.84569983e-03 1.00240486e-02 -2.64660263e+01] [-8.74456125e-03 9.99910869e-01 -1.00889013e-02 1.47528838e+01] [-1.01123985e-02 1.00003438e-02 9.99898861e-01 1.68645802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50925976399999 meters Centerline goodness [0,1] 0.5262201011306176 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.75, Z:16.86 [[ 9.99908027e-01 9.26365467e-03 9.90564144e-03 -2.64649448e+01] [-9.16822122e-03 9.99911535e-01 -9.63664696e-03 1.47522249e+01] [-9.99403571e-03 9.54494354e-03 9.99904502e-01 1.68634321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.539259764 meters Centerline goodness [0,1] 0.531316513891648 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.75, Z:16.86 [[ 9.99906793e-01 9.41253752e-03 9.88991561e-03 -2.64645692e+01] [-9.31866231e-03 9.99911494e-01 -9.49560364e-03 1.47525684e+01] [-9.97841802e-03 9.40255779e-03 9.99906007e-01 1.68629615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.569259764 meters Centerline goodness [0,1] 0.5343392151848378 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.75, Z:16.86 [[ 9.99906780e-01 9.51940900e-03 9.78832264e-03 -2.64641935e+01] [-9.42743251e-03 9.99911376e-01 -9.40014640e-03 1.47532421e+01] [-9.87693900e-03 9.30699137e-03 9.99907909e-01 1.68628044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.599259764 meters Centerline goodness [0,1] 0.5358910187133838 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.75, Z:16.86 [[ 9.99906647e-01 9.52340987e-03 9.79809014e-03 -2.64642207e+01] [-9.43182883e-03 9.99911796e-01 -9.35095883e-03 1.47534460e+01] [-9.88627893e-03 9.25767198e-03 9.99908274e-01 1.68627024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.629259764 meters Centerline goodness [0,1] 0.5339786419964594 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.86 [[ 9.99908222e-01 9.70912621e-03 9.44888388e-03 -2.64632020e+01] [-9.61911796e-03 9.99908368e-01 -9.52508366e-03 1.47553651e+01] [-9.54049831e-03 9.43331954e-03 9.99909992e-01 1.68628450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.659259764 meters Centerline goodness [0,1] 0.5401570306923626 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.86 [[ 9.99909484e-01 9.85474237e-03 9.16015209e-03 -2.64622874e+01] [-9.76553475e-03 9.99904948e-01 -9.73290057e-03 1.47570440e+01] [-9.25519663e-03 9.64256580e-03 9.99910677e-01 1.68629139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.689259764 meters Centerline goodness [0,1] 0.537814407118006 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.86 [[ 9.99910486e-01 9.91997189e-03 8.97852384e-03 -2.64616556e+01] [-9.83037655e-03 9.99901991e-01 -9.96857132e-03 1.47587707e+01] [-9.07653181e-03 9.87941672e-03 9.99910003e-01 1.68629135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.719259764 meters Centerline goodness [0,1] 0.534988132345792 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.86 [[ 9.99907580e-01 1.05287554e-02 8.60093833e-03 -2.64592855e+01] [-1.04434183e-02 9.99896386e-01 -9.90721428e-03 1.47612564e+01] [-8.70435779e-03 9.81647546e-03 9.99913932e-01 1.68615318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.749259764 meters Centerline goodness [0,1] 0.5371905567826512 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.86 [[ 9.99906904e-01 1.07130464e-02 8.45069172e-03 -2.64585484e+01] [-1.06285848e-02 9.99893740e-01 -9.97702481e-03 1.47623972e+01] [-8.55667809e-03 9.88627710e-03 9.99914519e-01 1.68612572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.779259764 meters Centerline goodness [0,1] 0.5339080130591671 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.86 [[ 9.99905639e-01 1.09845926e-02 8.24930664e-03 -2.64574597e+01] [-1.09001148e-02 9.99888397e-01 -1.02166726e-02 1.47644133e+01] [-8.36061199e-03 1.01257901e-02 9.99913781e-01 1.68609774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.809259764 meters Centerline goodness [0,1] 0.5365308578304968 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.86 [[ 9.99906226e-01 1.10458050e-02 8.09503172e-03 -2.64569353e+01] [-1.09617378e-02 9.99886281e-01 -1.03568541e-02 1.47656254e+01] [-8.20851095e-03 1.02671473e-02 9.99913599e-01 1.68609536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.839259764 meters Centerline goodness [0,1] 0.5355133210840606 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.86 [[ 9.99906732e-01 1.11537746e-02 7.88166229e-03 -2.64561687e+01] [-1.10704077e-02 9.99883139e-01 -1.05429554e-02 1.47673757e+01] [-7.99833499e-03 1.04547189e-02 9.99913359e-01 1.68608929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.869259764 meters Centerline goodness [0,1] 0.5370189826231577 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.86 [[ 9.99908282e-01 1.10815961e-02 7.78619641e-03 -2.64562172e+01] [-1.09977352e-02 9.99881930e-01 -1.07319690e-02 1.47681931e+01] [-7.90420444e-03 1.06453542e-02 9.99912096e-01 1.68613243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89925976399999 meters Centerline goodness [0,1] 0.5322640912879768 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.86 [[ 9.99909092e-01 1.10297219e-02 7.75579846e-03 -2.64563271e+01] [-1.09450286e-02 9.99880920e-01 -1.08789465e-02 1.47689081e+01] [-7.87486665e-03 1.07930701e-02 9.99910744e-01 1.68616019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.929259764 meters Centerline goodness [0,1] 0.5349050388152052 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.86 [[ 9.99909533e-01 1.11640027e-02 7.50267663e-03 -2.64556059e+01] [-1.10807697e-02 9.99877602e-01 -1.10452652e-02 1.47703462e+01] [-7.62506769e-03 1.09611305e-02 9.99910852e-01 1.68617553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.959259764 meters Centerline goodness [0,1] 0.5345618157849488 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.86 [[ 9.99909722e-01 1.12071053e-02 7.41273924e-03 -2.64551980e+01] [-1.11241381e-02 9.99876062e-01 -1.11406277e-02 1.47713026e+01] [-7.53667471e-03 1.10571616e-02 9.99910465e-01 1.68616084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.989259764 meters Centerline goodness [0,1] 0.5339428965755197 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.77, Z:16.86 [[ 9.99908800e-01 1.14793820e-02 7.11445922e-03 -2.64536601e+01] [-1.13999032e-02 9.99873263e-01 -1.11130794e-02 1.47730257e+01] [-7.24112884e-03 1.10309617e-02 9.99912938e-01 1.68607424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.019259764 meters Centerline goodness [0,1] 0.5381869476350865 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.77, Z:16.86 [[ 9.99908788e-01 1.16213991e-02 6.88170579e-03 -2.64528034e+01] [-1.15442437e-02 9.99871227e-01 -1.11472069e-02 1.47740216e+01] [-7.01036575e-03 1.10667461e-02 9.99914187e-01 1.68604945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.049259764 meters Centerline goodness [0,1] 0.5422902788591861 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.78, Z:16.86 [[ 9.99908179e-01 1.19833574e-02 6.32715987e-03 -2.64509468e+01] [-1.19101584e-02 9.99863139e-01 -1.14826557e-02 1.47772813e+01] [-6.46389470e-03 1.14062439e-02 9.99914054e-01 1.68605493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.079259764 meters Centerline goodness [0,1] 0.5437311877749479 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.78, Z:16.86 [[ 9.99907989e-01 1.21318683e-02 6.06892001e-03 -2.64500532e+01] [-1.20602154e-02 9.99858739e-01 -1.17069979e-02 1.47792735e+01] [-6.21009046e-03 1.16327282e-02 9.99913053e-01 1.68605500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.109259764 meters Centerline goodness [0,1] 0.5424116845857363 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.78, Z:16.86 [[ 9.99909233e-01 1.21747080e-02 5.77083959e-03 -2.64493106e+01] [-1.21043178e-02 9.99853775e-01 -1.20794579e-02 1.47814803e+01] [-5.91705962e-03 1.20085094e-02 9.99910388e-01 1.68609362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.139259764 meters Centerline goodness [0,1] 0.5448630435414065 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.78, Z:16.86 [[ 9.99903675e-01 1.28646000e-02 5.20987086e-03 -2.64468773e+01] [-1.28002474e-02 9.99843613e-01 -1.22025498e-02 1.47845341e+01] [-5.36603703e-03 1.21346867e-02 9.99911974e-01 1.68604944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.169259764 meters Centerline goodness [0,1] 0.5447390584613597 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.79, Z:16.86 [[ 9.99902016e-01 1.30704877e-02 5.01215461e-03 -2.64460390e+01] [-1.30085838e-02 9.99841070e-01 -1.21906110e-02 1.47851983e+01] [-5.17069526e-03 1.21242155e-02 9.99913130e-01 1.68601733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.199259764 meters Centerline goodness [0,1] 0.5459358817711061 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.79, Z:16.86 [[ 9.99897227e-01 1.34636424e-02 4.92611541e-03 -2.64448754e+01] [-1.34040101e-02 9.99838818e-01 -1.19444610e-02 1.47855890e+01] [-5.08613736e-03 1.18772037e-02 9.99916528e-01 1.68589793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.229259764 meters Centerline goodness [0,1] 0.5484331314072693 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.79, Z:16.86 [[ 9.99895934e-01 1.35827450e-02 4.86107899e-03 -2.64444951e+01] [-1.35238983e-02 9.99837252e-01 -1.19404542e-02 1.47860693e+01] [-5.02247200e-03 1.18734709e-02 9.99916894e-01 1.68587878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25925976399999 meters Centerline goodness [0,1] 0.5478334107806692 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.79, Z:16.86 [[ 9.99896448e-01 1.35637946e-02 4.80808009e-03 -2.64444396e+01] [-1.35048473e-02 9.99835742e-01 -1.20875404e-02 1.47869957e+01] [-4.97124324e-03 1.20213563e-02 9.99915383e-01 1.68589822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.289259764 meters Centerline goodness [0,1] 0.5540296244459995 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.79, Z:16.86 [[ 9.99898399e-01 1.35408530e-02 4.45381090e-03 -2.64439804e+01] [-1.34838488e-02 9.99829834e-01 -1.25892087e-02 1.47893886e+01] [-4.62352164e-03 1.25278751e-02 9.99910834e-01 1.68600647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.319259764 meters Centerline goodness [0,1] 0.5540296244459995 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.79, Z:16.86 [[ 9.99898399e-01 1.35408530e-02 4.45381090e-03 -2.64439804e+01] [-1.34838488e-02 9.99829834e-01 -1.25892087e-02 1.47893886e+01] [-4.62352164e-03 1.25278751e-02 9.99910834e-01 1.68600647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.349259764 meters Centerline goodness [0,1] 0.5505444142802931 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.79, Z:16.86 [[ 9.99899005e-01 1.35145681e-02 4.39730220e-03 -2.64439527e+01] [-1.34577201e-02 9.99828653e-01 -1.27104006e-02 1.47900691e+01] [-4.56832431e-03 1.26499393e-02 9.99909551e-01 1.68602610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.379259764 meters Centerline goodness [0,1] 0.550492502849794 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.79, Z:16.86 [[ 9.99897687e-01 1.35960791e-02 4.44548467e-03 -2.64439289e+01] [-1.35397047e-02 9.99830517e-01 -1.24745328e-02 1.47897420e+01] [-4.61433597e-03 1.24130659e-02 9.99912308e-01 1.68598065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.409259764 meters Centerline goodness [0,1] 0.553746687246993 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.79, Z:16.86 [[ 9.99897510e-01 1.36006432e-02 4.47122665e-03 -2.64441202e+01] [-1.35442931e-02 9.99831377e-01 -1.24003593e-02 1.47895141e+01] [-4.63912557e-03 1.23385288e-02 9.99913116e-01 1.68598235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.439259764 meters Centerline goodness [0,1] 0.5495734210756195 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.79, Z:16.86 [[ 9.99897408e-01 1.35993201e-02 4.49796958e-03 -2.64443218e+01] [-1.35428455e-02 9.99831942e-01 -1.23563516e-02 1.47892937e+01] [-4.66525164e-03 1.22941686e-02 9.99913541e-01 1.68599258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.469259764 meters Centerline goodness [0,1] 0.5465129817208056 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.79, Z:16.86 [[ 9.99899248e-01 1.34233498e-02 4.61594868e-03 -2.64450840e+01] [-1.33645184e-02 9.99831951e-01 -1.25482730e-02 1.47896445e+01] [-4.78361284e-03 1.24853188e-02 9.99910613e-01 1.68605224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.499259764 meters Centerline goodness [0,1] 0.5476128054997232 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.79, Z:16.86 [[ 9.99902278e-01 1.32026529e-02 4.59617493e-03 -2.64454976e+01] [-1.31422934e-02 9.99830111e-01 -1.29239727e-02 1.47910626e+01] [-4.76602481e-03 1.28623055e-02 9.99905919e-01 1.68612428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.529259764 meters Centerline goodness [0,1] 0.5460324866583068 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.79, Z:16.86 [[ 9.99904376e-01 1.30392252e-02 4.60622127e-03 -2.64458078e+01] [-1.29775598e-02 9.99829016e-01 -1.31727975e-02 1.47919806e+01] [-4.77719675e-03 1.31117604e-02 9.99902625e-01 1.68616545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.559259764 meters Centerline goodness [0,1] 0.5450268817204301 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.79, Z:16.86 [[ 9.99905181e-01 1.29744365e-02 4.61432735e-03 -2.64457945e+01] [-1.29122394e-02 9.99828673e-01 -1.32627160e-02 1.47928601e+01] [-4.78561306e-03 1.32018772e-02 9.99901399e-01 1.68615643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.589259764 meters Centerline goodness [0,1] 0.5483353272446092 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.79, Z:16.86 [[ 9.99904768e-01 1.30724063e-02 4.42356180e-03 -2.64451323e+01] [-1.30128651e-02 9.99827785e-01 -1.32312433e-02 1.47934037e+01] [-4.59576419e-03 1.31724201e-02 9.99902678e-01 1.68613434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61925976399999 meters Centerline goodness [0,1] 0.5481438175971938 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.79, Z:16.86 [[ 9.99902769e-01 1.32102889e-02 4.46547662e-03 -2.64449204e+01] [-1.31511364e-02 9.99828669e-01 -1.30261205e-02 1.47931701e+01] [-4.63679036e-03 1.29661278e-02 9.99905185e-01 1.68608119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64925976399999 meters Centerline goodness [0,1] 0.5472807017543859 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.79, Z:16.86 [[ 9.99899655e-01 1.34337816e-02 4.49599583e-03 -2.64445722e+01] [-1.33750914e-02 9.99828121e-01 -1.28388419e-02 1.47927904e+01] [-4.66769726e-03 1.27774192e-02 9.99907471e-01 1.68602515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.679259764 meters Centerline goodness [0,1] 0.5440583941605839 Centerline is valid? [False, False] Translation: X:-26.44, Y:14.79, Z:16.86 [[ 9.99899097e-01 1.34887349e-02 4.45537127e-03 -2.64446914e+01] [-1.34304034e-02 9.99826945e-01 -1.28726354e-02 1.47928309e+01] [-4.62823582e-03 1.28114990e-02 9.99907218e-01 1.68606022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.709259764 meters Centerline goodness [0,1] 0.546919320408223 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.79, Z:16.86 [[ 9.99900226e-01 1.33733065e-02 4.54890907e-03 -2.64453493e+01] [-1.33128870e-02 9.99826050e-01 -1.30627925e-02 1.47930028e+01] [-4.72281052e-03 1.30009301e-02 9.99904331e-01 1.68612415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.739259764 meters Centerline goodness [0,1] 0.546878653261632 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.79, Z:16.86 [[ 9.99899802e-01 1.34174950e-02 4.51192748e-03 -2.64457522e+01] [-1.33565340e-02 9.99822604e-01 -1.32801661e-02 1.47934813e+01] [-4.68931365e-03 1.32185718e-02 9.99901635e-01 1.68622354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.769259764 meters Centerline goodness [0,1] 0.5485670883117642 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.79, Z:16.86 [[ 9.99898817e-01 1.34676067e-02 4.58042508e-03 -2.64460942e+01] [-1.34061275e-02 9.99823029e-01 -1.31979699e-02 1.47928355e+01] [-4.75735954e-03 1.31352287e-02 9.99902412e-01 1.68624451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.799259764 meters Centerline goodness [0,1] 0.5427507129969151 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.79, Z:16.86 [[ 9.99894596e-01 1.36895627e-02 4.83663972e-03 -2.64467396e+01] [-1.36288243e-02 9.99830538e-01 -1.23753597e-02 1.47891319e+01] [-5.00523336e-03 1.23081375e-02 9.99911725e-01 1.68617835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.829259764 meters Centerline goodness [0,1] 0.5395015522093597 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.79, Z:16.86 [[ 9.99890766e-01 1.38718246e-02 5.10188240e-03 -2.64472687e+01] [-1.38113205e-02 9.99836058e-01 -1.17091293e-02 1.47864213e+01] [-5.26347298e-03 1.16373865e-02 9.99918430e-01 1.68610969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.859259764 meters Centerline goodness [0,1] 0.5411812321123992 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.78, Z:16.86 [[ 9.99888428e-01 1.39128831e-02 5.43729842e-03 -2.64482847e+01] [-1.38520390e-02 9.99842753e-01 -1.10720223e-02 1.47835235e+01] [-5.59048717e-03 1.09954693e-02 9.99923920e-01 1.68606963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.889259764 meters Centerline goodness [0,1] 0.5403309203722855 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.78, Z:16.86 [[ 9.99938462e-01 9.78357917e-03 5.23010866e-03 -2.64489418e+01] [-9.70444468e-03 9.99841183e-01 -1.49476607e-02 1.47814657e+01] [-5.37551965e-03 1.48959856e-02 9.99874599e-01 1.68619116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.919259764 meters Centerline goodness [0,1] 0.5388456161374076 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.78, Z:16.86 [[ 9.99972091e-01 5.26565821e-03 5.29993721e-03 -2.64508330e+01] [-5.16474605e-03 9.99808471e-01 -1.88771633e-02 1.47789663e+01] [-5.39832281e-03 1.88492637e-02 9.99807763e-01 1.68635137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.949259764 meters Centerline goodness [0,1] 0.5378325430850912 Centerline is valid? [False, False] Translation: X:-26.45, Y:14.78, Z:16.86 [[ 9.99970778e-01 4.88707608e-03 5.87870271e-03 -2.64531769e+01] [-4.77885974e-03 9.99821422e-01 -1.82834995e-02 1.47751369e+01] [-5.96700576e-03 1.82548717e-02 9.99815560e-01 1.68636586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.979259764 meters Centerline goodness [0,1] 0.5347053161977013 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.86 [[ 9.99968134e-01 4.48446067e-03 6.60459078e-03 -2.64557289e+01] [-4.36755856e-03 9.99835402e-01 -1.76094419e-02 1.47708228e+01] [-6.68247253e-03 1.75800348e-02 9.99823128e-01 1.68634884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00925976399999 meters Centerline goodness [0,1] 0.5282175294547704 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.77, Z:16.86 [[ 9.99974404e-01 -1.77378517e-04 7.15267939e-03 -2.64584048e+01] [ 3.28196008e-04 9.99777532e-01 -2.10897963e-02 1.47662189e+01] [-7.14734727e-03 2.10916040e-02 9.99751999e-01 1.68639302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.039259764 meters Centerline goodness [0,1] 0.5230047210660111 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.86 [[ 9.99969637e-01 -6.73118373e-04 7.76348992e-03 -2.64606925e+01] [ 8.31099452e-04 9.99792287e-01 -2.03639937e-02 1.47621797e+01] [-7.74816996e-03 2.03698276e-02 9.99762490e-01 1.68635486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.069259764 meters Centerline goodness [0,1] 0.5247083716139092 Centerline is valid? [False, False] Translation: X:-26.46, Y:14.76, Z:16.87 [[ 9.99949841e-01 -5.66791343e-03 8.25779408e-03 -2.64638196e+01] [ 5.86789688e-03 9.99685102e-01 -2.43980323e-02 1.47592915e+01] [-8.11690779e-03 2.44452644e-02 9.99668217e-01 1.68651087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.099259764 meters Centerline goodness [0,1] 0.5224358082732912 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.75, Z:16.86 [[ 9.99956637e-01 -2.16153626e-03 9.05824061e-03 -2.64664689e+01] [ 2.33752716e-03 9.99807836e-01 -1.94634831e-02 1.47542671e+01] [-9.01442891e-03 1.94838130e-02 9.99769534e-01 1.68642580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.129259764 meters Centerline goodness [0,1] 0.5200587355239098 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.75, Z:16.87 [[ 9.99948617e-01 -2.79082104e-03 9.74545048e-03 -2.64696401e+01] [ 2.97857565e-03 9.99809208e-01 -1.93048063e-02 1.47518292e+01] [-9.68971487e-03 1.93328419e-02 9.99766148e-01 1.68653341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.159259764 meters Centerline goodness [0,1] 0.5172480620155039 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.75, Z:16.87 [[ 9.99943271e-01 -2.90190027e-03 1.02485832e-02 -2.64711763e+01] [ 3.09577166e-03 9.99815602e-01 -1.89519734e-02 1.47498606e+01] [-1.01916966e-02 1.89826256e-02 9.99767868e-01 1.68652821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.189259764 meters Centerline goodness [0,1] 0.5178244211227719 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.74, Z:16.86 [[ 9.99938725e-01 5.75403474e-04 1.10551365e-02 -2.64733531e+01] [-4.21824255e-04 9.99903448e-01 -1.38894269e-02 1.47442075e+01] [-1.10620611e-02 1.38839125e-02 9.99842421e-01 1.68635746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.219259764 meters Centerline goodness [0,1] 0.5043393872175239 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.74, Z:16.86 [[ 9.99935461e-01 8.40778974e-04 1.13299301e-02 -2.64737255e+01] [-6.92588878e-04 9.99914251e-01 -1.30771062e-02 1.47413324e+01] [-1.13399536e-02 1.30684152e-02 9.99850300e-01 1.68626017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.249259764 meters Centerline goodness [0,1] 0.5089110008592256 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.74, Z:16.86 [[ 9.99933812e-01 1.06608907e-03 1.14557716e-02 -2.64738794e+01] [-9.22386736e-04 9.99920920e-01 -1.25420693e-02 1.47396522e+01] [-1.14682366e-02 1.25306725e-02 9.99855720e-01 1.68620831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.279259764 meters Centerline goodness [0,1] 0.51559010834505 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.74, Z:16.86 [[ 9.99933899e-01 1.21476904e-03 1.14334016e-02 -2.64737244e+01] [-1.07355617e-03 9.99923173e-01 -1.23489499e-02 1.47393579e+01] [-1.14475244e-02 1.23358592e-02 9.99858380e-01 1.68618810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.309259764 meters Centerline goodness [0,1] 0.5075481088254811 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.74, Z:16.86 [[ 9.99933113e-01 1.31583028e-03 1.14907888e-02 -2.64738503e+01] [-1.17662445e-03 9.99925944e-01 -1.21129269e-02 1.47388432e+01] [-1.15058764e-02 1.20985964e-02 9.99860610e-01 1.68617239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.339259764 meters Centerline goodness [0,1] 0.5072935337101889 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.74, Z:16.86 [[ 9.99931064e-01 1.52568114e-03 1.16421401e-02 -2.64740790e+01] [-1.39284387e-03 9.99933938e-01 -1.14096290e-02 1.47364406e+01] [-1.16587784e-02 1.13926268e-02 9.99867132e-01 1.68610616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36925976399999 meters Centerline goodness [0,1] 0.5088496793195518 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.73, Z:16.86 [[ 9.99928751e-01 1.67551052e-03 1.18188913e-02 -2.64743905e+01] [-1.54692560e-03 9.99939610e-01 -1.08803738e-02 1.47346320e+01] [-1.18364078e-02 1.08613156e-02 9.99870957e-01 1.68605289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39925976399999 meters Centerline goodness [0,1] 0.5120501725365614 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.86 [[ 9.99926181e-01 1.73933453e-03 1.20252389e-02 -2.64750496e+01] [-1.61418839e-03 9.99944524e-01 -1.04088415e-02 1.47326217e+01] [-1.20426763e-02 1.03886621e-02 9.99873517e-01 1.68603588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.429259764 meters Centerline goodness [0,1] 0.5118806460443471 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.86 [[ 9.99925953e-01 1.72226387e-03 1.20466691e-02 -2.64751749e+01] [-1.59758889e-03 9.99945148e-01 -1.03513101e-02 1.47327555e+01] [-1.20638360e-02 1.03312980e-02 9.99873856e-01 1.68603705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.459259764 meters Centerline goodness [0,1] 0.5097332568869959 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.86 [[ 9.99925623e-01 1.72890758e-03 1.20730510e-02 -2.64754614e+01] [-1.60434719e-03 9.99945468e-01 -1.03193003e-02 1.47327225e+01] [-1.20902337e-02 1.02991635e-02 9.99873869e-01 1.68606357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.489259764 meters Centerline goodness [0,1] 0.5030686560650282 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.86 [[ 9.99923701e-01 1.97243249e-03 1.21943465e-02 -2.64755504e+01] [-1.85206629e-03 9.99949535e-01 -9.87408176e-03 1.47314568e+01] [-1.22132070e-02 9.85074364e-03 9.99876893e-01 1.68601484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.519259764 meters Centerline goodness [0,1] 0.5073938666375641 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.86 [[ 9.99921000e-01 2.12776660e-03 1.23881491e-02 -2.64758116e+01] [-2.01093181e-03 9.99953458e-01 -9.43600375e-03 1.47300575e+01] [-1.24076502e-02 9.41034658e-03 9.99878740e-01 1.68595858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.549259764 meters Centerline goodness [0,1] 0.5085156824808568 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.73, Z:16.86 [[ 9.99915025e-01 2.04510626e-03 1.28747558e-02 -2.64773216e+01] [-1.93241430e-03 9.99959769e-01 -8.75930315e-03 1.47263235e+01] [-1.28921515e-02 8.73367947e-03 9.99878750e-01 1.68592245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.579259764 meters Centerline goodness [0,1] 0.5053100469891626 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99909817e-01 1.97562333e-03 1.32836460e-02 -2.64784265e+01] [-1.86528945e-03 9.99963705e-01 -8.31325910e-03 1.47242770e+01] [-1.32995877e-02 8.28773154e-03 9.99877210e-01 1.68589008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.609259764 meters Centerline goodness [0,1] 0.4960277649738347 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99907719e-01 8.98575980e-04 1.35552800e-02 -2.64808585e+01] [-7.90527581e-04 9.99967893e-01 -7.97419893e-03 1.47200445e+01] [-1.35620102e-02 7.96274724e-03 9.99876326e-01 1.68595077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.639259764 meters Centerline goodness [0,1] 0.49812146930832235 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99899203e-01 4.87635237e-04 1.41896404e-02 -2.64829795e+01] [-3.79304019e-04 9.99970772e-01 -7.63621873e-03 1.47174915e+01] [-1.41929493e-02 7.63006684e-03 9.99870163e-01 1.68595737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.669259764 meters Centerline goodness [0,1] 0.4956939607462002 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.72, Z:16.86 [[ 9.99897632e-01 6.48078128e-04 1.42935183e-02 -2.64831634e+01] [-5.46842561e-04 9.99974749e-01 -7.08539210e-03 1.47157004e+01] [-1.42977493e-02 7.07685048e-03 9.99872738e-01 1.68591523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.699259764 meters Centerline goodness [0,1] 0.4868910826994659 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.71, Z:16.86 [[ 9.99894864e-01 6.16451152e-04 1.44872988e-02 -2.64841896e+01] [-5.18559417e-04 9.99977017e-01 -6.75985823e-03 1.47140478e+01] [-1.44911330e-02 6.75163500e-03 9.99872203e-01 1.68595894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.729259764 meters Centerline goodness [0,1] 0.49620580162531613 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.71, Z:16.86 [[ 9.99887551e-01 4.48286640e-04 1.49894844e-02 -2.64857639e+01] [-3.51208798e-04 9.99978953e-01 -6.47840163e-03 1.47121398e+01] [-1.49920731e-02 6.47240870e-03 9.99866664e-01 1.68596659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75925976399999 meters Centerline goodness [0,1] 0.483847598604776 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.71, Z:16.86 [[ 9.99880597e-01 5.95718801e-04 1.54413845e-02 -2.64869352e+01] [-5.07917552e-04 9.99983686e-01 -5.68939768e-03 1.47078558e+01] [-1.54445219e-02 5.68087540e-03 9.99864588e-01 1.68591885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.789259764 meters Centerline goodness [0,1] 0.492130734375419 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.71, Z:16.86 [[ 9.99877697e-01 7.22709536e-04 1.56226766e-02 -2.64874068e+01] [-6.38595413e-04 9.99985278e-01 -5.38842274e-03 1.47066340e+01] [-1.56263409e-02 5.37778716e-03 9.99863439e-01 1.68590838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.819259764 meters Centerline goodness [0,1] 0.48907410375594385 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99873672e-01 8.09377083e-04 1.58740591e-02 -2.64880627e+01] [-7.31367260e-04 9.99987632e-01 -4.91948560e-03 1.47047199e+01] [-1.58778445e-02 4.90725436e-03 9.99861897e-01 1.68588199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.849259764 meters Centerline goodness [0,1] 0.4837227934303645 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99864301e-01 2.26749872e-04 1.64720314e-02 -2.64905571e+01] [-1.54937073e-04 9.99990480e-01 -4.36082614e-03 1.47006966e+01] [-1.64728634e-02 4.35768225e-03 9.99854817e-01 1.68590832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.879259764 meters Centerline goodness [0,1] 0.47894666843995215 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.70, Z:16.86 [[ 9.99862936e-01 4.56804704e-04 1.65499560e-02 -2.64904249e+01] [-3.95092679e-04 9.99992958e-01 -3.73191089e-03 1.46989103e+01] [-1.65515442e-02 3.72486061e-03 9.99856076e-01 1.68582917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.909259764 meters Centerline goodness [0,1] 0.4800371895338026 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.69, Z:16.86 [[ 9.99855407e-01 -1.28096319e-04 1.70043997e-02 -2.64924587e+01] [ 1.82664062e-04 9.99994839e-01 -3.20752238e-03 1.46948392e+01] [-1.70039010e-02 3.21016468e-03 9.99850270e-01 1.68583711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.939259764 meters Centerline goodness [0,1] 0.46650743099787684 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.69, Z:16.86 [[ 9.99844267e-01 -4.06438846e-04 1.76430174e-02 -2.64942794e+01] [ 4.56615556e-04 9.99995863e-01 -2.84006299e-03 1.46921159e+01] [-1.76417901e-02 2.84767677e-03 9.99840316e-01 1.68581531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.969259764 meters Centerline goodness [0,1] 0.4626798442012665 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.69, Z:16.86 [[ 9.99840711e-01 -3.00481848e-04 1.78455190e-02 -2.64947607e+01] [ 3.43938819e-04 9.99996983e-01 -2.43215630e-03 1.46903734e+01] [-1.78447344e-02 2.43790665e-03 9.99837798e-01 1.68579197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.999259764 meters Centerline goodness [0,1] 0.4700961054777475 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.69, Z:16.86 [[ 9.99835852e-01 -5.44881428e-04 1.81100116e-02 -2.64961951e+01] [ 5.86215947e-04 9.99997235e-01 -2.27718234e-03 1.46890036e+01] [-1.81087207e-02 2.28742492e-03 9.99833407e-01 1.68586553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.029259764 meters Centerline goodness [0,1] 0.46958541155358513 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.69, Z:16.86 [[ 9.99831966e-01 -7.36114798e-04 1.83165999e-02 -2.64972271e+01] [ 7.78127521e-04 9.99997083e-01 -2.28667538e-03 1.46885448e+01] [-1.83148632e-02 2.30054379e-03 9.99829622e-01 1.68591934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.059259764 meters Centerline goodness [0,1] 0.4684687062798617 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.69, Z:16.86 [[ 9.99826372e-01 -1.14632388e-03 1.85986839e-02 -2.64989601e+01] [ 1.19634495e-03 9.99995697e-01 -2.67859195e-03 1.46881102e+01] [-1.85955334e-02 2.70037731e-03 9.99823441e-01 1.68606377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.089259764 meters Centerline goodness [0,1] 0.46965470049478897 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.69, Z:16.86 [[ 9.99831833e-01 -9.32232361e-04 1.83149536e-02 -2.64982683e+01] [ 9.84031265e-04 9.99995541e-01 -2.81942177e-03 1.46893541e+01] [-1.83122436e-02 2.83697013e-03 9.99828292e-01 1.68608990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11925976399999 meters Centerline goodness [0,1] 0.4754526049490079 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.69, Z:16.86 [[ 9.99832798e-01 -8.53920561e-04 1.82660214e-02 -2.64981488e+01] [ 9.05819310e-04 9.99995576e-01 -2.83318793e-03 1.46896394e+01] [-1.82635213e-02 2.84925993e-03 9.99829148e-01 1.68609374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14925976399999 meters Centerline goodness [0,1] 0.461342038065654 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.69, Z:16.86 [[ 9.99823698e-01 -9.27124837e-04 1.87540286e-02 -2.64994490e+01] [ 9.77576451e-04 9.99995928e-01 -2.68118605e-03 1.46877552e+01] [-1.87514664e-02 2.69904685e-03 9.99820533e-01 1.68608585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.179259764 meters Centerline goodness [0,1] 0.4555141462390425 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.69, Z:16.86 [[ 9.99812236e-01 -1.44531104e-03 1.93236852e-02 -2.65017907e+01] [ 1.49696741e-03 9.99995344e-01 -2.65901771e-03 1.46853091e+01] [-1.93197522e-02 2.68744537e-03 9.99809744e-01 1.68615928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.209259764 meters Centerline goodness [0,1] 0.4555141462390425 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.69, Z:16.86 [[ 9.99812236e-01 -1.44531104e-03 1.93236852e-02 -2.65017907e+01] [ 1.49696741e-03 9.99995344e-01 -2.65901771e-03 1.46853091e+01] [-1.93197522e-02 2.68744537e-03 9.99809744e-01 1.68615928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.239259764 meters Centerline goodness [0,1] 0.47202558859000576 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.68, Z:16.86 [[ 9.99809220e-01 -1.59170449e-03 1.94676793e-02 -2.65025598e+01] [ 1.64318785e-03 9.99995195e-01 -2.62884562e-03 1.46847110e+01] [-1.94634014e-02 2.66033314e-03 9.99807031e-01 1.68620215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.269259764 meters Centerline goodness [0,1] 0.4682502228514498 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.68, Z:16.86 [[ 9.99807491e-01 -1.72940124e-03 1.95445828e-02 -2.65031487e+01] [ 1.78295563e-03 9.99994703e-01 -2.72302105e-03 1.46849337e+01] [-1.95397700e-02 2.75734397e-03 9.99805278e-01 1.68625143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.299259764 meters Centerline goodness [0,1] 0.4623029921590224 Centerline is valid? [False, False] Translation: X:-26.51, Y:14.68, Z:16.86 [[ 9.99794780e-01 -2.55502021e-03 2.00965208e-02 -2.65058962e+01] [ 2.62026352e-03 9.99991380e-01 -3.22083656e-03 1.46846331e+01] [-2.00881182e-02 3.27283376e-03 9.99792857e-01 1.68640294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.329259764 meters Centerline goodness [0,1] 0.4579136031816635 Centerline is valid? [False, False] Translation: X:-26.51, Y:14.68, Z:16.86 [[ 9.99800072e-01 -2.32243725e-03 1.98600603e-02 -2.65050579e+01] [ 2.38409767e-03 9.99992410e-01 -3.08163218e-03 1.46847883e+01] [-1.98527527e-02 3.12836440e-03 9.99798020e-01 1.68637712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.359259764 meters Centerline goodness [0,1] 0.46116403224118074 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.69, Z:16.86 [[ 9.99803721e-01 -2.11508799e-03 1.96988971e-02 -2.65043649e+01] [ 2.17756389e-03 9.99992666e-01 -3.15063345e-03 1.46855010e+01] [-1.96920887e-02 3.19291066e-03 9.99800994e-01 1.68635182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.389259764 meters Centerline goodness [0,1] 0.46635318704284223 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.68, Z:16.86 [[ 9.99804462e-01 -1.87684887e-03 1.96853830e-02 -2.65038474e+01] [ 1.93256893e-03 9.99994179e-01 -2.81188807e-03 1.46849801e+01] [-1.96799909e-02 2.84938160e-03 9.99802270e-01 1.68627481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.419259764 meters Centerline goodness [0,1] 0.47248437949334654 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.68, Z:16.86 [[ 9.99803091e-01 -1.78871126e-03 1.97630791e-02 -2.65037195e+01] [ 1.84087572e-03 9.99994869e-01 -2.62161341e-03 1.46846394e+01] [-1.97582883e-02 2.65747857e-03 9.99801254e-01 1.68621945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.449259764 meters Centerline goodness [0,1] 0.4587599247806101 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.68, Z:16.86 [[ 9.99800446e-01 -1.85277195e-03 1.98905834e-02 -2.65039163e+01] [ 1.90734083e-03 9.99994469e-01 -2.72483299e-03 1.46846490e+01] [-1.98854249e-02 2.76222736e-03 9.99798450e-01 1.68619720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.479259764 meters Centerline goodness [0,1] 0.4620992396331426 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.68, Z:16.86 [[ 9.99800348e-01 -1.79726546e-03 1.99005797e-02 -2.65037980e+01] [ 1.85215604e-03 9.99994531e-01 -2.74015261e-03 1.46849094e+01] [-1.98955461e-02 2.77646452e-03 9.99798209e-01 1.68618030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50925976399999 meters Centerline goodness [0,1] 0.42244241679521033 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.68, Z:16.86 [[ 9.99797177e-01 -1.86871287e-03 2.00527503e-02 -2.65040970e+01] [ 1.92145795e-03 9.99994744e-01 -2.61137198e-03 1.46846748e+01] [-2.00477650e-02 2.64937285e-03 9.99795513e-01 1.68614671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.539259764 meters Centerline goodness [0,1] 0.46469004104897116 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.68, Z:16.86 [[ 9.99792120e-01 -1.96648008e-03 2.02941014e-02 -2.65047199e+01] [ 2.01888128e-03 9.99994680e-01 -2.56192553e-03 1.46843567e+01] [-2.02889554e-02 2.60236434e-03 9.99790771e-01 1.68613646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.569259764 meters Centerline goodness [0,1] 0.420347498429977 Centerline is valid? [False, False] Translation: X:-26.51, Y:14.68, Z:16.86 [[ 9.99782787e-01 -2.42500974e-03 2.07001838e-02 -2.65059932e+01] [ 2.47743075e-03 9.99993788e-01 -2.50712484e-03 1.46837904e+01] [-2.06939754e-02 2.55786353e-03 9.99782585e-01 1.68611804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.599259764 meters Centerline goodness [0,1] 0.42457178775339166 Centerline is valid? [False, False] Translation: X:-26.51, Y:14.69, Z:16.86 [[ 9.99787173e-01 -2.35046279e-03 2.04959408e-02 -2.65053469e+01] [ 2.40737387e-03 9.99993314e-01 -2.75246860e-03 1.46855190e+01] [-2.04893342e-02 2.80122419e-03 9.99786147e-01 1.68612160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.629259764 meters Centerline goodness [0,1] 0.4350468273176892 Centerline is valid? [False, False] Translation: X:-26.51, Y:14.69, Z:16.86 [[ 9.99782381e-01 1.36129451e-03 2.08167844e-02 -2.65065136e+01] [-1.37457588e-03 9.99998861e-01 6.23717012e-04 1.46877760e+01] [-2.08159116e-02 -6.52195529e-04 9.99783113e-01 1.68619579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.659259764 meters Centerline goodness [0,1] 0.4406944883549373 Centerline is valid? [False, False] Translation: X:-26.51, Y:14.69, Z:16.86 [[ 9.99787097e-01 1.25724319e-03 2.05956225e-02 -2.65062108e+01] [-1.25943530e-03 9.99999203e-01 9.34651191e-05 1.46900396e+01] [-2.05954886e-02 -1.19384074e-04 9.99787883e-01 1.68625695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.689259764 meters Centerline goodness [0,1] 0.44416069924178603 Centerline is valid? [False, False] Translation: X:-26.51, Y:14.69, Z:16.86 [[ 9.99788579e-01 1.18960435e-03 2.05276033e-02 -2.65060441e+01] [-1.18523433e-03 9.99999272e-01 -2.25050011e-04 1.46914627e+01] [-2.05278561e-02 2.00672411e-04 9.99789261e-01 1.68627097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.719259764 meters Centerline goodness [0,1] 0.45370981800892785 Centerline is valid? [False, False] Translation: X:-26.52, Y:14.70, Z:16.87 [[ 9.99885456e-01 5.34081761e-03 1.41616041e-02 -2.65207818e+01] [-5.23422411e-03 9.99957774e-01 -7.55334866e-03 1.46990481e+01] [-1.42013472e-02 7.47835846e-03 9.99871190e-01 1.68695813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.749259764 meters Centerline goodness [0,1] 0.4539684218878104 Centerline is valid? [False, False] Translation: X:-26.52, Y:14.70, Z:16.87 [[ 9.99888029e-01 5.56717984e-03 1.38901151e-02 -2.65196395e+01] [-5.45985683e-03 9.99955043e-01 -7.75256916e-03 1.47011428e+01] [-1.39326506e-02 7.67586306e-03 9.99873473e-01 1.68692246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.779259764 meters Centerline goodness [0,1] 0.45795037985443343 Centerline is valid? [False, False] Translation: X:-26.52, Y:14.70, Z:16.87 [[ 9.99890973e-01 5.94602128e-03 1.35162014e-02 -2.65176622e+01] [-5.83764889e-03 9.99950612e-01 -8.04332468e-03 1.47049257e+01] [-1.35633597e-02 7.96354490e-03 9.99876301e-01 1.68683842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.809259764 meters Centerline goodness [0,1] 0.4667198935462409 Centerline is valid? [False, False] Translation: X:-26.52, Y:14.71, Z:16.87 [[ 9.99893291e-01 5.83600782e-03 1.33921029e-02 -2.65173438e+01] [-5.72378983e-03 9.99948317e-01 -8.40250065e-03 1.47069078e+01] [-1.34404478e-02 8.32495044e-03 9.99875017e-01 1.68684994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.839259764 meters Centerline goodness [0,1] 0.47547814937493327 Centerline is valid? [False, False] Translation: X:-26.52, Y:14.71, Z:16.87 [[ 9.99896738e-01 6.16443107e-03 1.29812549e-02 -2.65157149e+01] [-6.04730842e-03 9.99940830e-01 -9.04245136e-03 1.47119331e+01] [-1.30362284e-02 8.96301597e-03 9.99874853e-01 1.68686593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86925976399999 meters Centerline goodness [0,1] 0.4810956996733251 Centerline is valid? [False, False] Translation: X:-26.51, Y:14.72, Z:16.87 [[ 9.99900532e-01 6.49793146e-03 1.25181275e-02 -2.65140520e+01] [-6.38011907e-03 9.99935198e-01 -9.42840084e-03 1.47156204e+01] [-1.25785814e-02 9.34759587e-03 9.99877193e-01 1.68686296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89925976399999 meters Centerline goodness [0,1] 0.4790221074713571 Centerline is valid? [False, False] Translation: X:-26.51, Y:14.72, Z:16.87 [[ 9.99904273e-01 6.80196692e-03 1.20490084e-02 -2.65122857e+01] [-6.68463754e-03 9.99930111e-01 -9.75133380e-03 1.47189013e+01] [-1.21144945e-02 9.66985708e-03 9.99879859e-01 1.68683630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.929259764 meters Centerline goodness [0,1] 0.49824399009011466 Centerline is valid? [False, False] Translation: X:-26.51, Y:14.72, Z:16.87 [[ 9.99862830e-01 1.12435230e-02 1.21616250e-02 -2.65109019e+01] [-1.11797010e-02 9.99923443e-01 -5.30313627e-03 1.47201666e+01] [-1.22203199e-02 5.16644550e-03 9.99911982e-01 1.68661024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.959259764 meters Centerline goodness [0,1] 0.48821796759941094 Centerline is valid? [False, False] Translation: X:-26.51, Y:14.72, Z:16.87 [[ 9.99864802e-01 1.13659146e-02 1.18825115e-02 -2.65097214e+01] [-1.13003131e-02 9.99920616e-01 -5.57348537e-03 1.47224570e+01] [-1.19449160e-02 5.43845574e-03 9.99913867e-01 1.68657406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.989259764 meters Centerline goodness [0,1] 0.5152682180705779 Centerline is valid? [False, False] Translation: X:-26.51, Y:14.73, Z:16.87 [[ 9.99867327e-01 1.17431915e-02 1.12883254e-02 -2.65077263e+01] [-1.16732183e-02 9.99912366e-01 -6.24475214e-03 1.47268480e+01] [-1.13606695e-02 6.11215254e-03 9.99916785e-01 1.68660926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.019259764 meters Centerline goodness [0,1] 0.4985385308820718 Centerline is valid? [False, False] Translation: X:-26.51, Y:14.73, Z:16.87 [[ 9.99871446e-01 1.16050788e-02 1.10640673e-02 -2.65075293e+01] [-1.15294210e-02 9.99909882e-01 -6.87759154e-03 1.47294188e+01] [-1.11428852e-02 6.74914511e-03 9.99915139e-01 1.68669593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.049259764 meters Centerline goodness [0,1] 0.5157857299190195 Centerline is valid? [False, False] Translation: X:-26.51, Y:14.73, Z:16.87 [[ 9.99876092e-01 1.14526454e-02 1.07999118e-02 -2.65072425e+01] [-1.13713427e-02 9.99906767e-01 -7.55968930e-03 1.47322237e+01] [-1.08854833e-02 7.43594310e-03 9.99913103e-01 1.68679024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.079259764 meters Centerline goodness [0,1] 0.5177788735481044 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.74, Z:16.87 [[ 9.99875100e-01 1.20652805e-02 1.02085217e-02 -2.65047082e+01] [-1.19860345e-02 9.99897831e-01 -7.78862501e-03 1.47359192e+01] [-1.03014507e-02 7.66529252e-03 9.99917558e-01 1.68673757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.109259764 meters Centerline goodness [0,1] 0.5256692739892035 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.74, Z:16.87 [[ 9.99874495e-01 1.26376541e-02 9.55427944e-03 -2.65018678e+01] [-1.25621665e-02 9.99889726e-01 -7.92007586e-03 1.47395633e+01] [-9.65331703e-03 7.79905940e-03 9.99922991e-01 1.68664273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.139259764 meters Centerline goodness [0,1] 0.5306246545052515 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.74, Z:16.87 [[ 9.99876224e-01 1.28135277e-02 9.12967553e-03 -2.65003148e+01] [-1.27389104e-02 9.99885358e-01 -8.18486032e-03 1.47421564e+01] [-9.23350582e-03 8.06754510e-03 9.99924826e-01 1.68661365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.169259764 meters Centerline goodness [0,1] 0.5329417631739347 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.74, Z:16.87 [[ 9.99877534e-01 1.30209533e-02 8.68171206e-03 -2.64988080e+01] [-1.29471982e-02 9.99880068e-01 -8.49822509e-03 1.47449671e+01] [-8.79132584e-03 8.38478049e-03 9.99926201e-01 1.68660597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.199259764 meters Centerline goodness [0,1] 0.535720256338813 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.75, Z:16.87 [[ 9.99877130e-01 1.33702518e-02 8.18300528e-03 -2.64968614e+01] [-1.32950092e-02 9.99869464e-01 -9.18132700e-03 1.47498705e+01] [-8.30469376e-03 9.07140576e-03 9.99924368e-01 1.68661964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.229259764 meters Centerline goodness [0,1] 0.5349609375 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.75, Z:16.87 [[ 9.99876897e-01 1.37221514e-02 7.60872178e-03 -2.64949046e+01] [-1.36497762e-02 9.99861861e-01 -9.48384628e-03 1.47526957e+01] [-7.73780949e-03 9.37882145e-03 9.99926079e-01 1.68661481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25925976399999 meters Centerline goodness [0,1] 0.5371652036911996 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.87 [[ 9.99805903e-01 1.81990341e-02 7.54660721e-03 -2.64935476e+01] [-1.81575118e-02 9.99819820e-01 -5.53460899e-03 1.47550430e+01] [-7.64597200e-03 5.39650713e-03 9.99956207e-01 1.68652201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.289259764 meters Centerline goodness [0,1] 0.5407444951286817 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.87 [[ 9.99804208e-01 1.84706205e-02 7.09804649e-03 -2.64920209e+01] [-1.84291048e-02 9.99812935e-01 -5.87045608e-03 1.47576100e+01] [-7.20514966e-03 5.73849605e-03 9.99957577e-01 1.68652697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.319259764 meters Centerline goodness [0,1] 0.541646673628948 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.87 [[ 9.99804490e-01 1.86170662e-02 6.66234324e-03 -2.64908047e+01] [-1.85749408e-02 9.99807433e-01 -6.32990178e-03 1.47600948e+01] [-6.77890450e-03 6.20491159e-03 9.99957772e-01 1.68656921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.349259764 meters Centerline goodness [0,1] 0.5431454813470915 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.87 [[ 9.99800557e-01 1.90665512e-02 5.94244427e-03 -2.64884858e+01] [-1.90259532e-02 9.99795763e-01 -6.81513641e-03 1.47638959e+01] [-6.07117174e-03 6.70071652e-03 9.99959120e-01 1.68659918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.379259764 meters Centerline goodness [0,1] 0.5446002725414489 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.77, Z:16.87 [[ 9.99801633e-01 1.90688671e-02 5.75092925e-03 -2.64879422e+01] [-1.90282567e-02 9.99794193e-01 -7.03547617e-03 1.47655378e+01] [-5.88390423e-03 6.92465041e-03 9.99958714e-01 1.68660470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.409259764 meters Centerline goodness [0,1] 0.549790937793327 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.77, Z:16.87 [[ 9.99805564e-01 1.89321156e-02 5.51446622e-03 -2.64874173e+01] [-1.88898607e-02 9.99792560e-01 -7.61642358e-03 1.47685632e+01] [-5.65751731e-03 7.51077518e-03 9.99955789e-01 1.68665275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.439259764 meters Centerline goodness [0,1] 0.5460447633692124 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.77, Z:16.87 [[ 9.99808408e-01 1.88058953e-02 5.42998704e-03 -2.64872228e+01] [-1.87628945e-02 9.99793031e-01 -7.86436219e-03 1.47700579e+01] [-5.57675958e-03 7.76097317e-03 9.99954332e-01 1.68666083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.469259764 meters Centerline goodness [0,1] 0.5493022191718142 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.77, Z:16.87 [[ 9.99814723e-01 1.84832644e-02 5.37476152e-03 -2.64873414e+01] [-1.84380273e-02 9.99795156e-01 -8.34772134e-03 1.47722689e+01] [-5.52795368e-03 8.24707470e-03 9.99950713e-01 1.68670036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.499259764 meters Centerline goodness [0,1] 0.5518360081536562 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.77, Z:16.87 [[ 9.99816576e-01 1.84248446e-02 5.22866918e-03 -2.64869179e+01] [-1.83793447e-02 9.99793921e-01 -8.62058352e-03 1.47737719e+01] [-5.38642457e-03 8.52290279e-03 9.99949172e-01 1.68671072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.529259764 meters Centerline goodness [0,1] 0.5504476928798238 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.78, Z:16.87 [[ 9.99817477e-01 1.84245652e-02 5.05454310e-03 -2.64863985e+01] [-1.83797188e-02 9.99792528e-01 -8.77993580e-03 1.47752104e+01] [-5.21526092e-03 8.68543217e-03 9.99948681e-01 1.68671103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.559259764 meters Centerline goodness [0,1] 0.5521197584024506 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.78, Z:16.87 [[ 9.99809960e-01 1.89842277e-02 4.43209763e-03 -2.64838242e+01] [-1.89425864e-02 9.99777732e-01 -9.25556824e-03 1.47804056e+01] [-4.60682233e-03 9.16985392e-03 9.99947344e-01 1.68669151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.589259764 meters Centerline goodness [0,1] 0.5514051115993986 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.78, Z:16.87 [[ 9.99809164e-01 1.90860473e-02 4.16641339e-03 -2.64828185e+01] [-1.90457028e-02 9.99773316e-01 -9.51720257e-03 1.47824941e+01] [-4.34711471e-03 9.43603407e-03 9.99946030e-01 1.68667861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61925976399999 meters Centerline goodness [0,1] 0.5556490698551818 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.78, Z:16.87 [[ 9.99805340e-01 1.93669877e-02 3.76854863e-03 -2.64811912e+01] [-1.93293948e-02 9.99765448e-01 -9.76847596e-03 1.47847952e+01] [-3.95685066e-03 9.69373066e-03 9.99945186e-01 1.68664835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64925976399999 meters Centerline goodness [0,1] 0.5498879086965383 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.79, Z:16.87 [[ 9.99804509e-01 1.94452376e-02 3.58132435e-03 -2.64805495e+01] [-1.94084234e-02 9.99761203e-01 -1.00423674e-02 1.47864924e+01] [-3.77574536e-03 9.97089631e-03 9.99943161e-01 1.68665831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.679259764 meters Centerline goodness [0,1] 0.5508928052114233 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.79, Z:16.87 [[ 9.99807630e-01 1.92954946e-02 3.51962952e-03 -2.64805770e+01] [-1.92572877e-02 9.99758537e-01 -1.05841385e-02 1.47885623e+01] [-3.72300585e-03 1.05143239e-02 9.99937792e-01 1.68671787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.709259764 meters Centerline goodness [0,1] 0.549893533238048 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.79, Z:16.87 [[ 9.99808946e-01 1.92892160e-02 3.16197142e-03 -2.64798529e+01] [-1.92525998e-02 9.99751602e-01 -1.12281482e-02 1.47918066e+01] [-3.37776817e-03 1.11651268e-02 9.99931963e-01 1.68680894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.739259764 meters Centerline goodness [0,1] 0.5481639325121139 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.79, Z:16.87 [[ 9.99811895e-01 1.91316523e-02 3.18651510e-03 -2.64801611e+01] [-1.90937243e-02 9.99751148e-01 -1.15357091e-02 1.47930415e+01] [-3.40641931e-03 1.14726967e-02 9.99928384e-01 1.68685255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.769259764 meters Centerline goodness [0,1] 0.5485844110450891 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.79, Z:16.87 [[ 9.99817972e-01 1.87569508e-02 3.49281853e-03 -2.64816368e+01] [-1.87144205e-02 9.99754820e-01 -1.18351666e-02 1.47930791e+01] [-3.71395379e-03 1.17676462e-02 9.99923862e-01 1.68693337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.799259764 meters Centerline goodness [0,1] 0.5473242636991289 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.79, Z:16.87 [[ 9.99820392e-01 1.85747492e-02 3.76317281e-03 -2.64827818e+01] [-1.85291989e-02 9.99758714e-01 -1.17975984e-02 1.47922204e+01] [-3.98140224e-03 1.17257508e-02 9.99923325e-01 1.68696843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.829259764 meters Centerline goodness [0,1] 0.5477100907790653 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.79, Z:16.87 [[ 9.99821776e-01 1.85684859e-02 3.40980128e-03 -2.64823593e+01] [-1.85251754e-02 9.99752462e-01 -1.23220471e-02 1.47944305e+01] [-3.63775898e-03 1.22566839e-02 9.99918267e-01 1.68708592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.859259764 meters Centerline goodness [0,1] 0.5481148330948278 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.80, Z:16.87 [[ 9.99821916e-01 1.85911110e-02 3.24136279e-03 -2.64820808e+01] [-1.85493282e-02 9.99750101e-01 -1.24763073e-02 1.47951374e+01] [-3.47250119e-03 1.24139603e-02 9.99916914e-01 1.68712315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.889259764 meters Centerline goodness [0,1] 0.5465112882969713 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.79, Z:16.87 [[ 9.99811172e-01 1.91920168e-02 3.04740396e-03 -2.64806977e+01] [-1.91544117e-02 9.99745435e-01 -1.19236893e-02 1.47942006e+01] [-3.27546784e-03 1.18630666e-02 9.99924267e-01 1.68701366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.919259764 meters Centerline goodness [0,1] 0.5493146299583831 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.79, Z:16.87 [[ 9.99806044e-01 1.94401332e-02 3.15514387e-03 -2.64806155e+01] [-1.94029471e-02 9.99746556e-01 -1.14170553e-02 1.47924969e+01] [-3.37629329e-03 1.13536218e-02 9.99929845e-01 1.68693855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.949259764 meters Centerline goodness [0,1] 0.5465133164880486 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.79, Z:16.87 [[ 9.99802832e-01 1.95629864e-02 3.40397096e-03 -2.64810258e+01] [-1.95245985e-02 9.99749225e-01 -1.09670859e-02 1.47906362e+01] [-3.61766629e-03 1.08984624e-02 9.99934066e-01 1.68687945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.979259764 meters Centerline goodness [0,1] 0.5442635277785811 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.79, Z:16.87 [[ 9.99874831e-01 1.55502778e-02 2.91735203e-03 -2.64804568e+01] [-1.55045121e-02 9.99765714e-01 -1.51038555e-02 1.47909403e+01] [-3.15153769e-03 1.50567329e-02 9.99881674e-01 1.68696354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00925976399999 meters Centerline goodness [0,1] 0.5432380842202684 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.79, Z:16.87 [[ 9.99933791e-01 1.12361100e-02 2.48278799e-03 -2.64805953e+01] [-1.11856933e-02 9.99747980e-01 -1.94642300e-02 1.47914842e+01] [-2.70086451e-03 1.94351696e-02 9.99807471e-01 1.68711807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.039259764 meters Centerline goodness [0,1] 0.5456511708386204 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.79, Z:16.87 [[ 9.99933771e-01 1.11366518e-02 2.90325497e-03 -2.64818601e+01] [-1.10798734e-02 9.99760180e-01 -1.88896370e-02 1.47888319e+01] [-3.11292602e-03 1.88562182e-02 9.99817360e-01 1.68707608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.069259764 meters Centerline goodness [0,1] 0.5454048454854117 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.79, Z:16.87 [[ 9.99934733e-01 1.08871451e-02 3.46396904e-03 -2.64837118e+01] [-1.08214583e-02 9.99771260e-01 -1.84478475e-02 1.47860176e+01] [-3.66402108e-03 1.84091583e-02 9.99823823e-01 1.68706208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.099259764 meters Centerline goodness [0,1] 0.5426701495536355 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.78, Z:16.87 [[ 9.99935267e-01 1.06876854e-02 3.90330527e-03 -2.64853011e+01] [-1.06163941e-02 9.99784314e-01 -1.78498413e-02 1.47828443e+01] [-4.09323687e-03 1.78072468e-02 9.99833060e-01 1.68703536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.129259764 meters Centerline goodness [0,1] 0.5426701495536355 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.78, Z:16.87 [[ 9.99935267e-01 1.06876854e-02 3.90330527e-03 -2.64853011e+01] [-1.06163941e-02 9.99784314e-01 -1.78498413e-02 1.47828443e+01] [-4.09323687e-03 1.78072468e-02 9.99833060e-01 1.68703536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.159259764 meters Centerline goodness [0,1] 0.5433471216821786 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.78, Z:16.87 [[ 9.99933554e-01 1.08313017e-02 3.94599310e-03 -2.64852562e+01] [-1.07605310e-02 9.99788344e-01 -1.75350592e-02 1.47822107e+01] [-4.13508543e-03 1.74914331e-02 9.99838462e-01 1.68699694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.189259764 meters Centerline goodness [0,1] 0.5447412879764053 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.78, Z:16.87 [[ 9.99931914e-01 1.09346771e-02 4.07430865e-03 -2.64855624e+01] [-1.08640450e-02 9.99796932e-01 -1.69725201e-02 1.47803212e+01] [-4.25907032e-03 1.69271011e-02 9.99847655e-01 1.68694159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.219259764 meters Centerline goodness [0,1] 0.5454181787010315 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.78, Z:16.87 [[ 9.99929319e-01 1.11306398e-02 4.17911499e-03 -2.64856479e+01] [-1.10600239e-02 9.99801761e-01 -1.65563954e-02 1.47789885e+01] [-4.36256980e-03 1.65090041e-02 9.99854200e-01 1.68689424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.249259764 meters Centerline goodness [0,1] 0.5446609420021111 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.78, Z:16.87 [[ 9.99926603e-01 1.13097134e-02 4.34510960e-03 -2.64857739e+01] [-1.12382553e-02 9.99806706e-01 -1.61323628e-02 1.47776905e+01] [-4.52672212e-03 1.60823473e-02 9.99860424e-01 1.68683056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.279259764 meters Centerline goodness [0,1] 0.5389495342058639 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.78, Z:16.87 [[ 9.99924593e-01 1.14981130e-02 4.31300947e-03 -2.64857846e+01] [-1.14277689e-02 9.99806773e-01 -1.59944388e-02 1.47772001e+01] [-4.49608195e-03 1.59439447e-02 9.99862779e-01 1.68684679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.309259764 meters Centerline goodness [0,1] 0.5413825568457391 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.78, Z:16.87 [[ 9.99924688e-01 1.15043479e-02 4.27419728e-03 -2.64857938e+01] [-1.14343183e-02 9.99805607e-01 -1.60625202e-02 1.47776346e+01] [-4.45815522e-03 1.60124380e-02 9.99861854e-01 1.68686587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.339259764 meters Centerline goodness [0,1] 0.5391972136576453 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.78, Z:16.87 [[ 9.99922817e-01 1.16449782e-02 4.33055536e-03 -2.64857443e+01] [-1.15753594e-02 9.99808672e-01 -1.57680039e-02 1.47771077e+01] [-4.51334487e-03 1.57166592e-02 9.99866299e-01 1.68682399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36925976399999 meters Centerline goodness [0,1] 0.5430727609283782 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.78, Z:16.87 [[ 9.99919145e-01 1.19170620e-02 4.43695248e-03 -2.64854631e+01] [-1.18485764e-02 9.99814964e-01 -1.51541998e-02 1.47754177e+01] [-4.61672502e-03 1.51004030e-02 9.99875324e-01 1.68671552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39925976399999 meters Centerline goodness [0,1] 0.5419541698611465 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.77, Z:16.87 [[ 9.99915460e-01 1.20658516e-02 4.84641911e-03 -2.64860436e+01] [-1.19958450e-02 9.99826884e-01 -1.42232759e-02 1.47718550e+01] [-5.01719605e-03 1.41639366e-02 9.99887099e-01 1.68656605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.429259764 meters Centerline goodness [0,1] 0.5424608577263444 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.77, Z:16.87 [[ 9.99914428e-01 1.21404719e-02 4.87298051e-03 -2.64861327e+01] [-1.20709338e-02 9.99828367e-01 -1.40545100e-02 1.47713803e+01] [-5.04277253e-03 1.39944859e-02 9.99889356e-01 1.68655957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.459259764 meters Centerline goodness [0,1] 0.5415105053946621 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.77, Z:16.87 [[ 9.99913259e-01 1.22184448e-02 4.91771743e-03 -2.64861048e+01] [-1.21497228e-02 9.99831376e-01 -1.37697057e-02 1.47708876e+01] [-5.08513258e-03 1.37087624e-02 9.99893100e-01 1.68651780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.489259764 meters Centerline goodness [0,1] 0.5403424366775151 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.77, Z:16.87 [[ 9.99912491e-01 1.22727174e-02 4.93879006e-03 -2.64864798e+01] [-1.22050070e-02 9.99834189e-01 -1.35141373e-02 1.47697907e+01] [-5.10382634e-03 1.34526767e-02 9.99896483e-01 1.68653893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.519259764 meters Centerline goodness [0,1] 0.5397252513808242 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.77, Z:16.87 [[ 9.99910763e-01 1.23476374e-02 5.09928383e-03 -2.64869848e+01] [-1.22789166e-02 9.99836224e-01 -1.32948684e-02 1.47688206e+01] [-5.26260891e-03 1.32310683e-02 9.99898617e-01 1.68653904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.549259764 meters Centerline goodness [0,1] 0.5358855724200191 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.77, Z:16.87 [[ 9.99909554e-01 1.23182270e-02 5.39856741e-03 -2.64881299e+01] [-1.22471876e-02 9.99840489e-01 -1.30001449e-02 1.47669073e+01] [-5.55784501e-03 1.29328518e-02 9.99900921e-01 1.68655041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.579259764 meters Centerline goodness [0,1] 0.5324613086009078 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.77, Z:16.87 [[ 9.99906805e-01 1.24464049e-02 5.60965690e-03 -2.64884623e+01] [-1.23745627e-02 9.99843227e-01 -1.26646197e-02 1.47657333e+01] [-5.76640644e-03 1.25940223e-02 9.99904065e-01 1.68650468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.609259764 meters Centerline goodness [0,1] 0.5323030935393813 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.86 [[ 9.99904806e-01 1.25337918e-02 5.76922569e-03 -2.64887000e+01] [-1.24616437e-02 9.99845757e-01 -1.23762022e-02 1.47646927e+01] [-5.92345656e-03 1.23031300e-02 9.99906768e-01 1.68646241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.639259764 meters Centerline goodness [0,1] 0.528704148194166 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.86 [[ 9.99902395e-01 1.25776713e-02 6.08299298e-03 -2.64894860e+01] [-1.25048268e-02 9.99851374e-01 -1.18684467e-02 1.47627550e+01] [-6.23136631e-03 1.17912215e-02 9.99911065e-01 1.68641383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.669259764 meters Centerline goodness [0,1] 0.5284140534753332 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.87 [[ 9.99905665e-01 1.21348315e-02 6.43478207e-03 -2.64914988e+01] [-1.20570222e-02 9.99855352e-01 -1.19959730e-02 1.47618963e+01] [-6.57942040e-03 1.19172571e-02 9.99907341e-01 1.68652950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.699259764 meters Centerline goodness [0,1] 0.5269612669123231 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.87 [[ 9.99906051e-01 1.20150654e-02 6.59760328e-03 -2.64924256e+01] [-1.19360640e-02 9.99858119e-01 -1.18858406e-02 1.47608408e+01] [-6.73947636e-03 1.18059746e-02 9.99907595e-01 1.68657639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.729259764 meters Centerline goodness [0,1] 0.525720077709266 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.87 [[ 9.99904931e-01 1.19173153e-02 6.93588549e-03 -2.64935577e+01] [-1.18359870e-02 9.99862073e-01 -1.16509690e-02 1.47594819e+01] [-7.07377711e-03 1.15677683e-02 9.99908070e-01 1.68658419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75925976399999 meters Centerline goodness [0,1] 0.5247852691854265 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.87 [[ 9.99901676e-01 1.20572851e-02 7.15964557e-03 -2.64939199e+01] [-1.19777744e-02 9.99867247e-01 -1.10463225e-02 1.47572241e+01] [-7.29188376e-03 1.09594798e-02 9.99913355e-01 1.68650729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.789259764 meters Centerline goodness [0,1] 0.5253747263234716 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.86 [[ 9.99899552e-01 1.23164854e-02 7.01352033e-03 -2.64932024e+01] [-1.22401387e-02 9.99866474e-01 -1.08264772e-02 1.47571293e+01] [-7.14592799e-03 1.07395432e-02 9.99916796e-01 1.68646298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.819259764 meters Centerline goodness [0,1] 0.5296576879910213 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.86 [[ 9.99894028e-01 1.28387924e-02 6.86281928e-03 -2.64919476e+01] [-1.27672346e-02 9.99864712e-01 -1.03709269e-02 1.47568347e+01] [-6.99504100e-03 1.02822087e-02 9.99922670e-01 1.68635423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.849259764 meters Centerline goodness [0,1] 0.5316477033291193 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.86 [[ 9.99891642e-01 1.30801038e-02 6.75386363e-03 -2.64912809e+01] [-1.30109643e-02 9.99863517e-01 -1.01814620e-02 1.47568912e+01] [-6.88611643e-03 1.00924845e-02 9.99925359e-01 1.68630971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.879259764 meters Centerline goodness [0,1] 0.5210131279341073 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.86 [[ 9.99889021e-01 1.33683121e-02 6.57525939e-03 -2.64904077e+01] [-1.33020469e-02 9.99861313e-01 -1.00204996e-02 1.47570959e+01] [-6.70830465e-03 9.93192308e-03 9.99928175e-01 1.68626954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.909259764 meters Centerline goodness [0,1] 0.5284470654310587 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.86 [[ 9.99882843e-01 1.40272364e-02 6.12679035e-03 -2.64886641e+01] [-1.39665387e-02 9.99854046e-01 -9.83983553e-03 1.47578202e+01] [-6.26392182e-03 9.75311266e-03 9.99932818e-01 1.68624353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.939259764 meters Centerline goodness [0,1] 0.5309414272890485 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.86 [[ 9.99876423e-01 1.46572052e-02 5.68381395e-03 -2.64871298e+01] [-1.46003759e-02 9.99844256e-01 -9.91426660e-03 1.47593160e+01] [-5.82824417e-03 9.83005560e-03 9.99934699e-01 1.68626579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.969259764 meters Centerline goodness [0,1] 0.5320230240067387 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.86 [[ 9.99874806e-01 1.48308373e-02 5.51532251e-03 -2.64865188e+01] [-1.47750670e-02 9.99840648e-01 -1.00187754e-02 1.47603281e+01] [-5.66303046e-03 9.93603182e-03 9.99934601e-01 1.68626664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.999259764 meters Centerline goodness [0,1] 0.5341483979763912 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.86 [[ 9.99871397e-01 1.51500661e-02 5.25982208e-03 -2.64855218e+01] [-1.50971028e-02 9.99836353e-01 -9.96717490e-03 1.47607944e+01] [-5.40996469e-03 9.88648502e-03 9.99936493e-01 1.68624687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.029259764 meters Centerline goodness [0,1] 0.5329222144358794 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.76, Z:16.86 [[ 9.99866108e-01 1.55572656e-02 5.07318492e-03 -2.64845496e+01] [-1.55068653e-02 9.99831468e-01 -9.82709217e-03 1.47610888e+01] [-5.22521261e-03 9.74710720e-03 9.99938844e-01 1.68620571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.059259764 meters Centerline goodness [0,1] 0.5317979072572727 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.76, Z:16.86 [[ 9.99864210e-01 1.56955500e-02 5.02101196e-03 -2.64843541e+01] [-1.56461350e-02 9.99830209e-01 -9.73402083e-03 1.47608367e+01] [-5.17294025e-03 9.65413962e-03 9.99940017e-01 1.68619878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.089259764 meters Centerline goodness [0,1] 0.5303412338208102 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.76, Z:16.86 [[ 9.99861642e-01 1.58347190e-02 5.09498064e-03 -2.64846186e+01] [-1.57853184e-02 9.99829372e-01 -9.59431199e-03 1.47598743e+01] [-5.24603453e-03 9.51255865e-03 9.99940993e-01 1.68621131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11925976399999 meters Centerline goodness [0,1] 0.531584116739161 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.76, Z:16.86 [[ 9.99860857e-01 1.58608233e-02 5.16722329e-03 -2.64849391e+01] [-1.58114928e-02 9.99830316e-01 -9.45174675e-03 1.47592433e+01] [-5.31625898e-03 9.36873010e-03 9.99941980e-01 1.68621380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14925976399999 meters Centerline goodness [0,1] 0.531610560134097 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.86 [[ 9.99860034e-01 1.58554901e-02 5.34001867e-03 -2.64855818e+01] [-1.58064366e-02 9.99833603e-01 -9.10624342e-03 1.47577676e+01] [-5.48351406e-03 9.02056219e-03 9.99944279e-01 1.68620768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.179259764 meters Centerline goodness [0,1] 0.5283889183975846 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.86 [[ 9.99858731e-01 1.58984863e-02 5.45498921e-03 -2.64859388e+01] [-1.58499029e-02 9.99835332e-01 -8.83678688e-03 1.47567693e+01] [-5.59458249e-03 8.74907746e-03 9.99946076e-01 1.68619609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.209259764 meters Centerline goodness [0,1] 0.5266450675902135 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.86 [[ 9.99859209e-01 1.58038748e-02 5.63911324e-03 -2.64866437e+01] [-1.57544199e-02 9.99837961e-01 -8.70918961e-03 1.47558222e+01] [-5.77583842e-03 8.61912248e-03 9.99946174e-01 1.68620480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.239259764 meters Centerline goodness [0,1] 0.5259329450126808 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.86 [[ 9.99917207e-01 1.17525367e-02 5.23989924e-03 -2.64862656e+01] [-1.16834817e-02 9.99846975e-01 -1.30200857e-02 1.47567893e+01] [-5.39211645e-03 1.29577875e-02 9.99901506e-01 1.68629706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.269259764 meters Centerline goodness [0,1] 0.5243525910266752 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.86 [[ 9.99958729e-01 7.56907987e-03 5.02496121e-03 -2.64863890e+01] [-7.48166043e-03 9.99824186e-01 -1.71936597e-02 1.47567769e+01] [-5.15421794e-03 1.71553550e-02 9.99839551e-01 1.68637444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.299259764 meters Centerline goodness [0,1] 0.5197799755528392 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.75, Z:16.86 [[ 9.99957255e-01 7.42888700e-03 5.50452419e-03 -2.64877785e+01] [-7.33587228e-03 9.99833138e-01 -1.67296370e-02 1.47545721e+01] [-5.62788828e-03 1.66885414e-02 9.99844898e-01 1.68634164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.329259764 meters Centerline goodness [0,1] 0.5257543431880525 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.75, Z:16.86 [[ 9.99956304e-01 7.17016769e-03 5.99830850e-03 -2.64894727e+01] [-7.07131267e-03 9.99841448e-01 -1.63424672e-02 1.47522520e+01] [-6.11453568e-03 1.62993372e-02 9.99848461e-01 1.68633879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.359259764 meters Centerline goodness [0,1] 0.5186289943933493 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.75, Z:16.86 [[ 9.99977596e-01 2.36140034e-03 6.26349234e-03 -2.64915552e+01] [-2.23188032e-03 9.99785192e-01 -2.06055605e-02 1.47510190e+01] [-6.31080486e-03 2.05911194e-02 9.99768063e-01 1.68646572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.389259764 meters Centerline goodness [0,1] 0.5032144623330952 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.75, Z:16.86 [[ 9.99974728e-01 1.78525824e-03 6.88163783e-03 -2.64939887e+01] [-1.64515050e-03 9.99792340e-01 -2.03118197e-02 1.47482847e+01] [-6.91647064e-03 2.02999850e-02 9.99770010e-01 1.68649058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.419259764 meters Centerline goodness [0,1] 0.5185529772329247 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.75, Z:16.87 [[ 9.99972761e-01 7.97575254e-04 7.33766517e-03 -2.64967468e+01] [-6.50019673e-04 9.99797969e-01 -2.00897899e-02 1.47453050e+01] [-7.35220585e-03 2.00844730e-02 9.99771253e-01 1.68655577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.449259764 meters Centerline goodness [0,1] 0.5152593403585604 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.75, Z:16.87 [[ 9.99973172e-01 7.80053509e-04 7.28330665e-03 -2.64967440e+01] [-6.32957400e-04 9.99796226e-01 -2.01768431e-02 1.47462123e+01] [-7.29756153e-03 2.01716918e-02 9.99769898e-01 1.68657782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.479259764 meters Centerline goodness [0,1] 0.4880584356961125 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.74, Z:16.87 [[ 9.99958664e-01 4.45434792e-03 7.92654095e-03 -2.64986628e+01] [-4.32993192e-03 9.99868239e-01 -1.56446655e-02 1.47438651e+01] [-7.99518332e-03 1.56096974e-02 9.99846195e-01 1.68651951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50925976399999 meters Centerline goodness [0,1] 0.48361464270057 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.74, Z:16.86 [[ 9.99958133e-01 4.69652235e-03 7.85331715e-03 -2.64981592e+01] [-4.57448371e-03 9.99869618e-01 -1.54861718e-02 1.47440024e+01] [-7.92502437e-03 1.54495986e-02 9.99849241e-01 1.68648579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.539259764 meters Centerline goodness [0,1] 0.5218237648736086 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.74, Z:16.86 [[ 9.99957719e-01 4.90491055e-03 7.77827302e-03 -2.64976666e+01] [-4.78445180e-03 9.99869499e-01 -1.54302818e-02 1.47443277e+01] [-7.85294210e-03 1.53924146e-02 9.99850691e-01 1.68645490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.569259764 meters Centerline goodness [0,1] 0.5102517590149516 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.75, Z:16.86 [[ 9.99957218e-01 5.38492589e-03 7.52089942e-03 -2.64963680e+01] [-5.26970124e-03 9.99869714e-01 -1.52572870e-02 1.47452022e+01] [-7.60207891e-03 1.52170013e-02 9.99855315e-01 1.68639358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.599259764 meters Centerline goodness [0,1] 0.5078107810781078 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.75, Z:16.86 [[ 9.99958282e-01 5.35834637e-03 7.39740592e-03 -2.64960662e+01] [-5.24354893e-03 9.99866866e-01 -1.54517419e-02 1.47465040e+01] [-7.47921685e-03 1.54123086e-02 9.99853250e-01 1.68640348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.629259764 meters Centerline goodness [0,1] 0.5215832298993242 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.75, Z:16.86 [[ 9.99960718e-01 5.40193613e-03 7.02716297e-03 -2.64950942e+01] [-5.28905848e-03 9.99858264e-01 -1.59836583e-02 1.47502509e+01] [-7.11250967e-03 1.59458633e-02 9.99847559e-01 1.68644894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.659259764 meters Centerline goodness [0,1] 0.513090597439938 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.75, Z:16.87 [[ 9.99962584e-01 5.35327074e-03 6.79508570e-03 -2.64947178e+01] [-5.24049391e-03 9.99850008e-01 -1.65075124e-02 1.47527726e+01] [-6.88243568e-03 1.64712851e-02 9.99840652e-01 1.68651849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.689259764 meters Centerline goodness [0,1] 0.5249292099272667 Centerline is valid? [False, False] Translation: X:-26.50, Y:14.76, Z:16.87 [[ 9.99932222e-01 9.21586738e-03 7.11467780e-03 -2.64955032e+01] [-9.12296931e-03 9.99874123e-01 -1.29810993e-02 1.47553256e+01] [-7.23341432e-03 1.29153125e-02 9.99890430e-01 1.68654659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.719259764 meters Centerline goodness [0,1] 0.52762138357768 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.87 [[ 9.99931395e-01 9.64458713e-03 6.64737250e-03 -2.64935274e+01] [-9.55549767e-03 9.99865811e-01 -1.33061315e-02 1.47588651e+01] [-6.77481264e-03 1.32416997e-02 9.99889374e-01 1.68651236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.749259764 meters Centerline goodness [0,1] 0.5299198199465467 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.76, Z:16.86 [[ 9.99872432e-01 1.46447596e-02 6.37581123e-03 -2.64903210e+01] [-1.45843641e-02 9.99849285e-01 -9.41821581e-03 1.47638779e+01] [-6.51277781e-03 9.32402719e-03 9.99935321e-01 1.68631017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.779259764 meters Centerline goodness [0,1] 0.5374660940325497 Centerline is valid? [False, False] Translation: X:-26.49, Y:14.77, Z:16.86 [[ 9.99854587e-01 1.59554048e-02 6.01906633e-03 -2.64870003e+01] [-1.58993858e-02 9.99830877e-01 -9.24271426e-03 1.47685676e+01] [-6.16551962e-03 9.14567080e-03 9.99939170e-01 1.68612986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.809259764 meters Centerline goodness [0,1] 0.5394245301850743 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.77, Z:16.86 [[ 9.99834742e-01 1.73016299e-02 5.58044316e-03 -2.64834739e+01] [-1.72508020e-02 9.99810405e-01 -9.03124501e-03 1.47735485e+01] [-5.73564040e-03 8.93348541e-03 9.99943646e-01 1.68594255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.839259764 meters Centerline goodness [0,1] 0.5498097544102387 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.78, Z:16.86 [[ 9.99626082e-01 2.67682047e-02 5.58203646e-03 -2.64790435e+01] [-2.67660881e-02 9.99641621e-01 -4.53557085e-04 1.47777472e+01] [-5.59217688e-03 3.03978212e-04 9.99984317e-01 1.68550109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86925976399999 meters Centerline goodness [0,1] 0.5572802038688752 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.78, Z:16.85 [[ 9.99488421e-01 3.15213853e-02 5.41276018e-03 -2.64764597e+01] [-3.15412862e-02 9.99495853e-01 3.63150280e-03 1.47804232e+01] [-5.29556135e-03 -3.80037042e-03 9.99978757e-01 1.68531658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89925976399999 meters Centerline goodness [0,1] 0.5700811001410437 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.78, Z:16.85 [[ 9.99100284e-01 4.20498933e-02 5.51633290e-03 -2.64700102e+01] [-4.21172411e-02 9.99031692e-01 1.27206728e-02 1.47846245e+01] [-4.97608846e-03 -1.29415605e-02 9.99903873e-01 1.68470674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.929259764 meters Centerline goodness [0,1] 0.5777915889786617 Centerline is valid? [False, False] Translation: X:-26.47, Y:14.79, Z:16.84 [[ 9.98876760e-01 4.70774453e-02 5.37886828e-03 -2.64665568e+01] [-4.71629509e-02 9.98741465e-01 1.70628628e-02 1.47870056e+01] [-4.56882280e-03 -1.72973804e-02 9.99839950e-01 1.68442670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.959259764 meters Centerline goodness [0,1] 0.6183062955796994 Centerline is valid? [False, False] Translation: X:-26.42, Y:14.79, Z:16.85 [[ 9.98420136e-01 5.61872602e-02 -4.72487200e-04 -2.64175576e+01] [-5.61683027e-02 9.98242268e-01 1.89075903e-02 1.47925199e+01] [ 1.53402239e-03 -1.88511801e-02 9.99821124e-01 1.68452595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.989259764 meters Centerline goodness [0,1] 0.6511996175565449 Centerline is valid? [False, False] Translation: X:-26.37, Y:14.80, Z:16.85 [[ 9.98282217e-01 5.83329694e-02 -5.46617647e-03 -2.63744332e+01] [-5.82409235e-02 9.98178963e-01 1.57083454e-02 1.47970463e+01] [ 6.37253679e-03 -1.53630067e-02 9.99861675e-01 1.68505414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.019259764 meters Centerline goodness [0,1] 0.6511996175565449 Centerline is valid? [False, False] Translation: X:-26.34, Y:14.80, Z:16.86 [[ 9.98546151e-01 5.31376814e-02 -9.05382356e-03 -2.63392835e+01] [-5.30583710e-02 9.98552761e-01 8.78593760e-03 1.48018661e+01] [ 9.50758487e-03 -8.29278305e-03 9.99920415e-01 1.68584115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.049259764 meters Centerline goodness [0,1] 0.7017601826264568 Centerline is valid? [False, False] Translation: X:-26.30, Y:14.81, Z:16.86 [[ 9.98419510e-01 5.43843729e-02 -1.41711729e-02 -2.62981572e+01] [-5.43088490e-02 9.98508138e-01 5.66110219e-03 1.48071126e+01] [ 1.44579070e-02 -4.88253479e-03 9.99883558e-01 1.68641546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.079259764 meters Centerline goodness [0,1] 0.7636884097691699 Centerline is valid? [False, False] Translation: X:-26.29, Y:14.81, Z:16.86 [[ 9.97821504e-01 6.42879066e-02 -1.48091299e-02 -2.62870382e+01] [-6.41088450e-02 9.97867542e-01 1.22648066e-02 1.48099987e+01] [ 1.55660288e-02 -1.12886915e-02 9.99815115e-01 1.68590784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.109259764 meters Centerline goodness [0,1] 0.7784183251050258 Centerline is valid? [False, False] Translation: X:-26.24, Y:14.82, Z:16.86 [[ 9.97378100e-01 6.93493623e-02 -2.06782848e-02 -2.62409364e+01] [-6.91358303e-02 9.97548042e-01 1.08692557e-02 1.48163282e+01] [ 2.13813585e-02 -9.41114719e-03 9.99727097e-01 1.68636704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.139259764 meters Centerline goodness [0,1] 0.781499153455441 Centerline is valid? [False, False] Translation: X:-26.20, Y:14.82, Z:16.87 [[ 9.97270993e-01 6.91709232e-02 -2.58060143e-02 -2.61993449e+01] [-6.90300109e-02 9.97594609e-01 6.31297006e-03 1.48209600e+01] [ 2.61806147e-02 -4.51435247e-03 9.99647036e-01 1.68704363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.169259764 meters Centerline goodness [0,1] 0.7798870265765349 Centerline is valid? [False, False] Translation: X:-26.16, Y:14.83, Z:16.88 [[ 9.97200245e-01 6.81822323e-02 -3.07059339e-02 -2.61592555e+01] [-6.81628521e-02 9.97672796e-01 1.67868292e-03 1.48257551e+01] [ 3.07489312e-02 4.19021012e-04 9.99527052e-01 1.68772896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.199259764 meters Centerline goodness [0,1] 0.7729674291397315 Centerline is valid? [False, False] Translation: X:-26.12, Y:14.83, Z:16.88 [[ 9.97076291e-01 6.70204281e-02 -3.67032995e-02 -2.61184513e+01] [-6.71320245e-02 9.97742450e-01 -1.81520064e-03 1.48304673e+01] [ 3.64987844e-02 4.27386032e-03 9.99324558e-01 1.68829633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.229259764 meters Centerline goodness [0,1] 0.7714427675299671 Centerline is valid? [False, False] Translation: X:-26.08, Y:14.83, Z:16.89 [[ 9.97153513e-01 6.36487421e-02 -4.04191625e-02 -2.60805079e+01] [-6.39237742e-02 9.97939364e-01 -5.54763513e-03 1.48329597e+01] [ 3.99827733e-02 8.11558928e-03 9.99167411e-01 1.68879044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25925976399999 meters Centerline goodness [0,1] 0.7803927632596258 Centerline is valid? [False, False] Translation: X:-26.06, Y:14.83, Z:16.88 [[ 9.97576792e-01 5.93236793e-02 -3.63489460e-02 -2.60557349e+01] [-5.94437079e-02 9.98229170e-01 -2.22939837e-03 1.48281467e+01] [ 3.61523221e-02 4.38471220e-03 9.99336672e-01 1.68821916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.289259764 meters Centerline goodness [0,1] 0.7954258237524273 Centerline is valid? [False, False] Translation: X:-26.03, Y:14.82, Z:16.88 [[ 9.98037525e-01 5.41699042e-02 -3.14121014e-02 -2.60339002e+01] [-5.41704195e-02 9.98531356e-01 8.35235230e-04 1.48241266e+01] [ 3.14112128e-02 8.68010609e-04 9.99506169e-01 1.68766814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.319259764 meters Centerline goodness [0,1] 0.79955818734084 Centerline is valid? [False, False] Translation: X:-26.02, Y:14.82, Z:16.87 [[ 9.98568094e-01 4.71049754e-02 -2.53551484e-02 -2.60174224e+01] [-4.70162631e-02 9.98885775e-01 4.08396641e-03 1.48201791e+01] [ 2.55192723e-02 -2.88601422e-03 9.99670164e-01 1.68700873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.349259764 meters Centerline goodness [0,1] 0.7537703629824403 Centerline is valid? [False, False] Translation: X:-26.01, Y:14.81, Z:16.87 [[ 9.99278211e-01 3.26238174e-02 -1.94613597e-02 -2.60051092e+01] [-3.26098176e-02 9.99467621e-01 1.03636232e-03 1.48136684e+01] [ 1.94848090e-02 -4.00982899e-04 9.99810073e-01 1.68670442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.379259764 meters Centerline goodness [0,1] 0.7037826478534974 Centerline is valid? [False, False] Translation: X:-25.99, Y:14.81, Z:16.86 [[ 9.99645766e-01 2.30855505e-02 -1.32438768e-02 -2.59913784e+01] [-2.30512640e-02 9.99730541e-01 2.73571121e-03 1.48086505e+01] [ 1.33034635e-02 -2.42945403e-03 9.99908554e-01 1.68616586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.409259764 meters Centerline goodness [0,1] 0.6244138378505913 Centerline is valid? [False, False] Translation: X:-25.98, Y:14.80, Z:16.86 [[ 9.99968746e-01 3.56825800e-03 -7.05506249e-03 -2.59821205e+01] [-3.59137798e-03 9.99988214e-01 -3.26712828e-03 1.48015765e+01] [ 7.04332138e-03 3.29236356e-03 9.99969776e-01 1.68584497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.439259764 meters Centerline goodness [0,1] 0.5921276470933302 Centerline is valid? [False, False] Translation: X:-25.99, Y:14.80, Z:16.86 [[ 9.99972290e-01 -2.84256249e-03 -6.88040726e-03 -2.59866129e+01] [ 2.79266575e-03 9.99969813e-01 -7.25077996e-03 1.47960544e+01] [ 6.90081036e-03 7.23136436e-03 9.99950042e-01 1.68605745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.469259764 meters Centerline goodness [0,1] 0.5818277035873265 Centerline is valid? [False, False] Translation: X:-25.99, Y:14.79, Z:16.86 [[ 9.99900049e-01 -1.26109299e-02 -6.39195200e-03 -2.59906718e+01] [ 1.25082207e-02 9.99795957e-01 -1.58615429e-02 1.47938964e+01] [ 6.59067657e-03 1.57800056e-02 9.99853767e-01 1.68633805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.499259764 meters Centerline goodness [0,1] 0.5543998632166875 Centerline is valid? [False, False] Translation: X:-26.00, Y:14.78, Z:16.86 [[ 9.99278214e-01 -3.77189145e-02 -4.50928393e-03 -2.60047463e+01] [ 3.76585109e-02 9.99208637e-01 -1.28037269e-02 1.47824249e+01] [ 4.98865813e-03 1.26246725e-02 9.99907861e-01 1.68591268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.529259764 meters Centerline goodness [0,1] 0.540083436689593 Centerline is valid? [False, False] Translation: X:-26.01, Y:14.77, Z:16.86 [[ 9.99000319e-01 -4.45959502e-02 -3.09242608e-03 -2.60119636e+01] [ 4.45480277e-02 9.98907194e-01 -1.41382754e-02 1.47744775e+01] [ 3.71955648e-03 1.39863801e-02 9.99895268e-01 1.68559008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.559259764 meters Centerline goodness [0,1] 0.52847968140898 Centerline is valid? [False, False] Translation: X:-26.02, Y:14.77, Z:16.86 [[ 9.98968335e-01 -4.53533326e-02 -2.31088628e-03 -2.60158023e+01] [ 4.53161054e-02 9.98871795e-01 -1.41981703e-02 1.47723859e+01] [ 2.95221347e-03 1.40788022e-02 9.99896531e-01 1.68576486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.589259764 meters Centerline goodness [0,1] 0.5222600826723272 Centerline is valid? [False, False] Translation: X:-26.02, Y:14.77, Z:16.86 [[ 9.98933649e-01 -4.61427302e-02 -1.55337743e-03 -2.60193935e+01] [ 4.61166447e-02 9.98838622e-01 -1.39521238e-02 1.47688837e+01] [ 2.19536246e-03 1.38656094e-02 9.99901458e-01 1.68587429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61925976399999 meters Centerline goodness [0,1] 0.5108060990120928 Centerline is valid? [False, False] Translation: X:-26.02, Y:14.76, Z:16.86 [[ 9.98738622e-01 -5.02063909e-02 -6.94946541e-04 -2.60217550e+01] [ 5.01870836e-02 9.98592221e-01 -1.71706767e-02 1.47624915e+01] [ 1.55604592e-03 1.71141407e-02 9.99852332e-01 1.68589633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64925976399999 meters Centerline goodness [0,1] 0.511385852355646 Centerline is valid? [False, False] Translation: X:-26.02, Y:14.76, Z:16.86 [[ 9.98716715e-01 -5.06448083e-02 1.60591844e-04 -2.60245391e+01] [ 5.06406617e-02 9.98583099e-01 -1.63498540e-02 1.47558539e+01] [ 6.67670922e-04 1.63370050e-02 9.99866319e-01 1.68584140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.679259764 meters Centerline goodness [0,1] 0.46613251661243127 Centerline is valid? [False, False] Translation: X:-26.03, Y:14.75, Z:16.86 [[ 9.98664278e-01 -5.16601758e-02 9.41572924e-04 -2.60284878e+01] [ 5.16686546e-02 9.98532555e-01 -1.62199524e-02 1.47477753e+01] [-1.02265625e-04 1.62469368e-02 9.99868005e-01 1.68599414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.709259764 meters Centerline goodness [0,1] 0.5057637280283418 Centerline is valid? [False, False] Translation: X:-26.03, Y:14.74, Z:16.86 [[ 9.98630131e-01 -5.22926389e-02 1.82815197e-03 -2.60324724e+01] [ 5.23153217e-02 9.98501148e-01 -1.60799246e-02 1.47439458e+01] [-9.84550152e-04 1.61535376e-02 9.99869038e-01 1.68615572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.739259764 meters Centerline goodness [0,1] 0.4672113407639866 Centerline is valid? [False, False] Translation: X:-26.04, Y:14.74, Z:16.87 [[ 9.98352471e-01 -5.73016703e-02 2.97687787e-03 -2.60380653e+01] [ 5.73499384e-02 9.98153394e-01 -2.00196643e-02 1.47373375e+01] [-1.82422055e-03 2.01574051e-02 9.99795155e-01 1.68650651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.769259764 meters Centerline goodness [0,1] 0.4600806451612903 Centerline is valid? [False, False] Translation: X:-26.04, Y:14.73, Z:16.87 [[ 9.98282007e-01 -5.84733104e-02 3.72901844e-03 -2.60422659e+01] [ 5.85364430e-02 9.98085154e-01 -1.99877685e-02 1.47310422e+01] [-2.55312695e-03 2.01717132e-02 9.99793270e-01 1.68669471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.799259764 meters Centerline goodness [0,1] 0.44129887342610996 Centerline is valid? [False, False] Translation: X:-26.06, Y:14.72, Z:16.87 [[ 9.97707441e-01 -6.73651301e-02 6.46536574e-03 -2.60552318e+01] [ 6.75038665e-02 9.97420678e-01 -2.43970997e-02 1.47238695e+01] [-4.80517568e-03 2.47776051e-02 9.99681440e-01 1.68692297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.829259764 meters Centerline goodness [0,1] 0.4518852740177841 Centerline is valid? [False, False] Translation: X:-26.10, Y:14.72, Z:16.87 [[ 9.97557196e-01 -6.89497757e-02 1.12058011e-02 -2.61012439e+01] [ 6.91685883e-02 9.97394777e-01 -2.04783879e-02 1.47193458e+01] [-9.76462725e-03 2.12034527e-02 9.99727496e-01 1.68660849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.859259764 meters Centerline goodness [0,1] 0.4329391404672628 Centerline is valid? [False, False] Translation: X:-26.15, Y:14.72, Z:16.86 [[ 9.97381147e-01 -7.05801371e-02 1.57890004e-02 -2.61462537e+01] [ 7.08451421e-02 9.97344049e-01 -1.69060373e-02 1.47151763e+01] [-1.45538352e-02 1.79803368e-02 9.99732411e-01 1.68631642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.889259764 meters Centerline goodness [0,1] 0.4425342412552107 Centerline is valid? [False, False] Translation: X:-26.20, Y:14.71, Z:16.86 [[ 9.96876765e-01 -7.61883281e-02 2.07859170e-02 -2.61950308e+01] [ 7.65182748e-02 9.96946636e-01 -1.55678893e-02 1.47084370e+01] [-1.95363586e-02 1.71097696e-02 9.99662736e-01 1.68628177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.919259764 meters Centerline goodness [0,1] 0.4408491343775762 Centerline is valid? [False, False] Translation: X:-26.24, Y:14.70, Z:16.86 [[ 9.96728747e-01 -7.68140594e-02 2.51277591e-02 -2.62390275e+01] [ 7.71243055e-02 9.96953787e-01 -1.16184290e-02 1.47045826e+01] [-2.41587559e-02 1.35183831e-02 9.99616730e-01 1.68605235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.949259764 meters Centerline goodness [0,1] 0.40240553323500994 Centerline is valid? [False, False] Translation: X:-26.29, Y:14.70, Z:16.86 [[ 9.96108520e-01 -8.27285729e-02 3.03940774e-02 -2.62886594e+01] [ 8.30780196e-02 9.96488589e-01 -1.04179598e-02 1.46980579e+01] [-2.94254884e-02 1.29024983e-02 9.99483700e-01 1.68606789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.979259764 meters Centerline goodness [0,1] 0.4110118146016358 Centerline is valid? [False, False] Translation: X:-26.33, Y:14.69, Z:16.86 [[ 9.95816664e-01 -8.45096052e-02 3.47462063e-02 -2.63336313e+01] [ 8.48016100e-02 9.96373159e-01 -7.01526969e-03 1.46936294e+01] [-3.40273297e-02 9.93245669e-03 9.99371546e-01 1.68581025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00925976399999 meters Centerline goodness [0,1] 0.3811063488482843 Centerline is valid? [False, False] Translation: X:-26.38, Y:14.69, Z:16.86 [[ 9.95449539e-01 -8.69759711e-02 3.89280734e-02 -2.63792239e+01] [ 8.72040736e-02 9.96181626e-01 -4.19724356e-03 1.46897785e+01] [-3.84143721e-02 7.57283075e-03 9.99233200e-01 1.68561041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.039259764 meters Centerline goodness [0,1] 0.38716556324233187 Centerline is valid? [False, False] Translation: X:-26.43, Y:14.68, Z:16.86 [[ 9.94552828e-01 -9.46081835e-02 4.37488777e-02 -2.64328486e+01] [ 9.48126550e-02 9.95491691e-01 -2.61797748e-03 1.46835422e+01] [-4.33039621e-02 6.75166416e-03 9.99039129e-01 1.68567158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.069259764 meters Centerline goodness [0,1] 0.385417686808344 Centerline is valid? [False, False] Translation: X:-26.48, Y:14.68, Z:16.86 [[ 9.93970248e-01 -9.82665442e-02 4.86501096e-02 -2.64848198e+01] [ 9.83090862e-02 9.95154763e-01 1.52338459e-03 1.46778002e+01] [-4.85640861e-02 3.26854887e-03 9.98814721e-01 1.68575696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.099259764 meters Centerline goodness [0,1] 0.3656324115504046 Centerline is valid? [False, False] Translation: X:-26.55, Y:14.68, Z:16.86 [[ 9.94132022e-01 -9.57863528e-02 5.02642668e-02 -2.65479331e+01] [ 9.59843294e-02 9.95381663e-01 -1.53421845e-03 1.46795488e+01] [-4.98851722e-02 6.34979763e-03 9.98734774e-01 1.68624653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.129259764 meters Centerline goodness [0,1] 0.38936439235520104 Centerline is valid? [False, False] Translation: X:-26.61, Y:14.68, Z:16.87 [[ 9.94129086e-01 -9.44892213e-02 5.27176217e-02 -2.66128350e+01] [ 9.48976949e-02 9.95472953e-01 -5.29414077e-03 1.46814297e+01] [-5.19787273e-02 1.02658401e-02 9.98595426e-01 1.68673094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.159259764 meters Centerline goodness [0,1] 0.35596281668432717 Centerline is valid? [False, False] Translation: X:-26.67, Y:14.68, Z:16.87 [[ 9.93186969e-01 -1.02185225e-01 5.60162793e-02 -2.66718353e+01] [ 1.02439313e-01 9.94737844e-01 -1.67596018e-03 1.46767347e+01] [-5.55502545e-02 7.40281101e-03 9.98428449e-01 1.68701959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.189259764 meters Centerline goodness [0,1] 0.37790126709621785 Centerline is valid? [False, False] Translation: X:-26.74, Y:14.68, Z:16.87 [[ 9.93043772e-01 -1.02396605e-01 5.81291836e-02 -2.67385129e+01] [ 1.02890110e-01 9.94677227e-01 -5.55335893e-03 1.46781361e+01] [-5.72511300e-02 1.14956466e-02 9.98293623e-01 1.68742257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.219259764 meters Centerline goodness [0,1] 0.3495212525838105 Centerline is valid? [False, False] Translation: X:-26.81, Y:14.68, Z:16.88 [[ 9.92728779e-01 -1.03623730e-01 6.12510740e-02 -2.68087507e+01] [ 1.04322050e-01 9.94508880e-01 -8.30648986e-03 1.46775817e+01] [-6.00539875e-02 1.46359291e-02 9.98087826e-01 1.68779595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.249259764 meters Centerline goodness [0,1] 0.3395054410962801 Centerline is valid? [False, False] Translation: X:-26.88, Y:14.68, Z:16.88 [[ 9.92983185e-01 -1.00255256e-01 6.27158583e-02 -2.68754430e+01] [ 1.00966764e-01 9.94855406e-01 -8.27247608e-03 1.46810652e+01] [-6.15638515e-02 1.45466469e-02 9.97997138e-01 1.68816404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.279259764 meters Centerline goodness [0,1] 0.33080090883271795 Centerline is valid? [False, False] Translation: X:-26.93, Y:14.68, Z:16.89 [[ 9.93176031e-01 -9.95101440e-02 6.08202477e-02 -2.69255599e+01] [ 9.97949707e-02 9.95006644e-01 -1.65600377e-03 1.46841331e+01] [-6.03517614e-02 7.71425809e-03 9.98147361e-01 1.68863452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.309259764 meters Centerline goodness [0,1] 0.3262767865571604 Centerline is valid? [False, False] Translation: X:-26.99, Y:14.69, Z:16.89 [[ 9.93245024e-01 -9.69713492e-02 6.37250263e-02 -2.69917598e+01] [ 9.74065024e-02 9.95237614e-01 -3.75032659e-03 1.46884199e+01] [-6.30578689e-02 9.93222515e-03 9.97960448e-01 1.68912288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.339259764 meters Centerline goodness [0,1] 0.33751205400192863 Centerline is valid? [False, False] Translation: X:-27.04, Y:14.69, Z:16.90 [[ 9.93145763e-01 -9.79369349e-02 6.37953825e-02 -2.70426261e+01] [ 9.80566596e-02 9.95180037e-01 1.25912738e-03 1.46913061e+01] [-6.36112062e-02 5.00506509e-03 9.97962206e-01 1.68950094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36925976399999 meters Centerline goodness [0,1] 0.2600843007511715 Centerline is valid? [False, False] Translation: X:-27.10, Y:14.70, Z:16.90 [[ 9.93583486e-01 -9.27420577e-02 6.47361376e-02 -2.71042293e+01] [ 9.29863596e-02 9.95667089e-01 -7.64590846e-04 1.46976209e+01] [-6.43847319e-02 6.77926261e-03 9.97902123e-01 1.69004028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39925976399999 meters Centerline goodness [0,1] 0.2678381884656209 Centerline is valid? [False, False] Translation: X:-27.15, Y:14.70, Z:16.90 [[ 9.93582273e-01 -9.16064003e-02 6.63515975e-02 -2.71527127e+01] [ 9.14784057e-02 9.95794652e-01 4.97111262e-03 1.47027201e+01] [-6.65279516e-02 1.13052898e-03 9.97783921e-01 1.69026812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.429259764 meters Centerline goodness [0,1] 0.32287377537980977 Centerline is valid? [False, False] Translation: X:-27.21, Y:14.71, Z:16.91 [[ 9.93990534e-01 -8.69436258e-02 6.65103339e-02 -2.72117547e+01] [ 8.70367490e-02 9.96203970e-01 1.50173126e-03 1.47132400e+01] [-6.63884246e-02 4.29613658e-03 9.97784606e-01 1.69078429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.459259764 meters Centerline goodness [0,1] 0.23323167127692268 Centerline is valid? [False, False] Translation: X:-27.25, Y:14.72, Z:16.91 [[ 9.94356383e-01 -8.43617322e-02 6.43310311e-02 -2.72493171e+01] [ 8.42531308e-02 9.96434651e-01 4.40401612e-03 1.47204383e+01] [-6.44731990e-02 1.04092923e-03 9.97918896e-01 1.69099350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.489259764 meters Centerline goodness [0,1] 0.24163471385362834 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.73, Z:16.91 [[ 9.95115643e-01 -7.57817823e-02 6.32611938e-02 -2.73009367e+01] [ 7.58559776e-02 9.97118024e-01 1.23157898e-03 1.47319524e+01] [-6.31722078e-02 3.57317619e-03 9.97996245e-01 1.69140158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.519259764 meters Centerline goodness [0,1] 0.2711249104370671 Centerline is valid? [False, False] Translation: X:-27.34, Y:14.74, Z:16.92 [[ 9.95317635e-01 -7.45024144e-02 6.15808120e-02 -2.73364724e+01] [ 7.45338861e-02 9.97216877e-01 1.78909261e-03 1.47387433e+01] [-6.15427167e-02 2.80914180e-03 9.98100497e-01 1.69158392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.549259764 meters Centerline goodness [0,1] 0.2981777363807886 Centerline is valid? [False, False] Translation: X:-27.37, Y:14.75, Z:16.92 [[ 9.95537321e-01 -7.35494903e-02 5.91262601e-02 -2.73688856e+01] [ 7.36513551e-02 9.97283946e-01 4.57548167e-04 1.47459391e+01] [-5.89993224e-02 3.89922290e-03 9.98250407e-01 1.69180918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.579259764 meters Centerline goodness [0,1] 0.32258998359548396 Centerline is valid? [False, False] Translation: X:-27.39, Y:14.76, Z:16.92 [[ 9.96396768e-01 -6.51651449e-02 5.42861429e-02 -2.73934027e+01] [ 6.50984349e-02 9.97874343e-01 2.99811461e-03 1.47562890e+01] [-5.43661217e-02 5.46631230e-04 9.98520919e-01 1.69209005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.609259764 meters Centerline goodness [0,1] 0.2904032434269622 Centerline is valid? [False, False] Translation: X:-27.42, Y:14.77, Z:16.92 [[ 9.96766842e-01 -6.24620711e-02 5.05405999e-02 -2.74218056e+01] [ 6.24700183e-02 9.98045825e-01 1.42393248e-03 1.47651048e+01] [-5.05307765e-02 1.73794353e-03 9.98720992e-01 1.69243331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.639259764 meters Centerline goodness [0,1] 0.3429017388971539 Centerline is valid? [False, False] Translation: X:-27.44, Y:14.77, Z:16.93 [[ 9.97263003e-01 -5.80531706e-02 4.57857176e-02 -2.74441951e+01] [ 5.82003297e-02 9.98303142e-01 -1.88646188e-03 1.47738138e+01] [-4.55985107e-02 4.54604250e-03 9.98949503e-01 1.69290381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.669259764 meters Centerline goodness [0,1] 0.36135192556594786 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.78, Z:16.93 [[ 9.97747528e-01 -5.33873963e-02 4.06159582e-02 -2.74640347e+01] [ 5.36461291e-02 9.98545910e-01 -5.30644836e-03 1.47793769e+01] [-4.02736015e-02 7.47338468e-03 9.99160741e-01 1.69331820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.699259764 meters Centerline goodness [0,1] 0.38531727538080407 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.79, Z:16.94 [[ 9.98277623e-01 -4.73390835e-02 3.46525455e-02 -2.74819086e+01] [ 4.76600329e-02 9.98827492e-01 -8.49479443e-03 1.47861084e+01] [-3.42097794e-02 1.01317047e-02 9.99363317e-01 1.69386814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.729259764 meters Centerline goodness [0,1] 0.39087641006569973 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.80, Z:16.94 [[ 9.98682545e-01 -4.14447479e-02 3.02573426e-02 -2.75085621e+01] [ 4.17224251e-02 9.99092193e-01 -8.60398137e-03 1.47978712e+01] [-2.98732849e-02 9.85505572e-03 9.99505110e-01 1.69439631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75925976399999 meters Centerline goodness [0,1] 0.40305206463195686 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.81, Z:16.95 [[ 9.98954161e-01 -3.80711373e-02 2.53213964e-02 -2.75325194e+01] [ 3.84006305e-02 9.99182276e-01 -1.26558575e-02 1.48090319e+01] [-2.48188676e-02 1.36149791e-02 9.99599248e-01 1.69502869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.789259764 meters Centerline goodness [0,1] 0.40175732846020973 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.82, Z:16.96 [[ 9.99258171e-01 -3.31089429e-02 1.96699401e-02 -2.75515418e+01] [ 3.34290176e-02 9.99310237e-01 -1.61725615e-02 1.48157344e+01] [-1.91209161e-02 1.68181110e-02 9.99675718e-01 1.69550146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.819259764 meters Centerline goodness [0,1] 0.4105025692442662 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.82, Z:16.95 [[ 9.99379953e-01 -2.89845860e-02 1.99900689e-02 -2.75519973e+01] [ 2.92259297e-02 9.99502130e-01 -1.18885413e-02 1.48157946e+01] [-1.96355320e-02 1.24653982e-02 9.99729493e-01 1.69538766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.849259764 meters Centerline goodness [0,1] 0.4142208467568047 Centerline is valid? [False, False] Translation: X:-27.57, Y:14.83, Z:16.96 [[ 9.99650975e-01 -2.22104526e-02 1.43046931e-02 -2.75701106e+01] [ 2.24118096e-02 9.99649766e-01 -1.40732484e-02 1.48254857e+01] [-1.39871099e-02 1.43889305e-02 9.99798639e-01 1.69577260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.879259764 meters Centerline goodness [0,1] 0.41401436064571984 Centerline is valid? [False, False] Translation: X:-27.57, Y:14.82, Z:16.96 [[ 9.99779479e-01 -1.47627017e-02 1.49350386e-02 -2.75717021e+01] [ 1.48487191e-02 9.99873704e-01 -5.66502863e-03 1.48234361e+01] [-1.48495212e-02 5.88554557e-03 9.99872418e-01 1.69561764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.909259764 meters Centerline goodness [0,1] 0.4269561865604523 Centerline is valid? [False, False] Translation: X:-27.57, Y:14.83, Z:16.95 [[ 9.99868742e-01 -6.11773742e-03 1.50023875e-02 -2.75699553e+01] [ 6.07896607e-03 9.99978068e-01 2.62858764e-03 1.48264031e+01] [-1.50181395e-02 -2.53704361e-03 9.99884003e-01 1.69534256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.939259764 meters Centerline goodness [0,1] 0.4269561865604523 Centerline is valid? [False, False] Translation: X:-27.57, Y:14.83, Z:16.95 [[ 9.99868742e-01 -6.11773742e-03 1.50023875e-02 -2.75699553e+01] [ 6.07896607e-03 9.99978068e-01 2.62858764e-03 1.48264031e+01] [-1.50181395e-02 -2.53704361e-03 9.99884003e-01 1.69534256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.969259764 meters Centerline goodness [0,1] 0.42148270351085215 Centerline is valid? [False, False] Translation: X:-27.57, Y:14.83, Z:16.95 [[ 9.99881233e-01 -5.43965051e-03 1.44197934e-02 -2.75673237e+01] [ 5.40660979e-03 9.99982671e-01 2.32933881e-03 1.48302493e+01] [-1.44322143e-02 -2.25109996e-03 9.99893316e-01 1.69525710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.999259764 meters Centerline goodness [0,1] 0.4547617200630931 Centerline is valid? [False, False] Translation: X:-27.57, Y:14.83, Z:16.95 [[ 9.99890844e-01 -4.93693052e-03 1.39257713e-02 -2.75650788e+01] [ 4.90809636e-03 9.99985742e-01 2.10397785e-03 1.48332336e+01] [-1.39359600e-02 -2.03539916e-03 9.99900818e-01 1.69516806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.029259764 meters Centerline goodness [0,1] 0.4471201459473547 Centerline is valid? [False, False] Translation: X:-27.56, Y:14.84, Z:16.95 [[ 9.99901868e-01 -6.30928973e-04 1.39948728e-02 -2.75637905e+01] [ 5.47532497e-04 9.99982077e-01 5.96210480e-03 1.48359642e+01] [-1.39983836e-02 -5.95385708e-03 9.99884292e-01 1.69498989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.059259764 meters Centerline goodness [0,1] 0.4464929231733431 Centerline is valid? [False, False] Translation: X:-27.56, Y:14.84, Z:16.95 [[ 9.99908550e-01 -5.37092415e-04 1.35130551e-02 -2.75623038e+01] [ 4.65796962e-04 9.99985959e-01 5.27863678e-03 1.48398237e+01] [-1.35157005e-02 -5.27185971e-03 9.99894761e-01 1.69500530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.089259764 meters Centerline goodness [0,1] 0.45922983849755383 Centerline is valid? [False, False] Translation: X:-27.56, Y:14.85, Z:16.95 [[ 9.99916709e-01 -5.94741173e-05 1.29062868e-02 -2.75598189e+01] [ 6.56432303e-06 9.99991597e-01 4.09954017e-03 1.48474032e+01] [-1.29064222e-02 -4.09911399e-03 9.99908307e-01 1.69503126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11925976399999 meters Centerline goodness [0,1] 0.4632092900501451 Centerline is valid? [False, False] Translation: X:-27.56, Y:14.85, Z:16.95 [[ 9.99923012e-01 1.21913226e-05 1.24084870e-02 -2.75583419e+01] [-5.39647426e-05 9.99994333e-01 3.36619076e-03 1.48512083e+01] [-1.24083757e-02 -3.36660122e-03 9.99917346e-01 1.69505661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14925976399999 meters Centerline goodness [0,1] 0.4772260867247675 Centerline is valid? [False, False] Translation: X:-27.56, Y:14.86, Z:16.95 [[ 9.99916576e-01 4.52800952e-03 1.20970168e-02 -2.75561957e+01] [-4.60541616e-03 9.99969051e-01 6.37864529e-03 1.48578951e+01] [-1.20677598e-02 -6.43382496e-03 9.99906483e-01 1.69501181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.179259764 meters Centerline goodness [0,1] 0.4753555009087993 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.86, Z:16.95 [[ 9.99922690e-01 4.70569120e-03 1.15095882e-02 -2.75543970e+01] [-4.76852422e-03 9.99973845e-01 5.43785244e-03 1.48628932e+01] [-1.14836984e-02 -5.49231579e-03 9.99918976e-01 1.69506157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.209259764 meters Centerline goodness [0,1] 0.4874492184347171 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.87, Z:16.95 [[ 9.99927718e-01 4.70376432e-03 1.10649329e-02 -2.75531511e+01] [-4.75407004e-03 9.99978464e-01 4.52450894e-03 1.48672145e+01] [-1.10434124e-02 -4.57678537e-03 9.99928545e-01 1.69511292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.239259764 meters Centerline goodness [0,1] 0.4965464936753433 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.87, Z:16.95 [[ 9.99925623e-01 5.88700595e-03 1.06813929e-02 -2.75502234e+01] [-5.92894472e-03 9.99974823e-01 3.89893059e-03 1.48740532e+01] [-1.06581709e-02 -3.96196999e-03 9.99935351e-01 1.69504874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.269259764 meters Centerline goodness [0,1] 0.48873017597219204 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.88, Z:16.95 [[ 9.99929606e-01 6.01090087e-03 1.02299401e-02 -2.75485832e+01] [-6.04487141e-03 9.99976307e-01 3.29302340e-03 1.48776858e+01] [-1.02099037e-02 -3.35463027e-03 9.99942250e-01 1.69503611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.299259764 meters Centerline goodness [0,1] 0.4990853741775193 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.88, Z:16.95 [[ 9.99921217e-01 7.45009697e-03 1.01023086e-02 -2.75457948e+01] [-7.47983915e-03 9.99967793e-01 2.90951722e-03 1.48839506e+01] [-1.00803071e-02 -2.98485164e-03 9.99944738e-01 1.69492015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.329259764 meters Centerline goodness [0,1] 0.506418502805529 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.89, Z:16.95 [[ 9.99925019e-01 7.74240861e-03 9.48747886e-03 -2.75437833e+01] [-7.76462605e-03 9.99967193e-01 2.30717090e-03 1.48876050e+01] [-9.46930454e-03 -2.38066463e-03 9.99952331e-01 1.69493008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.359259764 meters Centerline goodness [0,1] 0.5268414825413422 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.89, Z:16.95 [[ 9.99920604e-01 8.75599902e-03 9.06193581e-03 -2.75411219e+01] [-8.76923337e-03 9.99960539e-01 1.42173031e-03 1.48943621e+01] [-9.04912955e-03 -1.50108366e-03 9.99957929e-01 1.69492991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.389259764 meters Centerline goodness [0,1] 0.5263186949681194 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.90, Z:16.95 [[ 9.99924286e-01 8.83464944e-03 8.56575769e-03 -2.75396362e+01] [-8.84106017e-03 9.99960664e-01 7.10836448e-04 1.48980135e+01] [-8.55914076e-03 -7.86513007e-04 9.99963061e-01 1.69496103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.419259764 meters Centerline goodness [0,1] 0.5312006209630471 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.90, Z:16.95 [[ 9.99921988e-01 9.49904338e-03 8.11082526e-03 -2.75373552e+01] [-9.49728413e-03 9.99954867e-01 -2.55390838e-04 1.49041288e+01] [-8.11288517e-03 1.78340103e-04 9.99967074e-01 1.69498530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.449259764 meters Centerline goodness [0,1] 0.5273100502094372 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.91, Z:16.95 [[ 9.99923522e-01 9.63817539e-03 7.74956854e-03 -2.75362117e+01] [-9.63264706e-03 9.99953323e-01 -7.50382125e-04 1.49067684e+01] [-7.75643913e-03 6.75675878e-04 9.99969690e-01 1.69500393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.479259764 meters Centerline goodness [0,1] 0.5288654060066741 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.91, Z:16.95 [[ 9.99926930e-01 9.51121651e-03 7.46135274e-03 -2.75355878e+01] [-9.50057906e-03 9.99953803e-01 -1.45982520e-03 1.49095403e+01] [-7.47489276e-03 1.38883135e-03 9.99971098e-01 1.69506058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50925976399999 meters Centerline goodness [0,1] 0.5328277900136609 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.91, Z:16.95 [[ 9.99927161e-01 9.90992093e-03 6.88963875e-03 -2.75335928e+01] [-9.89535826e-03 9.99948740e-01 -2.14459094e-03 1.49138736e+01] [-6.91053832e-03 2.07625928e-03 9.99973966e-01 1.69509362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.539259764 meters Centerline goodness [0,1] 0.530879391362721 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99929635e-01 9.83097180e-03 6.63911222e-03 -2.75331206e+01] [-9.81277628e-03 9.99948023e-01 -2.76769160e-03 1.49161805e+01] [-6.66597623e-03 2.70234873e-03 9.99974131e-01 1.69516007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.569259764 meters Centerline goodness [0,1] 0.5327556228616299 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99927995e-01 1.03448196e-02 6.08185315e-03 -2.75309579e+01] [-1.03263762e-02 9.99942011e-01 -3.05615029e-03 1.49189951e+01] [-6.11311579e-03 2.99312673e-03 9.99976835e-01 1.69513490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.599259764 meters Centerline goodness [0,1] 0.5315555805327639 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99928347e-01 1.03430562e-02 6.02674514e-03 -2.75306789e+01] [-1.03233795e-02 9.99941310e-01 -3.28691555e-03 1.49201836e+01] [-6.06038818e-03 3.22446366e-03 9.99976437e-01 1.69513302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.629259764 meters Centerline goodness [0,1] 0.5310240031516448 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99929284e-01 1.03109755e-02 5.92551162e-03 -2.75302648e+01] [-1.02902316e-02 9.99940856e-01 -3.52065318e-03 1.49215707e+01] [-5.96146253e-03 3.45942932e-03 9.99976246e-01 1.69512406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.659259764 meters Centerline goodness [0,1] 0.5325726490922377 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99930352e-01 1.02002406e-02 5.93681308e-03 -2.75304171e+01] [-1.01785239e-02 9.99941438e-01 -3.67676852e-03 1.49221117e+01] [-5.97396933e-03 3.61608445e-03 9.99975618e-01 1.69514157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.689259764 meters Centerline goodness [0,1] 0.5341129508334973 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99932890e-01 9.79112321e-03 6.19266906e-03 -2.75317238e+01] [-9.76670456e-03 9.99944459e-01 -3.96118001e-03 1.49223984e+01] [-6.23110951e-03 3.90043221e-03 9.99972980e-01 1.69521225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.719259764 meters Centerline goodness [0,1] 0.5330516828615688 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99932886e-01 9.60047772e-03 6.48498731e-03 -2.75327657e+01] [-9.57469122e-03 9.99946178e-01 -3.99574964e-03 1.49219978e+01] [-6.52299938e-03 3.93338972e-03 9.99970989e-01 1.69523670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.749259764 meters Centerline goodness [0,1] 0.5311014207342806 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99932417e-01 9.41775803e-03 6.81662912e-03 -2.75337246e+01] [-9.39145216e-03 9.99948368e-01 -3.88085011e-03 1.49213147e+01] [-6.85282608e-03 3.81656979e-03 9.99969236e-01 1.69522121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.779259764 meters Centerline goodness [0,1] 0.531551554367703 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99933767e-01 9.09096032e-03 7.05807609e-03 -2.75347195e+01] [-9.06342534e-03 9.99951229e-01 -3.92343607e-03 1.49208173e+01] [-7.09339966e-03 3.85920586e-03 9.99967395e-01 1.69523965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.809259764 meters Centerline goodness [0,1] 0.5359628116636146 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99935064e-01 9.08834413e-03 6.87525298e-03 -2.75341467e+01] [-9.05985019e-03 9.99950288e-01 -4.16427540e-03 1.49224142e+01] [-6.91275756e-03 4.10171623e-03 9.99967694e-01 1.69524175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.839259764 meters Centerline goodness [0,1] 0.537223113512905 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99934344e-01 9.51243345e-03 6.38913163e-03 -2.75323298e+01] [-9.48523842e-03 9.99945883e-01 -4.27335153e-03 1.49245023e+01] [-6.42943584e-03 4.21246853e-03 9.99970458e-01 1.69521557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86925976399999 meters Centerline goodness [0,1] 0.5357404588759231 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.93, Z:16.95 [[ 9.99934079e-01 9.63000533e-03 6.25301857e-03 -2.75318549e+01] [-9.60249757e-03 9.99944151e-01 -4.41433869e-03 1.49251504e+01] [-6.29517945e-03 4.35400309e-03 9.99970706e-01 1.69521870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89925976399999 meters Centerline goodness [0,1] 0.5383074187995598 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.93, Z:16.95 [[ 9.99932508e-01 9.86759371e-03 6.13265274e-03 -2.75312612e+01] [-9.84125203e-03 9.99942282e-01 -4.31075169e-03 1.49251577e+01] [-6.17483552e-03 4.25010777e-03 9.99971904e-01 1.69519091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.929259764 meters Centerline goodness [0,1] 0.5403107758135346 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99929323e-01 1.02450363e-02 6.03229440e-03 -2.75305207e+01] [-1.02208801e-02 9.99939678e-01 -4.02179164e-03 1.49245690e+01] [-6.07313392e-03 3.95985203e-03 9.99973718e-01 1.69513305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.959259764 meters Centerline goodness [0,1] 0.538847824860351 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99929405e-01 1.02476403e-02 6.01427942e-03 -2.75306232e+01] [-1.02233438e-02 9.99939511e-01 -4.05673014e-03 1.49244672e+01] [-6.05548753e-03 3.99495771e-03 9.99973685e-01 1.69515614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.989259764 meters Centerline goodness [0,1] 0.5341117409820346 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99930703e-01 9.98077827e-03 6.24283391e-03 -2.75318969e+01] [-9.95564153e-03 9.99942261e-01 -4.04469478e-03 1.49237780e+01] [-6.28284265e-03 3.98226308e-03 9.99972333e-01 1.69521396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.019259764 meters Centerline goodness [0,1] 0.5332995552553059 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99930822e-01 9.91428456e-03 6.32916291e-03 -2.75325670e+01] [-9.88938015e-03 9.99943281e-01 -3.95411068e-03 1.49229057e+01] [-6.36800611e-03 3.89124564e-03 9.99972153e-01 1.69525824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.049259764 meters Centerline goodness [0,1] 0.5339004463909711 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99965551e-01 5.78345825e-03 5.95380826e-03 -2.75324301e+01] [-5.73409830e-03 9.99949326e-01 -8.27443581e-03 1.49233318e+01] [-6.00136141e-03 8.24001105e-03 9.99948042e-01 1.69537163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.079259764 meters Centerline goodness [0,1] 0.530829596412556 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99963176e-01 5.84291321e-03 6.28540769e-03 -2.75332401e+01] [-5.79460068e-03 9.99953739e-01 -7.67740269e-03 1.49209263e+01] [-6.32997532e-03 7.64069856e-03 9.99950774e-01 1.69531470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.109259764 meters Centerline goodness [0,1] 0.5275920202304019 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99961133e-01 5.80437567e-03 6.63633671e-03 -2.75341970e+01] [-5.75666646e-03 9.99957612e-01 -7.18572836e-03 1.49188259e+01] [-6.67776407e-03 7.14724590e-03 9.99952161e-01 1.69527477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.139259764 meters Centerline goodness [0,1] 0.5227691791920434 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99978524e-01 1.58974687e-03 6.35803068e-03 -2.75341737e+01] [-1.51768541e-03 9.99934744e-01 -1.13227380e-02 1.49188755e+01] [-6.37561607e-03 1.13128453e-02 9.99915682e-01 1.69535973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.169259764 meters Centerline goodness [0,1] 0.527318897198348 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99977836e-01 1.70410216e-03 6.43614125e-03 -2.75344579e+01] [-1.63430206e-03 9.99939967e-01 -1.08347559e-02 1.49172104e+01] [-6.45421839e-03 1.08239972e-02 9.99920589e-01 1.69533857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.199259764 meters Centerline goodness [0,1] 0.5249965185907255 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.91, Z:16.95 [[ 9.99975968e-01 1.70905670e-03 6.71886915e-03 -2.75353616e+01] [-1.64040970e-03 9.99946538e-01 -1.02093150e-02 1.49148641e+01] [-6.73595824e-03 1.01980479e-02 9.99925311e-01 1.69530300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.229259764 meters Centerline goodness [0,1] 0.5279409717388278 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.91, Z:16.95 [[ 9.99976257e-01 1.94629719e-03 6.61036474e-03 -2.75349044e+01] [-1.88093096e-03 9.99949420e-01 -9.88030986e-03 1.49142311e+01] [-6.62926041e-03 9.86764164e-03 9.99929339e-01 1.69526967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25925976399999 meters Centerline goodness [0,1] 0.526984126984127 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.91, Z:16.95 [[ 9.99975649e-01 2.10771521e-03 6.65267025e-03 -2.75347900e+01] [-2.04401888e-03 9.99952147e-01 -9.56687265e-03 1.49135499e+01] [-6.67251614e-03 9.55304151e-03 9.99932106e-01 1.69522234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.289259764 meters Centerline goodness [0,1] 0.5272858491089769 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.91, Z:16.95 [[ 9.99972678e-01 2.49104375e-03 6.95976241e-03 -2.75351498e+01] [-2.43179558e-03 9.99960845e-01 -8.50849087e-03 1.49096816e+01] [-6.98068492e-03 8.49133368e-03 9.99939582e-01 1.69510380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.319259764 meters Centerline goodness [0,1] 0.5220291138539879 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.90, Z:16.95 [[ 9.99968479e-01 2.37826115e-03 7.57522729e-03 -2.75368966e+01] [-2.32057610e-03 9.99968315e-01 -7.61466801e-03 1.49049264e+01] [-7.59309694e-03 7.59684910e-03 9.99942315e-01 1.69503042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.349259764 meters Centerline goodness [0,1] 0.5048742094943526 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.90, Z:16.95 [[ 9.99966076e-01 2.41295436e-03 7.87550287e-03 -2.75377319e+01] [-2.35713995e-03 9.99972097e-01 -7.08869574e-03 1.49028180e+01] [-7.89238782e-03 7.06989160e-03 9.99943862e-01 1.69500229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.379259764 meters Centerline goodness [0,1] 0.49594326084556795 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.90, Z:16.95 [[ 9.99963897e-01 2.27199602e-03 8.18791062e-03 -2.75389025e+01] [-2.21713762e-03 9.99975078e-01 -6.70278736e-03 1.49010425e+01] [-8.20293526e-03 6.68439165e-03 9.99944014e-01 1.69500770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.409259764 meters Centerline goodness [0,1] 0.49616615180935564 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.90, Z:16.95 [[ 9.99961276e-01 2.07088694e-03 8.55321416e-03 -2.75402884e+01] [-2.01627280e-03 9.99977558e-01 -6.38891373e-03 1.48993107e+01] [-8.56625293e-03 6.37142072e-03 9.99943011e-01 1.69502430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.439259764 meters Centerline goodness [0,1] 0.49425224285988645 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.90, Z:16.95 [[ 9.99957574e-01 1.25295948e-03 9.12581555e-03 -2.75430136e+01] [-1.19687272e-03 9.99980380e-01 -6.14881498e-03 1.48964971e+01] [-9.13334072e-03 6.13763167e-03 9.99939454e-01 1.69507875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.469259764 meters Centerline goodness [0,1] 0.5001512776081635 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.89, Z:16.95 [[ 9.99955668e-01 1.28620167e-03 9.32781251e-03 -2.75437779e+01] [-1.23245068e-03 9.99982618e-01 -5.76590400e-03 1.48948173e+01] [-9.33506648e-03 5.75415231e-03 9.99939871e-01 1.69507871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.499259764 meters Centerline goodness [0,1] 0.5051194539249146 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.90, Z:16.95 [[ 9.99956723e-01 1.39555791e-03 9.19812553e-03 -2.75434385e+01] [-1.34234634e-03 9.99982344e-01 -5.78868251e-03 1.48953166e+01] [-9.20604157e-03 5.77608492e-03 9.99940941e-01 1.69508355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.529259764 meters Centerline goodness [0,1] 0.5052394180257983 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.90, Z:16.95 [[ 9.99957479e-01 1.47200357e-03 9.10352682e-03 -2.75431388e+01] [-1.41879155e-03 9.99981888e-01 -5.84890822e-03 1.48959804e+01] [-9.11197156e-03 5.83574351e-03 9.99941456e-01 1.69508412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.559259764 meters Centerline goodness [0,1] 0.49664152397731653 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.90, Z:16.95 [[ 9.99959514e-01 1.69930122e-03 8.83646626e-03 -2.75421292e+01] [-1.64629222e-03 9.99980628e-01 -6.00270991e-03 1.48977070e+01] [-8.84649549e-03 5.98791948e-03 9.99942941e-01 1.69507250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.589259764 meters Centerline goodness [0,1] 0.5103065757885151 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.90, Z:16.95 [[ 9.99962416e-01 2.02634053e-03 8.42973153e-03 -2.75407818e+01] [-1.97455002e-03 9.99979154e-01 -6.14758407e-03 1.48996002e+01] [-8.44201290e-03 6.13070809e-03 9.99945572e-01 1.69506589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61925976399999 meters Centerline goodness [0,1] 0.5019346636449062 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.90, Z:16.95 [[ 9.99965447e-01 2.61565828e-03 7.89075141e-03 -2.75386644e+01] [-2.56545363e-03 9.99976447e-01 -6.36589514e-03 1.49029611e+01] [-7.90721656e-03 6.34543181e-03 9.99948604e-01 1.69504029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64925976399999 meters Centerline goodness [0,1] 0.5276530894984761 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.91, Z:16.95 [[ 9.99966676e-01 2.62420122e-03 7.73050624e-03 -2.75381087e+01] [-2.57234648e-03 9.99974178e-01 -6.71013036e-03 1.49050821e+01] [-7.74791536e-03 6.69002121e-03 9.99947605e-01 1.69504522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.679259764 meters Centerline goodness [0,1] 0.513353692393115 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.91, Z:16.95 [[ 9.99968504e-01 2.55087575e-03 7.51562440e-03 -2.75375343e+01] [-2.49722736e-03 9.99971399e-01 -7.13900670e-03 1.49075063e+01] [-7.53362016e-03 7.12001362e-03 9.99946274e-01 1.69506367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.709259764 meters Centerline goodness [0,1] 0.520107089073568 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.91, Z:16.95 [[ 9.99948648e-01 7.10179908e-03 7.22953996e-03 -2.75357240e+01] [-7.07936600e-03 9.99970062e-01 -3.12385184e-03 1.49102912e+01] [-7.25150848e-03 3.07251086e-03 9.99968987e-01 1.69496564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.739259764 meters Centerline goodness [0,1] 0.529047619047619 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.91, Z:16.95 [[ 9.99951465e-01 7.09377547e-03 6.83704083e-03 -2.75347850e+01] [-7.06758443e-03 9.99967623e-01 -3.84733598e-03 1.49134324e+01] [-6.86411160e-03 3.79882789e-03 9.99969226e-01 1.69502982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.769259764 meters Centerline goodness [0,1] 0.5328553353015606 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99948823e-01 7.85889073e-03 6.37103030e-03 -2.75320699e+01] [-7.83344112e-03 9.99961279e-01 -4.00974369e-03 1.49165399e+01] [-6.40229574e-03 3.95963139e-03 9.99971666e-01 1.69491759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.799259764 meters Centerline goodness [0,1] 0.5426472244116654 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99947899e-01 8.20832691e-03 6.06824570e-03 -2.75305510e+01] [-8.18400082e-03 9.99958419e-01 -4.02277357e-03 1.49177826e+01] [-6.10101361e-03 3.97290145e-03 9.99973496e-01 1.69484391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.829259764 meters Centerline goodness [0,1] 0.5426472244116654 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99947899e-01 8.20832691e-03 6.06824570e-03 -2.75305510e+01] [-8.18400082e-03 9.99958419e-01 -4.02277357e-03 1.49177826e+01] [-6.10101361e-03 3.97290145e-03 9.99973496e-01 1.69484391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.859259764 meters Centerline goodness [0,1] 0.5200721187706003 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99946941e-01 8.54752503e-03 5.74940009e-03 -2.75289827e+01] [-8.52396072e-03 9.99955221e-01 -4.11066056e-03 1.49194867e+01] [-5.78427862e-03 4.06143479e-03 9.99975023e-01 1.69477729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.889259764 meters Centerline goodness [0,1] 0.5474772002145862 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99944979e-01 9.10206646e-03 5.21457938e-03 -2.75265580e+01] [-9.08046030e-03 9.99950151e-01 -4.15221404e-03 1.49222393e+01] [-5.25211317e-03 4.10463480e-03 9.99977783e-01 1.69468881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.919259764 meters Centerline goodness [0,1] 0.5531589240667781 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99945499e-01 9.27414280e-03 4.79462540e-03 -2.75251379e+01] [-9.25308311e-03 9.99947526e-01 -4.39603435e-03 1.49247334e+01] [-4.83514326e-03 4.35142969e-03 9.99978843e-01 1.69468017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.949259764 meters Centerline goodness [0,1] 0.5394333409039291 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.93, Z:16.95 [[ 9.99946054e-01 9.29830511e-03 4.62924842e-03 -2.75247642e+01] [-9.27715063e-03 9.99946521e-01 -4.57043465e-03 1.49257812e+01] [-4.67149815e-03 4.52724186e-03 9.99978840e-01 1.69470260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.979259764 meters Centerline goodness [0,1] 0.5495977792884659 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.93, Z:16.95 [[ 9.99946638e-01 9.28819217e-03 4.52232869e-03 -2.75246181e+01] [-9.26675069e-03 9.99945832e-01 -4.73933860e-03 1.49266964e+01] [-4.56610361e-03 4.69717840e-03 9.99978543e-01 1.69473274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00925976399999 meters Centerline goodness [0,1] 0.5537413034218372 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.93, Z:16.95 [[ 9.99945963e-01 9.42916269e-03 4.37740724e-03 -2.75243821e+01] [-9.40747167e-03 9.99943499e-01 -4.94964377e-03 1.49274002e+01] [-4.42383091e-03 4.90819597e-03 9.99978169e-01 1.69478928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.039259764 meters Centerline goodness [0,1] 0.5500212977424392 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.93, Z:16.95 [[ 9.99945077e-01 9.51650760e-03 4.39071655e-03 -2.75243381e+01] [-9.49519764e-03 9.99943163e-01 -4.84899648e-03 1.49270718e+01] [-4.43661251e-03 4.80703944e-03 9.99978604e-01 1.69477516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.069259764 meters Centerline goodness [0,1] 0.5511853448275862 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.93, Z:16.95 [[ 9.99974321e-01 6.04709707e-03 3.84581361e-03 -2.75226718e+01] [-6.01216595e-03 9.99941150e-01 -9.03050518e-03 1.49282940e+01] [-3.90019563e-03 9.00715161e-03 9.99951829e-01 1.69481506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.099259764 meters Centerline goodness [0,1] 0.5465343174683974 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.93, Z:16.95 [[ 9.99973142e-01 6.07124251e-03 4.10548015e-03 -2.75235023e+01] [-6.03522912e-03 9.99943695e-01 -8.72824733e-03 1.49267537e+01] [-4.15824030e-03 8.70323540e-03 9.99953480e-01 1.69481188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.129259764 meters Centerline goodness [0,1] 0.5484498857513611 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.93, Z:16.95 [[ 9.99972072e-01 5.96788009e-03 4.49893628e-03 -2.75249355e+01] [-5.92927438e-03 9.99945902e-01 -8.54611991e-03 1.49252106e+01] [-4.54969512e-03 8.51920581e-03 9.99953361e-01 1.69484558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.159259764 meters Centerline goodness [0,1] 0.5383011691787576 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99972453e-01 5.45114589e-03 5.03762313e-03 -2.75276642e+01] [-5.40891410e-03 9.99950432e-01 -8.35921717e-03 1.49223051e+01] [-5.08294074e-03 8.33173883e-03 9.99952372e-01 1.69495645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.189259764 meters Centerline goodness [0,1] 0.5395313553607552 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99971768e-01 5.33940302e-03 5.28720442e-03 -2.75287680e+01] [-5.29680911e-03 9.99953670e-01 -8.03753391e-03 1.49204606e+01] [-5.32987509e-03 8.00930168e-03 9.99953721e-01 1.69497905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.219259764 meters Centerline goodness [0,1] 0.5405125911847732 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99986694e-01 1.10909000e-03 5.03793313e-03 -2.75290746e+01] [-1.04720956e-03 9.99924185e-01 -1.22689781e-02 1.49205453e+01] [-5.05115858e-03 1.22635391e-02 9.99912042e-01 1.69511101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.249259764 meters Centerline goodness [0,1] 0.534329360416317 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99985962e-01 1.13871174e-03 5.17485087e-03 -2.75295240e+01] [-1.07611577e-03 9.99926420e-01 -1.20829154e-02 1.49198766e+01] [-5.18822906e-03 1.20771770e-02 9.99913608e-01 1.69511220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.279259764 meters Centerline goodness [0,1] 0.5329581093189963 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99984129e-01 1.12632122e-03 5.52030555e-03 -2.75306394e+01] [-1.06243182e-03 9.99932584e-01 -1.15628249e-02 1.49175673e+01] [-5.53295685e-03 1.15567764e-02 9.99917910e-01 1.69509151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.309259764 meters Centerline goodness [0,1] 0.5297802136345842 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.95 [[ 9.99982169e-01 1.15190790e-03 5.85961011e-03 -2.75312903e+01] [-1.08651866e-03 9.99937243e-01 -1.11502854e-02 1.49160805e+01] [-5.87208648e-03 1.11437200e-02 9.99920665e-01 1.69502649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.339259764 meters Centerline goodness [0,1] 0.5369067560022334 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.91, Z:16.95 [[ 9.99980737e-01 1.22540924e-03 6.08472802e-03 -2.75315763e+01] [-1.16067454e-03 9.99942815e-01 -1.06310401e-02 1.49145276e+01] [-6.09740745e-03 1.06237729e-02 9.99924976e-01 1.69494444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36925976399999 meters Centerline goodness [0,1] 0.5350833194003233 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.91, Z:16.95 [[ 9.99979383e-01 1.51122324e-03 6.24100215e-03 -2.75315046e+01] [-1.45012409e-03 9.99951095e-01 -9.78290562e-03 1.49120746e+01] [-6.25548108e-03 9.77365369e-03 9.99932670e-01 1.69481903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39925976399999 meters Centerline goodness [0,1] 0.5157571528262387 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.91, Z:16.95 [[ 9.99978913e-01 1.61160441e-03 6.29098207e-03 -2.75314956e+01] [-1.55179261e-03 9.99953662e-01 -9.50087636e-03 1.49114755e+01] [-6.30600221e-03 9.49091372e-03 9.99935076e-01 1.69478399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.429259764 meters Centerline goodness [0,1] 0.5158690456339281 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.91, Z:16.95 [[ 9.99978012e-01 1.81369468e-03 6.37861971e-03 -2.75316410e+01] [-1.75577934e-03 9.99957293e-01 -9.07351322e-03 1.49101542e+01] [-6.39480388e-03 9.06211426e-03 9.99938490e-01 1.69475283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.459259764 meters Centerline goodness [0,1] 0.5346452097056617 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.91, Z:16.95 [[ 9.99976875e-01 1.93894338e-03 6.51840009e-03 -2.75318743e+01] [-1.88250088e-03 9.99960782e-01 -8.65396394e-03 1.49088688e+01] [-6.53492400e-03 8.64149293e-03 9.99941308e-01 1.69470907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.489259764 meters Centerline goodness [0,1] 0.5291987950142332 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.91, Z:16.95 [[ 9.99975259e-01 1.91176233e-03 6.76956451e-03 -2.75325550e+01] [-1.85549699e-03 9.99963766e-01 -8.30806361e-03 1.49075270e+01] [-6.78520226e-03 8.29529715e-03 9.99942573e-01 1.69467619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.519259764 meters Centerline goodness [0,1] 0.5141024222984183 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.90, Z:16.95 [[ 9.99971781e-01 1.83586632e-03 7.28471661e-03 -2.75340118e+01] [-1.78169222e-03 9.99970764e-01 -7.43621352e-03 1.49031322e+01] [-7.29815552e-03 7.42302455e-03 9.99945816e-01 1.69459625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.549259764 meters Centerline goodness [0,1] 0.5085471265637513 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.90, Z:16.95 [[ 9.99968652e-01 1.99798411e-03 7.66181894e-03 -2.75347344e+01] [-1.94678554e-03 9.99975767e-01 -6.68394524e-03 1.49003148e+01] [-7.67498769e-03 6.66881979e-03 9.99948309e-01 1.69451119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.579259764 meters Centerline goodness [0,1] 0.5022705380487134 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.90, Z:16.95 [[ 9.99967109e-01 1.08604511e-03 8.03755226e-03 -2.75371319e+01] [-1.03701284e-03 9.99980845e-01 -6.10205375e-03 1.48958167e+01] [-8.04402540e-03 6.09351800e-03 9.99949080e-01 1.69452199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.609259764 meters Centerline goodness [0,1] 0.4853679273744549 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.89, Z:16.95 [[ 9.99966291e-01 1.15793503e-03 8.12869983e-03 -2.75374668e+01] [-1.11168462e-03 9.99983183e-01 -5.69198131e-03 1.48944925e+01] [-8.13515407e-03 5.68275289e-03 9.99950762e-01 1.69450605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.639259764 meters Centerline goodness [0,1] 0.49414057139720613 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.89, Z:16.95 [[ 9.99965533e-01 1.19941788e-03 8.21547971e-03 -2.75378834e+01] [-1.15553391e-03 9.99985052e-01 -5.34428542e-03 1.48933968e+01] [-8.22176693e-03 5.33460795e-03 9.99951971e-01 1.69450669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.669259764 meters Centerline goodness [0,1] 0.496821046862154 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.89, Z:16.95 [[ 9.99967316e-01 1.28175968e-03 7.98267063e-03 -2.75380469e+01] [-1.23949087e-03 9.99985199e-01 -5.29777004e-03 1.48930315e+01] [-7.98934294e-03 5.28770244e-03 9.99954104e-01 1.69461888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.699259764 meters Centerline goodness [0,1] 0.5133488181445552 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.89, Z:16.95 [[ 9.99967066e-01 1.83832029e-03 7.90493986e-03 -2.75373923e+01] [-1.80181329e-03 9.99987691e-01 -4.62289595e-03 1.48909149e+01] [-7.91334092e-03 4.60850047e-03 9.99958070e-01 1.69455066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.729259764 meters Centerline goodness [0,1] 0.4977216295124014 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.89, Z:16.94 [[ 9.99964824e-01 2.28953019e-03 8.06905434e-03 -2.75369396e+01] [-2.25867257e-03 9.99990110e-01 -3.83123405e-03 1.48886927e+01] [-8.07774627e-03 3.81287393e-03 9.99960105e-01 1.69440418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75925976399999 meters Centerline goodness [0,1] 0.5098258333560468 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.89, Z:16.94 [[ 9.99964344e-01 2.58364497e-03 8.03958387e-03 -2.75364500e+01] [-2.55487343e-03 9.99990303e-01 -3.58694876e-03 1.48881764e+01] [-8.04877332e-03 3.56628075e-03 9.99961249e-01 1.69435578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.789259764 meters Centerline goodness [0,1] 0.5192003058939203 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.89, Z:16.94 [[ 9.99965236e-01 2.94188347e-03 7.80200606e-03 -2.75359209e+01] [-2.91403851e-03 9.99989353e-01 -3.57791953e-03 1.48881839e+01] [-7.81244882e-03 3.55505980e-03 9.99963163e-01 1.69440238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.819259764 meters Centerline goodness [0,1] 0.5126670113472476 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.89, Z:16.94 [[ 9.99963541e-01 2.95357732e-03 8.01210892e-03 -2.75366996e+01] [-2.92568489e-03 9.99989627e-01 -3.49077470e-03 1.48872570e+01] [-8.02233608e-03 3.46720652e-03 9.99961810e-01 1.69443473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.849259764 meters Centerline goodness [0,1] 0.5096135541595279 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.88, Z:16.95 [[ 9.99960876e-01 2.36348820e-03 8.52405640e-03 -2.75392013e+01] [-2.33434258e-03 9.99991401e-01 -3.42754851e-03 1.48847791e+01] [-8.53208408e-03 3.40751634e-03 9.99957795e-01 1.69452631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.879259764 meters Centerline goodness [0,1] 0.5071283095723014 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.88, Z:16.94 [[ 9.99957433e-01 2.23840858e-03 8.95101824e-03 -2.75403606e+01] [-2.21189382e-03 9.99993140e-01 -2.97100921e-03 1.48827670e+01] [-8.95760717e-03 2.95108405e-03 9.99955525e-01 1.69448398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.909259764 meters Centerline goodness [0,1] 0.5049722259856388 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.88, Z:16.94 [[ 9.99953665e-01 2.01556514e-03 9.41303548e-03 -2.75416171e+01] [-1.99148925e-03 9.99994724e-01 -2.56639094e-03 1.48808458e+01] [-9.41815854e-03 2.54752606e-03 9.99952403e-01 1.69443808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.939259764 meters Centerline goodness [0,1] 0.4999186903729401 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.88, Z:16.94 [[ 9.99952145e-01 5.78003884e-04 9.76598140e-03 -2.75441225e+01] [-5.52969056e-04 9.99996555e-01 -2.56597862e-03 1.48782597e+01] [-9.76743090e-03 2.56045554e-03 9.99949019e-01 1.69446462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.969259764 meters Centerline goodness [0,1] 0.49742407809110634 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.88, Z:16.94 [[ 9.99952598e-01 5.18826265e-04 9.72278799e-03 -2.75440162e+01] [-4.94604611e-04 9.99996769e-01 -2.49346410e-03 1.48783334e+01] [-9.72405025e-03 2.48853697e-03 9.99949624e-01 1.69445065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.999259764 meters Centerline goodness [0,1] 0.49926658336502416 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.88, Z:16.95 [[ 9.99956720e-01 7.96944621e-04 9.26951858e-03 -2.75429065e+01] [-7.68919331e-04 9.99995124e-01 -3.02655238e-03 1.48819900e+01] [-9.27188538e-03 3.01929388e-03 9.99952457e-01 1.69453754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.029259764 meters Centerline goodness [0,1] 0.4847899434044406 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.88, Z:16.95 [[ 9.99955992e-01 5.59417115e-04 9.36487911e-03 -2.75435227e+01] [-5.28340537e-04 9.99994347e-01 -3.32056261e-03 1.48828957e+01] [-9.36668375e-03 3.31546864e-03 9.99950635e-01 1.69458884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.059259764 meters Centerline goodness [0,1] 0.5088102718207895 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.88, Z:16.95 [[ 9.99956176e-01 6.93863387e-04 9.33619584e-03 -2.75430091e+01] [-6.63308853e-04 9.99994416e-01 -3.27539490e-03 1.48835094e+01] [-9.33841638e-03 3.26905857e-03 9.99951052e-01 1.69453137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.089259764 meters Centerline goodness [0,1] 0.5154365719598567 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.88, Z:16.95 [[ 9.99957110e-01 8.12505633e-04 9.22595790e-03 -2.75423892e+01] [-7.81017829e-04 9.99993860e-01 -3.41604781e-03 1.48847786e+01] [-9.22867682e-03 3.40869566e-03 9.99951605e-01 1.69450424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11925976399999 meters Centerline goodness [0,1] 0.5157406143344709 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.89, Z:16.95 [[ 9.99959046e-01 9.49065968e-04 9.00025754e-03 -2.75415820e+01] [-9.16094856e-04 9.99992858e-01 -3.66676736e-03 1.48865330e+01] [-9.00367326e-03 3.65837210e-03 9.99952774e-01 1.69450153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14925976399999 meters Centerline goodness [0,1] 0.5166712291267451 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.89, Z:16.94 [[ 9.99946115e-01 5.22821760e-03 8.96848617e-03 -2.75408395e+01] [-5.22837022e-03 9.99986332e-01 -6.42844766e-06 1.48893240e+01] [-8.96839719e-03 -4.04624647e-05 9.99959782e-01 1.69447009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.179259764 meters Centerline goodness [0,1] 0.5216486945098253 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.89, Z:16.95 [[ 9.99948894e-01 5.21649659e-03 8.66005812e-03 -2.75399889e+01] [-5.21146311e-03 9.99986238e-01 -6.03693311e-04 1.48921273e+01] [-8.66308811e-03 5.58530885e-04 9.99962319e-01 1.69450510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.209259764 meters Centerline goodness [0,1] 0.5250466879050862 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.89, Z:16.94 [[ 9.99949684e-01 5.63848540e-03 8.29683698e-03 -2.75378627e+01] [-5.63214949e-03 9.99983830e-01 -7.86819683e-04 1.48946742e+01] [-8.30113929e-03 7.40051067e-04 9.99965271e-01 1.69439140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.239259764 meters Centerline goodness [0,1] 0.5217415235579039 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.90, Z:16.94 [[ 9.99949453e-01 5.56827405e-03 8.37168847e-03 -2.75378129e+01] [-5.56033721e-03 9.99984070e-01 -9.71034266e-04 1.48954895e+01] [-8.37696209e-03 9.24435773e-04 9.99964485e-01 1.69436207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.269259764 meters Centerline goodness [0,1] 0.5258179818531756 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.90, Z:16.94 [[ 9.99950016e-01 5.51542733e-03 8.33934439e-03 -2.75374194e+01] [-5.50635268e-03 9.99984223e-01 -1.11074187e-03 1.48965765e+01] [-8.34533904e-03 1.06476698e-03 9.99964610e-01 1.69431814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.299259764 meters Centerline goodness [0,1] 0.5371887105700055 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.90, Z:16.94 [[ 9.99952668e-01 6.04054645e-03 7.62709862e-03 -2.75345293e+01] [-6.02975291e-03 9.99980788e-01 -1.43735974e-03 1.49008361e+01] [-7.63563452e-03 1.39130219e-03 9.99969880e-01 1.69425423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.329259764 meters Centerline goodness [0,1] 0.5115750367351466 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.90, Z:16.94 [[ 9.99954231e-01 6.36948963e-03 7.13904250e-03 -2.75327177e+01] [-6.35673626e-03 9.99978162e-01 -1.80769487e-03 1.49040958e+01] [-7.15040069e-03 1.76223112e-03 9.99972883e-01 1.69423830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.359259764 meters Centerline goodness [0,1] 0.5330988078286847 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.91, Z:16.94 [[ 9.99951980e-01 7.18000899e-03 6.66975000e-03 -2.75301279e+01] [-7.16449088e-03 9.99971579e-01 -2.34762769e-03 1.49091464e+01] [-6.68641643e-03 2.29972959e-03 9.99975001e-01 1.69420046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.389259764 meters Centerline goodness [0,1] 0.5325420706564137 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.91, Z:16.94 [[ 9.99951386e-01 7.52207135e-03 6.37532531e-03 -2.75286693e+01] [-7.50636633e-03 9.99968742e-01 -2.48376584e-03 1.49108278e+01] [-6.39380910e-03 2.43578956e-03 9.99976593e-01 1.69414294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.419259764 meters Centerline goodness [0,1] 0.5404181574239714 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.91, Z:16.94 [[ 9.99951808e-01 7.54820047e-03 6.27738580e-03 -2.75281042e+01] [-7.52948736e-03 9.99967155e-01 -2.99934387e-03 1.49128743e+01] [-6.29981927e-03 2.95193383e-03 9.99975799e-01 1.69414580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.449259764 meters Centerline goodness [0,1] 0.5492206268506621 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99949762e-01 8.09208394e-03 5.91535039e-03 -2.75260536e+01] [-8.07173845e-03 9.99961453e-01 -3.45526026e-03 1.49164802e+01] [-5.94308263e-03 3.40733952e-03 9.99976535e-01 1.69409853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.479259764 meters Centerline goodness [0,1] 0.5538030536489704 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99951068e-01 8.09383928e-03 5.68783318e-03 -2.75254507e+01] [-8.07050504e-03 9.99958972e-01 -4.11352947e-03 1.49195859e+01] [-5.72089406e-03 4.06742450e-03 9.99975363e-01 1.69415711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50925976399999 meters Centerline goodness [0,1] 0.5450008411372176 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99952284e-01 7.86554076e-03 5.79343263e-03 -2.75260563e+01] [-7.83975558e-03 9.99959322e-01 -4.46010471e-03 1.49205259e+01] [-5.82827810e-03 4.41447279e-03 9.99973271e-01 1.69421074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.539259764 meters Centerline goodness [0,1] 0.550916182619188 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99952543e-01 7.69026085e-03 5.98098023e-03 -2.75267957e+01] [-7.66274131e-03 9.99960012e-01 -4.61056146e-03 1.49205636e+01] [-6.01619748e-03 4.56451196e-03 9.99971485e-01 1.69424008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.569259764 meters Centerline goodness [0,1] 0.5447069756963023 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99951918e-01 7.41161316e-03 6.42101174e-03 -2.75281451e+01] [-7.38188674e-03 9.99961984e-01 -4.64094979e-03 1.49199106e+01] [-6.45516457e-03 4.59332747e-03 9.99968616e-01 1.69423966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.599259764 meters Centerline goodness [0,1] 0.540896949247856 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99951142e-01 7.35804054e-03 6.60101486e-03 -2.75285328e+01] [-7.32761093e-03 9.99962470e-01 -4.62224069e-03 1.49196976e+01] [-6.63477776e-03 4.57364519e-03 9.99967530e-01 1.69422079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.629259764 meters Centerline goodness [0,1] 0.5454212866550345 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99949984e-01 7.54711725e-03 6.56281673e-03 -2.75279566e+01] [-7.51819468e-03 9.99961967e-01 -4.42059439e-03 1.49199634e+01] [-6.59592986e-03 4.37103275e-03 9.99968693e-01 1.69414928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.659259764 meters Centerline goodness [0,1] 0.5473124929720005 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99950006e-01 7.61521974e-03 6.48027789e-03 -2.75276333e+01] [-7.58689743e-03 9.99961609e-01 -4.38395708e-03 1.49202624e+01] [-6.51341390e-03 4.33457270e-03 9.99969393e-01 1.69413534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.689259764 meters Centerline goodness [0,1] 0.552697351793086 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99950076e-01 7.72496923e-03 6.33798155e-03 -2.75271544e+01] [-7.69714442e-03 9.99960684e-01 -4.40287808e-03 1.49207250e+01] [-6.37174446e-03 4.35387391e-03 9.99970222e-01 1.69412846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.719259764 meters Centerline goodness [0,1] 0.5534198212334333 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99949428e-01 7.90909619e-03 6.21189280e-03 -2.75266154e+01] [-7.88262759e-03 9.99959798e-01 -4.27394474e-03 1.49207943e+01] [-6.24544611e-03 4.22476257e-03 9.99971572e-01 1.69410166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.749259764 meters Centerline goodness [0,1] 0.5534198212334333 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99949428e-01 7.90909619e-03 6.21189280e-03 -2.75266154e+01] [-7.88262759e-03 9.99959798e-01 -4.27394474e-03 1.49207943e+01] [-6.24544611e-03 4.22476257e-03 9.99971572e-01 1.69410166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.779259764 meters Centerline goodness [0,1] 0.5477432015699467 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99948725e-01 8.01460202e-03 6.18980325e-03 -2.75262517e+01] [-7.98865555e-03 9.99959248e-01 -4.20521777e-03 1.49208453e+01] [-6.22325415e-03 4.15555394e-03 9.99972001e-01 1.69405085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.809259764 meters Centerline goodness [0,1] 0.5573642328633255 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99948505e-01 8.03655372e-03 6.19682176e-03 -2.75261112e+01] [-8.01046330e-03 9.99958996e-01 -4.22367901e-03 1.49210267e+01] [-6.23051149e-03 4.17382210e-03 9.99971880e-01 1.69402704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.839259764 meters Centerline goodness [0,1] 0.5462856823328767 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99948123e-01 7.98282646e-03 6.32655307e-03 -2.75262645e+01] [-7.95568603e-03 9.99959092e-01 -4.30354182e-03 1.49213707e+01] [-6.36064869e-03 4.25298649e-03 9.99970727e-01 1.69400129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86925976399999 meters Centerline goodness [0,1] 0.5573486709850346 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99949044e-01 7.76773616e-03 6.44767316e-03 -2.75266936e+01] [-7.73796683e-03 9.99959346e-01 -4.62924204e-03 1.49225483e+01] [-6.48336976e-03 4.57911427e-03 9.99968498e-01 1.69401715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89925976399999 meters Centerline goodness [0,1] 0.5543026209283501 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99949083e-01 7.61378295e-03 6.62287722e-03 -2.75271777e+01] [-7.58219954e-03 9.99959826e-01 -4.78094200e-03 1.49231823e+01] [-6.65901220e-03 4.73048259e-03 9.99966639e-01 1.69401648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.929259764 meters Centerline goodness [0,1] 0.5492773399426327 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99949147e-01 7.25554950e-03 7.00426971e-03 -2.75284911e+01] [-7.22088714e-03 9.99961621e-01 -4.96141704e-03 1.49232197e+01] [-7.03999870e-03 4.91058770e-03 9.99963162e-01 1.69403634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.959259764 meters Centerline goodness [0,1] 0.5511187895338145 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99949460e-01 7.38931773e-03 6.81735648e-03 -2.75277034e+01] [-7.35448973e-03 9.99959849e-01 -5.11972783e-03 1.49245366e+01] [-6.85491405e-03 5.06933090e-03 9.99963655e-01 1.69401753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.989259764 meters Centerline goodness [0,1] 0.5529556650246306 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.93, Z:16.94 [[ 9.99948440e-01 7.79113905e-03 6.51277650e-03 -2.75263407e+01] [-7.75702753e-03 9.99956150e-01 -5.24658457e-03 1.49264592e+01] [-6.55336779e-03 5.19579427e-03 9.99965028e-01 1.69398494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.019259764 meters Centerline goodness [0,1] 0.5528311920956139 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.93, Z:16.94 [[ 9.99947393e-01 7.84346344e-03 6.60991737e-03 -2.75264258e+01] [-7.80870199e-03 9.99955633e-01 -5.26848489e-03 1.49265946e+01] [-6.65094727e-03 5.21659286e-03 9.99964275e-01 1.69396677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.049259764 meters Centerline goodness [0,1] 0.5496631349417125 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99944617e-01 7.91040594e-03 6.94172939e-03 -2.75268747e+01] [-7.87714970e-03 9.99957430e-01 -4.80510666e-03 1.49247356e+01] [-6.97944422e-03 4.75015950e-03 9.99964361e-01 1.69386314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.079259764 meters Centerline goodness [0,1] 0.534875959506063 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.93, Z:16.94 [[ 9.99970150e-01 4.31419662e-03 6.40994035e-03 -2.75250759e+01] [-4.25662967e-03 9.99950731e-01 -8.96754924e-03 1.49268134e+01] [-6.44831231e-03 8.93999681e-03 9.99939246e-01 1.69385899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.109259764 meters Centerline goodness [0,1] 0.5470182848885679 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99967573e-01 4.22902313e-03 6.85334892e-03 -2.75261541e+01] [-4.17034610e-03 9.99954721e-01 -8.55359595e-03 1.49249011e+01] [-6.88921196e-03 8.52473774e-03 9.99939932e-01 1.69380510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.139259764 meters Centerline goodness [0,1] 0.5412731918675703 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99966467e-01 3.39450392e-03 7.45262742e-03 -2.75291619e+01] [-3.33262118e-03 9.99959999e-01 -8.30025564e-03 1.49217284e+01] [-7.48050455e-03 8.27514053e-03 9.99937780e-01 1.69387747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.169259764 meters Centerline goodness [0,1] 0.5317220543806647 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99966124e-01 3.30615523e-03 7.53796576e-03 -2.75296690e+01] [-3.24281067e-03 9.99959460e-01 -8.40019476e-03 1.49221509e+01] [-7.56543251e-03 8.37546599e-03 9.99936306e-01 1.69391569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.199259764 meters Centerline goodness [0,1] 0.5296517274871653 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99965491e-01 3.17637782e-03 7.67635598e-03 -2.75305582e+01] [-3.11014385e-03 9.99957968e-01 -8.62489920e-03 1.49225333e+01] [-7.70342926e-03 8.60072699e-03 9.99933340e-01 1.69399607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.229259764 meters Centerline goodness [0,1] 0.5289279087157615 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99963726e-01 3.16181113e-03 7.90878757e-03 -2.75310915e+01] [-3.09499495e-03 9.99959539e-01 -8.44636566e-03 1.49218397e+01] [-7.93517339e-03 8.42158162e-03 9.99933053e-01 1.69396601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25925976399999 meters Centerline goodness [0,1] 0.5069730192482947 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99959296e-01 3.34214162e-03 8.38072934e-03 -2.75314683e+01] [-3.27738197e-03 9.99964759e-01 -7.72907401e-03 1.49195006e+01] [-8.40626566e-03 7.70129256e-03 9.99935010e-01 1.69379118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.289259764 meters Centerline goodness [0,1] 0.5319725633366523 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99958379e-01 3.47401691e-03 8.43631987e-03 -2.75312760e+01] [-3.41114249e-03 9.99966387e-01 -7.45581343e-03 1.49190070e+01] [-8.46193792e-03 7.42672562e-03 9.99936618e-01 1.69373003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.319259764 meters Centerline goodness [0,1] 0.5347587658560904 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99958337e-01 3.48105022e-03 8.43844337e-03 -2.75311651e+01] [-3.41814172e-03 9.99966347e-01 -7.45798307e-03 1.49197184e+01] [-8.46412100e-03 7.42882855e-03 9.99936584e-01 1.69370929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.349259764 meters Centerline goodness [0,1] 0.5106618665189698 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99959327e-01 3.35902679e-03 8.37031918e-03 -2.75311764e+01] [-3.29462224e-03 9.99964955e-01 -7.69634127e-03 1.49213545e+01] [-8.39587806e-03 7.66845120e-03 9.99935350e-01 1.69373721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.379259764 meters Centerline goodness [0,1] 0.5370544609253929 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99959202e-01 3.20919576e-03 8.44361345e-03 -2.75315433e+01] [-3.14341008e-03 9.99964694e-01 -7.79294506e-03 1.49219525e+01] [-8.46832442e-03 7.76608539e-03 9.99933986e-01 1.69375208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.409259764 meters Centerline goodness [0,1] 0.5273775216138328 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.94 [[ 9.99960960e-01 3.33825933e-03 8.18134891e-03 -2.75307351e+01] [-3.27096768e-03 9.99960827e-01 -8.22463144e-03 1.49246295e+01] [-8.20848438e-03 8.19754943e-03 9.99932708e-01 1.69378667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.439259764 meters Centerline goodness [0,1] 0.5391129930911522 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.93, Z:16.94 [[ 9.99961293e-01 3.49313283e-03 8.07533277e-03 -2.75301001e+01] [-3.42538792e-03 9.99958955e-01 -8.38778191e-03 1.49262739e+01] [-8.10430095e-03 8.35979610e-03 9.99932215e-01 1.69376169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.469259764 meters Centerline goodness [0,1] 0.5312866313145409 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.93, Z:16.94 [[ 9.99961683e-01 3.68086885e-03 7.94256128e-03 -2.75294081e+01] [-3.61226872e-03 9.99956200e-01 -8.63415681e-03 1.49279882e+01] [-7.97399460e-03 8.60513531e-03 9.99931181e-01 1.69375115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.499259764 meters Centerline goodness [0,1] 0.5365190582959641 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.93, Z:16.94 [[ 9.99960147e-01 4.62213726e-03 7.63810589e-03 -2.75267445e+01] [-4.55750058e-03 9.99953843e-01 -8.45824426e-03 1.49308838e+01] [-7.67684850e-03 8.42309650e-03 9.99935057e-01 1.69357796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.529259764 meters Centerline goodness [0,1] 0.541346639008802 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.93, Z:16.94 [[ 9.99960569e-01 4.89151209e-03 7.41174021e-03 -2.75256426e+01] [-4.82785962e-03 9.99951521e-01 -8.58174940e-03 1.49326581e+01] [-7.45335863e-03 8.54562817e-03 9.99935708e-01 1.69354295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.559259764 meters Centerline goodness [0,1] 0.5409872870653607 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.94, Z:16.94 [[ 9.99960823e-01 5.21353548e-03 7.15344823e-03 -2.75244173e+01] [-5.14895481e-03 9.99946091e-01 -9.01681680e-03 1.49362872e+01] [-7.20007209e-03 8.97963077e-03 9.99933760e-01 1.69354155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.589259764 meters Centerline goodness [0,1] 0.541801230026117 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.94, Z:16.94 [[ 9.99961920e-01 5.17325455e-03 7.02826113e-03 -2.75242266e+01] [-5.10726009e-03 9.99943005e-01 -9.37559066e-03 1.49382353e+01] [-7.07636287e-03 9.33933848e-03 9.99931349e-01 1.69358131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61925976399999 meters Centerline goodness [0,1] 0.5439688935223015 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.94, Z:16.94 [[ 9.99962037e-01 5.48062174e-03 6.77407741e-03 -2.75229054e+01] [-5.41438897e-03 9.99937737e-01 -9.75735521e-03 1.49420045e+01] [-6.82713201e-03 9.72030730e-03 9.99929450e-01 1.69355618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64925976399999 meters Centerline goodness [0,1] 0.543444541583237 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.94, Z:16.94 [[ 9.99962388e-01 5.63983372e-03 6.58892524e-03 -2.75219961e+01] [-5.57386026e-03 9.99934578e-01 -9.98859785e-03 1.49440581e+01] [-6.64482821e-03 9.95149641e-03 9.99928404e-01 1.69352570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.679259764 meters Centerline goodness [0,1] 0.5473912920793476 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.95, Z:16.93 [[ 9.99962203e-01 5.98083780e-03 6.31042167e-03 -2.75206354e+01] [-5.91677445e-03 9.99931263e-01 -1.01222827e-02 1.49461329e+01] [-6.37052764e-03 1.00845628e-02 9.99928856e-01 1.69347701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.709259764 meters Centerline goodness [0,1] 0.5486307570442458 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.95, Z:16.93 [[ 9.99958255e-01 6.99600860e-03 5.87750942e-03 -2.75175896e+01] [-6.93769911e-03 9.99927092e-01 -9.88327501e-03 1.49485924e+01] [-5.94622438e-03 9.84208603e-03 9.99933886e-01 1.69329189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.739259764 meters Centerline goodness [0,1] 0.5489618446024418 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.95, Z:16.93 [[ 9.99956466e-01 7.32152610e-03 5.78454048e-03 -2.75166833e+01] [-7.26530744e-03 9.99926747e-01 -9.68073809e-03 1.49488197e+01] [-5.85499452e-03 9.63829018e-03 9.99936409e-01 1.69320870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.769259764 meters Centerline goodness [0,1] 0.5484701819931506 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.95, Z:16.93 [[ 9.99954124e-01 7.60753892e-03 5.82020593e-03 -2.75161300e+01] [-7.55257321e-03 9.99927218e-01 -9.40834386e-03 1.49486189e+01] [-5.89135666e-03 9.36395471e-03 9.99938802e-01 1.69312040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.799259764 meters Centerline goodness [0,1] 0.5486555335409 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.95, Z:16.93 [[ 9.99953781e-01 7.63173730e-03 5.84742302e-03 -2.75163586e+01] [-7.57733864e-03 9.99928329e-01 -9.26936632e-03 1.49482410e+01] [-5.91774530e-03 9.22462999e-03 9.99939941e-01 1.69312846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.829259764 meters Centerline goodness [0,1] 0.547099912332796 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.95, Z:16.93 [[ 9.99953966e-01 7.46759610e-03 6.02494499e-03 -2.75173725e+01] [-7.41140294e-03 9.99929327e-01 -9.29578153e-03 1.49476413e+01] [-6.09393633e-03 9.25070032e-03 9.99938642e-01 1.69318982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.859259764 meters Centerline goodness [0,1] 0.5438492567205438 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.95, Z:16.93 [[ 9.99956032e-01 6.66135379e-03 6.60008654e-03 -2.75201932e+01] [-6.60012877e-03 9.99935388e-01 -9.25515254e-03 1.49454517e+01] [-6.66131194e-03 9.21118418e-03 9.99935388e-01 1.69327222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.889259764 meters Centerline goodness [0,1] 0.5395636875439831 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.95, Z:16.93 [[ 9.99975681e-01 2.03479442e-03 6.67056771e-03 -2.75217128e+01] [-1.94334739e-03 9.99904441e-01 -1.36869683e-02 1.49454786e+01] [-6.69778044e-03 1.36736722e-02 9.99884078e-01 1.69342684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.919259764 meters Centerline goodness [0,1] 0.5361607893704099 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.94, Z:16.93 [[ 9.99971859e-01 1.59012500e-03 7.33167697e-03 -2.75239243e+01] [-1.49219739e-03 9.99909865e-01 -1.33429610e-02 1.49431335e+01] [-7.35223310e-03 1.33316452e-02 9.99884099e-01 1.69341924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.949259764 meters Centerline goodness [0,1] 0.5351584369051618 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.94, Z:16.93 [[ 9.99971949e-01 1.66361971e-03 7.30298570e-03 -2.75240281e+01] [-1.56772050e-03 9.99912731e-01 -1.31176492e-02 1.49423938e+01] [-7.32417115e-03 1.31058322e-02 9.99887290e-01 1.69343017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.979259764 meters Centerline goodness [0,1] 0.5319853044283029 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.94, Z:16.94 [[ 9.99971116e-01 1.54441196e-03 7.44187103e-03 -2.75251493e+01] [-1.44606400e-03 9.99911794e-01 -1.32027955e-02 1.49422384e+01] [-7.46160516e-03 1.31916527e-02 9.99885146e-01 1.69353123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00925976399999 meters Centerline goodness [0,1] 0.5315370654753595 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.94, Z:16.93 [[ 9.99969396e-01 2.02889461e-03 7.55577336e-03 -2.75247707e+01] [-1.93365187e-03 9.99918856e-01 -1.25913369e-02 1.49406355e+01] [-7.58070675e-03 1.25763413e-02 9.99892178e-01 1.69343229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.039259764 meters Centerline goodness [0,1] 0.5294347522679693 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.94, Z:16.93 [[ 9.99968024e-01 2.41188542e-03 7.62458166e-03 -2.75242764e+01] [-2.31965677e-03 9.99924319e-01 -1.20820123e-02 1.49394274e+01] [-7.65314505e-03 1.20639396e-02 9.99897940e-01 1.69332927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.069259764 meters Centerline goodness [0,1] 0.5285053499777084 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.94, Z:16.93 [[ 9.99965945e-01 2.75704831e-03 7.77871682e-03 -2.75240301e+01] [-2.66765522e-03 9.99930555e-01 -1.14790761e-02 1.49377232e+01] [-7.80982500e-03 1.14579343e-02 9.99903857e-01 1.69321801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.099259764 meters Centerline goodness [0,1] 0.5261020720344876 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.93, Z:16.93 [[ 9.99962483e-01 2.92144495e-03 8.15459098e-03 -2.75247338e+01] [-2.83412492e-03 9.99938746e-01 -1.06991772e-02 1.49347328e+01] [-8.18534853e-03 1.06756647e-02 9.99909511e-01 1.69312040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.129259764 meters Centerline goodness [0,1] 0.5259450314779377 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.93, Z:16.93 [[ 9.99959606e-01 2.87896344e-03 8.51462035e-03 -2.75257922e+01] [-2.79138670e-03 9.99943268e-01 -1.02795151e-02 1.49327730e+01] [-8.54373165e-03 1.02553323e-02 9.99910912e-01 1.69309453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.159259764 meters Centerline goodness [0,1] 0.5207412726469289 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.93, Z:16.93 [[ 9.99956210e-01 2.17205886e-03 9.10278248e-03 -2.75287419e+01] [-2.08244633e-03 9.99949393e-01 -9.84246341e-03 1.49288967e+01] [-9.12370023e-03 9.82307635e-03 9.99910129e-01 1.69316267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.189259764 meters Centerline goodness [0,1] 0.517890199762385 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.93, Z:16.93 [[ 9.99953165e-01 1.93616085e-03 9.48256931e-03 -2.75303229e+01] [-1.84502033e-03 9.99952114e-01 -9.61070960e-03 1.49273298e+01] [-9.50072311e-03 9.59276395e-03 9.99908853e-01 1.69320593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.219259764 meters Centerline goodness [0,1] 0.5151968111609367 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.93, Z:16.93 [[ 9.99950362e-01 1.75326796e-03 9.80815405e-03 -2.75316223e+01] [-1.66081648e-03 9.99954193e-01 -9.42619894e-03 1.49263098e+01] [-9.82423142e-03 9.40944150e-03 9.99907469e-01 1.69323679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.249259764 meters Centerline goodness [0,1] 0.5120387441182136 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.93, Z:16.93 [[ 9.99949712e-01 1.63601684e-03 9.89424647e-03 -2.75322868e+01] [-1.54464112e-03 9.99956156e-01 -9.23583901e-03 1.49256352e+01] [-9.90892266e-03 9.22009150e-03 9.99908397e-01 1.69326115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.279259764 meters Centerline goodness [0,1] 0.5134719014626636 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.93, Z:16.93 [[ 9.99947885e-01 1.72441187e-03 1.00625284e-02 -2.75324576e+01] [-1.63463884e-03 9.99958854e-01 -8.92293308e-03 1.49250594e+01] [-1.00775011e-02 8.90601945e-03 9.99909559e-01 1.69320211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.309259764 meters Centerline goodness [0,1] 0.512529161520516 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.93 [[ 9.99943704e-01 1.77466518e-03 1.04613568e-02 -2.75329579e+01] [-1.68732407e-03 9.99963699e-01 -8.35184984e-03 1.49233365e+01] [-1.04757988e-02 8.33372796e-03 9.99910399e-01 1.69307536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.339259764 meters Centerline goodness [0,1] 0.5015992782744197 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.92, Z:16.93 [[ 9.99940771e-01 1.60416059e-03 1.07647759e-02 -2.75338437e+01] [-1.51474357e-03 9.99964329e-01 -8.30946383e-03 1.49229846e+01] [-1.07777216e-02 8.29266580e-03 9.99907532e-01 1.69306674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36925976399999 meters Centerline goodness [0,1] 0.5062005529852993 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.92, Z:16.93 [[ 9.99936565e-01 1.11980253e-03 1.12077084e-02 -2.75357624e+01] [-1.02384573e-03 9.99962806e-01 -8.56375724e-03 1.49229325e+01] [-1.12168813e-02 8.55173903e-03 9.99900520e-01 1.69314671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39925976399999 meters Centerline goodness [0,1] 0.5047191748967252 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.92, Z:16.93 [[ 9.99936200e-01 1.00047730e-03 1.12514608e-02 -2.75359988e+01] [-9.02032927e-04 9.99961301e-01 -8.75114907e-03 1.49237475e+01] [-1.12597807e-02 8.74044156e-03 9.99898406e-01 1.69316531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.429259764 meters Centerline goodness [0,1] 0.5058351868632782 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.92, Z:16.93 [[ 9.99918033e-01 5.21758097e-03 1.16920340e-02 -2.75363578e+01] [-5.16800718e-03 9.99977545e-01 -4.26617238e-03 1.49230610e+01] [-1.17140305e-02 4.20539818e-03 9.99922545e-01 1.69303724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.459259764 meters Centerline goodness [0,1] 0.5043499807279335 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.93, Z:16.93 [[ 9.99886295e-01 9.37012789e-03 1.18151765e-02 -2.75355578e+01] [-9.36372015e-03 9.99955981e-01 -5.97535337e-04 1.49263681e+01] [-1.18202554e-02 4.86833388e-04 9.99930020e-01 1.69293183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.489259764 meters Centerline goodness [0,1] 0.5086356979025617 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.93, Z:16.93 [[ 9.99887770e-01 9.83050789e-03 1.13052818e-02 -2.75334494e+01] [-9.81769892e-03 9.99951100e-01 -1.18794880e-03 1.49305819e+01] [-1.13164071e-02 1.07682363e-03 9.99935388e-01 1.69292123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.519259764 meters Centerline goodness [0,1] 0.5130599615309565 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.94, Z:16.93 [[ 9.99833041e-01 1.44022390e-02 1.12456578e-02 -2.75318601e+01] [-1.44270074e-02 9.99893668e-01 2.12447655e-03 1.49351488e+01] [-1.12138648e-02 -2.28636304e-03 9.99934509e-01 1.69286185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.549259764 meters Centerline goodness [0,1] 0.5120702676997958 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.94, Z:16.93 [[ 9.99832875e-01 1.47937799e-02 1.07408851e-02 -2.75301227e+01] [-1.48080966e-02 9.99889567e-01 1.25460592e-03 1.49395870e+01] [-1.07211386e-02 -1.41344831e-03 9.99941528e-01 1.69292372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.579259764 meters Centerline goodness [0,1] 0.5208973311163092 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.94, Z:16.93 [[ 9.99757787e-01 1.92334504e-02 1.06977368e-02 -2.75284571e+01] [-1.92851611e-02 9.99802732e-01 4.75181207e-03 1.49437249e+01] [-1.06042327e-02 -4.95696870e-03 9.99931487e-01 1.69282148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.609259764 meters Centerline goodness [0,1] 0.5182021327751535 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.95, Z:16.93 [[ 9.99759085e-01 1.94184198e-02 1.02321102e-02 -2.75268805e+01] [-1.94601203e-02 9.99802665e-01 3.99176191e-03 1.49475495e+01] [-1.01525773e-02 -4.18991833e-03 9.99939683e-01 1.69285281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.639259764 meters Centerline goodness [0,1] 0.5182021327751535 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.95, Z:16.93 [[ 9.99832387e-01 1.60590359e-02 8.79229943e-03 -2.75241154e+01] [-1.60689513e-02 9.99870326e-01 1.05825445e-03 1.49511488e+01] [-8.77416476e-03 -1.19936010e-03 9.99960787e-01 1.69282721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.669259764 meters Centerline goodness [0,1] 0.5192121591620653 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.96, Z:16.93 [[ 9.99818534e-01 1.71508203e-02 8.29146252e-03 -2.75209527e+01] [-1.71555918e-02 9.99852705e-01 5.04676925e-04 1.49562979e+01] [-8.28158560e-03 -6.46830289e-04 9.99965498e-01 1.69276620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.699259764 meters Centerline goodness [0,1] 0.5414512950852444 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.96, Z:16.93 [[ 9.99821701e-01 1.71113841e-02 7.98537764e-03 -2.75202901e+01] [-1.71099212e-02 9.99853583e-01 -2.51488692e-04 1.49592412e+01] [-7.98851177e-03 1.14814670e-04 9.99968085e-01 1.69284227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.729259764 meters Centerline goodness [0,1] 0.548918640576725 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.96, Z:16.93 [[ 9.99824914e-01 1.71126814e-02 7.56947458e-03 -2.75195452e+01] [-1.71055657e-02 9.99853185e-01 -1.00379805e-03 1.49622510e+01] [-7.58554095e-03 8.74142152e-04 9.99970847e-01 1.69294950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75925976399999 meters Centerline goodness [0,1] 0.546084406623735 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99828090e-01 1.72212422e-02 6.87163946e-03 -2.75183260e+01] [-1.72031279e-02 9.99848406e-01 -2.68655654e-03 1.49684387e+01] [-6.91686360e-03 2.56788100e-03 9.99972781e-01 1.69322644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.789259764 meters Centerline goodness [0,1] 0.5658290005777007 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99826957e-01 1.75258274e-02 6.23712311e-03 -2.75164190e+01] [-1.75052642e-02 9.99841205e-01 -3.33637279e-03 1.49721848e+01] [-6.29460538e-03 3.22661297e-03 9.99974983e-01 1.69328048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.819259764 meters Centerline goodness [0,1] 0.5631802303761656 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99825535e-01 1.76273333e-02 6.17877610e-03 -2.75159644e+01] [-1.76070032e-02 9.99839441e-01 -3.32941721e-03 1.49725286e+01] [-6.23647279e-03 3.22004661e-03 9.99975369e-01 1.69324522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.849259764 meters Centerline goodness [0,1] 0.5635707063411816 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.93 [[ 9.99881871e-01 1.43424560e-02 5.52606762e-03 -2.75135530e+01] [-1.43006335e-02 9.99869351e-01 -7.53483026e-03 1.49760310e+01] [-5.63341361e-03 7.45491391e-03 9.99956344e-01 1.69322790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.879259764 meters Centerline goodness [0,1] 0.5651104940414209 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.93 [[ 9.99882445e-01 1.43265656e-02 5.46310562e-03 -2.75136434e+01] [-1.42842218e-02 9.99868229e-01 -7.71267002e-03 1.49765955e+01] [-5.57288181e-03 7.63372715e-03 9.99955334e-01 1.69327308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.909259764 meters Centerline goodness [0,1] 0.5634174644618508 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.93 [[ 9.99888127e-01 1.39899416e-02 5.29296681e-03 -2.75141290e+01] [-1.39455909e-02 9.99868096e-01 -8.32528613e-03 1.49784259e+01] [-5.40873891e-03 8.25054120e-03 9.99951336e-01 1.69341799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.939259764 meters Centerline goodness [0,1] 0.5599150100416218 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.94 [[ 9.99892297e-01 1.38138007e-02 4.95724751e-03 -2.75140137e+01] [-1.37696390e-02 9.99866163e-01 -8.83472042e-03 1.49807204e+01] [-5.07862511e-03 8.76550938e-03 9.99948685e-01 1.69354476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.969259764 meters Centerline goodness [0,1] 0.5619659361739231 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.93 [[ 9.99890688e-01 1.39056820e-02 5.02433094e-03 -2.75138768e+01] [-1.38623764e-02 9.99867327e-01 -8.55358648e-03 1.49800749e+01] [-5.14260780e-03 8.48300230e-03 9.99950795e-01 1.69348048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.999259764 meters Centerline goodness [0,1] 0.5557298474945533 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.93 [[ 9.99887190e-01 1.40860606e-02 5.21437091e-03 -2.75139101e+01] [-1.40434786e-02 9.99868457e-01 -8.11474463e-03 1.49783781e+01] [-5.32798978e-03 8.04060130e-03 9.99953480e-01 1.69339497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.029259764 meters Centerline goodness [0,1] 0.557422806303425 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.93 [[ 9.99924342e-01 1.17172146e-02 3.74390970e-03 -2.75110851e+01] [-1.16802125e-02 9.99884182e-01 -9.75684320e-03 1.49795126e+01] [-3.85779912e-03 9.71237536e-03 9.99945392e-01 1.69333236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.059259764 meters Centerline goodness [0,1] 0.5544910874992742 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.93 [[ 9.99927067e-01 1.14918382e-02 3.71457539e-03 -2.75115380e+01] [-1.14538732e-02 9.99883542e-01 -1.00851497e-02 1.49806090e+01] [-3.83003970e-03 1.00418678e-02 9.99942244e-01 1.69340969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.089259764 meters Centerline goodness [0,1] 0.5549247386962471 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.94 [[ 9.99933479e-01 1.09693489e-02 3.56517656e-03 -2.75125825e+01] [-1.09295229e-02 9.99879714e-01 -1.10046773e-02 1.49837601e+01] [-3.68546186e-03 1.09649796e-02 9.99933091e-01 1.69363588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11925976399999 meters Centerline goodness [0,1] 0.5570724307925673 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.94 [[ 9.99934322e-01 1.09185681e-02 3.48379698e-03 -2.75125109e+01] [-1.08791710e-02 9.99878831e-01 -1.11340238e-02 1.49846149e+01] [-3.60494245e-03 1.10953918e-02 9.99931946e-01 1.69365627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14925976399999 meters Centerline goodness [0,1] 0.5380396732788798 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.94 [[ 9.99932366e-01 1.10909723e-02 3.50045617e-03 -2.75119272e+01] [-1.10529183e-02 9.99881563e-01 -1.07094755e-02 1.49839155e+01] [-3.61882008e-03 1.06700609e-02 9.99936525e-01 1.69353709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.179259764 meters Centerline goodness [0,1] 0.5520044283882997 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.93 [[ 9.99931202e-01 1.11793772e-02 3.55141456e-03 -2.75116441e+01] [-1.11418546e-02 9.99883684e-01 -1.04152490e-02 1.49835586e+01] [-3.66743747e-03 1.03749631e-02 9.99939453e-01 1.69345333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.209259764 meters Centerline goodness [0,1] 0.552465086445669 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.93 [[ 9.99931738e-01 1.11152794e-02 3.60150782e-03 -2.75118507e+01] [-1.10774399e-02 9.99884958e-01 -1.03614959e-02 1.49836276e+01] [-3.71626442e-03 1.03208931e-02 9.99939832e-01 1.69344620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.239259764 meters Centerline goodness [0,1] 0.5395443925233645 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.99, Z:16.94 [[ 9.99937284e-01 1.05890132e-02 3.64716134e-03 -2.75130843e+01] [-1.05484365e-02 9.99884180e-01 -1.09706924e-02 1.49850610e+01] [-3.76290774e-03 1.09315325e-02 9.99933169e-01 1.69359610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.269259764 meters Centerline goodness [0,1] 0.5402743580724587 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.99, Z:16.94 [[ 9.99945092e-01 9.79021043e-03 3.73683330e-03 -2.75149039e+01] [-9.74368256e-03 9.99877214e-01 -1.22726282e-02 1.49888041e+01] [-3.85652608e-03 1.22355438e-02 9.99917706e-01 1.69385818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.299259764 meters Centerline goodness [0,1] 0.5400046995241732 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.99, Z:16.94 [[ 9.99947938e-01 9.50032263e-03 3.72347802e-03 -2.75153573e+01] [-9.45198975e-03 9.99873529e-01 -1.27900443e-02 1.49907528e+01] [-3.84451665e-03 1.27541842e-02 9.99911271e-01 1.69393641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.329259764 meters Centerline goodness [0,1] 0.5408130272478764 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.99, Z:16.94 [[ 9.99948861e-01 9.39418096e-03 3.74488361e-03 -2.75153246e+01] [-9.34472737e-03 9.99871682e-01 -1.30113606e-02 1.49920594e+01] [-3.86663415e-03 1.29757003e-02 9.99908336e-01 1.69392742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.359259764 meters Centerline goodness [0,1] 0.5413708798491855 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.99, Z:16.94 [[ 9.99946361e-01 9.68024580e-03 3.68340527e-03 -2.75139833e+01] [-9.63268260e-03 9.99872716e-01 -1.27185962e-02 1.49928674e+01] [-3.80605557e-03 1.26824329e-02 9.99912331e-01 1.69375651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.389259764 meters Centerline goodness [0,1] 0.5427645151783083 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.99, Z:16.94 [[ 9.99946323e-01 9.71696934e-03 3.59610256e-03 -2.75136019e+01] [-9.67086168e-03 9.99873544e-01 -1.26242215e-02 1.49931447e+01] [-3.71831699e-03 1.25887664e-02 9.99913845e-01 1.69372177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.419259764 meters Centerline goodness [0,1] 0.5418748337127147 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99948818e-01 9.64235123e-03 3.06361940e-03 -2.75126687e+01] [-9.60111407e-03 9.99866763e-01 -1.32013261e-02 1.49967960e+01] [-3.19050304e-03 1.31712363e-02 9.99908165e-01 1.69382154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.449259764 meters Centerline goodness [0,1] 0.5484454728847752 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99949548e-01 9.70198130e-03 2.60231573e-03 -2.75118601e+01] [-9.66521255e-03 9.99858226e-01 -1.37880654e-02 1.50003598e+01] [-2.73571834e-03 1.37622178e-02 9.99901554e-01 1.69393151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.479259764 meters Centerline goodness [0,1] 0.5555225034952553 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99901815e-01 1.36747044e-02 3.05977470e-03 -2.75129768e+01] [-1.36439179e-02 9.99858243e-01 -9.86598423e-03 1.50011339e+01] [-3.19425537e-03 9.82326823e-03 9.99946649e-01 1.69393929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50925976399999 meters Centerline goodness [0,1] 0.5574005495161869 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99900780e-01 1.37663251e-02 2.98631850e-03 -2.75124200e+01] [-1.37357606e-02 9.99855407e-01 -1.00246570e-02 1.50023626e+01] [-3.12388939e-03 9.98264297e-03 9.99945293e-01 1.69390930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.539259764 meters Centerline goodness [0,1] 0.5558902475395169 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99895724e-01 1.41331971e-02 2.96553596e-03 -2.75114454e+01] [-1.41035407e-02 9.99852576e-01 -9.79366590e-03 1.50024057e+01] [-3.10351458e-03 9.75082010e-03 9.99947643e-01 1.69380031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.569259764 meters Centerline goodness [0,1] 0.5577088844633356 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99888171e-01 1.46638140e-02 2.93565223e-03 -2.75101462e+01] [-1.46360999e-02 9.99850106e-01 -9.24933066e-03 1.50015513e+01] [-3.07084266e-03 9.20532982e-03 9.99952915e-01 1.69363097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.599259764 meters Centerline goodness [0,1] 0.5644518470049372 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99888989e-01 1.46180976e-02 2.88443218e-03 -2.75102178e+01] [-1.45907556e-02 9.99850458e-01 -9.28285610e-03 1.50016272e+01] [-3.01969853e-03 9.23973956e-03 9.99952753e-01 1.69365290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.629259764 meters Centerline goodness [0,1] 0.5605195886094763 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99895140e-01 1.41710521e-02 2.98159885e-03 -2.75116156e+01] [-1.41414925e-02 9.99852838e-01 -9.71191792e-03 1.50023648e+01] [-3.11878817e-03 9.66873528e-03 9.99948393e-01 1.69380240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.659259764 meters Centerline goodness [0,1] 0.5607876967010739 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99897053e-01 1.40461590e-02 2.93061952e-03 -2.75121295e+01] [-1.40167091e-02 9.99853357e-01 -9.83855033e-03 1.50024224e+01] [-3.06838361e-03 9.79645984e-03 9.99947306e-01 1.69388605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.689259764 meters Centerline goodness [0,1] 0.5628758559094968 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99898995e-01 1.39159442e-02 2.88906174e-03 -2.75124295e+01] [-1.38864695e-02 9.99853740e-01 -9.98317694e-03 1.50026970e+01] [-3.02756452e-03 9.94204972e-03 9.99945993e-01 1.69393933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.719259764 meters Centerline goodness [0,1] 0.5680485699830362 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99895734e-01 1.41521331e-02 2.87018033e-03 -2.75117341e+01] [-1.41238560e-02 9.99853745e-01 -9.64394253e-03 1.50024511e+01] [-3.00624291e-03 9.60239898e-03 9.99949377e-01 1.69383310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.749259764 meters Centerline goodness [0,1] 0.5673826666268336 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99887191e-01 1.47607049e-02 2.77971258e-03 -2.75102110e+01] [-1.47347430e-02 9.99849667e-01 -9.13946893e-03 1.50020243e+01] [-2.91419970e-03 9.09747956e-03 9.99954371e-01 1.69366739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.779259764 meters Centerline goodness [0,1] 0.5588858703764517 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99883903e-01 1.50060532e-02 2.64572527e-03 -2.75095295e+01] [-1.49817156e-02 9.99847348e-01 -8.99046828e-03 1.50018932e+01] [-2.78023284e-03 8.94978701e-03 9.99956085e-01 1.69363120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.809259764 meters Centerline goodness [0,1] 0.5657513371380762 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99882822e-01 1.50769303e-02 2.65098161e-03 -2.75093857e+01] [-1.50527042e-02 9.99846801e-01 -8.93257809e-03 1.50020152e+01] [-2.78525134e-03 8.89162695e-03 9.99956590e-01 1.69360957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.839259764 meters Centerline goodness [0,1] 0.5673025174908808 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99885646e-01 1.49033222e-02 2.56625858e-03 -2.75100624e+01] [-1.48796097e-02 9.99848573e-01 -9.02377125e-03 1.50017721e+01] [-2.70035415e-03 8.98455442e-03 9.99955992e-01 1.69372208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86925976399999 meters Centerline goodness [0,1] 0.5588261635370332 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99889227e-01 1.46310379e-02 2.73239608e-03 -2.75115336e+01] [-1.46060626e-02 9.99853296e-01 -8.94703153e-03 1.50004003e+01] [-2.86289958e-03 8.90613089e-03 9.99956241e-01 1.69382750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89925976399999 meters Centerline goodness [0,1] 0.5634205975311587 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99888230e-01 1.46967150e-02 2.74478608e-03 -2.75117035e+01] [-1.46725731e-02 9.99855214e-01 -8.61776234e-03 1.49990919e+01] [-2.87104147e-03 8.57652606e-03 9.99959099e-01 1.69381461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.929259764 meters Centerline goodness [0,1] 0.567262772636653 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99885710e-01 1.48257031e-02 2.96054926e-03 -2.75119766e+01] [-1.48010884e-02 9.99857080e-01 -8.16990771e-03 1.49975173e+01] [-3.08125077e-03 8.12515462e-03 9.99962243e-01 1.69374773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.959259764 meters Centerline goodness [0,1] 0.5544193491019029 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99935185e-01 1.11232313e-02 2.42889786e-03 -2.75106567e+01] [-1.10924187e-02 9.99862199e-01 -1.23507886e-02 1.49980271e+01] [-2.56594383e-03 1.23230457e-02 9.99920776e-01 1.69379664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.989259764 meters Centerline goodness [0,1] 0.5549964480227327 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.94 [[ 9.99931851e-01 1.13712990e-02 2.64333941e-03 -2.75108950e+01] [-1.13398281e-02 9.99868061e-01 -1.16305073e-02 1.49952273e+01] [-2.77524463e-03 1.15997397e-02 9.99928869e-01 1.69370722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.019259764 meters Centerline goodness [0,1] 0.5520207375986803 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.99, Z:16.94 [[ 9.99970078e-01 7.39275408e-03 2.27813130e-03 -2.75107475e+01] [-7.35603209e-03 9.99849267e-01 -1.57268179e-02 1.49947467e+01] [-2.39405241e-03 1.57095893e-02 9.99873731e-01 1.69381828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.049259764 meters Centerline goodness [0,1] 0.5499911987326175 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.99, Z:16.94 [[ 9.99970106e-01 7.31081333e-03 2.51795342e-03 -2.75119546e+01] [-7.27113879e-03 9.99854651e-01 -1.54209739e-02 1.49928916e+01] [-2.63032730e-03 1.54022045e-02 9.99877919e-01 1.69386260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.079259764 meters Centerline goodness [0,1] 0.5497963608661256 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.99, Z:16.94 [[ 9.99969935e-01 7.26145920e-03 2.72041002e-03 -2.75130154e+01] [-7.21981209e-03 9.99861153e-01 -1.50183031e-02 1.49910439e+01] [-2.82908709e-03 1.49982107e-02 9.99883518e-01 1.69388920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.109259764 meters Centerline goodness [0,1] 0.5450760002329509 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.99, Z:16.94 [[ 9.99972251e-01 6.74833767e-03 3.15537493e-03 -2.75153353e+01] [-6.70176655e-03 9.99871771e-01 -1.45439933e-02 1.49873698e+01] [-3.25311809e-03 1.45224432e-02 9.99889252e-01 1.69393666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.139259764 meters Centerline goodness [0,1] 0.5455524508091745 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.98, Z:16.94 [[ 9.99970838e-01 6.79261938e-03 3.49056187e-03 -2.75161638e+01] [-6.74341905e-03 9.99880389e-01 -1.39188250e-02 1.49847969e+01] [-3.58468964e-03 1.38948807e-02 9.99897036e-01 1.69387780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.169259764 meters Centerline goodness [0,1] 0.5438180134290345 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.98, Z:16.94 [[ 9.99990802e-01 2.82372756e-03 3.22837041e-03 -2.75158018e+01] [-2.76633544e-03 9.99840474e-01 -1.76457770e-02 1.49833628e+01] [-3.27768227e-03 1.76366839e-02 9.99839089e-01 1.69388915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.199259764 meters Centerline goodness [0,1] 0.5442584077961887 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.98, Z:16.94 [[ 9.99989468e-01 2.87692775e-03 3.57586808e-03 -2.75166769e+01] [-2.81541158e-03 9.99849979e-01 -1.70907369e-02 1.49810063e+01] [-3.62450044e-03 1.70804894e-02 9.99847548e-01 1.69384112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22925976399999 meters Centerline goodness [0,1] 0.5392323909088284 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.98, Z:16.94 [[ 9.99988690e-01 2.63313765e-03 3.96055940e-03 -2.75185711e+01] [-2.56586271e-03 9.99853952e-01 -1.68964505e-02 1.49788323e+01] [-4.00447165e-03 1.68860971e-02 9.99849401e-01 1.69392256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25925976399999 meters Centerline goodness [0,1] 0.5367926702777457 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.98, Z:16.94 [[ 9.99987988e-01 2.74035167e-03 4.06369778e-03 -2.75188364e+01] [-2.67252035e-03 9.99858563e-01 -1.66045421e-02 1.49778485e+01] [-4.10862531e-03 1.65934823e-02 9.99853877e-01 1.69390426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.289259764 meters Centerline goodness [0,1] 0.5373551622758979 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.98, Z:16.94 [[ 9.99987223e-01 3.03276920e-03 4.04426152e-03 -2.75185099e+01] [-2.96744335e-03 9.99866593e-01 -1.60620613e-02 1.49762650e+01] [-4.09243452e-03 1.60498550e-02 9.99862818e-01 1.69384300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.319259764 meters Centerline goodness [0,1] 0.5342737301769709 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.94 [[ 9.99985160e-01 3.42796362e-03 4.23417615e-03 -2.75181385e+01] [-3.36461286e-03 9.99883635e-01 -1.48793510e-02 1.49728879e+01] [-4.28468931e-03 1.48648839e-02 9.99880331e-01 1.69364611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.349259764 meters Centerline goodness [0,1] 0.5399643739585129 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99983763e-01 3.86136212e-03 4.19079895e-03 -2.75170782e+01] [-3.80213087e-03 9.99894054e-01 -1.40507552e-02 1.49712678e+01] [-4.24461001e-03 1.40345930e-02 9.99892501e-01 1.69347503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.379259764 meters Centerline goodness [0,1] 0.5377667836391877 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99983556e-01 4.06673108e-03 4.04338454e-03 -2.75164693e+01] [-4.01013341e-03 9.99895230e-01 -1.39085314e-02 1.49713907e+01] [-4.09952318e-03 1.38920882e-02 9.99895096e-01 1.69345090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.409259764 meters Centerline goodness [0,1] 0.5392579810181191 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99983308e-01 4.20515009e-03 3.96228135e-03 -2.75161128e+01] [-4.14992244e-03 9.99895542e-01 -1.38449661e-02 1.49718139e+01] [-4.02008762e-03 1.38282919e-02 9.99896303e-01 1.69343387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.439259764 meters Centerline goodness [0,1] 0.5383752695902229 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99983252e-01 4.33329278e-03 3.83636675e-03 -2.75160801e+01] [-4.27945673e-03 9.99893790e-01 -1.39317984e-02 1.49724694e+01] [-3.89632985e-03 1.39151476e-02 9.99895588e-01 1.69349184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.469259764 meters Centerline goodness [0,1] 0.5365664347726097 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.94 [[ 9.99983161e-01 4.36199918e-03 3.82759419e-03 -2.75162602e+01] [-4.30822028e-03 9.99893443e-01 -1.39478315e-02 1.49725407e+01] [-3.88802677e-03 1.39311065e-02 9.99895398e-01 1.69352176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.499259764 meters Centerline goodness [0,1] 0.5377203830998878 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.94 [[ 9.99982553e-01 4.52770906e-03 3.79389459e-03 -2.75163409e+01] [-4.47526077e-03 9.99895852e-01 -1.37206821e-02 1.49719636e+01] [-3.85562272e-03 1.37034641e-02 9.99898669e-01 1.69353883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.529259764 meters Centerline goodness [0,1] 0.5370977011494253 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.94 [[ 9.99982341e-01 4.62584116e-03 3.73084362e-03 -2.75161105e+01] [-4.57482034e-03 9.99897459e-01 -1.35699242e-02 1.49720254e+01] [-3.79323337e-03 1.35526166e-02 9.99900964e-01 1.69352161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.559259764 meters Centerline goodness [0,1] 0.5422967251360926 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99982037e-01 4.87818934e-03 3.48255573e-03 -2.75152445e+01] [-4.83119083e-03 9.99898831e-01 -1.33786130e-02 1.49722133e+01] [-3.54746681e-03 1.33615477e-02 9.99904438e-01 1.69349247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.589259764 meters Centerline goodness [0,1] 0.5422967251360926 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99982037e-01 4.87818934e-03 3.48255573e-03 -2.75152445e+01] [-4.83119083e-03 9.99898831e-01 -1.33786130e-02 1.49722133e+01] [-3.54746681e-03 1.33615477e-02 9.99904438e-01 1.69349247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61925976399999 meters Centerline goodness [0,1] 0.5415767204904585 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.93 [[ 9.99981038e-01 5.13212893e-03 3.40379378e-03 -2.75147130e+01] [-5.08726912e-03 9.99901778e-01 -1.30596011e-02 1.49715640e+01] [-3.47048301e-03 1.30420374e-02 9.99908926e-01 1.69344157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64925976399999 meters Centerline goodness [0,1] 0.5403676597706448 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.93 [[ 9.99979397e-01 5.47875866e-03 3.34485818e-03 -2.75142582e+01] [-5.43557094e-03 9.99903468e-01 -1.27870403e-02 1.49710020e+01] [-3.41459241e-03 1.27685956e-02 9.99912648e-01 1.69340777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.679259764 meters Centerline goodness [0,1] 0.5432557871371329 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.93 [[ 9.99979312e-01 5.50048797e-03 3.33456686e-03 -2.75144075e+01] [-5.45696533e-03 9.99901598e-01 -1.29234966e-02 1.49715503e+01] [-3.40532427e-03 1.29050326e-02 9.99910928e-01 1.69344390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.709259764 meters Centerline goodness [0,1] 0.542369460542629 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.94 [[ 9.99979286e-01 5.73729406e-03 2.91723526e-03 -2.75138094e+01] [-5.69820771e-03 9.99896181e-01 -1.32347026e-02 1.49729656e+01] [-2.99286378e-03 1.32178054e-02 9.99908162e-01 1.69356148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.739259764 meters Centerline goodness [0,1] 0.5408610838575634 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.94 [[ 9.99979291e-01 5.75640099e-03 2.87760051e-03 -2.75139860e+01] [-5.71760024e-03 9.99895007e-01 -1.33148311e-02 1.49734137e+01] [-2.95394389e-03 1.32981024e-02 9.99907213e-01 1.69360628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.769259764 meters Centerline goodness [0,1] 0.5414985590778099 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.94 [[ 9.99978709e-01 5.84081389e-03 2.90964410e-03 -2.75142385e+01] [-5.80187407e-03 9.99895828e-01 -1.32163549e-02 1.49730329e+01] [-2.98653527e-03 1.31991921e-02 9.99908427e-01 1.69362770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.799259764 meters Centerline goodness [0,1] 0.5347164273587892 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.94 [[ 9.99976429e-01 6.16688520e-03 3.01857233e-03 -2.75143796e+01] [-6.12893329e-03 9.99904028e-01 -1.24245932e-02 1.49703140e+01] [-3.09490367e-03 1.24057997e-02 9.99918256e-01 1.69356402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.829259764 meters Centerline goodness [0,1] 0.538580912147599 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.94 [[ 9.99975703e-01 6.19783983e-03 3.19079171e-03 -2.75150041e+01] [-6.15898757e-03 9.99908482e-01 -1.20455049e-02 1.49686989e+01] [-3.26515581e-03 1.20255602e-02 9.99922359e-01 1.69355920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.859259764 meters Centerline goodness [0,1] 0.5369669876203577 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.96, Z:16.94 [[ 9.99977497e-01 5.62847081e-03 3.65037724e-03 -2.75174997e+01] [-5.58609891e-03 9.99918089e-01 -1.15156801e-02 1.49644269e+01] [-3.71489391e-03 1.14950295e-02 9.99927029e-01 1.69361539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.889259764 meters Centerline goodness [0,1] 0.5303208081733108 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.96, Z:16.94 [[ 9.99975862e-01 5.56304832e-03 4.16260028e-03 -2.75189803e+01] [-5.51808056e-03 9.99927127e-01 -1.07374122e-02 1.49608211e+01] [-4.22202968e-03 1.07141834e-02 9.99933688e-01 1.69356008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.919259764 meters Centerline goodness [0,1] 0.5337121750248615 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.96, Z:16.94 [[ 9.99989758e-01 6.19504538e-04 4.48325174e-03 -2.75218356e+01] [-5.52871973e-04 9.99889601e-01 -1.48485607e-02 1.49584835e+01] [-4.49195555e-03 1.48459299e-02 9.99879703e-01 1.69374427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.949259764 meters Centerline goodness [0,1] 0.5272495755517828 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.96, Z:16.94 [[ 9.99986943e-01 -7.91509822e-05 5.10958449e-03 -2.75247423e+01] [ 1.53077357e-04 9.99895301e-01 -1.44694080e-02 1.49550101e+01] [-5.10790426e-03 1.44700013e-02 9.99882257e-01 1.69380819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97925976399999 meters Centerline goodness [0,1] 0.5281342546890424 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.95, Z:16.94 [[ 9.99982814e-01 -7.90096117e-04 5.80919340e-03 -2.75276235e+01] [ 8.71315683e-04 9.99901728e-01 -1.39920005e-02 1.49511897e+01] [-5.79756749e-03 1.39968216e-02 9.99885232e-01 1.69383285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00925976399999 meters Centerline goodness [0,1] 0.5276082169635142 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.95, Z:16.94 [[ 9.99961701e-01 -6.25022676e-03 6.12622569e-03 -2.75309944e+01] [ 6.35948776e-03 9.99818108e-01 -1.79807777e-02 1.49471036e+01] [-6.01272744e-03 1.80190487e-02 9.99819564e-01 1.69400255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.039259764 meters Centerline goodness [0,1] 0.5027234326367274 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.94, Z:16.94 [[ 9.99951125e-01 -7.15496657e-03 6.82310097e-03 -2.75338883e+01] [ 7.27281914e-03 9.99822034e-01 -1.74071084e-02 1.49429119e+01] [-6.69733941e-03 1.74558808e-02 9.99825204e-01 1.69398699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.069259764 meters Centerline goodness [0,1] 0.5155357043777395 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.94, Z:16.94 [[ 9.99968130e-01 -3.07771809e-03 7.36655005e-03 -2.75351267e+01] [ 3.16564280e-03 9.99923538e-01 -1.19539198e-02 1.49383450e+01] [-7.32919600e-03 1.19768587e-02 9.99901414e-01 1.69380648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.099259764 meters Centerline goodness [0,1] 0.5275149160538366 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.93, Z:16.94 [[ 9.99969216e-01 1.22656195e-04 7.84554994e-03 -2.75374174e+01] [-6.36914459e-05 9.99971756e-01 -7.51550185e-03 1.49344471e+01] [-7.84625018e-03 7.51477080e-03 9.99940981e-01 1.69379116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.129259764 meters Centerline goodness [0,1] 0.522682119205298 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.93, Z:16.94 [[ 9.99965816e-01 -3.28757755e-05 8.26837858e-03 -2.75387228e+01] [ 8.98967338e-05 9.99976218e-01 -6.89599134e-03 1.49315238e+01] [-8.26795523e-03 6.89649890e-03 9.99942038e-01 1.69374667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.159259764 meters Centerline goodness [0,1] 0.5221881644713224 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.93, Z:16.94 [[ 9.99964994e-01 2.93101919e-04 8.36214197e-03 -2.75385209e+01] [-2.40113579e-04 9.99979892e-01 -6.33699495e-03 1.49297900e+01] [-8.36383121e-03 6.33476525e-03 9.99944957e-01 1.69367128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.189259764 meters Centerline goodness [0,1] 0.5004135649296939 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.93, Z:16.94 [[ 9.99962683e-01 4.90260747e-04 8.62511215e-03 -2.75392465e+01] [-4.39807455e-04 9.99982789e-01 -5.85050547e-03 1.49276206e+01] [-8.62783198e-03 5.84649375e-03 9.99945688e-01 1.69365639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.219259764 meters Centerline goodness [0,1] 0.5172233389321805 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.93, Z:16.94 [[ 9.99960830e-01 4.50102927e-04 8.83948267e-03 -2.75401202e+01] [-3.99949953e-04 9.99983819e-01 -5.67469374e-03 1.49265801e+01] [-8.84189383e-03 5.67093611e-03 9.99944829e-01 1.69368261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.249259764 meters Centerline goodness [0,1] 0.5049393556884914 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.93, Z:16.94 [[ 9.99958873e-01 3.75182201e-04 9.06149597e-03 -2.75410201e+01] [-3.25317004e-04 9.99984801e-01 -5.50382348e-03 1.49254674e+01] [-9.06342318e-03 5.50064927e-03 9.99943797e-01 1.69370868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.279259764 meters Centerline goodness [0,1] 0.5070975536091815 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.92, Z:16.94 [[ 9.99953354e-01 1.98790549e-04 9.65661791e-03 -2.75430946e+01] [-1.51760577e-04 9.99988126e-01 -4.87072097e-03 1.49216032e+01] [-9.65747150e-03 4.86902828e-03 9.99941511e-01 1.69370962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.309259764 meters Centerline goodness [0,1] 0.47687845455042954 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.92, Z:16.94 [[ 9.99948307e-01 -7.92485116e-05 1.01674862e-02 -2.75449582e+01] [ 1.25546188e-04 9.99989627e-01 -4.55294531e-03 1.49192794e+01] [-1.01670200e-02 4.55398644e-03 9.99937945e-01 1.69373372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.339259764 meters Centerline goodness [0,1] 0.48135204499535844 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.92, Z:16.94 [[ 9.99946792e-01 -1.86933220e-04 1.03140270e-02 -2.75459631e+01] [ 2.30085117e-04 9.99991226e-01 -4.18277899e-03 1.49175060e+01] [-1.03131546e-02 4.18492953e-03 9.99938061e-01 1.69377638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36925976399999 meters Centerline goodness [0,1] 0.47600579029306533 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.92, Z:16.94 [[ 9.99946404e-01 -1.23659651e-04 1.03524863e-02 -2.75462678e+01] [ 1.64871544e-04 9.99992066e-01 -3.98011040e-03 1.49167735e+01] [-1.03519119e-02 3.98160391e-03 9.99938490e-01 1.69379418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39925976399999 meters Centerline goodness [0,1] 0.47230225604783904 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.91, Z:16.94 [[ 9.99941133e-01 -5.28843270e-04 1.08374979e-02 -2.75480569e+01] [ 5.64978510e-04 9.99994291e-01 -3.33148861e-03 1.49128470e+01] [-1.08356742e-02 3.33741545e-03 9.99935723e-01 1.69375966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.429259764 meters Centerline goodness [0,1] 0.47715156130997716 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.91, Z:16.94 [[ 9.99938096e-01 -3.51794602e-04 1.11211555e-02 -2.75485492e+01] [ 3.82817858e-04 9.99996041e-01 -2.78756561e-03 1.49104639e+01] [-1.11201308e-02 2.79165043e-03 9.99934273e-01 1.69370541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.459259764 meters Centerline goodness [0,1] 0.47454219420746613 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.91, Z:16.94 [[ 9.99934752e-01 -3.51270110e-04 1.14179142e-02 -2.75497374e+01] [ 3.78872935e-04 9.99997011e-01 -2.41542839e-03 1.49081516e+01] [-1.14170316e-02 2.41959672e-03 9.99931896e-01 1.69373809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.489259764 meters Centerline goodness [0,1] 0.4788128696218328 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.91, Z:16.94 [[ 9.99935231e-01 -4.61814206e-04 1.13719196e-02 -2.75501802e+01] [ 4.91065187e-04 9.99996578e-01 -2.56955344e-03 1.49086429e+01] [-1.13706941e-02 2.57497137e-03 9.99932036e-01 1.69381654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.519259764 meters Centerline goodness [0,1] 0.474510548294376 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.91, Z:16.94 [[ 9.99934406e-01 -6.13569877e-04 1.14370863e-02 -2.75511399e+01] [ 6.43515050e-04 9.99996374e-01 -2.61475566e-03 1.49082830e+01] [-1.14354405e-02 2.62194409e-03 9.99931176e-01 1.69391761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.549259764 meters Centerline goodness [0,1] 0.474976980989005 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.91, Z:16.94 [[ 9.99933059e-01 -3.39460029e-04 1.15655570e-02 -2.75510189e+01] [ 3.63994238e-04 9.99997688e-01 -2.11927771e-03 1.49066972e+01] [-1.15648109e-02 2.12334564e-03 9.99930871e-01 1.69384170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.579259764 meters Centerline goodness [0,1] 0.4764404990662805 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.90, Z:16.94 [[ 9.99931691e-01 2.66505496e-06 1.16881464e-02 -2.75506747e+01] [ 1.40792817e-05 9.99998974e-01 -1.43250877e-03 1.49048093e+01] [-1.16881382e-02 1.43257548e-03 9.99930665e-01 1.69372705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.609259764 meters Centerline goodness [0,1] 0.48306851094930026 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.90, Z:16.94 [[ 9.99929203e-01 1.68536512e-04 1.18979172e-02 -2.75507221e+01] [-1.60869145e-04 9.99999779e-01 -6.45383479e-04 1.49020127e+01] [-1.18980233e-02 6.43423780e-04 9.99929009e-01 1.69360155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.639259764 meters Centerline goodness [0,1] 0.48374740363087054 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.90, Z:16.94 [[ 9.99933076e-01 4.37366116e-04 1.15608454e-02 -2.75496245e+01] [-4.29738702e-04 9.99999688e-01 -6.62238535e-04 1.49029725e+01] [-1.15611315e-02 6.57226072e-04 9.99932952e-01 1.69359216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.669259764 meters Centerline goodness [0,1] 0.48620456695041214 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.90, Z:16.94 [[ 9.99935783e-01 4.07209112e-04 1.13253726e-02 -2.75493772e+01] [-3.94923778e-04 9.99999331e-01 -1.08697723e-03 1.49048985e+01] [-1.13258076e-02 1.08243476e-03 9.99935275e-01 1.69366952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.699259764 meters Centerline goodness [0,1] 0.45579297117696316 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.90, Z:16.94 [[ 9.99935650e-01 4.07148438e-04 1.13371343e-02 -2.75494227e+01] [-3.94898861e-04 9.99999336e-01 -1.08270023e-03 1.49049832e+01] [-1.13375676e-02 1.07815354e-03 9.99935146e-01 1.69366778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72925976399999 meters Centerline goodness [0,1] 0.4880149508409848 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.90, Z:16.94 [[ 9.99933340e-01 3.83159961e-04 1.15398731e-02 -2.75497590e+01] [-3.71708068e-04 9.99999436e-01 -9.94504411e-04 1.49046228e+01] [-1.15402477e-02 9.90148654e-04 9.99932919e-01 1.69363184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75925976399999 meters Centerline goodness [0,1] 0.48410506363390193 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.90, Z:16.94 [[ 9.99935271e-01 5.98137389e-04 1.13620501e-02 -2.75486544e+01] [-5.89664656e-04 9.99999546e-01 -7.49039963e-04 1.49049372e+01] [-1.13624930e-02 7.42291679e-04 9.99935169e-01 1.69353086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.789259764 meters Centerline goodness [0,1] 0.49438599352961965 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.91, Z:16.94 [[ 9.99940610e-01 7.74226943e-04 1.08709604e-02 -2.75473731e+01] [-7.60630968e-04 9.99998924e-01 -1.25474798e-03 1.49076011e+01] [-1.08719201e-02 1.24640467e-03 9.99940122e-01 1.69357684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.819259764 meters Centerline goodness [0,1] 0.4728028923260934 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.91, Z:16.94 [[ 9.99945328e-01 1.16608439e-03 1.03914321e-02 -2.75456766e+01] [-1.14938675e-03 9.99998039e-01 -1.61269278e-03 1.49109787e+01] [-1.03932922e-02 1.60066084e-03 9.99944707e-01 1.69357590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.849259764 meters Centerline goodness [0,1] 0.5021794801939737 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.91, Z:16.94 [[ 9.99945647e-01 1.30501958e-03 1.03440477e-02 -2.75453735e+01] [-1.28917944e-03 9.99997987e-01 -1.53784874e-03 1.49112023e+01] [-1.03460338e-02 1.52442982e-03 9.99945316e-01 1.69355364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.879259764 meters Centerline goodness [0,1] 0.4862597706784323 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.91, Z:16.94 [[ 9.99944032e-01 1.11520433e-03 1.05209218e-02 -2.75457962e+01] [-1.09792797e-03 9.99998040e-01 -1.64772858e-03 1.49117549e+01] [-1.05227387e-02 1.63608514e-03 9.99943296e-01 1.69353463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.909259764 meters Centerline goodness [0,1] 0.5028223937171061 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.91, Z:16.94 [[ 9.99944146e-01 1.01536270e-03 1.05202042e-02 -2.75460901e+01] [-9.97196658e-04 9.99998003e-01 -1.73187779e-03 1.49120119e+01] [-1.05219417e-02 1.72129034e-03 9.99943161e-01 1.69356949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.939259764 meters Centerline goodness [0,1] 0.4830911276223776 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.91, Z:16.94 [[ 9.99949701e-01 1.38468525e-03 9.93368290e-03 -2.75442907e+01] [-1.36436832e-03 9.99996964e-01 -2.05174162e-03 1.49145839e+01] [-9.93649376e-03 2.03808522e-03 9.99948555e-01 1.69358783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.969259764 meters Centerline goodness [0,1] 0.4855924326097655 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.92, Z:16.94 [[ 9.99953731e-01 1.76554770e-03 9.45616341e-03 -2.75427480e+01] [-1.73971569e-03 9.99994735e-01 -2.73929461e-03 1.49188802e+01] [-9.46094998e-03 2.72271683e-03 9.99951537e-01 1.69364567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.999259764 meters Centerline goodness [0,1] 0.4931315674255692 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.92, Z:16.94 [[ 9.99955912e-01 2.22702801e-03 9.12223739e-03 -2.75408509e+01] [-2.20263754e-03 9.99993975e-01 -2.68291202e-03 1.49203062e+01] [-9.12815735e-03 2.66270076e-03 9.99954792e-01 1.69353715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.029259764 meters Centerline goodness [0,1] 0.5002058686283659 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.92, Z:16.93 [[ 9.99958645e-01 2.58359297e-03 8.71967626e-03 -2.75392062e+01] [-2.56023784e-03 9.99993108e-01 -2.68854044e-03 1.49217930e+01] [-8.72656226e-03 2.66610481e-03 9.99958369e-01 1.69348219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.059259764 meters Centerline goodness [0,1] 0.5129768476559282 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.92, Z:16.94 [[ 9.99960673e-01 2.71920374e-03 8.44148419e-03 -2.75384031e+01] [-2.69348685e-03 9.99991702e-01 -3.05636406e-03 1.49237459e+01] [-8.44972502e-03 3.03350684e-03 9.99959699e-01 1.69351062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.089259764 meters Centerline goodness [0,1] 0.4972393901936547 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.93, Z:16.94 [[ 9.99963756e-01 2.65481628e-03 8.08942164e-03 -2.75384094e+01] [-2.62466502e-03 9.99989578e-01 -3.73558532e-03 1.49262540e+01] [-8.09925462e-03 3.71421790e-03 9.99960303e-01 1.69368609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11925976399999 meters Centerline goodness [0,1] 0.5155815936408394 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.93, Z:16.94 [[ 9.99963480e-01 2.50008596e-03 8.17246741e-03 -2.75390885e+01] [-2.46741409e-03 9.99988934e-01 -4.00543779e-03 1.49269052e+01] [-8.18239091e-03 3.98512665e-03 9.99958583e-01 1.69375625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14925976399999 meters Centerline goodness [0,1] 0.49250941477225874 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.93, Z:16.94 [[ 9.99962142e-01 2.25340268e-03 8.40454156e-03 -2.75400852e+01] [-2.22001889e-03 9.99989618e-01 -3.97932903e-03 1.49264119e+01] [-8.41342133e-03 3.96052014e-03 9.99956763e-01 1.69377667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.179259764 meters Centerline goodness [0,1] 0.49243900430880694 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.92, Z:16.94 [[ 9.99960222e-01 2.31443044e-03 8.61385898e-03 -2.75403545e+01] [-2.28415668e-03 9.99991186e-01 -3.52272102e-03 1.49249313e+01] [-8.62193615e-03 3.50290548e-03 9.99956695e-01 1.69370194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.209259764 meters Centerline goodness [0,1] 0.4930458398485721 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.92, Z:16.94 [[ 9.99961962e-01 2.61832032e-03 8.31980188e-03 -2.75390632e+01] [-2.59151794e-03 9.99991423e-01 -3.23066562e-03 1.49248558e+01] [-8.32818944e-03 3.20898181e-03 9.99960171e-01 1.69362649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.239259764 meters Centerline goodness [0,1] 0.5002198647831584 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.93, Z:16.94 [[ 9.99964823e-01 3.29875489e-03 7.71168137e-03 -2.75364933e+01] [-3.27339949e-03 9.99989203e-01 -3.29823510e-03 1.49281522e+01] [-7.72247817e-03 3.27287567e-03 9.99964825e-01 1.69355724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.269259764 meters Centerline goodness [0,1] 0.48825309491059143 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.93, Z:16.94 [[ 9.99966340e-01 3.41278673e-03 7.46132137e-03 -2.75359190e+01] [-3.38602652e-03 9.99987801e-01 -3.59621856e-03 1.49297343e+01] [-7.47350348e-03 3.57083328e-03 9.99965697e-01 1.69359687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.299259764 meters Centerline goodness [0,1] 0.5226028339524006 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.93, Z:16.94 [[ 9.99966205e-01 3.45194014e-03 7.46136530e-03 -2.75359369e+01] [-3.42455008e-03 9.99987363e-01 -3.68058208e-03 1.49301467e+01] [-7.47397615e-03 3.65490587e-03 9.99965390e-01 1.69360722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.329259764 meters Centerline goodness [0,1] 0.4967759713419675 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.93, Z:16.94 [[ 9.99965777e-01 3.36006935e-03 7.56003796e-03 -2.75362385e+01] [-3.33128189e-03 9.99987166e-01 -3.81722183e-03 1.49306969e+01] [-7.57276707e-03 3.79190658e-03 9.99964137e-01 1.69361431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.359259764 meters Centerline goodness [0,1] 0.49639277453464037 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.93, Z:16.94 [[ 9.99966566e-01 3.06210724e-03 7.58229357e-03 -2.75363968e+01] [-3.03195901e-03 9.99987466e-01 -3.98444425e-03 1.49317532e+01] [-7.59439932e-03 3.96132183e-03 9.99963316e-01 1.69360000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.389259764 meters Centerline goodness [0,1] 0.5259018022244915 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.93, Z:16.94 [[ 9.99969001e-01 3.30985612e-03 7.14434820e-03 -2.75347529e+01] [-3.28109384e-03 9.99986481e-01 -4.03385203e-03 1.49335066e+01] [-7.15760308e-03 4.01028571e-03 9.99966343e-01 1.69355005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.419259764 meters Centerline goodness [0,1] 0.5313533187008586 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.94, Z:16.93 [[ 9.99970032e-01 4.10226288e-03 6.56563058e-03 -2.75320936e+01] [-4.07521912e-03 9.99983180e-01 -4.12708073e-03 1.49378747e+01] [-6.58245052e-03 4.10020066e-03 9.99969929e-01 1.69347876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.449259764 meters Centerline goodness [0,1] 0.5333815712576184 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.94, Z:16.94 [[ 9.99971069e-01 4.12872069e-03 6.38869550e-03 -2.75316876e+01] [-4.09944224e-03 9.99981067e-01 -4.58918120e-03 1.49400809e+01] [-6.40752199e-03 4.56285834e-03 9.99969062e-01 1.69352332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47925976399999 meters Centerline goodness [0,1] 0.5333815712576184 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.94, Z:16.94 [[ 9.99971069e-01 4.12872069e-03 6.38869550e-03 -2.75316876e+01] [-4.09944224e-03 9.99981067e-01 -4.58918120e-03 1.49400809e+01] [-6.40752199e-03 4.56285834e-03 9.99969062e-01 1.69352332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50925976399999 meters Centerline goodness [0,1] 0.5329796146327841 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.94, Z:16.94 [[ 9.99971285e-01 4.39657992e-03 6.17249804e-03 -2.75307398e+01] [-4.36291426e-03 9.99975592e-01 -5.45705051e-03 1.49445391e+01] [-6.19633974e-03 5.42996373e-03 9.99966060e-01 1.69358939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.539259764 meters Centerline goodness [0,1] 0.5324842908438061 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.95, Z:16.94 [[ 9.99972971e-01 4.35362716e-03 5.92476709e-03 -2.75300890e+01] [-4.31828914e-03 9.99972890e-01 -5.96423618e-03 1.49471707e+01] [-5.95057253e-03 5.93849012e-03 9.99964662e-01 1.69361855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.569259764 meters Centerline goodness [0,1] 0.5316782745450461 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.95, Z:16.94 [[ 9.99973944e-01 4.34042027e-03 5.76811116e-03 -2.75294667e+01] [-4.30417284e-03 9.99971007e-01 -6.28173318e-03 1.49492995e+01] [-5.79520928e-03 6.25674256e-03 9.99963634e-01 1.69360792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.599259764 meters Centerline goodness [0,1] 0.5365640751274181 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.95, Z:16.93 [[ 9.99974694e-01 4.56765041e-03 5.45411470e-03 -2.75276765e+01] [-4.53301251e-03 9.99969587e-01 -6.34634518e-03 1.49517920e+01] [-5.48293671e-03 6.32146101e-03 9.99964988e-01 1.69348918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.629259764 meters Centerline goodness [0,1] 0.5397134314886896 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.95, Z:16.93 [[ 9.99975642e-01 4.73713996e-03 5.12590755e-03 -2.75264229e+01] [-4.70413593e-03 9.99968252e-01 -6.43168566e-03 1.49535031e+01] [-5.15621260e-03 6.40741603e-03 9.99966179e-01 1.69344983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.659259764 meters Centerline goodness [0,1] 0.542451627524859 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.96, Z:16.93 [[ 9.99974598e-01 5.53023179e-03 4.49665522e-03 -2.75235555e+01] [-5.50067919e-03 9.99963366e-01 -6.55814875e-03 1.49579548e+01] [-4.53275857e-03 6.53324750e-03 9.99968385e-01 1.69337336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.689259764 meters Centerline goodness [0,1] 0.5439482494467458 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.96, Z:16.93 [[ 9.99974849e-01 5.63350099e-03 4.30877748e-03 -2.75228611e+01] [-5.60456995e-03 9.99961867e-01 -6.69730228e-03 1.49593826e+01] [-4.34634243e-03 6.67298498e-03 9.99968290e-01 1.69335692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.719259764 meters Centerline goodness [0,1] 0.5446763735638722 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.96, Z:16.93 [[ 9.99974280e-01 6.03259555e-03 3.87908018e-03 -2.75211512e+01] [-6.00598552e-03 9.99958602e-01 -6.83532528e-03 1.49615260e+01] [-3.92015435e-03 6.81185178e-03 9.99969115e-01 1.69332187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.749259764 meters Centerline goodness [0,1] 0.5449620801733478 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.96, Z:16.93 [[ 9.99973885e-01 6.21956717e-03 3.68064178e-03 -2.75202245e+01] [-6.19347948e-03 9.99955917e-01 -7.05726224e-03 1.49635030e+01] [-3.72437264e-03 7.03428195e-03 9.99968323e-01 1.69329655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.779259764 meters Centerline goodness [0,1] 0.5434503241282805 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99973483e-01 6.37845046e-03 3.51400441e-03 -2.75195303e+01] [-6.35248687e-03 9.99952804e-01 -7.35087176e-03 1.49651823e+01] [-3.56072573e-03 7.32835417e-03 9.99966808e-01 1.69330166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.809259764 meters Centerline goodness [0,1] 0.5394439194799989 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99971368e-01 6.74645819e-03 3.42750587e-03 -2.75185182e+01] [-6.72014610e-03 9.99948301e-01 -7.63112015e-03 1.49672485e+01] [-3.47881170e-03 7.60786832e-03 9.99965008e-01 1.69326246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.839259764 meters Centerline goodness [0,1] 0.5391645656658263 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99971229e-01 6.76559865e-03 3.43056058e-03 -2.75184606e+01] [-6.73881632e-03 9.99947189e-01 -7.75934788e-03 1.49679549e+01] [-3.48287604e-03 7.73600671e-03 9.99964011e-01 1.69326680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86925976399999 meters Centerline goodness [0,1] 0.5403285820596485 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99972299e-01 6.63676921e-03 3.36959955e-03 -2.75186090e+01] [-6.60964153e-03 9.99946163e-01 -7.99900957e-03 1.49689715e+01] [-3.42250572e-03 7.97651615e-03 9.99962330e-01 1.69331476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89925976399999 meters Centerline goodness [0,1] 0.5399564320110066 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99973772e-01 6.38184661e-03 3.42466049e-03 -2.75191568e+01] [-6.35302346e-03 9.99944854e-01 -8.36224631e-03 1.49702106e+01] [-3.47783821e-03 8.34027003e-03 9.99959171e-01 1.69337524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.929259764 meters Centerline goodness [0,1] 0.5408008254750781 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99974341e-01 6.35894069e-03 3.29858521e-03 -2.75190172e+01] [-6.33065106e-03 9.99943690e-01 -8.51698515e-03 1.49712722e+01] [-3.35255847e-03 8.49588442e-03 9.99958289e-01 1.69340709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.959259764 meters Centerline goodness [0,1] 0.5318625346953959 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99972305e-01 6.68570394e-03 3.26974785e-03 -2.75182527e+01] [-6.65822208e-03 9.99943015e-01 -8.34476608e-03 1.49714574e+01] [-3.32535216e-03 8.32276426e-03 9.99959836e-01 1.69333373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.989259764 meters Centerline goodness [0,1] 0.5459636426294477 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99971109e-01 6.92239428e-03 3.14026835e-03 -2.75175276e+01] [-6.89621314e-03 9.99942000e-01 -8.27281932e-03 1.49717164e+01] [-3.19735393e-03 8.25092435e-03 9.99960849e-01 1.69329427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.019259764 meters Centerline goodness [0,1] 0.538419540229885 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99969042e-01 7.29069901e-03 2.95971167e-03 -2.75163470e+01] [-7.26700923e-03 9.99942092e-01 -7.93744890e-03 1.49717191e+01] [-3.01740983e-03 7.91569492e-03 9.99964118e-01 1.69319669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.049259764 meters Centerline goodness [0,1] 0.5482575648931594 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99967496e-01 7.48895203e-03 2.98690396e-03 -2.75159854e+01] [-7.46632029e-03 9.99943869e-01 -7.51750505e-03 1.49709022e+01] [-3.04303454e-03 7.49495952e-03 9.99967282e-01 1.69311435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.079259764 meters Centerline goodness [0,1] 0.5372293257816299 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99965447e-01 7.69511604e-03 3.14467814e-03 -2.75160341e+01] [-7.67307244e-03 9.99946320e-01 -6.96276654e-03 1.49690334e+01] [-3.19808863e-03 6.93839662e-03 9.99970815e-01 1.69303192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.109259764 meters Centerline goodness [0,1] 0.5467151820760393 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99964004e-01 7.78209786e-03 3.38073848e-03 -2.75164465e+01] [-7.75999673e-03 9.99948752e-01 -6.50202208e-03 1.49673658e+01] [-3.43116460e-03 6.47555352e-03 9.99973147e-01 1.69297079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.139259764 meters Centerline goodness [0,1] 0.5333752428849011 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99962919e-01 7.75456868e-03 3.74524700e-03 -2.75171845e+01] [-7.73199616e-03 9.99952081e-01 -6.00431254e-03 1.49654776e+01] [-3.79162838e-03 5.97513166e-03 9.99974960e-01 1.69289053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.169259764 meters Centerline goodness [0,1] 0.5289991445680069 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99988382e-01 3.41328371e-03 3.40376904e-03 -2.75172228e+01] [-3.37709183e-03 9.99938301e-01 -1.05825393e-02 1.49673289e+01] [-3.43968024e-03 1.05709215e-02 9.99938210e-01 1.69302978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.199259764 meters Centerline goodness [0,1] 0.5259514585232452 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99987952e-01 3.16477302e-03 3.75246827e-03 -2.75186321e+01] [-3.12524928e-03 9.99940071e-01 -1.04922223e-02 1.49664768e+01] [-3.78544889e-03 1.04803685e-02 9.99937914e-01 1.69306325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22925976399999 meters Centerline goodness [0,1] 0.5283744515981995 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99987735e-01 3.13428413e-03 3.83488468e-03 -2.75192794e+01] [-3.09383667e-03 9.99940002e-01 -1.05081014e-02 1.49662960e+01] [-3.86758997e-03 1.04961081e-02 9.99937435e-01 1.69312106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25925976399999 meters Centerline goodness [0,1] 0.5305733390240432 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99987276e-01 3.26315408e-03 3.84702738e-03 -2.75191820e+01] [-3.22256621e-03 9.99939577e-01 -1.05098559e-02 1.49666992e+01] [-3.88109021e-03 1.04973249e-02 9.99937370e-01 1.69311381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.289259764 meters Centerline goodness [0,1] 0.5337747591576913 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99987254e-01 3.37982607e-03 3.75090686e-03 -2.75186097e+01] [-3.33971988e-03 9.99937735e-01 -1.06476448e-02 1.49681187e+01] [-3.78666050e-03 1.06349821e-02 9.99936277e-01 1.69308966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.319259764 meters Centerline goodness [0,1] 0.5364732586182437 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99986945e-01 3.53786153e-03 3.68685328e-03 -2.75179576e+01] [-3.49900995e-03 9.99938840e-01 -1.04915723e-02 1.49684067e+01] [-3.72374552e-03 1.04785350e-02 9.99938165e-01 1.69302139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.349259764 meters Centerline goodness [0,1] 0.5366283699237857 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99985983e-01 3.78326350e-03 3.70424822e-03 -2.75173927e+01] [-3.74536066e-03 9.99941104e-01 -1.01862842e-02 1.49680781e+01] [-3.74256745e-03 1.01722677e-02 9.99941257e-01 1.69293135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.379259764 meters Centerline goodness [0,1] 0.5371349016933742 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99985564e-01 3.77378243e-03 3.82493239e-03 -2.75175778e+01] [-3.73484124e-03 9.99941640e-01 -1.01374001e-02 1.49682251e+01] [-3.86296551e-03 1.01229682e-02 9.99941300e-01 1.69290347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.409259764 meters Centerline goodness [0,1] 0.5370807612437061 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99986354e-01 3.54147536e-03 3.84047348e-03 -2.75179848e+01] [-3.50129190e-03 9.99939582e-01 -1.04198787e-02 1.49694605e+01] [-3.87714319e-03 1.04062899e-02 9.99938337e-01 1.69294806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.439259764 meters Centerline goodness [0,1] 0.5405821917808219 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99987474e-01 3.57135241e-03 3.50681509e-03 -2.75166952e+01] [-3.53333389e-03 9.99935562e-01 -1.07883224e-02 1.49729045e+01] [-3.54511801e-03 1.07757966e-02 9.99935655e-01 1.69291999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.469259764 meters Centerline goodness [0,1] 0.5402660563581748 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.97, Z:16.93 [[ 9.99987658e-01 3.66539434e-03 3.35396362e-03 -2.75159469e+01] [-3.62842061e-03 9.99933306e-01 -1.09643576e-02 1.49746187e+01] [-3.39392862e-03 1.09520527e-02 9.99934265e-01 1.69289599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.499259764 meters Centerline goodness [0,1] 0.5427339370418284 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.93 [[ 9.99988080e-01 3.81121162e-03 3.05193180e-03 -2.75148965e+01] [-3.77669341e-03 9.99929728e-01 -1.12372763e-02 1.49767572e+01] [-3.09454497e-03 1.12256162e-02 9.99932202e-01 1.69289453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.529259764 meters Centerline goodness [0,1] 0.5424345716101451 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.93 [[ 9.99985237e-01 4.69613014e-03 2.73367745e-03 -2.75123032e+01] [-4.66479320e-03 9.99924604e-01 -1.13589627e-02 1.49807496e+01] [-2.78681450e-03 1.13460430e-02 9.99931748e-01 1.69277348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.559259764 meters Centerline goodness [0,1] 0.5444560669456067 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.93 [[ 9.99953201e-01 9.22020872e-03 2.92982467e-03 -2.75112939e+01] [-9.19924609e-03 9.99932553e-01 -7.08959751e-03 1.49821001e+01] [-2.99499464e-03 7.06231354e-03 9.99970576e-01 1.69259790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.589259764 meters Centerline goodness [0,1] 0.5446334619431779 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.99, Z:16.93 [[ 9.99952255e-01 9.48305978e-03 2.35778199e-03 -2.75096663e+01] [-9.46482837e-03 9.99926121e-01 -7.62695500e-03 1.49854831e+01] [-2.42993467e-03 7.60427485e-03 9.99968135e-01 1.69265376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61925976399999 meters Centerline goodness [0,1] 0.5460522436464414 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.99, Z:16.93 [[ 9.99902820e-01 1.37521087e-02 2.28700832e-03 -2.75086572e+01] [-1.37420069e-02 9.99896000e-01 -4.37560670e-03 1.49900900e+01] [-2.34694429e-03 4.34375339e-03 9.99987812e-01 1.69266709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64925976399999 meters Centerline goodness [0,1] 0.5475409836065575 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.99, Z:16.93 [[ 9.99895510e-01 1.43269438e-02 1.92572276e-03 -2.75065474e+01] [-1.43177054e-02 9.99886316e-01 -4.72849145e-03 1.49928128e+01] [-1.99324867e-03 4.70042544e-03 9.99986966e-01 1.69261249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.679259764 meters Centerline goodness [0,1] 0.5475641480430413 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.99, Z:16.93 [[ 9.99894890e-01 1.43808835e-02 1.84346282e-03 -2.75061085e+01] [-1.43715739e-02 9.99884384e-01 -4.96754553e-03 1.49939144e+01] [-1.91468738e-03 4.94052993e-03 9.99985962e-01 1.69260835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.709259764 meters Centerline goodness [0,1] 0.5493237043833428 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.99, Z:16.93 [[ 9.99893568e-01 1.44872918e-02 1.72364519e-03 -2.75055339e+01] [-1.44782875e-02 9.99882042e-01 -5.12653910e-03 1.49949259e+01] [-1.79771154e-03 5.10103804e-03 9.99985374e-01 1.69260003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.739259764 meters Centerline goodness [0,1] 0.5493237043833428 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.99, Z:16.93 [[ 9.99893568e-01 1.44872918e-02 1.72364519e-03 -2.75055339e+01] [-1.44782875e-02 9.99882042e-01 -5.12653910e-03 1.49949259e+01] [-1.79771154e-03 5.10103804e-03 9.99985374e-01 1.69260003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.769259764 meters Centerline goodness [0,1] 0.5497867551238005 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.00, Z:16.93 [[ 9.99892644e-01 1.45703465e-02 1.55079473e-03 -2.75048439e+01] [-1.45622015e-02 9.99880755e-01 -5.13984303e-03 1.49960411e+01] [-1.62549910e-03 5.11670826e-03 9.99985588e-01 1.69256965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.799259764 meters Centerline goodness [0,1] 0.5504720191767039 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.00, Z:16.93 [[ 9.99895194e-01 1.44143637e-02 1.35177276e-03 -2.75045575e+01] [-1.44069492e-02 9.99881939e-01 -5.34309128e-03 1.49976876e+01] [-1.42863043e-03 5.32305637e-03 9.99984812e-01 1.69259593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.829259764 meters Centerline goodness [0,1] 0.5533524423037144 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.00, Z:16.93 [[ 9.99895950e-01 1.43567772e-02 1.40455838e-03 -2.75047673e+01] [-1.43490334e-02 9.99882594e-01 -5.37621303e-03 1.49978363e+01] [-1.48157857e-03 5.35549958e-03 9.99984562e-01 1.69260501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.859259764 meters Centerline goodness [0,1] 0.5512407204755849 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.00, Z:16.93 [[ 9.99896049e-01 1.43542457e-02 1.35934674e-03 -2.75045775e+01] [-1.43467463e-02 9.99882635e-01 -5.37471629e-03 1.49981163e+01] [-1.43633720e-03 5.35465538e-03 9.99984632e-01 1.69259178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.889259764 meters Centerline goodness [0,1] 0.55090246287899 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.00, Z:16.93 [[ 9.99898001e-01 1.42065117e-02 1.47089944e-03 -2.75048689e+01] [-1.41981497e-02 9.99883813e-01 -5.54733129e-03 1.49985720e+01] [-1.54953677e-03 5.52588141e-03 9.99983532e-01 1.69258806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.919259764 meters Centerline goodness [0,1] 0.548880652335063 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.93 [[ 9.99899610e-01 1.40672516e-02 1.69773344e-03 -2.75054691e+01] [-1.40573120e-02 9.99884767e-01 -5.73106955e-03 1.49989878e+01] [-1.77815821e-03 5.70662864e-03 9.99982136e-01 1.69259274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.949259764 meters Centerline goodness [0,1] 0.5496192289386006 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.93 [[ 9.99904459e-01 1.37325524e-02 1.57820339e-03 -2.75059124e+01] [-1.37220297e-02 9.99884751e-01 -6.49541342e-03 1.50012523e+01] [-1.66722011e-03 6.47313669e-03 9.99977659e-01 1.69273592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97925976399999 meters Centerline goodness [0,1] 0.5513834581977733 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.93 [[ 9.99906660e-01 1.35932954e-02 1.37574412e-03 -2.75057804e+01] [-1.35835084e-02 9.99884005e-01 -6.88941439e-03 1.50029512e+01] [-1.46923438e-03 6.87008391e-03 9.99975321e-01 1.69280557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00925976399999 meters Centerline goodness [0,1] 0.5557383423563544 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.00, Z:16.93 [[ 9.99908304e-01 1.34867747e-02 1.22073480e-03 -2.75054911e+01] [-1.34775852e-02 9.99882914e-01 -7.24661556e-03 1.50047847e+01] [-1.31832534e-03 7.22949852e-03 9.99972998e-01 1.69284280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.039259764 meters Centerline goodness [0,1] 0.5609507232459037 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.01, Z:16.93 [[ 9.99906050e-01 1.36857285e-02 7.69049547e-04 -2.75038162e+01] [-1.36795536e-02 9.99878073e-01 -7.53058603e-03 1.50074899e+01] [-8.72017334e-04 7.51935828e-03 9.99971349e-01 1.69282070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.069259764 meters Centerline goodness [0,1] 0.5610181206238543 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.01, Z:16.93 [[ 9.99904078e-01 1.38366352e-02 6.18774573e-04 -2.75030136e+01] [-1.38315629e-02 9.99875738e-01 -7.56280019e-03 1.50084528e+01] [-7.23341390e-04 7.55351613e-03 9.99971210e-01 1.69278162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.099259764 meters Centerline goodness [0,1] 0.5597780190614067 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.01, Z:16.93 [[ 9.99900799e-01 1.40771457e-02 4.75607320e-04 -2.75019574e+01] [-1.40730236e-02 9.99870732e-01 -7.77623075e-03 1.50101547e+01] [-5.85012972e-04 7.76876611e-03 9.99969652e-01 1.69273604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.129259764 meters Centerline goodness [0,1] 0.5598012646793135 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.01, Z:16.93 [[ 9.99900538e-01 1.40978529e-02 4.05485687e-04 -2.75015963e+01] [-1.40941377e-02 9.99868333e-01 -8.04184020e-03 1.50115105e+01] [-5.18804979e-04 8.03532537e-03 9.99967582e-01 1.69273919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.159259764 meters Centerline goodness [0,1] 0.5647599467892127 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.01, Z:16.93 [[ 9.99901986e-01 1.39979611e-02 2.73270391e-04 -2.75015256e+01] [-1.39951023e-02 9.99865259e-01 -8.57905779e-03 1.50133725e+01] [-3.93322887e-04 8.57439248e-03 9.99963162e-01 1.69281746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.189259764 meters Centerline goodness [0,1] 0.562044455153304 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.92 [[ 9.99895345e-01 1.35754821e-02 5.00044320e-03 -2.74782223e+01] [-1.35623931e-02 9.99904536e-01 -2.64222856e-03 1.50114953e+01] [-5.03583536e-03 2.57413407e-03 9.99984007e-01 1.69240891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.219259764 meters Centerline goodness [0,1] 0.5600519433455138 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.92 [[ 9.99896122e-01 1.34615543e-02 5.15082211e-03 -2.74787903e+01] [-1.34473889e-02 9.99905729e-01 -2.77494699e-03 1.50115118e+01] [-5.18769164e-03 2.70539362e-03 9.99982884e-01 1.69243505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.249259764 meters Centerline goodness [0,1] 0.5608499095840869 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.92 [[ 9.99895220e-01 1.35351537e-02 5.13303861e-03 -2.74788279e+01] [-1.35214447e-02 9.99904946e-01 -2.69610990e-03 1.50109558e+01] [-5.16904296e-03 2.62642130e-03 9.99983191e-01 1.69244518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.279259764 meters Centerline goodness [0,1] 0.560467510446315 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.93 [[ 9.99898330e-01 1.32767927e-02 5.20163013e-03 -2.74794616e+01] [-1.32608958e-02 9.99907331e-01 -3.07879693e-03 1.50118798e+01] [-5.24202464e-03 3.00950563e-03 9.99981732e-01 1.69251238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.309259764 meters Centerline goodness [0,1] 0.5606230491833086 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.93 [[ 9.99900077e-01 1.31797406e-02 5.11178223e-03 -2.74796109e+01] [-1.31623362e-02 9.99907512e-01 -3.42357882e-03 1.50129417e+01] [-5.15643133e-03 3.35595373e-03 9.99981074e-01 1.69258635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.339259764 meters Centerline goodness [0,1] 0.561541032418801 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.02, Z:16.93 [[ 9.99899842e-01 1.33496820e-02 4.70021169e-03 -2.74787538e+01] [-1.33305907e-02 9.99902861e-01 -4.06996576e-03 1.50152162e+01] [-4.75408787e-03 4.00690152e-03 9.99980672e-01 1.69270642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36925976399999 meters Centerline goodness [0,1] 0.561541032418801 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.02, Z:16.93 [[ 9.99899842e-01 1.33496820e-02 4.70021169e-03 -2.74787538e+01] [-1.33305907e-02 9.99902861e-01 -4.06996576e-03 1.50152162e+01] [-4.75408787e-03 4.00690152e-03 9.99980672e-01 1.69270642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39925976399999 meters Centerline goodness [0,1] 0.5637347273721962 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.02, Z:16.93 [[ 9.99891978e-01 1.40629183e-02 4.27401284e-03 -2.74765860e+01] [-1.40448545e-02 9.99892430e-01 -4.22746482e-03 1.50167432e+01] [-4.33300358e-03 4.16698028e-03 9.99981931e-01 1.69266728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.429259764 meters Centerline goodness [0,1] 0.565777060953714 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.02, Z:16.93 [[ 9.99890283e-01 1.42865025e-02 3.91386344e-03 -2.74752022e+01] [-1.42691578e-02 9.99888402e-01 -4.42425605e-03 1.50184444e+01] [-3.97663381e-03 4.36792310e-03 9.99982554e-01 1.69264364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.459259764 meters Centerline goodness [0,1] 0.5608505964548312 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.02, Z:16.93 [[ 9.99889809e-01 1.44094883e-02 3.56879926e-03 -2.74741218e+01] [-1.43924628e-02 9.99885135e-01 -4.75128021e-03 1.50201581e+01] [-3.63685285e-03 4.69939285e-03 9.99982344e-01 1.69265859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.489259764 meters Centerline goodness [0,1] 0.5696938340738937 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.02, Z:16.93 [[ 9.99884263e-01 1.48821803e-02 3.15927697e-03 -2.74721614e+01] [-1.48671918e-02 9.99878356e-01 -4.71590068e-03 1.50216737e+01] [-3.22907554e-03 4.66838530e-03 9.99983889e-01 1.69257873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.519259764 meters Centerline goodness [0,1] 0.5683989533256253 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.02, Z:16.93 [[ 9.99885049e-01 1.48491150e-02 3.06472739e-03 -2.74718453e+01] [-1.48338038e-02 9.99877673e-01 -4.95965105e-03 1.50229616e+01] [-3.13799892e-03 4.91361937e-03 9.99983005e-01 1.69258602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.549259764 meters Centerline goodness [0,1] 0.5770063092444147 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.03, Z:16.93 [[ 9.99882691e-01 1.50954112e-02 2.59478504e-03 -2.74702497e+01] [-1.50811432e-02 9.99871512e-01 -5.43303726e-03 1.50258487e+01] [-2.67646557e-03 5.39326759e-03 9.99981874e-01 1.69261320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.579259764 meters Centerline goodness [0,1] 0.5716861211269327 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.03, Z:16.93 [[ 9.99883256e-01 1.50796649e-02 2.46556295e-03 -2.74698369e+01] [-1.50653419e-02 9.99870104e-01 -5.72807780e-03 1.50273407e+01] [-2.55162018e-03 5.69026453e-03 9.99980555e-01 1.69262676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.609259764 meters Centerline goodness [0,1] 0.5753789618741387 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.03, Z:16.93 [[ 9.99883954e-01 1.50364543e-02 2.44626638e-03 -2.74697183e+01] [-1.50214936e-02 9.99869029e-01 -6.02328880e-03 1.50284218e+01] [-2.53651490e-03 5.98584325e-03 9.99978868e-01 1.69263863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.639259764 meters Centerline goodness [0,1] 0.5774009916141274 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.03, Z:16.93 [[ 9.99882473e-01 1.51582903e-02 2.29486794e-03 -2.74692497e+01] [-1.51431395e-02 9.99864329e-01 -6.48139196e-03 1.50303373e+01] [-2.39280342e-03 6.44587871e-03 9.99976362e-01 1.69269129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.669259764 meters Centerline goodness [0,1] 0.5807944584074052 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.03, Z:16.93 [[ 9.99885331e-01 1.49966038e-02 2.10401440e-03 -2.74693659e+01] [-1.49812945e-02 9.99862477e-01 -7.11252265e-03 1.50322708e+01] [-2.21038873e-03 7.08018620e-03 9.99972492e-01 1.69281784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.699259764 meters Centerline goodness [0,1] 0.5890050755213111 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.04, Z:16.93 [[ 9.99886632e-01 1.49416482e-02 1.86287422e-03 -2.74691996e+01] [-1.49264248e-02 9.99857114e-01 -7.93432092e-03 1.50353172e+01] [-1.98115987e-03 7.90561537e-03 9.99966788e-01 1.69296893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72925976399999 meters Centerline goodness [0,1] 0.5912471047177862 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.04, Z:16.93 [[ 9.99886602e-01 1.49567299e-02 1.75491017e-03 -2.74689567e+01] [-1.49419669e-02 9.99855198e-01 -8.14378706e-03 1.50360191e+01] [-1.87646048e-03 8.11664176e-03 9.99965299e-01 1.69299727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75925976399999 meters Centerline goodness [0,1] 0.5958849746626778 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.04, Z:16.93 [[ 9.99882004e-01 1.52686299e-02 1.68735726e-03 -2.74680314e+01] [-1.52549613e-02 9.99852927e-01 -7.83652332e-03 1.50358606e+01] [-1.80676207e-03 7.80985808e-03 9.99967870e-01 1.69289855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.789259764 meters Centerline goodness [0,1] 0.5962225002288469 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.04, Z:16.93 [[ 9.99879366e-01 1.54391885e-02 1.69846876e-03 -2.74677582e+01] [-1.54257550e-02 9.99851699e-01 -7.65675855e-03 1.50353900e+01] [-1.81643102e-03 7.62963472e-03 9.99969244e-01 1.69285642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.819259764 meters Centerline goodness [0,1] 0.594024658203125 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.03, Z:16.93 [[ 9.99880799e-01 1.53132609e-02 1.97299765e-03 -2.74687623e+01] [-1.52977938e-02 9.99853873e-01 -7.62950626e-03 1.50345484e+01] [-2.08954196e-03 7.59841430e-03 9.99968948e-01 1.69287671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.849259764 meters Centerline goodness [0,1] 0.5921060652240171 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.03, Z:16.93 [[ 9.99882377e-01 1.51981015e-02 2.06130807e-03 -2.74695358e+01] [-1.51819701e-02 9.99855651e-01 -7.62784827e-03 1.50340992e+01] [-2.17693934e-03 7.59565635e-03 9.99968783e-01 1.69293286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.879259764 meters Centerline goodness [0,1] 0.5887898786533257 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.03, Z:16.93 [[ 9.99883977e-01 1.50655311e-02 2.24996541e-03 -2.74704467e+01] [-1.50480723e-02 9.99858003e-01 -7.58480365e-03 1.50334071e+01] [-2.36391502e-03 7.55006600e-03 9.99968704e-01 1.69296903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.909259764 meters Centerline goodness [0,1] 0.5853213797295245 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.04, Z:16.93 [[ 9.99934946e-01 1.13102367e-02 1.47736024e-03 -2.74686834e+01] [-1.12918692e-02 9.99865436e-01 -1.18997106e-02 1.50350728e+01] [-1.61174999e-03 1.18822543e-02 9.99928105e-01 1.69305101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.939259764 meters Centerline goodness [0,1] 0.5839584535487594 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.03, Z:16.93 [[ 9.99931180e-01 1.16359009e-02 1.49704438e-03 -2.74682509e+01] [-1.16183898e-02 9.99869582e-01 -1.12175190e-02 1.50332454e+01] [-1.62737508e-03 1.11993537e-02 9.99935961e-01 1.69295036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.969259764 meters Centerline goodness [0,1] 0.5810365171088857 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.03, Z:16.93 [[ 9.99930181e-01 1.16984188e-02 1.66753071e-03 -2.74689614e+01] [-1.16802122e-02 9.99876242e-01 -1.05391505e-02 1.50304304e+01] [-1.79061573e-03 1.05189375e-02 9.99943071e-01 1.69292003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.999259764 meters Centerline goodness [0,1] 0.576745738033125 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.03, Z:16.93 [[ 9.99928982e-01 1.17682194e-02 1.88140088e-03 -2.74695941e+01] [-1.17485538e-02 9.99879542e-01 -1.01426392e-02 1.50287596e+01] [-2.00053505e-03 1.01198151e-02 9.99946792e-01 1.69289922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.029259764 meters Centerline goodness [0,1] 0.5740056904170955 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.03, Z:16.93 [[ 9.99929678e-01 1.16235463e-02 2.35211448e-03 -2.74714231e+01] [-1.16001126e-02 9.99885253e-01 -9.74258869e-03 1.50258251e+01] [-2.46508802e-03 9.71461878e-03 9.99949774e-01 1.69292602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.059259764 meters Centerline goodness [0,1] 0.5708963135734408 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.02, Z:16.93 [[ 9.99929585e-01 1.15573861e-02 2.69299381e-03 -2.74726702e+01] [-1.15311535e-02 9.99887803e-01 -9.56107530e-03 1.50241636e+01] [-2.80319270e-03 9.52934873e-03 9.99950666e-01 1.69295462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.089259764 meters Centerline goodness [0,1] 0.566240671923623 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.02, Z:16.93 [[ 9.99929053e-01 1.15354242e-02 2.97044624e-03 -2.74737846e+01] [-1.15073115e-02 9.99890415e-01 -9.31339799e-03 1.50222289e+01] [-3.07755472e-03 9.27855538e-03 9.99952217e-01 1.69298458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11925976399999 meters Centerline goodness [0,1] 0.5639168100455794 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.02, Z:16.93 [[ 9.99929663e-01 1.13452939e-02 3.45741911e-03 -2.74756610e+01] [-1.13135628e-02 9.99894927e-01 -9.06305718e-03 1.50197812e+01] [-3.55987888e-03 9.02330398e-03 9.99952953e-01 1.69302569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14925976399999 meters Centerline goodness [0,1] 0.5570324482001624 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.02, Z:16.93 [[ 9.99930015e-01 1.12484664e-02 3.66553464e-03 -2.74766953e+01] [-1.12154777e-02 9.99897503e-01 -8.89929904e-03 1.50185515e+01] [-3.76526240e-03 8.85756550e-03 9.99953682e-01 1.69306787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.179259764 meters Centerline goodness [0,1] 0.5621450349733963 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.02, Z:16.93 [[ 9.99929315e-01 1.12840799e-02 3.74629554e-03 -2.74774109e+01] [-1.12524823e-02 9.99901817e-01 -8.35093209e-03 1.50162846e+01] [-3.84016030e-03 8.30818668e-03 9.99958113e-01 1.69307831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.209259764 meters Centerline goodness [0,1] 0.5596557803209131 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.02, Z:16.93 [[ 9.99927249e-01 1.14508813e-02 3.79138581e-03 -2.74773563e+01] [-1.14204254e-02 9.99903106e-01 -7.95942887e-03 1.50150627e+01] [-3.88216093e-03 7.91555057e-03 9.99961136e-01 1.69303293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.239259764 meters Centerline goodness [0,1] 0.5533867050463255 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.93 [[ 9.99925096e-01 1.15758073e-02 3.97529061e-03 -2.74776150e+01] [-1.15456748e-02 9.99905061e-01 -7.52103838e-03 1.50134357e+01] [-4.06197529e-03 7.47457761e-03 9.99963815e-01 1.69297339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.269259764 meters Centerline goodness [0,1] 0.5540891582813293 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.93 [[ 9.99963152e-01 7.78971939e-03 3.60765284e-03 -2.74766125e+01] [-7.74852829e-03 9.99906195e-01 -1.12942996e-02 1.50123070e+01] [-3.69529385e-03 1.12659294e-02 9.99929709e-01 1.69295428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.299259764 meters Centerline goodness [0,1] 0.5458767490324501 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.93 [[ 9.99961226e-01 7.83329058e-03 4.02318299e-03 -2.74775778e+01] [-7.79043132e-03 9.99913889e-01 -1.05604932e-02 1.50092424e+01] [-4.10555996e-03 1.05287414e-02 9.99936143e-01 1.69286974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.329259764 meters Centerline goodness [0,1] 0.5462107483437806 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.93 [[ 9.99960943e-01 7.89054642e-03 3.98133700e-03 -2.74782019e+01] [-7.84879592e-03 9.99915162e-01 -1.03954110e-02 1.50078500e+01] [-4.06302471e-03 1.03637563e-02 9.99938040e-01 1.69296287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.359259764 meters Centerline goodness [0,1] 0.5474324725437816 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.93 [[ 9.99961534e-01 7.76156083e-03 4.08529883e-03 -2.74791652e+01] [-7.71814523e-03 9.99914688e-01 -1.05378687e-02 1.50077251e+01] [-4.16674061e-03 1.05059324e-02 9.99936130e-01 1.69306132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.389259764 meters Centerline goodness [0,1] 0.5470780183921685 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.93 [[ 9.99962090e-01 7.68681100e-03 4.09036478e-03 -2.74797097e+01] [-7.64292972e-03 9.99914210e-01 -1.06375784e-02 1.50077565e+01] [-4.17178292e-03 1.06059128e-02 9.99935053e-01 1.69313576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.419259764 meters Centerline goodness [0,1] 0.5466473166686412 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.93 [[ 9.99958893e-01 8.07859095e-03 4.11693643e-03 -2.74793286e+01] [-8.03720898e-03 9.99917988e-01 -9.97096046e-03 1.50057405e+01] [-4.19715011e-03 9.93746190e-03 9.99941814e-01 1.69304512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.449259764 meters Centerline goodness [0,1] 0.5473780776515151 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99954016e-01 8.60624786e-03 4.23067715e-03 -2.74784000e+01] [-8.56709884e-03 9.99921106e-01 -9.18623341e-03 1.50038667e+01] [-4.30940238e-03 9.14956636e-03 9.99948856e-01 1.69285278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47925976399999 meters Centerline goodness [0,1] 0.545966618244345 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99952793e-01 8.75967290e-03 4.20464977e-03 -2.74781323e+01] [-8.72097157e-03 9.99920235e-01 -9.13614649e-03 1.50039139e+01] [-4.28434404e-03 9.09904657e-03 9.99949425e-01 1.69283594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50925976399999 meters Centerline goodness [0,1] 0.5468319150828713 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99953063e-01 8.73213523e-03 4.19784242e-03 -2.74782811e+01] [-8.69264000e-03 9.99918632e-01 -9.33639637e-03 1.50046303e+01] [-4.27902752e-03 9.29946782e-03 9.99947604e-01 1.69287397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.539259764 meters Centerline goodness [0,1] 0.552927191679049 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.93 [[ 9.99956199e-01 8.46063099e-03 4.00218266e-03 -2.74788637e+01] [-8.41950742e-03 9.99912707e-01 -1.01828901e-02 1.50073236e+01] [-4.08798697e-03 1.01487477e-02 9.99940144e-01 1.69308009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.569259764 meters Centerline goodness [0,1] 0.549264749657677 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.93 [[ 9.99957589e-01 8.29614277e-03 3.99935291e-03 -2.74793881e+01] [-8.25376398e-03 9.99910820e-01 -1.04989458e-02 1.50084694e+01] [-4.08609700e-03 1.04654909e-02 9.99936887e-01 1.69316360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.599259764 meters Centerline goodness [0,1] 0.5449898965886129 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.93 [[ 9.99956939e-01 8.36299741e-03 4.02240470e-03 -2.74796149e+01] [-8.32064681e-03 9.99910960e-01 -1.04326278e-02 1.50079967e+01] [-4.10929458e-03 1.03987096e-02 9.99937488e-01 1.69318776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.629259764 meters Centerline goodness [0,1] 0.5482017387162081 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.93 [[ 9.99954793e-01 8.57012271e-03 4.11884429e-03 -2.74794039e+01] [-8.52869409e-03 9.99913899e-01 -9.97276636e-03 1.50069128e+01] [-4.20395748e-03 9.93718716e-03 9.99941788e-01 1.69310222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.659259764 meters Centerline goodness [0,1] 0.5440420664864383 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.93 [[ 9.99953173e-01 8.72045030e-03 4.19591061e-03 -2.74792208e+01] [-8.67968740e-03 9.99915892e-01 -9.63697645e-03 1.50061369e+01] [-4.27959648e-03 9.60010599e-03 9.99944760e-01 1.69302999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.689259764 meters Centerline goodness [0,1] 0.5455706731626166 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.93 [[ 9.99952079e-01 8.78322641e-03 4.32374207e-03 -2.74795329e+01] [-8.74219215e-03 9.99917419e-01 -9.41958953e-03 1.50053257e+01] [-4.40611940e-03 9.38133915e-03 9.99946287e-01 1.69301424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.719259764 meters Centerline goodness [0,1] 0.5448908141466888 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99952405e-01 8.62100293e-03 4.56800670e-03 -2.74808515e+01] [-8.57810184e-03 9.99919686e-01 -9.32944625e-03 1.50039376e+01] [-4.64806900e-03 9.28981739e-03 9.99946046e-01 1.69308252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.749259764 meters Centerline goodness [0,1] 0.5434911417906025 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99951455e-01 8.64022192e-03 4.73654028e-03 -2.74814943e+01] [-8.59695126e-03 9.99921811e-01 -9.08098215e-03 1.50028286e+01] [-4.81463164e-03 9.03982150e-03 9.99947549e-01 1.69308934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.779259764 meters Centerline goodness [0,1] 0.542333757509396 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99950516e-01 8.57383223e-03 5.04519856e-03 -2.74824803e+01] [-8.52900162e-03 9.99924542e-01 -8.84121494e-03 1.50015656e+01] [-5.12062095e-03 8.79774694e-03 9.99948188e-01 1.69308967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.809259764 meters Centerline goodness [0,1] 0.5405605155797315 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99949238e-01 8.57741952e-03 5.28678977e-03 -2.74832233e+01] [-8.53193132e-03 9.99926900e-01 -8.56744759e-03 1.50000499e+01] [-5.35988990e-03 8.52190616e-03 9.99949323e-01 1.69308501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.839259764 meters Centerline goodness [0,1] 0.543765873250251 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99947810e-01 8.53244576e-03 5.61909632e-03 -2.74840698e+01] [-8.48683358e-03 9.99931246e-01 -8.09177533e-03 1.49981262e+01] [-5.68775262e-03 8.04366468e-03 9.99951473e-01 1.69303493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86925976399999 meters Centerline goodness [0,1] 0.5470548408937035 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99946100e-01 8.81515647e-03 5.48545638e-03 -2.74835463e+01] [-8.77440011e-03 9.99934048e-01 -7.41012509e-03 1.49963188e+01] [-5.55041602e-03 7.36159409e-03 9.99957499e-01 1.69296609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89925976399999 meters Centerline goodness [0,1] 0.5505089133376478 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99945458e-01 8.93808639e-03 5.40299618e-03 -2.74834376e+01] [-8.89869389e-03 9.99933967e-01 -7.27145689e-03 1.49959153e+01] [-5.46763232e-03 7.22298068e-03 9.99958966e-01 1.69297836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.929259764 meters Centerline goodness [0,1] 0.5481991525423728 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99945018e-01 8.88572681e-03 5.56816545e-03 -2.74840747e+01] [-8.84509138e-03 9.99934378e-01 -7.28043146e-03 1.49957087e+01] [-5.63249198e-03 7.23078023e-03 9.99957995e-01 1.69300299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.959259764 meters Centerline goodness [0,1] 0.547235294117647 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99943941e-01 8.90215341e-03 5.73300560e-03 -2.74846889e+01] [-8.86040334e-03 9.99934339e-01 -7.26708814e-03 1.49952073e+01] [-5.79732190e-03 7.21588401e-03 9.99957160e-01 1.69303396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.989259764 meters Centerline goodness [0,1] 0.5419019054340155 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.93 [[ 9.99942872e-01 8.92302367e-03 5.88494691e-03 -2.74854446e+01] [-8.88048008e-03 9.99934530e-01 -7.21616100e-03 1.49941818e+01] [-5.94895160e-03 7.16348760e-03 9.99956646e-01 1.69308170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.019259764 meters Centerline goodness [0,1] 0.543091534593784 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.93 [[ 9.99941969e-01 8.86956641e-03 6.11460777e-03 -2.74861760e+01] [-8.82578118e-03 9.99935483e-01 -7.15093354e-03 1.49936849e+01] [-6.17763895e-03 7.09655238e-03 9.99955737e-01 1.69308995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.049259764 meters Centerline goodness [0,1] 0.543813298106561 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.93 [[ 9.99941317e-01 8.84573517e-03 6.25426881e-03 -2.74867552e+01] [-8.80173268e-03 9.99936563e-01 -7.02845621e-03 1.49929445e+01] [-6.31604392e-03 6.97299535e-03 9.99955741e-01 1.69310527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.079259764 meters Centerline goodness [0,1] 0.5437921925447609 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.93 [[ 9.99941045e-01 8.73676323e-03 6.44788847e-03 -2.74874833e+01] [-8.69200959e-03 9.99938165e-01 -6.93651012e-03 1.49922876e+01] [-6.50809241e-03 6.88005607e-03 9.99955154e-01 1.69311705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.109259764 meters Centerline goodness [0,1] 0.5463295461235063 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.93 [[ 9.99941814e-01 8.55175311e-03 6.57542421e-03 -2.74881147e+01] [-8.50777468e-03 9.99941446e-01 -6.68743495e-03 1.49914227e+01] [-6.63222849e-03 6.63110360e-03 9.99956020e-01 1.69311411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.139259764 meters Centerline goodness [0,1] 0.555758522141363 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.93 [[ 9.99942171e-01 8.54708755e-03 6.52695702e-03 -2.74880769e+01] [-8.50317929e-03 9.99941229e-01 -6.72559441e-03 1.49916991e+01] [-6.58405767e-03 6.66970559e-03 9.99956082e-01 1.69312806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.169259764 meters Centerline goodness [0,1] 0.5501163441430297 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.93 [[ 9.99942089e-01 8.62253429e-03 6.43976144e-03 -2.74877734e+01] [-8.57944485e-03 9.99940823e-01 -6.68907200e-03 1.49920485e+01] [-6.49705710e-03 6.63343506e-03 9.99956892e-01 1.69311878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.199259764 meters Centerline goodness [0,1] 0.5546849686294146 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.93 [[ 9.99941621e-01 8.90407508e-03 6.12142622e-03 -2.74866065e+01] [-8.86205063e-03 9.99937212e-01 -6.85832659e-03 1.49936843e+01] [-6.18210892e-03 6.80367782e-03 9.99957745e-01 1.69311855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22925976399999 meters Centerline goodness [0,1] 0.5549023662521049 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.93 [[ 9.99940798e-01 9.22393723e-03 5.77232257e-03 -2.74851885e+01] [-9.18308667e-03 9.99932884e-01 -7.06390646e-03 1.49954470e+01] [-5.83709218e-03 7.01048052e-03 9.99958390e-01 1.69309606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25925976399999 meters Centerline goodness [0,1] 0.5549023662521049 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.93 [[ 9.99940798e-01 9.22393723e-03 5.77232257e-03 -2.74851885e+01] [-9.18308667e-03 9.99932884e-01 -7.06390646e-03 1.49954470e+01] [-5.83709218e-03 7.01048052e-03 9.99958390e-01 1.69309606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.289259764 meters Centerline goodness [0,1] 0.5545720102682128 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99939854e-01 9.45654337e-03 5.55539959e-03 -2.74842793e+01] [-9.41558060e-03 9.99928631e-01 -7.35395875e-03 1.49970695e+01] [-5.62454613e-03 7.30120913e-03 9.99957528e-01 1.69310289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.319259764 meters Centerline goodness [0,1] 0.5577282019376055 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99935271e-01 1.01908230e-02 5.05971744e-03 -2.74820507e+01] [-1.01530874e-02 9.99920863e-01 -7.42855236e-03 1.49987784e+01] [-5.13502009e-03 7.37669976e-03 9.99959607e-01 1.69306190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.349259764 meters Centerline goodness [0,1] 0.5555588461766274 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99934202e-01 1.03920183e-02 4.85764710e-03 -2.74812865e+01] [-1.03555968e-02 9.99918524e-01 -7.46371877e-03 1.49994461e+01] [-4.93481442e-03 7.41292384e-03 9.99960347e-01 1.69305098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.379259764 meters Centerline goodness [0,1] 0.5589465254915917 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99933524e-01 1.05527063e-02 4.64627719e-03 -2.74805674e+01] [-1.05177376e-02 9.99916655e-01 -7.48735454e-03 1.50002015e+01] [-4.72490179e-03 7.43798848e-03 9.99961175e-01 1.69304252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.409259764 meters Centerline goodness [0,1] 0.5596289490842274 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99933829e-01 1.05530999e-02 4.57922659e-03 -2.74805253e+01] [-1.05182066e-02 9.99915965e-01 -7.57822436e-03 1.50006948e+01] [-4.65881554e-03 7.52955765e-03 9.99960800e-01 1.69306759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.439259764 meters Centerline goodness [0,1] 0.5599205996504014 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99934792e-01 1.04597839e-02 4.58312674e-03 -2.74808990e+01] [-1.04244872e-02 9.99916333e-01 -7.65881714e-03 1.50008911e+01] [-4.66285286e-03 7.61054098e-03 9.99960168e-01 1.69311435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.469259764 meters Centerline goodness [0,1] 0.5596014707626615 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99933884e-01 1.05493708e-02 4.57585596e-03 -2.74812478e+01] [-1.05151140e-02 9.99916984e-01 -7.44696159e-03 1.49996680e+01] [-4.65403685e-03 7.39835358e-03 9.99961801e-01 1.69315578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.499259764 meters Centerline goodness [0,1] 0.5602095790657746 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99931859e-01 1.07139279e-02 4.63567132e-03 -2.74812748e+01] [-1.06805180e-02 9.99917235e-01 -7.17284456e-03 1.49987546e+01] [-4.71213699e-03 7.12284442e-03 9.99963530e-01 1.69313207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.529259764 meters Centerline goodness [0,1] 0.5617062845978509 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99930281e-01 1.08429210e-02 4.67589641e-03 -2.74813959e+01] [-1.08102106e-02 9.99917311e-01 -6.96496081e-03 1.49979375e+01] [-4.75103029e-03 6.91392779e-03 9.99964812e-01 1.69312791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.559259764 meters Centerline goodness [0,1] 0.5625518549247364 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99928685e-01 1.09893255e-02 4.67540306e-03 -2.74813857e+01] [-1.09574181e-02 9.99916869e-01 -6.79626435e-03 1.49972395e+01] [-4.74970076e-03 6.74454933e-03 9.99965975e-01 1.69312578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.589259764 meters Centerline goodness [0,1] 0.5595614527616064 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99925373e-01 1.12549859e-02 4.75122739e-03 -2.74812814e+01] [-1.12247247e-02 9.99916848e-01 -6.34846048e-03 1.49957789e+01] [-4.82228415e-03 6.29465549e-03 9.99968561e-01 1.69307239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61925976399999 meters Centerline goodness [0,1] 0.5592214083175804 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.93 [[ 9.99963498e-01 7.54192294e-03 4.01527026e-03 -2.74796083e+01] [-7.50008539e-03 9.99918469e-01 -1.03346511e-02 1.49962165e+01] [-4.09288603e-03 1.03041590e-02 9.99938534e-01 1.69311405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64925976399999 meters Centerline goodness [0,1] 0.5560673162090346 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.93 [[ 9.99961296e-01 7.69048534e-03 4.27343245e-03 -2.74801461e+01] [-7.64878888e-03 9.99923804e-01 -9.68928617e-03 1.49938359e+01] [-4.34762214e-03 9.65622458e-03 9.99943926e-01 1.69305613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.679259764 meters Centerline goodness [0,1] 0.556121847749234 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.93 [[ 9.99959587e-01 7.82069394e-03 4.43417558e-03 -2.74806871e+01] [-7.78012234e-03 9.99928379e-01 -9.09433959e-03 1.49914234e+01] [-4.50498205e-03 9.05947363e-03 9.99948814e-01 1.69303262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.709259764 meters Centerline goodness [0,1] 0.556185551866976 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.93 [[ 9.99959370e-01 7.56266740e-03 4.90548017e-03 -2.74828860e+01] [-7.52056632e-03 9.99935211e-01 -8.54486369e-03 1.49877025e+01] [-4.96978431e-03 8.50762453e-03 9.99951460e-01 1.69309508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.739259764 meters Centerline goodness [0,1] 0.5552549550079398 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.93 [[ 9.99958609e-01 7.51588212e-03 5.12761920e-03 -2.74838948e+01] [-7.47397936e-03 9.99938916e-01 -8.14276900e-03 1.49857521e+01] [-5.18850607e-03 8.10410824e-03 9.99953700e-01 1.69311638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.769259764 meters Centerline goodness [0,1] 0.5522536779790165 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.98, Z:16.93 [[ 9.99956716e-01 7.54343338e-03 5.44630772e-03 -2.74848889e+01] [-7.50197992e-03 9.99943039e-01 -7.59202305e-03 1.49833058e+01] [-5.50326741e-03 7.55083635e-03 9.99956349e-01 1.69309686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.799259764 meters Centerline goodness [0,1] 0.5529126071564411 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.98, Z:16.93 [[ 9.99953870e-01 7.51262383e-03 5.98490181e-03 -2.74862973e+01] [-7.47064345e-03 9.99947550e-01 -7.00612398e-03 1.49804482e+01] [-6.03722228e-03 6.96108972e-03 9.99957547e-01 1.69305339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.829259764 meters Centerline goodness [0,1] 0.5503359609063673 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.98, Z:16.93 [[ 9.99976550e-01 3.61428193e-03 5.81693209e-03 -2.74862775e+01] [-3.55279876e-03 9.99938083e-01 -1.05455415e-02 1.49777727e+01] [-5.85468648e-03 1.05246278e-02 9.99927475e-01 1.69307800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.859259764 meters Centerline goodness [0,1] 0.5489135177589668 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.93 [[ 9.99973899e-01 3.46582679e-03 6.33946740e-03 -2.74879303e+01] [-3.40247651e-03 9.99944443e-01 -9.97663308e-03 1.49749731e+01] [-6.37369249e-03 9.95480279e-03 9.99930137e-01 1.69306225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.889259764 meters Centerline goodness [0,1] 0.5474367896079796 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.93 [[ 9.99971498e-01 3.34612082e-03 6.76810531e-03 -2.74893295e+01] [-3.28269030e-03 9.99950792e-01 -9.36147112e-03 1.49723248e+01] [-6.79909688e-03 9.33898670e-03 9.99933276e-01 1.69303969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.919259764 meters Centerline goodness [0,1] 0.5473425765453495 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.93 [[ 9.99968825e-01 3.21297214e-03 7.21284121e-03 -2.74907365e+01] [-3.15014550e-03 9.99957150e-01 -8.70491425e-03 1.49695454e+01] [-7.24050079e-03 8.68192138e-03 9.99936098e-01 1.69300799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.949259764 meters Centerline goodness [0,1] 0.5403651466643593 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.96, Z:16.93 [[ 9.99968964e-01 2.35803374e-03 7.51736160e-03 -2.74929487e+01] [-2.29922858e-03 9.99966767e-01 -7.82164736e-03 1.49644630e+01] [-7.53555549e-03 7.80412048e-03 9.99941154e-01 1.69299445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97925976399999 meters Centerline goodness [0,1] 0.5410590502487991 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.96, Z:16.93 [[ 9.99965333e-01 2.16822431e-03 8.03932822e-03 -2.74946067e+01] [-2.11032626e-03 9.99971829e-01 -7.20335326e-03 1.49615091e+01] [-8.05472022e-03 7.18613794e-03 9.99941739e-01 1.69296920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00925976399999 meters Centerline goodness [0,1] 0.538041145669404 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.96, Z:16.93 [[ 9.99960958e-01 2.00456703e-03 8.60608653e-03 -2.74961595e+01] [-1.94828640e-03 9.99976696e-01 -6.54304155e-03 1.49587816e+01] [-8.61900194e-03 6.52601898e-03 9.99941560e-01 1.69290915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.039259764 meters Centerline goodness [0,1] 0.5314709236031927 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.95, Z:16.93 [[ 9.99958996e-01 1.01061501e-03 8.99915989e-03 -2.74987939e+01] [-9.55613850e-04 9.99980853e-01 -6.11401452e-03 1.49544358e+01] [-9.00516650e-03 6.10516410e-03 9.99940815e-01 1.69296092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.069259764 meters Centerline goodness [0,1] 0.5309022427666495 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.95, Z:16.93 [[ 9.99956384e-01 9.94738295e-04 9.28653590e-03 -2.74995852e+01] [-9.42455222e-04 9.99983692e-01 -5.63266616e-03 1.49524662e+01] [-9.29198748e-03 5.62366834e-03 9.99941015e-01 1.69292616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.099259764 meters Centerline goodness [0,1] 0.5326500482652887 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.95, Z:16.93 [[ 9.99957183e-01 1.09917717e-03 9.18829514e-03 -2.74993241e+01] [-1.04749586e-03 9.99983616e-01 -5.62761084e-03 1.49527710e+01] [-9.19433034e-03 5.61774518e-03 9.99941951e-01 1.69293380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.129259764 meters Centerline goodness [0,1] 0.5314573780296773 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.95, Z:16.93 [[ 9.99958337e-01 1.22733090e-03 9.04532900e-03 -2.74988806e+01] [-1.17646325e-03 9.99983477e-01 -5.62681520e-03 1.49535235e+01] [-9.05208551e-03 5.61593927e-03 9.99943259e-01 1.69292962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.159259764 meters Centerline goodness [0,1] 0.5400279098909235 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.96, Z:16.93 [[ 9.99961543e-01 1.95658081e-03 8.54894399e-03 -2.74966208e+01] [-1.91139955e-03 9.99984181e-01 -5.28998791e-03 1.49551461e+01] [-8.55915905e-03 5.27344403e-03 9.99949465e-01 1.69283218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.189259764 meters Centerline goodness [0,1] 0.5344366717852471 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.95, Z:16.93 [[ 9.99961301e-01 2.32718700e-03 8.48410939e-03 -2.74959031e+01] [-2.28524549e-03 9.99985138e-01 -4.94988408e-03 1.49547661e+01] [-8.49550260e-03 4.93030425e-03 9.99951758e-01 1.69276034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.219259764 meters Centerline goodness [0,1] 0.5370697012802276 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.95, Z:16.93 [[ 9.99960284e-01 2.68113133e-03 8.49948203e-03 -2.74954274e+01] [-2.64270566e-03 9.99986252e-01 -4.52895423e-03 1.49538280e+01] [-8.51150791e-03 4.50631273e-03 9.99953623e-01 1.69268381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.249259764 meters Centerline goodness [0,1] 0.5426834489254218 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.95, Z:16.93 [[ 9.99958854e-01 2.94411823e-03 8.58040788e-03 -2.74953326e+01] [-2.90794283e-03 9.99986845e-01 -4.22547738e-03 1.49529163e+01] [-8.59273530e-03 4.20035218e-03 9.99954260e-01 1.69264252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.279259764 meters Centerline goodness [0,1] 0.5392005929980613 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.95, Z:16.93 [[ 9.99957266e-01 3.15883836e-03 8.68840154e-03 -2.74953366e+01] [-3.12480145e-03 9.99987402e-01 -3.92829946e-03 1.49521353e+01] [-8.70070095e-03 3.90098206e-03 9.99954539e-01 1.69260300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.309259764 meters Centerline goodness [0,1] 0.5418883167866184 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.95, Z:16.93 [[ 9.99957034e-01 3.32370742e-03 8.65352365e-03 -2.74953831e+01] [-3.29348626e-03 9.99988436e-01 -3.50426392e-03 1.49505063e+01] [-8.66507073e-03 3.47561309e-03 9.99956417e-01 1.69259625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.339259764 meters Centerline goodness [0,1] 0.5443409395208387 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.95, Z:16.93 [[ 9.99955708e-01 3.45621295e-03 8.75426037e-03 -2.74955814e+01] [-3.42909815e-03 9.99989283e-01 -3.11044463e-03 1.49491288e+01] [-8.76491691e-03 3.08028764e-03 9.99956843e-01 1.69256364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36925976399999 meters Centerline goodness [0,1] 0.5417327293318233 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.95, Z:16.93 [[ 9.99953613e-01 3.53029159e-03 8.96153238e-03 -2.74961426e+01] [-3.50596349e-03 9.99990130e-01 -2.72898471e-03 1.49475769e+01] [-8.97107805e-03 2.69743932e-03 9.99956121e-01 1.69254233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39925976399999 meters Centerline goodness [0,1] 0.5414084825849532 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.95, Z:16.93 [[ 9.99951724e-01 3.50844266e-03 9.17825284e-03 -2.74969398e+01] [-3.48651261e-03 9.99991032e-01 -2.40425995e-03 1.49460483e+01] [-9.18660573e-03 2.37214379e-03 9.99954989e-01 1.69254378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.429259764 meters Centerline goodness [0,1] 0.5358016361642912 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.95, Z:16.93 [[ 9.99960941e-01 -5.10266465e-04 8.82360443e-03 -2.74967935e+01] [ 5.68889247e-04 9.99977776e-01 -6.64262573e-03 1.49461172e+01] [-8.82001883e-03 6.64738593e-03 9.99939008e-01 1.69267945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.459259764 meters Centerline goodness [0,1] 0.5347580032097305 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.94, Z:16.93 [[ 9.99959079e-01 -3.49329833e-04 9.03983363e-03 -2.74971145e+01] [ 4.03097798e-04 9.99982237e-01 -5.94675496e-03 1.49440490e+01] [-9.03759568e-03 5.95015555e-03 9.99941457e-01 1.69259906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.489259764 meters Centerline goodness [0,1] 0.5319339741613653 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.94, Z:16.93 [[ 9.99958827e-01 -1.24911834e-04 9.07352468e-03 -2.74970301e+01] [ 1.73716081e-04 9.99985522e-01 -5.37816398e-03 1.49423198e+01] [-9.07272152e-03 5.37951876e-03 9.99944372e-01 1.69254567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.519259764 meters Centerline goodness [0,1] 0.5376881599640531 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.94, Z:16.93 [[ 9.99957924e-01 -9.56666411e-05 9.17282939e-03 -2.74975027e+01] [ 1.41680269e-04 9.99987411e-01 -5.01577747e-03 1.49406683e+01] [-9.17223407e-03 5.01686604e-03 9.99945349e-01 1.69254588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.549259764 meters Centerline goodness [0,1] 0.5358050196822914 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.94, Z:16.92 [[ 9.99957527e-01 4.38077124e-04 9.20613432e-03 -2.74969283e+01] [-4.01155000e-04 9.99991871e-01 -4.01206419e-03 1.49377811e+01] [-9.20781708e-03 4.00820070e-03 9.99949574e-01 1.69241228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.579259764 meters Centerline goodness [0,1] 0.5338729937194697 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.94, Z:16.92 [[ 9.99957289e-01 7.54803296e-04 9.21144438e-03 -2.74965712e+01] [-7.22165736e-04 9.99993452e-01 -3.54596524e-03 1.49362815e+01] [-9.21406057e-03 3.53916160e-03 9.99951287e-01 1.69234975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.609259764 meters Centerline goodness [0,1] 0.5363312158698317 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.93, Z:16.92 [[ 9.99955421e-01 8.93885757e-04 9.39987838e-03 -2.74968826e+01] [-8.65933558e-04 9.99995193e-01 -2.97732630e-03 1.49342981e+01] [-9.40249459e-03 2.96905391e-03 9.99951388e-01 1.69228669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.639259764 meters Centerline goodness [0,1] 0.5165702846975089 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.93, Z:16.92 [[ 9.99951645e-01 3.04511405e-04 9.82925820e-03 -2.74989646e+01] [-2.81244222e-04 9.99997156e-01 -2.36843067e-03 1.49293776e+01] [-9.82995145e-03 2.36555172e-03 9.99948887e-01 1.69228441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.669259764 meters Centerline goodness [0,1] 0.5281363648982538 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.93, Z:16.92 [[ 9.99947310e-01 1.85987669e-04 1.02636472e-02 -2.75003571e+01] [-1.67749319e-04 9.99998406e-01 -1.77781759e-03 1.49264381e+01] [-1.02639615e-02 1.77600219e-03 9.99945747e-01 1.69225696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.699259764 meters Centerline goodness [0,1] 0.5051620383150224 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.92, Z:16.92 [[ 9.99942924e-01 -7.96996419e-05 1.06837511e-02 -2.75018070e+01] [ 9.40129140e-05 9.99999099e-01 -1.33922795e-03 1.49239630e+01] [-1.06836347e-02 1.34015592e-03 9.99942030e-01 1.69224297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72925976399999 meters Centerline goodness [0,1] 0.5249965607373779 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.92, Z:16.92 [[ 9.99941998e-01 -2.18165624e-04 1.07681160e-02 -2.75026420e+01] [ 2.29588250e-04 9.99999412e-01 -1.05955746e-03 1.49226689e+01] [-1.07678785e-02 1.06196824e-03 9.99941461e-01 1.69228902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75925976399999 meters Centerline goodness [0,1] 0.4918755163866704 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.92, Z:16.92 [[ 9.99941689e-01 -2.09514260e-04 1.07969432e-02 -2.75028733e+01] [ 2.20206172e-04 9.99999487e-01 -9.89092873e-04 1.49224029e+01] [-1.07967304e-02 9.91412752e-04 9.99941222e-01 1.69230859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.789259764 meters Centerline goodness [0,1] 0.5195324345932236 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.92, Z:16.92 [[ 9.99940744e-01 -2.08673853e-04 1.08841207e-02 -2.75032719e+01] [ 2.18928864e-04 9.99999533e-01 -9.41016329e-04 1.49219077e+01] [-1.08839193e-02 9.43343417e-04 9.99940323e-01 1.69233107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.819259764 meters Centerline goodness [0,1] 0.5225518306131451 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.92, Z:16.92 [[ 9.99940803e-01 3.72320892e-06 1.08807367e-02 -2.75029013e+01] [ 3.82842439e-06 9.99999759e-01 -6.94016041e-04 1.49214038e+01] [-1.08807366e-02 6.94016613e-04 9.99940562e-01 1.69227918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.849259764 meters Centerline goodness [0,1] 0.49979402960481145 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.92, Z:16.92 [[ 9.99941194e-01 2.80298424e-04 1.08410944e-02 -2.75024367e+01] [-2.75698597e-04 9.99999871e-01 -4.25787625e-04 1.49210729e+01] [-1.08412124e-02 4.22773712e-04 9.99941143e-01 1.69222756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.879259764 meters Centerline goodness [0,1] 0.5190284738668283 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.92, Z:16.92 [[ 9.99938542e-01 2.26336444e-04 1.10843072e-02 -2.75030050e+01] [-2.20334182e-04 9.99999828e-01 -5.42728110e-04 1.49208614e+01] [-1.10844282e-02 5.40252503e-04 9.99938420e-01 1.69222425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.909259764 meters Centerline goodness [0,1] 0.5132196279737263 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.92, Z:16.92 [[ 9.99940058e-01 3.58232152e-04 1.09430954e-02 -2.75025567e+01] [-3.51835884e-04 9.99999766e-01 -5.86422164e-04 1.49213164e+01] [-1.09433029e-02 5.82536839e-04 9.99939951e-01 1.69222473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.939259764 meters Centerline goodness [0,1] 0.5109042846128429 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.92, Z:16.92 [[ 9.99944178e-01 7.81743335e-04 1.05370802e-02 -2.75009564e+01] [-7.74895281e-04 9.99999486e-01 -6.53967485e-04 1.49228463e+01] [-1.05375861e-02 6.45765845e-04 9.99944270e-01 1.69218947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.969259764 meters Centerline goodness [0,1] 0.5212020495776208 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.93, Z:16.92 [[ 9.99949643e-01 1.40288397e-03 9.93699293e-03 -2.74988198e+01] [-1.39291689e-03 9.99998520e-01 -1.00987752e-03 1.49262894e+01] [-9.93839497e-03 9.95985256e-04 9.99950117e-01 1.69220718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.999259764 meters Centerline goodness [0,1] 0.5249487733289029 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.93, Z:16.92 [[ 9.99951328e-01 1.39723425e-03 9.76669878e-03 -2.74984380e+01] [-1.38476824e-03 9.99998218e-01 -1.28302547e-03 1.49277599e+01] [-9.76847406e-03 1.26943841e-03 9.99951482e-01 1.69222954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.029259764 meters Centerline goodness [0,1] 0.5294524910687086 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.93, Z:16.92 [[ 9.99950664e-01 1.50986931e-03 9.81787012e-03 -2.74982628e+01] [-1.49760467e-03 9.99998089e-01 -1.25644767e-03 1.49281484e+01] [-9.81974843e-03 1.24168239e-03 9.99951014e-01 1.69219522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.059259764 meters Centerline goodness [0,1] 0.526790656481789 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.93, Z:16.92 [[ 9.99949881e-01 1.66496914e-03 9.87239872e-03 -2.74980260e+01] [-1.65388688e-03 9.99997993e-01 -1.13060818e-03 1.49279323e+01] [-9.87426134e-03 1.11422369e-03 9.99950628e-01 1.69214986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.089259764 meters Centerline goodness [0,1] 0.5300523734308754 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.93, Z:16.92 [[ 9.99948133e-01 1.69654386e-03 1.00426020e-02 -2.74983101e+01] [-1.68587435e-03 9.99998006e-01 -1.07079453e-03 1.49273848e+01] [-1.00443986e-02 1.05380843e-03 9.99948998e-01 1.69212144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11925976399999 meters Centerline goodness [0,1] 0.5216343490304709 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.93, Z:16.92 [[ 9.99947446e-01 1.66750185e-03 1.01155650e-02 -2.74985040e+01] [-1.65708497e-03 9.99998088e-01 -1.03808107e-03 1.49274703e+01] [-1.01172767e-02 1.02126416e-03 9.99948298e-01 1.69211377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14925976399999 meters Centerline goodness [0,1] 0.530570953436807 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.93, Z:16.92 [[ 9.99947776e-01 1.55941625e-03 1.01001951e-02 -2.74985864e+01] [-1.54816908e-03 9.99998173e-01 -1.12128219e-03 1.49278966e+01] [-1.01019251e-02 1.10558682e-03 9.99948363e-01 1.69212259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.179259764 meters Centerline goodness [0,1] 0.530570953436807 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.93, Z:16.92 [[ 9.99947776e-01 1.55941625e-03 1.01001951e-02 -2.74985864e+01] [-1.54816908e-03 9.99998173e-01 -1.12128219e-03 1.49278966e+01] [-1.01019251e-02 1.10558682e-03 9.99948363e-01 1.69212259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.209259764 meters Centerline goodness [0,1] 0.52057115870767 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.93, Z:16.92 [[ 9.99950330e-01 1.71091594e-03 9.81883217e-03 -2.74976193e+01] [-1.69832090e-03 9.99997725e-01 -1.29093813e-03 1.49296819e+01] [-9.82101851e-03 1.27419848e-03 9.99950961e-01 1.69211284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.239259764 meters Centerline goodness [0,1] 0.5368702035368702 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.93, Z:16.92 [[ 9.99952892e-01 1.87962908e-03 9.52265688e-03 -2.74966788e+01] [-1.86384258e-03 9.99996875e-01 -1.66638687e-03 1.49320632e+01] [-9.52575930e-03 1.64855964e-03 9.99953270e-01 1.69213793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.269259764 meters Centerline goodness [0,1] 0.5397006454484754 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.93, Z:16.92 [[ 9.99955253e-01 2.38538957e-03 9.15438187e-03 -2.74950441e+01] [-2.36758374e-03 9.99995285e-01 -1.95540557e-03 1.49346723e+01] [-9.15900312e-03 1.93364430e-03 9.99956186e-01 1.69212546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.299259764 meters Centerline goodness [0,1] 0.5233980880180606 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.93, Z:16.92 [[ 9.99954731e-01 2.74280375e-03 9.11109986e-03 -2.74942230e+01] [-2.72732616e-03 9.99994817e-01 -1.71075289e-03 1.49345270e+01] [-9.11574490e-03 1.68582650e-03 9.99957030e-01 1.69203563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.329259764 meters Centerline goodness [0,1] 0.5262718468217744 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.93, Z:16.92 [[ 9.99953613e-01 3.07758214e-03 9.12694830e-03 -2.74934898e+01] [-3.06414697e-03 9.99994202e-01 -1.48565202e-03 1.49345041e+01] [-9.13146759e-03 1.45761680e-03 9.99957245e-01 1.69193762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.359259764 meters Centerline goodness [0,1] 0.54927058297468 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.94, Z:16.92 [[ 9.99955208e-01 3.15987089e-03 8.92176578e-03 -2.74927653e+01] [-3.14446067e-03 9.99993541e-01 -1.74076085e-03 1.49357257e+01] [-8.92720873e-03 1.71262873e-03 9.99958685e-01 1.69193679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.389259764 meters Centerline goodness [0,1] 0.5456663298529247 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.94, Z:16.92 [[ 9.99958546e-01 3.29440190e-03 8.48839403e-03 -2.74912935e+01] [-3.27642777e-03 9.99992363e-01 -2.13053104e-03 1.49394818e+01] [-8.49534802e-03 2.10263111e-03 9.99961703e-01 1.69192773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.419259764 meters Centerline goodness [0,1] 0.5451299066471713 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.94, Z:16.92 [[ 9.99959887e-01 3.49532633e-03 8.24664954e-03 -2.74904026e+01] [-3.47637468e-03 9.99991286e-01 -2.31131986e-03 1.49412832e+01] [-8.25465650e-03 2.28255870e-03 9.99963325e-01 1.69192745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.449259764 meters Centerline goodness [0,1] 0.5430482264300025 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.94, Z:16.92 [[ 9.99960505e-01 3.63949980e-03 8.10814348e-03 -2.74898448e+01] [-3.61937599e-03 9.99990337e-01 -2.49521736e-03 1.49426743e+01] [-8.11714647e-03 2.46577239e-03 9.99964015e-01 1.69192602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47925976399999 meters Centerline goodness [0,1] 0.5214612905050048 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.94, Z:16.92 [[ 9.99960713e-01 4.03426599e-03 7.89282178e-03 -2.74884555e+01] [-4.01301119e-03 9.99988284e-01 -2.70691416e-03 1.49449171e+01] [-7.90364972e-03 2.67513383e-03 9.99965187e-01 1.69187566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50925976399999 meters Centerline goodness [0,1] 0.5475974871243421 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.95, Z:16.92 [[ 9.99961126e-01 4.15538370e-03 7.77684589e-03 -2.74879014e+01] [-4.13376524e-03 9.99987553e-01 -2.79386301e-03 1.49459848e+01] [-7.78835866e-03 2.76160674e-03 9.99965857e-01 1.69185236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.539259764 meters Centerline goodness [0,1] 0.5568999716633607 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.95, Z:16.92 [[ 9.99961727e-01 4.13114473e-03 7.71221404e-03 -2.74877021e+01] [-4.10818454e-03 9.99987090e-01 -2.99059145e-03 1.49469141e+01] [-7.72446904e-03 2.95879379e-03 9.99965788e-01 1.69185897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.569259764 meters Centerline goodness [0,1] 0.5561501868841319 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.95, Z:16.92 [[ 9.99960923e-01 4.18138870e-03 7.78905961e-03 -2.74876913e+01] [-4.15866504e-03 9.99987056e-01 -2.93129718e-03 1.49470325e+01] [-7.80121569e-03 2.89879054e-03 9.99965368e-01 1.69182439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.599259764 meters Centerline goodness [0,1] 0.5572687848983873 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.95, Z:16.92 [[ 9.99958472e-01 4.06925987e-03 8.15450710e-03 -2.74883469e+01] [-4.04816320e-03 9.99988421e-01 -2.60195598e-03 1.49459728e+01] [-8.16500071e-03 2.56883715e-03 9.99963366e-01 1.69172917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.629259764 meters Centerline goodness [0,1] 0.5364440550546873 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.95, Z:16.92 [[ 9.99957541e-01 4.09685456e-03 8.25416802e-03 -2.74883923e+01] [-4.07704332e-03 9.99988771e-01 -2.41554808e-03 1.49454025e+01] [-8.26397148e-03 2.38179292e-03 9.99963016e-01 1.69167557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.659259764 meters Centerline goodness [0,1] 0.5344949309536584 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.95, Z:16.92 [[ 9.99957792e-01 4.37414858e-03 8.07971920e-03 -2.74872909e+01] [-4.35537499e-03 9.99987778e-01 -2.33968084e-03 1.49464135e+01] [-8.08985457e-03 2.30439188e-03 9.99964621e-01 1.69160203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.689259764 meters Centerline goodness [0,1] 0.5410884895359418 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.95, Z:16.92 [[ 9.99959190e-01 4.66194863e-03 7.73847709e-03 -2.74859160e+01] [-4.63994813e-03 9.99985150e-01 -2.85852537e-03 1.49505723e+01] [-7.75168847e-03 2.82250258e-03 9.99965972e-01 1.69161611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.719259764 meters Centerline goodness [0,1] 0.5454156566376729 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.95, Z:16.92 [[ 9.99960172e-01 4.70917267e-03 7.58147713e-03 -2.74855305e+01] [-4.68442674e-03 9.99983654e-01 -3.27845467e-03 1.49527552e+01] [-7.59679201e-03 3.24280923e-03 9.99965886e-01 1.69166335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.749259764 meters Centerline goodness [0,1] 0.5491019161026871 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.95, Z:16.92 [[ 9.99960265e-01 4.78349191e-03 7.52242281e-03 -2.74852338e+01] [-4.75641143e-03 9.99982159e-01 -3.61374596e-03 1.49545604e+01] [-7.53957493e-03 3.57782263e-03 9.99965176e-01 1.69167625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.779259764 meters Centerline goodness [0,1] 0.5518830128205128 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.96, Z:16.92 [[ 9.99959845e-01 4.91459962e-03 7.49361152e-03 -2.74847521e+01] [-4.88642015e-03 9.99980939e-01 -3.77414930e-03 1.49559065e+01] [-7.51201712e-03 3.73738081e-03 9.99964800e-01 1.69164255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.809259764 meters Centerline goodness [0,1] 0.5638227418008005 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.96, Z:16.91 [[ 9.99958883e-01 5.34747927e-03 7.32373121e-03 -2.74829516e+01] [-5.31937803e-03 9.99978436e-01 -3.85113075e-03 1.49585086e+01] [-7.34416712e-03 3.81201471e-03 9.99965765e-01 1.69149667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.839259764 meters Centerline goodness [0,1] 0.5619979847416151 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.96, Z:16.91 [[ 9.99958286e-01 5.46342760e-03 7.31970189e-03 -2.74822850e+01] [-5.43456085e-03 9.99977400e-01 -3.95780872e-03 1.49601875e+01] [-7.34115967e-03 3.91786426e-03 9.99965378e-01 1.69142227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86925976399999 meters Centerline goodness [0,1] 0.5414717264483336 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.96, Z:16.91 [[ 9.99958181e-01 5.75829699e-03 7.10473994e-03 -2.74809472e+01] [-5.72970309e-03 9.99975430e-01 -4.03843384e-03 1.49619242e+01] [-7.12781988e-03 3.99755691e-03 9.99966606e-01 1.69134630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89925976399999 meters Centerline goodness [0,1] 0.5649956534337873 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.97, Z:16.91 [[ 9.99957302e-01 6.33972293e-03 6.72324461e-03 -2.74789142e+01] [-6.31090097e-03 9.99970843e-01 -4.29949783e-03 1.49650755e+01] [-6.75030621e-03 4.25688452e-03 9.99968156e-01 1.69129369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.929259764 meters Centerline goodness [0,1] 0.5743379075255659 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.97, Z:16.91 [[ 9.99952458e-01 7.36296905e-03 6.39288363e-03 -2.74764343e+01] [-7.33331141e-03 9.99962298e-01 -4.65027695e-03 1.49708418e+01] [-6.42688245e-03 4.60317486e-03 9.99968752e-01 1.69123857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.959259764 meters Centerline goodness [0,1] 0.5809320422432203 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.97, Z:16.91 [[ 9.99952312e-01 7.66543470e-03 6.05104773e-03 -2.74750804e+01] [-7.63553059e-03 9.99958599e-01 -4.94970081e-03 1.49731239e+01] [-6.08873882e-03 4.90326181e-03 9.99969442e-01 1.69122831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.989259764 meters Centerline goodness [0,1] 0.5838338265022119 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.98, Z:16.91 [[ 9.99949399e-01 8.22939895e-03 5.78585329e-03 -2.74734184e+01] [-8.19964788e-03 9.99953136e-01 -5.14709213e-03 1.49755641e+01] [-5.82793962e-03 5.09938972e-03 9.99970015e-01 1.69117786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.019259764 meters Centerline goodness [0,1] 0.5909746973401279 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.98, Z:16.91 [[ 9.99936643e-01 9.79413937e-03 5.54846124e-03 -2.74700785e+01] [-9.76524251e-03 9.99938739e-01 -5.21145568e-03 1.49808285e+01] [-5.59916306e-03 5.15694343e-03 9.99971027e-01 1.69102147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.049259764 meters Centerline goodness [0,1] 0.5942482579426007 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.98, Z:16.91 [[ 9.99932638e-01 1.02996359e-02 5.35140106e-03 -2.74684782e+01] [-1.02717188e-02 9.99933628e-01 -5.21833919e-03 1.49825840e+01] [-5.40479287e-03 5.16301958e-03 9.99972065e-01 1.69092557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.079259764 meters Centerline goodness [0,1] 0.5949535585399042 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.98, Z:16.91 [[ 9.99930166e-01 1.05971226e-02 5.23113865e-03 -2.74674884e+01] [-1.05694321e-02 9.99930133e-01 -5.29295291e-03 1.49837421e+01] [-5.28686323e-03 5.23729312e-03 9.99972310e-01 1.69086775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.109259764 meters Centerline goodness [0,1] 0.5993907308272456 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.98, Z:16.91 [[ 9.99928397e-01 1.07356987e-02 5.28644284e-03 -2.74671305e+01] [-1.07074766e-02 9.99928424e-01 -5.33825688e-03 1.49845962e+01] [-5.34337437e-03 5.28127018e-03 9.99971778e-01 1.69081156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.139259764 meters Centerline goodness [0,1] 0.6014955692289575 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.99, Z:16.91 [[ 9.99927175e-01 1.07284679e-02 5.52666106e-03 -2.74674528e+01] [-1.06966314e-02 9.99926210e-01 -5.75823640e-03 1.49861739e+01] [-5.58803030e-03 5.69870040e-03 9.99968149e-01 1.69081583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.169259764 meters Centerline goodness [0,1] 0.6021346856940677 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.99, Z:16.91 [[ 9.99928076e-01 1.06191294e-02 5.57461418e-03 -2.74678783e+01] [-1.05844399e-02 9.99924664e-01 -6.21580447e-03 1.49877119e+01] [-5.64020064e-03 6.15635324e-03 9.99965143e-01 1.69089031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.199259764 meters Centerline goodness [0,1] 0.6005235756096126 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.99, Z:16.91 [[ 9.99928440e-01 1.05714910e-02 5.59985380e-03 -2.74681038e+01] [-1.05342016e-02 9.99922420e-01 -6.64714106e-03 1.49895094e+01] [-5.66968955e-03 6.58767541e-03 9.99962228e-01 1.69095086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22925976399999 meters Centerline goodness [0,1] 0.6005123524042284 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.99, Z:16.91 [[ 9.99926341e-01 1.05987755e-02 5.91428257e-03 -2.74687614e+01] [-1.05592994e-02 9.99922027e-01 -6.66648998e-03 1.49897348e+01] [-5.98447804e-03 6.60354826e-03 9.99960289e-01 1.69092957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25925976399999 meters Centerline goodness [0,1] 0.6009958163926699 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.99, Z:16.91 [[ 9.99923746e-01 1.06675665e-02 6.22128642e-03 -2.74691596e+01] [-1.06279419e-02 9.99923246e-01 -6.36785335e-03 1.49888470e+01] [-6.28873840e-03 6.30124831e-03 9.99960372e-01 1.69084690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.289259764 meters Centerline goodness [0,1] 0.6028379212080262 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.99, Z:16.91 [[ 9.99920358e-01 1.08614084e-02 6.42707714e-03 -2.74691465e+01] [-1.08228179e-02 9.99923376e-01 -6.00899579e-03 1.49879843e+01] [-6.49185083e-03 5.93895814e-03 9.99961292e-01 1.69075147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.319259764 meters Centerline goodness [0,1] 0.6047264486888961 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.99, Z:16.91 [[ 9.99918055e-01 1.10179062e-02 6.51841945e-03 -2.74689495e+01] [-1.09799608e-02 9.99922730e-01 -5.82869328e-03 1.49877415e+01] [-6.58213577e-03 5.75664366e-03 9.99961768e-01 1.69068623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.349259764 meters Centerline goodness [0,1] 0.6035141329258976 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.99, Z:16.91 [[ 9.99916823e-01 1.10650968e-02 6.62658026e-03 -2.74690141e+01] [-1.10269075e-02 9.99922542e-01 -5.77211813e-03 1.49878634e+01] [-6.68993603e-03 5.69856733e-03 9.99961385e-01 1.69064542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.379259764 meters Centerline goodness [0,1] 0.6010747636107359 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.99, Z:16.91 [[ 9.99913230e-01 1.11987138e-02 6.93698017e-03 -2.74692116e+01] [-1.11617359e-02 9.99923412e-01 -5.34652558e-03 1.49871723e+01] [-6.99632309e-03 5.26863292e-03 9.99961646e-01 1.69052355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.409259764 meters Centerline goodness [0,1] 0.603681089649504 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.99, Z:16.90 [[ 9.99910399e-01 1.13073961e-02 7.16503667e-03 -2.74694781e+01] [-1.12715046e-02 9.99923823e-01 -5.02998913e-03 1.49861036e+01] [-7.22136694e-03 4.94877770e-03 9.99961680e-01 1.69045636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.439259764 meters Centerline goodness [0,1] 0.6030227439471754 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.98, Z:16.90 [[ 9.99909763e-01 1.11456804e-02 7.49936165e-03 -2.74705111e+01] [-1.11099606e-02 9.99926819e-01 -4.78796733e-03 1.49848486e+01] [-7.55217800e-03 4.70421766e-03 9.99960417e-01 1.69042138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.469259764 meters Centerline goodness [0,1] 0.5975066001760048 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.98, Z:16.90 [[ 9.99908104e-01 1.09773762e-02 7.95487286e-03 -2.74718940e+01] [-1.09412029e-02 9.99929670e-01 -4.57665237e-03 1.49834866e+01] [-8.00455303e-03 4.48919591e-03 9.99957886e-01 1.69040805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.499259764 meters Centerline goodness [0,1] 0.5910350258100265 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.99, Z:16.91 [[ 9.99945358e-01 6.67131147e-03 8.04823569e-03 -2.74728843e+01] [-6.59611508e-03 9.99934683e-01 -9.33385447e-03 1.49851715e+01] [-8.10997905e-03 9.28025736e-03 9.99924050e-01 1.69056191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.529259764 meters Centerline goodness [0,1] 0.5803675273319376 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.98, Z:16.91 [[ 9.99942141e-01 6.51422850e-03 8.56037439e-03 -2.74744607e+01] [-6.43830700e-03 9.99939962e-01 -8.86677626e-03 1.49829647e+01] [-8.61762065e-03 8.81114892e-03 9.99924047e-01 1.69052524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.559259764 meters Centerline goodness [0,1] 0.5782591046160983 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.98, Z:16.90 [[ 9.99937908e-01 6.23949504e-03 9.23298496e-03 -2.74764127e+01] [-6.16189803e-03 9.99945658e-01 -8.40904108e-03 1.49804460e+01] [-9.28495139e-03 8.35162624e-03 9.99922017e-01 1.69047328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.589259764 meters Centerline goodness [0,1] 0.5676611460557447 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.98, Z:16.90 [[ 9.99934010e-01 5.93566898e-03 9.83579191e-03 -2.74782131e+01] [-5.85839502e-03 9.99951896e-01 -7.86667911e-03 1.49777937e+01] [-9.88201277e-03 7.80853804e-03 9.99920683e-01 1.69041204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61925976399999 meters Centerline goodness [0,1] 0.5546290724662597 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.98, Z:16.90 [[ 9.99946588e-01 1.17374279e-03 1.02685817e-02 -2.74804110e+01] [-1.05060686e-03 9.99927581e-01 -1.19887090e-02 1.49768336e+01] [-1.02819097e-02 1.19772804e-02 9.99875406e-01 1.69048738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64925976399999 meters Centerline goodness [0,1] 0.5506484602639548 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.97, Z:16.90 [[ 9.99939498e-01 5.05733273e-04 1.09884098e-02 -2.74829151e+01] [-3.77930581e-04 9.99932302e-01 -1.16296464e-02 1.49747480e+01] [-1.09935474e-02 1.16247899e-02 9.99871995e-01 1.69045444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.679259764 meters Centerline goodness [0,1] 0.5477854148247441 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.97, Z:16.90 [[ 9.99933933e-01 1.24928700e-04 1.14940743e-02 -2.74846039e+01] [ 3.53655432e-06 9.99937547e-01 -1.11759516e-02 1.49727732e+01] [-1.14947527e-02 1.11752539e-02 9.99871484e-01 1.69041304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.709259764 meters Centerline goodness [0,1] 0.5468358752560892 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.97, Z:16.90 [[ 9.99931337e-01 1.95532929e-04 1.17167556e-02 -2.74849312e+01] [-6.99989028e-05 9.99942606e-01 -1.07135128e-02 1.49718512e+01] [-1.17181779e-02 1.07119570e-02 9.99873961e-01 1.69033320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.739259764 meters Centerline goodness [0,1] 0.5415803072030891 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99925690e-01 -1.99136154e-04 1.21891062e-02 -2.74864722e+01] [ 3.25813870e-04 9.99945953e-01 -1.03915960e-02 1.49708254e+01] [-1.21863781e-02 1.03947952e-02 9.99871712e-01 1.69029137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.769259764 meters Centerline goodness [0,1] 0.5403086507149937 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99924502e-01 -1.96050814e-04 1.22862624e-02 -2.74865171e+01] [ 3.22155194e-04 9.99947285e-01 -1.02627136e-02 1.49715602e+01] [-1.22836028e-02 1.02658969e-02 9.99871854e-01 1.69024205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.799259764 meters Centerline goodness [0,1] 0.5415188076650106 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99909840e-01 3.60915441e-03 1.29338703e-02 -2.74879132e+01] [-3.53879387e-03 9.99978839e-01 -5.45878540e-03 1.49690465e+01] [-1.29532982e-02 5.41252294e-03 9.99901453e-01 1.69008235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.829259764 meters Centerline goodness [0,1] 0.535148613039413 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99907518e-01 4.24444654e-03 1.29205431e-02 -2.74866568e+01] [-4.17511624e-03 9.99976768e-01 -5.38814986e-03 1.49699143e+01] [-1.29431126e-02 5.33370678e-03 9.99902009e-01 1.68999094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.859259764 meters Centerline goodness [0,1] 0.5389038379832884 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99906698e-01 4.36817526e-03 1.29427292e-02 -2.74864509e+01] [-4.29806265e-03 9.99975966e-01 -5.44001517e-03 1.49708360e+01] [-1.29661811e-02 5.38387895e-03 9.99901441e-01 1.68996557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.889259764 meters Centerline goodness [0,1] 0.5419338364637122 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99908015e-01 4.52001874e-03 1.27879020e-02 -2.74857188e+01] [-4.44883117e-03 9.99974481e-01 -5.58977160e-03 1.49725816e+01] [-1.28128416e-02 5.53236621e-03 9.99902607e-01 1.68994378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.919259764 meters Centerline goodness [0,1] 0.5409975841978116 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.98, Z:16.90 [[ 9.99909681e-01 4.72215148e-03 1.25829811e-02 -2.74846446e+01] [-4.64881727e-03 9.99972077e-01 -5.85093703e-03 1.49751819e+01] [-1.26102588e-02 5.79191260e-03 9.99903713e-01 1.68991341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.949259764 meters Centerline goodness [0,1] 0.5416725827062332 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.97, Z:16.90 [[ 9.99908140e-01 4.87074036e-03 1.26486154e-02 -2.74845135e+01] [-4.79994201e-03 9.99972678e-01 -5.62165846e-03 1.49749594e+01] [-1.26756515e-02 5.56042943e-03 9.99904200e-01 1.68985786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97925976399999 meters Centerline goodness [0,1] 0.5369449731541718 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.97, Z:16.90 [[ 9.99906720e-01 4.94562062e-03 1.27315304e-02 -2.74845824e+01] [-4.87614162e-03 9.99973082e-01 -5.48250813e-03 1.49748336e+01] [-1.27583021e-02 5.41991598e-03 9.99903921e-01 1.68982584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00925976399999 meters Centerline goodness [0,1] 0.5400250156347717 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.98, Z:16.90 [[ 9.99906929e-01 5.00468342e-03 1.26919494e-02 -2.74845355e+01] [-4.93512715e-03 9.99972665e-01 -5.50575661e-03 1.49753135e+01] [-1.27191570e-02 5.44260780e-03 9.99904296e-01 1.68983777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.039259764 meters Centerline goodness [0,1] 0.53898671521634 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.98, Z:16.90 [[ 9.99907382e-01 4.88998336e-03 1.27009925e-02 -2.74849236e+01] [-4.81734279e-03 9.99971902e-01 -5.74359324e-03 1.49762974e+01] [-1.27287217e-02 5.68187625e-03 9.99902843e-01 1.68989427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.069259764 meters Centerline goodness [0,1] 0.53898671521634 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.98, Z:16.90 [[ 9.99907382e-01 4.88998336e-03 1.27009925e-02 -2.74849236e+01] [-4.81734279e-03 9.99971902e-01 -5.74359324e-03 1.49762974e+01] [-1.27287217e-02 5.68187625e-03 9.99902843e-01 1.68989427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.099259764 meters Centerline goodness [0,1] 0.5378677831894956 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.98, Z:16.90 [[ 9.99906792e-01 4.75522916e-03 1.27982764e-02 -2.74853332e+01] [-4.68291093e-03 9.99972934e-01 -5.67467120e-03 1.49763372e+01] [-1.28249143e-02 5.61420908e-03 9.99901996e-01 1.68988476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.129259764 meters Centerline goodness [0,1] 0.5372030160762555 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.98, Z:16.90 [[ 9.99904431e-01 4.62398143e-03 1.30287348e-02 -2.74862031e+01] [-4.55328854e-03 9.99974780e-01 -5.45037080e-03 1.49752646e+01] [-1.30536086e-02 5.39052633e-03 9.99900268e-01 1.68987732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.159259764 meters Centerline goodness [0,1] 0.5383303002729755 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99901429e-01 4.45181316e-03 1.33158882e-02 -2.74872985e+01] [-4.38172335e-03 9.99976418e-01 -5.28817442e-03 1.49742622e+01] [-1.33391162e-02 5.22930662e-03 9.99897356e-01 1.68988980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.189259764 meters Centerline goodness [0,1] 0.5385642453339394 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99898962e-01 4.21881830e-03 1.35744965e-02 -2.74884249e+01] [-4.14941019e-03 9.99978195e-01 -5.13723400e-03 1.49734230e+01] [-1.35958736e-02 5.08038879e-03 9.99894665e-01 1.68990261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.219259764 meters Centerline goodness [0,1] 0.5371272323335896 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99900181e-01 4.60422044e-03 1.33577707e-02 -2.74876949e+01] [-4.53515564e-03 9.99976216e-01 -5.19607570e-03 1.49742763e+01] [-1.33813769e-02 5.13497746e-03 9.99897280e-01 1.68993101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.249259764 meters Centerline goodness [0,1] 0.5341795207467699 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99899131e-01 4.55889817e-03 1.34515203e-02 -2.74883162e+01] [-4.48784704e-03 9.99975845e-01 -5.30748099e-03 1.49746898e+01] [-1.34753916e-02 5.24657726e-03 9.99895438e-01 1.68998452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.279259764 meters Centerline goodness [0,1] 0.5390776422300764 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99900154e-01 4.59896617e-03 1.33616063e-02 -2.74885884e+01] [-4.52847115e-03 9.99975694e-01 -5.30141317e-03 1.49745143e+01] [-1.33856625e-02 5.24037620e-03 9.99896676e-01 1.69005158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.309259764 meters Centerline goodness [0,1] 0.5346035543403964 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99898238e-01 4.75815579e-03 1.34489381e-02 -2.74887392e+01] [-4.69189514e-03 9.99976721e-01 -4.95409667e-03 1.49733127e+01] [-1.34721974e-02 4.89049153e-03 9.99897286e-01 1.69002179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.339259764 meters Centerline goodness [0,1] 0.5364723935097042 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99894754e-01 4.83634943e-03 1.36781392e-02 -2.74891644e+01] [-4.78253779e-03 9.99980706e-01 -3.96411232e-03 1.49692460e+01] [-1.36970472e-02 3.89827889e-03 9.99898592e-01 1.68989633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36925976399999 meters Centerline goodness [0,1] 0.5332821737153252 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99892083e-01 4.61782114e-03 1.39462658e-02 -2.74904293e+01] [-4.56567922e-03 9.99982477e-01 -3.76829981e-03 1.49680204e+01] [-1.39634228e-02 3.70421897e-03 9.99895645e-01 1.68992642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39925976399999 meters Centerline goodness [0,1] 0.5334749362786746 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99891540e-01 4.53925252e-03 1.40108231e-02 -2.74910698e+01] [-4.48882024e-03 9.99983341e-01 -3.62887441e-03 1.49673271e+01] [-1.40270620e-02 3.56558876e-03 9.99895259e-01 1.68996497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.429259764 meters Centerline goodness [0,1] 0.5368110347959357 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99893164e-01 4.52902637e-03 1.38977671e-02 -2.74911755e+01] [-4.47431591e-03 9.99982129e-01 -3.96520836e-03 1.49684225e+01] [-1.39154772e-02 3.90260173e-03 9.99895559e-01 1.69005554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.459259764 meters Centerline goodness [0,1] 0.5335863162664249 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99892028e-01 4.52435445e-03 1.39807747e-02 -2.74915403e+01] [-4.46986422e-03 9.99982302e-01 -3.92630425e-03 1.49683924e+01] [-1.39982913e-02 3.86338815e-03 9.99894555e-01 1.69006858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.489259764 meters Centerline goodness [0,1] 0.53098396357157 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99889805e-01 4.55656869e-03 1.41285341e-02 -2.74920276e+01] [-4.50332652e-03 9.99982648e-01 -3.79794211e-03 1.49678022e+01] [-1.41455945e-02 3.73389820e-03 9.99892974e-01 1.69007486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.519259764 meters Centerline goodness [0,1] 0.532090395480226 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99887753e-01 4.50063871e-03 1.42907738e-02 -2.74923799e+01] [-4.44945708e-03 9.99983581e-01 -3.61122314e-03 1.49672581e+01] [-1.43067920e-02 3.54723160e-03 9.99891361e-01 1.69003087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.549259764 meters Centerline goodness [0,1] 0.5298035769961169 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99887238e-01 4.82188868e-03 1.42218676e-02 -2.74913609e+01] [-4.77590877e-03 9.99983264e-01 -3.26523604e-03 1.49668660e+01] [-1.42373742e-02 3.19694551e-03 9.99893533e-01 1.68991216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.579259764 meters Centerline goodness [0,1] 0.5316954291705631 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99887851e-01 4.78007688e-03 1.41928180e-02 -2.74913645e+01] [-4.73065394e-03 9.99982637e-01 -3.51378258e-03 1.49680319e+01] [-1.42093677e-02 3.44624720e-03 9.99893103e-01 1.68993792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.609259764 meters Centerline goodness [0,1] 0.5318025714528993 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99889207e-01 4.60085731e-03 1.41564729e-02 -2.74917810e+01] [-4.54531916e-03 9.99981857e-01 -3.95283944e-03 1.49696399e+01] [-1.41744025e-02 3.88805581e-03 9.99891979e-01 1.69002849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.639259764 meters Centerline goodness [0,1] 0.5326614620298084 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99891626e-01 4.51106840e-03 1.40138029e-02 -2.74917765e+01] [-4.45162750e-03 9.99980975e-01 -4.26989886e-03 1.49710294e+01] [-1.40327981e-02 4.20705189e-03 9.99892685e-01 1.69009664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.669259764 meters Centerline goodness [0,1] 0.5377374587646457 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99893456e-01 4.48247767e-03 1.38918749e-02 -2.74914938e+01] [-4.42310838e-03 9.99980967e-01 -4.30145198e-03 1.49718398e+01] [-1.39108917e-02 4.23954842e-03 9.99894251e-01 1.69009011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.699259764 meters Centerline goodness [0,1] 0.5398584704578395 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99894725e-01 4.63434545e-03 1.37499766e-02 -2.74907638e+01] [-4.57234413e-03 9.99979253e-01 -4.53720927e-03 1.49734249e+01] [-1.37707184e-02 4.47386199e-03 9.99895170e-01 1.69008214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72925976399999 meters Centerline goodness [0,1] 0.5374281322935048 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.98, Z:16.90 [[ 9.99896570e-01 4.71775318e-03 1.35864343e-02 -2.74902802e+01] [-4.65026792e-03 9.99976715e-01 -4.99442188e-03 1.49756899e+01] [-1.36096804e-02 4.93072475e-03 9.99895227e-01 1.69012185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75925976399999 meters Centerline goodness [0,1] 0.539246804495153 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.98, Z:16.90 [[ 9.99897800e-01 5.36079230e-03 1.32533809e-02 -2.74883850e+01] [-5.29003313e-03 9.99971598e-01 -5.36825731e-03 1.49795905e+01] [-1.32817826e-02 5.29759784e-03 9.99897760e-01 1.69008936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.789259764 meters Centerline goodness [0,1] 0.5386290692342962 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.98, Z:16.90 [[ 9.99899898e-01 5.71362409e-03 1.29440571e-02 -2.74869285e+01] [-5.64329500e-03 9.99969152e-01 -5.46333689e-03 1.49813465e+01] [-1.29748732e-02 5.38974287e-03 9.99901297e-01 1.69004191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.819259764 meters Centerline goodness [0,1] 0.5417372091021263 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.98, Z:16.90 [[ 9.99903221e-01 6.09557465e-03 1.25057126e-02 -2.74853126e+01] [-6.02554591e-03 9.99965999e-01 -5.62979749e-03 1.49832568e+01] [-1.25396043e-02 5.55389890e-03 9.99905952e-01 1.69002516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.849259764 meters Centerline goodness [0,1] 0.546437896307348 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99906566e-01 6.41909337e-03 1.20687386e-02 -2.74838562e+01] [-6.34865941e-03 9.99962645e-01 -5.86534839e-03 1.49853043e+01] [-1.21059379e-02 5.78818005e-03 9.99909968e-01 1.69002711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.879259764 meters Centerline goodness [0,1] 0.5519245152753006 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99909286e-01 6.62247946e-03 1.17286820e-02 -2.74829575e+01] [-6.54969323e-03 9.99959122e-01 -6.23340911e-03 1.49874518e+01] [-1.17694831e-02 6.15602438e-03 9.99911787e-01 1.69007633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.909259764 meters Centerline goodness [0,1] 0.5541744772891132 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99910614e-01 6.94298902e-03 1.14262399e-02 -2.74818395e+01] [-6.86963729e-03 9.99955625e-01 -6.44636291e-03 1.49893257e+01] [-1.14704899e-02 6.36729257e-03 9.99913939e-01 1.69008044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.939259764 meters Centerline goodness [0,1] 0.5642838515256006 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99906267e-01 8.09148892e-03 1.10446564e-02 -2.74794520e+01] [-8.01804374e-03 9.99945556e-01 -6.67799856e-03 1.49935999e+01] [-1.10980900e-02 6.58881608e-03 9.99916706e-01 1.69006889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.969259764 meters Centerline goodness [0,1] 0.5658036207247261 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.90 [[ 9.99907630e-01 8.35147449e-03 1.07230360e-02 -2.74783814e+01] [-8.27691988e-03 9.99941395e-01 -6.97840750e-03 1.49959620e+01] [-1.07806875e-02 6.88900920e-03 9.99918156e-01 1.69008401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.999259764 meters Centerline goodness [0,1] 0.5737752580316906 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.90 [[ 9.99907527e-01 8.70682915e-03 1.04465016e-02 -2.74771278e+01] [-8.63400589e-03 9.99938253e-01 -6.99603133e-03 1.49973873e+01] [-1.05067698e-02 6.90518923e-03 9.99920960e-01 1.69004440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.029259764 meters Centerline goodness [0,1] 0.5746257811364628 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.90 [[ 9.99906551e-01 9.04906815e-03 1.02471681e-02 -2.74760676e+01] [-8.97876995e-03 9.99935983e-01 -6.88560702e-03 1.49978021e+01] [-1.03088204e-02 6.79295660e-03 9.99923789e-01 1.68999125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.059259764 meters Centerline goodness [0,1] 0.5813202165434542 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.00, Z:16.90 [[ 9.99904805e-01 9.51758570e-03 9.98985825e-03 -2.74747105e+01] [-9.45186701e-03 9.99933514e-01 -6.60526768e-03 1.49980156e+01] [-1.00520603e-02 6.51021608e-03 9.99928284e-01 1.68991095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.089259764 meters Centerline goodness [0,1] 0.5777317663526873 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.00, Z:16.90 [[ 9.99906662e-01 9.53028936e-03 9.78986201e-03 -2.74745160e+01] [-9.46373202e-03 9.99931943e-01 -6.82257435e-03 1.49989647e+01] [-9.85421685e-03 6.72928891e-03 9.99928803e-01 1.68996904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11925976399999 meters Centerline goodness [0,1] 0.5832774359123918 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.00, Z:16.90 [[ 9.99907536e-01 9.57791670e-03 9.65314375e-03 -2.74746448e+01] [-9.51015436e-03 9.99929986e-01 -7.04134323e-03 1.49994324e+01] [-9.71990929e-03 6.94888928e-03 9.99928616e-01 1.69006132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14925976399999 meters Centerline goodness [0,1] 0.5798671793079343 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.00, Z:16.90 [[ 9.99906636e-01 9.70211832e-03 9.62230970e-03 -2.74747390e+01] [-9.63459249e-03 9.99928809e-01 -7.03933396e-03 1.49993951e+01] [-9.68992113e-03 6.94596971e-03 9.99928927e-01 1.69009992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.179259764 meters Centerline goodness [0,1] 0.581192593672547 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.00, Z:16.90 [[ 9.99906123e-01 9.86634741e-03 9.50787611e-03 -2.74746867e+01] [-9.79898771e-03 9.99926744e-01 -7.10535416e-03 1.49994881e+01] [-9.57728350e-03 7.01151957e-03 9.99929555e-01 1.69016227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.209259764 meters Centerline goodness [0,1] 0.5819982522575007 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.00, Z:16.90 [[ 9.99903204e-01 1.01731922e-02 9.49151052e-03 -2.74742805e+01] [-1.01097140e-02 9.99926368e-01 -6.71207464e-03 1.49984618e+01] [-9.55909487e-03 6.61546848e-03 9.99932427e-01 1.69010471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.239259764 meters Centerline goodness [0,1] 0.5894182357905765 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.00, Z:16.90 [[ 9.99899229e-01 1.04889684e-02 9.56630253e-03 -2.74738280e+01] [-1.04301283e-02 9.99926507e-01 -6.18006221e-03 1.49970902e+01] [-9.63042195e-03 6.07966168e-03 9.99935144e-01 1.68999424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.269259764 meters Centerline goodness [0,1] 0.5914819643633202 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.00, Z:16.90 [[ 9.99894872e-01 1.10046501e-02 9.44150782e-03 -2.74728368e+01] [-1.09533663e-02 9.99925068e-01 -5.46636877e-03 1.49952694e+01] [-9.50095582e-03 5.36237781e-03 9.99940487e-01 1.68988583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.299259764 meters Centerline goodness [0,1] 0.5919200695047784 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.00, Z:16.90 [[ 9.99896536e-01 1.09143933e-02 9.36982215e-03 -2.74731584e+01] [-1.08616121e-02 9.99924960e-01 -5.66563204e-03 1.49959340e+01] [-9.43095598e-03 5.56327448e-03 9.99940052e-01 1.68996489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.329259764 meters Centerline goodness [0,1] 0.5833865073380127 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.00, Z:16.90 [[ 9.99897811e-01 1.08244936e-02 9.33792794e-03 -2.74736095e+01] [-1.07695909e-02 9.99924542e-01 -5.90992111e-03 1.49964756e+01] [-9.40119522e-03 5.80875152e-03 9.99938936e-01 1.69004971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.359259764 meters Centerline goodness [0,1] 0.5832393184645203 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.00, Z:16.90 [[ 9.99896225e-01 1.09587361e-02 9.35123350e-03 -2.74739150e+01] [-1.09036088e-02 9.99922994e-01 -5.92594994e-03 1.49958247e+01] [-9.41545432e-03 5.82337279e-03 9.99938717e-01 1.69011210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.389259764 meters Centerline goodness [0,1] 0.5845904392390769 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.00, Z:16.90 [[ 9.99895106e-01 1.09691899e-02 9.45798926e-03 -2.74743257e+01] [-1.09138005e-02 9.99923106e-01 -5.88822153e-03 1.49955133e+01] [-9.52185101e-03 5.78438128e-03 9.99937936e-01 1.69012713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.419259764 meters Centerline goodness [0,1] 0.5816756207347176 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.00, Z:16.90 [[ 9.99894188e-01 1.09448041e-02 9.58248149e-03 -2.74747946e+01] [-1.08891213e-02 9.99923635e-01 -5.84391445e-03 1.49950729e+01] [-9.64571022e-03 5.73895129e-03 9.99937010e-01 1.69014267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.449259764 meters Centerline goodness [0,1] 0.5823902283712987 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99892708e-01 1.09653444e-02 9.71254967e-03 -2.74750126e+01] [-1.09110524e-02 9.99924649e-01 -5.62533456e-03 1.49941979e+01] [-9.77350156e-03 5.51875687e-03 9.99937009e-01 1.69010464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47925976399999 meters Centerline goodness [0,1] 0.5842033721838216 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99889347e-01 1.10842595e-02 9.92130258e-03 -2.74751317e+01] [-1.10345548e-02 9.99926362e-01 -5.05070231e-03 1.49921142e+01] [-9.97655529e-03 4.94066628e-03 9.99938027e-01 1.68999653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50925976399999 meters Centerline goodness [0,1] 0.5830931519483513 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99889318e-01 1.10107312e-02 1.00057824e-02 -2.74756179e+01] [-1.09597167e-02 9.99926734e-01 -5.13911240e-03 1.49921805e+01] [-1.00616347e-02 5.02888306e-03 9.99936735e-01 1.69003428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.539259764 meters Centerline goodness [0,1] 0.5858095815645845 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99891388e-01 1.07936945e-02 1.00353446e-02 -2.74762658e+01] [-1.07391671e-02 9.99927363e-01 -5.47163823e-03 1.49928884e+01] [-1.00936748e-02 5.36327270e-03 9.99934674e-01 1.69011545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.569259764 meters Centerline goodness [0,1] 0.5876458834091107 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99892421e-01 1.07640806e-02 9.96396500e-03 -2.74763688e+01] [-1.07087795e-02 9.99927051e-01 -5.58692752e-03 1.49932670e+01] [-1.00233763e-02 5.47962458e-03 9.99934751e-01 1.69015796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.599259764 meters Centerline goodness [0,1] 0.5895780493428637 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99890793e-01 1.09224132e-02 9.95509689e-03 -2.74762547e+01] [-1.08704251e-02 9.99927073e-01 -5.26148670e-03 1.49922100e+01] [-1.00118390e-02 5.15269597e-03 9.99936604e-01 1.69012821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.629259764 meters Centerline goodness [0,1] 0.5857681568266213 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99889484e-01 1.08973403e-02 1.01127198e-02 -2.74767980e+01] [-1.08462719e-02 9.99928217e-01 -5.09109812e-03 1.49912492e+01] [-1.01674733e-02 4.98085017e-03 9.99935905e-01 1.69012801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.659259764 meters Centerline goodness [0,1] 0.5820813748954698 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99887597e-01 1.07929755e-02 1.04069304e-02 -2.74777486e+01] [-1.07429180e-02 9.99930512e-01 -4.85397395e-03 1.49898919e+01] [-1.04585961e-02 4.74162755e-03 9.99934065e-01 1.69011767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.689259764 meters Centerline goodness [0,1] 0.5798222656811711 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99926304e-01 6.82363408e-03 1.00411211e-02 -2.74772709e+01] [-6.73017037e-03 9.99933988e-01 -9.31263117e-03 1.49910363e+01] [-1.01040043e-02 9.24436642e-03 9.99906221e-01 1.69023142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.719259764 meters Centerline goodness [0,1] 0.575452196382429 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99925127e-01 6.81457594e-03 1.01637636e-02 -2.74779011e+01] [-6.72301540e-03 9.99936758e-01 -9.01565052e-03 1.49897799e+01] [-1.02245586e-02 8.94664435e-03 9.99907704e-01 1.69024129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.749259764 meters Centerline goodness [0,1] 0.5733625208825393 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99922847e-01 6.68862596e-03 1.04672485e-02 -2.74791266e+01] [-6.59595832e-03 9.99938971e-01 -8.86272481e-03 1.49886236e+01] [-1.05258891e-02 8.79299949e-03 9.99905940e-01 1.69027154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.779259764 meters Centerline goodness [0,1] 0.5732098836209367 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99920079e-01 6.73515680e-03 1.06992074e-02 -2.74798372e+01] [-6.64484789e-03 9.99942187e-01 -8.45395190e-03 1.49869292e+01] [-1.07555275e-02 8.38218164e-03 9.99907025e-01 1.69025026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.809259764 meters Centerline goodness [0,1] 0.5671740189755496 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.98, Z:16.90 [[ 9.99916642e-01 6.54309688e-03 1.11308933e-02 -2.74813252e+01] [-6.45707694e-03 9.99949148e-01 -7.74649992e-03 1.49833081e+01] [-1.11810134e-02 7.67398115e-03 9.99908043e-01 1.69020673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.839259764 meters Centerline goodness [0,1] 0.5546023848331474 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.98, Z:16.90 [[ 9.99913450e-01 6.54542633e-03 1.14126907e-02 -2.74820616e+01] [-6.46356199e-03 9.99953224e-01 -7.19528736e-03 1.49811307e+01] [-1.14592531e-02 7.12089797e-03 9.99908985e-01 1.69015258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86925976399999 meters Centerline goodness [0,1] 0.5585001570665677 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.98, Z:16.90 [[ 9.99910453e-01 6.53090241e-03 1.16805053e-02 -2.74828542e+01] [-6.45302075e-03 9.99956780e-01 -6.69296792e-03 1.49790207e+01] [-1.17237116e-02 6.61699404e-03 9.99909381e-01 1.69011295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89925976399999 meters Centerline goodness [0,1] 0.5513182271626051 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.98, Z:16.90 [[ 9.99908182e-01 6.51159402e-03 1.18838466e-02 -2.74835816e+01] [-6.43734884e-03 9.99959591e-01 -6.27516628e-03 1.49771486e+01] [-1.19242277e-02 6.19808964e-03 9.99909694e-01 1.69010223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.929259764 meters Centerline goodness [0,1] 0.5460477784713159 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99907160e-01 5.88209122e-03 1.22911893e-02 -2.74857263e+01] [-5.80817666e-03 9.99964887e-01 -6.04068897e-03 1.49746809e+01] [-1.23262896e-02 5.96873875e-03 9.99906214e-01 1.69015720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.959259764 meters Centerline goodness [0,1] 0.546728575068656 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99904203e-01 5.81030590e-03 1.25628659e-02 -2.74866493e+01] [-5.73971921e-03 9.99967580e-01 -5.64745070e-03 1.49728999e+01] [-1.25952721e-02 5.57480237e-03 9.99905136e-01 1.69014584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.989259764 meters Centerline goodness [0,1] 0.546728575068656 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99904203e-01 5.81030590e-03 1.25628659e-02 -2.74866493e+01] [-5.73971921e-03 9.99967580e-01 -5.64745070e-03 1.49728999e+01] [-1.25952721e-02 5.57480237e-03 9.99905136e-01 1.69014584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.019259764 meters Centerline goodness [0,1] 0.5409706546275395 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99900491e-01 4.86652650e-03 1.32410425e-02 -2.74898902e+01] [-4.79114891e-03 9.99972171e-01 -5.71850172e-03 1.49699401e+01] [-1.32685033e-02 5.65449287e-03 9.99895981e-01 1.69025812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.049259764 meters Centerline goodness [0,1] 0.540363041885112 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99896042e-01 4.65418798e-03 1.36471084e-02 -2.74912948e+01] [-4.58003790e-03 9.99974608e-01 -5.45962085e-03 1.49682011e+01] [-1.36721720e-02 5.39654901e-03 9.99891969e-01 1.69026574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.079259764 meters Centerline goodness [0,1] 0.5372883256700685 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.97, Z:16.90 [[ 9.99892080e-01 4.39252286e-03 1.40190447e-02 -2.74926905e+01] [-4.32087212e-03 9.99977470e-01 -5.13716083e-03 1.49662520e+01] [-1.40412939e-02 5.07603193e-03 9.99888532e-01 1.69026392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.109259764 meters Centerline goodness [0,1] 0.5407084102736277 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.96, Z:16.90 [[ 9.99886571e-01 4.14166000e-03 1.44807056e-02 -2.74940418e+01] [-4.07444990e-03 9.99980805e-01 -4.66778133e-03 1.49640666e+01] [-1.44997600e-02 4.60825097e-03 9.99884254e-01 1.69021601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.139259764 meters Centerline goodness [0,1] 0.5408718965565392 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.96, Z:16.90 [[ 9.99881827e-01 3.94808931e-03 1.48574620e-02 -2.74951927e+01] [-3.88664578e-03 9.99983785e-01 -4.16213783e-03 1.49618062e+01] [-1.48736536e-02 4.10390029e-03 9.99880959e-01 1.69017215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.169259764 meters Centerline goodness [0,1] 0.5414613778705637 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.96, Z:16.90 [[ 9.99890031e-01 -5.90948767e-04 1.48181186e-02 -2.74961250e+01] [ 7.17717727e-04 9.99963181e-01 -8.55113902e-03 1.49620710e+01] [-1.48125197e-02 8.56083388e-03 9.99853640e-01 1.69029536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.199259764 meters Centerline goodness [0,1] 0.5390023620953175 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.96, Z:16.90 [[ 9.99883405e-01 -8.47428760e-04 1.52465550e-02 -2.74973452e+01] [ 9.72198396e-04 9.99966088e-01 -8.17791434e-03 1.49607583e+01] [-1.52391078e-02 8.19178351e-03 9.99850321e-01 1.69024392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22925976399999 meters Centerline goodness [0,1] 0.5377966761158357 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.96, Z:16.90 [[ 9.99878370e-01 -1.12046216e-03 1.55560466e-02 -2.74984895e+01] [ 1.24388262e-03 9.99967811e-01 -7.92651471e-03 1.49596963e+01] [-1.55466645e-02 7.94490050e-03 9.99847578e-01 1.69023340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25925976399999 meters Centerline goodness [0,1] 0.5352191257287918 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.96, Z:16.90 [[ 9.99872311e-01 -1.40520833e-03 1.59181183e-02 -2.74995853e+01] [ 1.52893164e-03 9.99968699e-01 -7.76298255e-03 1.49590502e+01] [-1.59067115e-02 7.78632902e-03 9.99843163e-01 1.69020837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.289259764 meters Centerline goodness [0,1] 0.5384636817029339 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.96, Z:16.90 [[ 9.99865483e-01 -1.68707805e-03 1.63146848e-02 -2.75008903e+01] [ 1.81158677e-03 9.99969327e-01 -7.61993136e-03 1.49580282e+01] [-1.63013290e-02 7.64846182e-03 9.99837871e-01 1.69020433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.319259764 meters Centerline goodness [0,1] 0.5050392560833008 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.96, Z:16.90 [[ 9.99863427e-01 -1.79520193e-03 1.64287479e-02 -2.75014678e+01] [ 1.92692942e-03 9.99966097e-01 -8.00579487e-03 1.49592585e+01] [-1.64138189e-02 8.03635854e-03 9.99832988e-01 1.69027719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.349259764 meters Centerline goodness [0,1] 0.5371347232688604 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.96, Z:16.90 [[ 9.99853201e-01 2.22351949e-03 1.69892072e-02 -2.75026622e+01] [-2.16214464e-03 9.99991074e-01 -3.63009279e-03 1.49587022e+01] [-1.69971271e-02 3.59282677e-03 9.99849083e-01 1.69020737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.379259764 meters Centerline goodness [0,1] 0.5216857382082054 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.96, Z:16.90 [[ 9.99858184e-01 2.33725501e-03 1.66778201e-02 -2.75019151e+01] [-2.26800639e-03 9.99988734e-01 -4.16984501e-03 1.49618091e+01] [-1.66873782e-02 4.13142825e-03 9.99852220e-01 1.69027716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.409259764 meters Centerline goodness [0,1] 0.5460636985533251 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.96, Z:16.90 [[ 9.99861958e-01 2.51388139e-03 1.64238968e-02 -2.75010190e+01] [-2.44074553e-03 9.99987024e-01 -4.47154325e-03 1.49641991e+01] [-1.64349246e-02 4.43083944e-03 9.99855120e-01 1.69028338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.439259764 meters Centerline goodness [0,1] 0.5468099471137617 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.97, Z:16.90 [[ 9.99866671e-01 3.29665473e-03 1.59928524e-02 -2.74983052e+01] [-3.22968933e-03 9.99985917e-01 -4.21123045e-03 1.49658231e+01] [-1.60065101e-02 4.15901703e-03 9.99863238e-01 1.69011068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.469259764 meters Centerline goodness [0,1] 0.5472520672779434 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.97, Z:16.90 [[ 9.99864464e-01 3.54052553e-03 1.60785338e-02 -2.74977648e+01] [-3.47529251e-03 9.99985624e-01 -4.08327992e-03 1.49661859e+01] [-1.60927596e-02 4.02684888e-03 9.99862394e-01 1.69001589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.499259764 meters Centerline goodness [0,1] 0.5532329045362221 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.97, Z:16.90 [[ 9.99864312e-01 3.75163164e-03 1.60400323e-02 -2.74971255e+01] [-3.68809626e-03 9.99985244e-01 -3.98879849e-03 1.49667025e+01] [-1.60547601e-02 3.92910008e-03 9.99863394e-01 1.68995053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.529259764 meters Centerline goodness [0,1] 0.5541711502520247 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.97, Z:16.90 [[ 9.99867551e-01 3.84249245e-03 1.58150215e-02 -2.74961238e+01] [-3.77267407e-03 9.99983017e-01 -4.44215693e-03 1.49699299e+01] [-1.58318219e-02 4.38190365e-03 9.99865067e-01 1.68994308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.559259764 meters Centerline goodness [0,1] 0.5570458355829615 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.97, Z:16.90 [[ 9.99871296e-01 3.73698903e-03 1.56021421e-02 -2.74958230e+01] [-3.66068509e-03 9.99981214e-01 -4.91630451e-03 1.49722165e+01] [-1.56202212e-02 4.85855723e-03 9.99866193e-01 1.68999987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.589259764 meters Centerline goodness [0,1] 0.5606039066276194 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.97, Z:16.90 [[ 9.99873760e-01 3.69384938e-03 1.54538195e-02 -2.74955322e+01] [-3.61346793e-03 9.99979815e-01 -5.22609077e-03 1.49741612e+01] [-1.54728119e-02 5.16958915e-03 9.99866925e-01 1.69003145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61925976399999 meters Centerline goodness [0,1] 0.548758966184675 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.98, Z:16.90 [[ 9.99873617e-01 3.65850459e-03 1.54714535e-02 -2.74956049e+01] [-3.57544877e-03 9.99979068e-01 -5.39258425e-03 1.49753814e+01] [-1.54908584e-02 5.33658533e-03 9.99865768e-01 1.69003867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64925976399999 meters Centerline goodness [0,1] 0.555075161059413 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.98, Z:16.90 [[ 9.99877476e-01 4.08967446e-03 1.51098536e-02 -2.74940235e+01] [-4.00315158e-03 9.99975444e-01 -5.75207021e-03 1.49785196e+01] [-1.51330067e-02 5.69087841e-03 9.99869294e-01 1.69003402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.679259764 meters Centerline goodness [0,1] 0.5602771628187804 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.98, Z:16.90 [[ 9.99882194e-01 4.44692927e-03 1.46908926e-02 -2.74926187e+01] [-4.35682325e-03 9.99971537e-01 -6.15978268e-03 1.49815115e+01] [-1.47178666e-02 6.09505140e-03 9.99873109e-01 1.69006382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.709259764 meters Centerline goodness [0,1] 0.564073689073689 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.98, Z:16.90 [[ 9.99885871e-01 4.79182314e-03 1.43277330e-02 -2.74912847e+01] [-4.69962213e-03 9.99968078e-01 -6.46190205e-03 1.49842428e+01] [-1.43582399e-02 6.39382962e-03 9.99876472e-01 1.69007404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.739259764 meters Centerline goodness [0,1] 0.5619316035680042 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99888791e-01 5.08542232e-03 1.40194028e-02 -2.74901500e+01] [-4.99299911e-03 9.99965624e-01 -6.61965847e-03 1.49862842e+01] [-1.40525846e-02 6.54892344e-03 9.99879811e-01 1.69006448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.769259764 meters Centerline goodness [0,1] 0.5616980418400302 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99887587e-01 6.13616149e-03 1.36806934e-02 -2.74871988e+01] [-6.05242193e-03 9.99962747e-01 -6.15402680e-03 1.49872236e+01] [-1.37179458e-02 6.07053368e-03 9.99887477e-01 1.68984932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.799259764 meters Centerline goodness [0,1] 0.5661300183411453 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99886701e-01 6.48261091e-03 1.35852924e-02 -2.74862095e+01] [-6.40245658e-03 9.99961890e-01 -5.93529089e-03 1.49874996e+01] [-1.36232508e-02 5.84763918e-03 9.99890100e-01 1.68976053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.829259764 meters Centerline goodness [0,1] 0.5694820508341341 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99887586e-01 6.81916219e-03 1.33534500e-02 -2.74848059e+01] [-6.73963173e-03 9.99959337e-01 -5.99176968e-03 1.49892833e+01] [-1.33937659e-02 5.90109879e-03 9.99892886e-01 1.68969407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.859259764 meters Centerline goodness [0,1] 0.5671885477710721 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99889160e-01 6.74395673e-03 1.32735051e-02 -2.74849478e+01] [-6.66091661e-03 9.99958031e-01 -6.29037882e-03 1.49906796e+01] [-1.33153701e-02 6.20126789e-03 9.99892117e-01 1.68975810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.889259764 meters Centerline goodness [0,1] 0.5665585838226272 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99890654e-01 6.75206565e-03 1.31563648e-02 -2.74849305e+01] [-6.66662846e-03 9.99956476e-01 -6.52705231e-03 1.49919287e+01] [-1.31998633e-02 6.43863000e-03 9.99892148e-01 1.68982184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.919259764 meters Centerline goodness [0,1] 0.5657648708659577 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99891362e-01 6.67426223e-03 1.31422605e-02 -2.74852141e+01] [-6.58442800e-03 9.99954744e-01 -6.86696904e-03 1.49933722e+01] [-1.31874977e-02 6.77968876e-03 9.99890057e-01 1.68988843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.949259764 meters Centerline goodness [0,1] 0.569856277259023 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99890983e-01 6.82466810e-03 1.30937396e-02 -2.74848715e+01] [-6.73251814e-03 9.99952351e-01 -7.06892999e-03 1.49945820e+01] [-1.31413588e-02 6.98000552e-03 9.99889286e-01 1.68990004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97925976399999 meters Centerline goodness [0,1] 0.5696043112790323 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99888364e-01 7.04848160e-03 1.31749259e-02 -2.74844704e+01] [-6.95970653e-03 9.99952851e-01 -6.77193126e-03 1.49942929e+01] [-1.32220365e-02 6.67948165e-03 9.99890275e-01 1.68980733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00925976399998 meters Centerline goodness [0,1] 0.5713909378292941 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99886621e-01 7.15138287e-03 1.32515558e-02 -2.74843757e+01] [-7.06486562e-03 9.99953498e-01 -6.56418861e-03 1.49940633e+01] [-1.32978826e-02 6.46982391e-03 9.99890648e-01 1.68975003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03925976399998 meters Centerline goodness [0,1] 0.575929555627066 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99885456e-01 7.32667851e-03 1.32436916e-02 -2.74840665e+01] [-7.24341464e-03 9.99953768e-01 -6.32413035e-03 1.49939168e+01] [-1.32894142e-02 6.22747640e-03 9.99892299e-01 1.68969977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06925976399998 meters Centerline goodness [0,1] 0.5734044423606635 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.90 [[ 9.99887689e-01 7.19639191e-03 1.31461590e-02 -2.74843322e+01] [-7.10979677e-03 9.99952799e-01 -6.62200840e-03 1.49952168e+01] [-1.31931930e-02 6.52779816e-03 9.99891658e-01 1.68978669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09925976399998 meters Centerline goodness [0,1] 0.5752287658376349 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.90 [[ 9.99889411e-01 6.95730363e-03 1.31438539e-02 -2.74849762e+01] [-6.86498488e-03 9.99951542e-01 -7.05583077e-03 1.49965924e+01] [-1.31923065e-02 6.96481812e-03 9.99888721e-01 1.68989437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12925976399998 meters Centerline goodness [0,1] 0.5741588867359522 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99890717e-01 6.81377626e-03 1.31196809e-02 -2.74854914e+01] [-6.71811104e-03 9.99950626e-01 -7.32205062e-03 1.49974894e+01] [-1.31689240e-02 7.23311098e-03 9.99887124e-01 1.68998334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15925976399998 meters Centerline goodness [0,1] 0.571085536911769 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99890920e-01 6.71722330e-03 1.31539705e-02 -2.74857996e+01] [-6.61933487e-03 9.99950182e-01 -7.47119138e-03 1.49982451e+01] [-1.32035008e-02 7.38330589e-03 9.99885571e-01 1.69001424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18925976399998 meters Centerline goodness [0,1] 0.572353768608604 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99890497e-01 6.81996921e-03 1.31332781e-02 -2.74854326e+01] [-6.72132976e-03 9.99948983e-01 -7.54019819e-03 1.49988861e+01] [-1.31840320e-02 7.45109942e-03 9.99885325e-01 1.68998973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.219259764 meters Centerline goodness [0,1] 0.5685182471053789 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99889542e-01 6.93455920e-03 1.31459718e-02 -2.74851687e+01] [-6.83790322e-03 9.99949364e-01 -7.38326136e-03 1.49988977e+01] [-1.31965058e-02 7.29255494e-03 9.99886329e-01 1.68994195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.249259764 meters Centerline goodness [0,1] 0.564992657856094 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99888945e-01 6.95943695e-03 1.31781490e-02 -2.74851648e+01] [-6.86232197e-03 9.99949071e-01 -7.40032928e-03 1.49993853e+01] [-1.32289800e-02 7.30907474e-03 9.99885779e-01 1.68993233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.279259764 meters Centerline goodness [0,1] 0.5691420501353419 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.90 [[ 9.99891450e-01 7.48111798e-03 1.26933412e-02 -2.74834781e+01] [-7.38164083e-03 9.99941819e-01 -7.86579034e-03 1.50025559e+01] [-1.27514476e-02 7.77123882e-03 9.99888498e-01 1.68999754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.309259764 meters Centerline goodness [0,1] 0.5643776824034334 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.90 [[ 9.99891404e-01 7.63404116e-03 1.26056038e-02 -2.74830338e+01] [-7.53256240e-03 9.99938999e-01 -8.07823954e-03 1.50042824e+01] [-1.26665044e-02 7.98240978e-03 9.99887914e-01 1.69000834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.339259764 meters Centerline goodness [0,1] 0.5654588733139381 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.90 [[ 9.99892898e-01 7.79189780e-03 1.23886496e-02 -2.74824432e+01] [-7.68835055e-03 9.99935297e-01 -8.38400736e-03 1.50059417e+01] [-1.24531753e-02 8.28786114e-03 9.99888109e-01 1.69005492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.369259764 meters Centerline goodness [0,1] 0.5671360950224914 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.90 [[ 9.99893811e-01 7.98978137e-03 1.21873092e-02 -2.74815847e+01] [-7.88757538e-03 9.99933515e-01 -8.41140253e-03 1.50071764e+01] [-1.22537042e-02 8.31438101e-03 9.99890353e-01 1.69002592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.399259764 meters Centerline goodness [0,1] 0.573864138276258 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.90 [[ 9.99891813e-01 8.62389534e-03 1.19160206e-02 -2.74797913e+01] [-8.52811323e-03 9.99931106e-01 -8.06566250e-03 1.50073801e+01] [-1.19847571e-02 7.96316872e-03 9.99896471e-01 1.68991245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.429259764 meters Centerline goodness [0,1] 0.5764927016946166 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.90 [[ 9.99889653e-01 8.88781749e-03 1.19033301e-02 -2.74792195e+01] [-8.79652073e-03 9.99931660e-01 -7.70036967e-03 1.50067835e+01] [-1.19709561e-02 7.59481206e-03 9.99899502e-01 1.68982855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.459259764 meters Centerline goodness [0,1] 0.5724362930958469 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.90 [[ 9.99888334e-01 9.00523840e-03 1.19258583e-02 -2.74791935e+01] [-8.91585939e-03 9.99931926e-01 -7.52663541e-03 1.50062921e+01] [-1.19928256e-02 7.41946566e-03 9.99900557e-01 1.68981445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.489259764 meters Centerline goodness [0,1] 0.5705265630965317 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.90 [[ 9.99888116e-01 9.04531633e-03 1.19138013e-02 -2.74792607e+01] [-8.95608201e-03 9.99931600e-01 -7.52217290e-03 1.50064563e+01] [-1.19810268e-02 7.41463031e-03 9.99900734e-01 1.68982721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.519259764 meters Centerline goodness [0,1] 0.568628605061801 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.90 [[ 9.99890190e-01 8.96937440e-03 1.17965371e-02 -2.74794533e+01] [-8.87481898e-03 9.99928267e-01 -8.04359446e-03 1.50082110e+01] [-1.18678369e-02 7.93801906e-03 9.99898066e-01 1.68994590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54925976399997 meters Centerline goodness [0,1] 0.566653906180983 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.90 [[ 9.99888566e-01 9.07948939e-03 1.18498373e-02 -2.74795087e+01] [-8.98627820e-03 9.99928450e-01 -7.89571384e-03 1.50081067e+01] [-1.19206785e-02 7.78834806e-03 9.99898614e-01 1.68993092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57925976399997 meters Centerline goodness [0,1] 0.5744693396226415 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.90 [[ 9.99887587e-01 9.06000111e-03 1.19469234e-02 -2.74798301e+01] [-8.96717616e-03 9.99929368e-01 -7.80058937e-03 1.50077191e+01] [-1.20167530e-02 7.69258231e-03 9.99898206e-01 1.68992487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60925976399997 meters Centerline goodness [0,1] 0.5752186331380112 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.01, Z:16.90 [[ 9.99885231e-01 9.22108768e-03 1.20207020e-02 -2.74795300e+01] [-9.13568448e-03 9.99932775e-01 -7.14033244e-03 1.50058278e+01] [-1.20857356e-02 7.02969560e-03 9.99902254e-01 1.68979637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63925976399997 meters Centerline goodness [0,1] 0.5679625926361604 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.90 [[ 9.99883142e-01 9.22413650e-03 1.21909058e-02 -2.74798095e+01] [-9.14242073e-03 9.99935480e-01 -6.74182808e-03 1.50043805e+01] [-1.22523068e-02 6.62958585e-03 9.99902960e-01 1.68972899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66925976399997 meters Centerline goodness [0,1] 0.5667823325295536 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.90 [[ 9.99880293e-01 9.37233348e-03 1.23109023e-02 -2.74801192e+01] [-9.29646756e-03 9.99937533e-01 -6.20533828e-03 1.50024902e+01] [-1.23682917e-02 6.09014756e-03 9.99904963e-01 1.68968395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69925976399998 meters Centerline goodness [0,1] 0.5674451438319901 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.90 [[ 9.99880306e-01 8.75258724e-03 1.27579487e-02 -2.74824734e+01] [-8.67230716e-03 9.99942332e-01 -6.33435305e-03 1.50012472e+01] [-1.28126550e-02 6.22295402e-03 9.99898550e-01 1.68979690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72925976399998 meters Centerline goodness [0,1] 0.5661842569714084 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.90 [[ 9.99878945e-01 8.54540105e-03 1.30027183e-02 -2.74836595e+01] [-8.46323919e-03 9.99943955e-01 -6.36078147e-03 1.50007431e+01] [-1.30563449e-02 6.24996635e-03 9.99895229e-01 1.68985610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75925976399998 meters Centerline goodness [0,1] 0.5654487198330345 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.00, Z:16.90 [[ 9.99878501e-01 8.37351802e-03 1.31478974e-02 -2.74846147e+01] [-8.29033347e-03 9.99945354e-01 -6.36864086e-03 1.50002552e+01] [-1.32005068e-02 6.25886663e-03 9.99893281e-01 1.68991534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78925976399998 meters Centerline goodness [0,1] 0.5646574536900911 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99877701e-01 8.34361059e-03 1.32275216e-02 -2.74851609e+01] [-8.26155044e-03 9.99946364e-01 -6.24629588e-03 1.49996022e+01] [-1.32789288e-02 6.13625213e-03 9.99893003e-01 1.68994443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81925976399998 meters Centerline goodness [0,1] 0.5634282359847373 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99874839e-01 8.23625279e-03 1.35081623e-02 -2.74861728e+01] [-8.15480736e-03 9.99948305e-01 -6.07338882e-03 1.49986730e+01] [-1.35574860e-02 5.96247221e-03 9.99890316e-01 1.68995274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84925976399998 meters Centerline goodness [0,1] 0.5632983878072417 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99871821e-01 8.43192419e-03 1.36104210e-02 -2.74861794e+01] [-8.35654883e-03 9.99949484e-01 -5.58546604e-03 1.49969865e+01] [-1.36568296e-02 5.47101395e-03 9.99891774e-01 1.68988700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87925976399998 meters Centerline goodness [0,1] 0.5632983878072417 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99871821e-01 8.43192419e-03 1.36104210e-02 -2.74861794e+01] [-8.35654883e-03 9.99949484e-01 -5.58546604e-03 1.49969865e+01] [-1.36568296e-02 5.47101395e-03 9.99891774e-01 1.68988700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90925976399998 meters Centerline goodness [0,1] 0.5632248025601128 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99870594e-01 8.62547374e-03 1.35792978e-02 -2.74859150e+01] [-8.55377801e-03 9.99949216e-01 -5.32903878e-03 1.49964896e+01] [-1.36245737e-02 5.21219487e-03 9.99893596e-01 1.68985307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.93925976399998 meters Centerline goodness [0,1] 0.565384164909815 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99870930e-01 8.71993800e-03 1.34939095e-02 -2.74857082e+01] [-8.64961326e-03 9.99948751e-01 -5.26120751e-03 1.49967039e+01] [-1.35390953e-02 5.14381135e-03 9.99895112e-01 1.68985839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.969259764 meters Centerline goodness [0,1] 0.5749875581837876 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99871371e-01 8.70819253e-03 1.34688331e-02 -2.74858296e+01] [-8.63752076e-03 9.99948670e-01 -5.29636187e-03 1.49969079e+01] [-1.35142635e-02 5.17934328e-03 9.99895264e-01 1.68988499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.999259764 meters Centerline goodness [0,1] 0.5650888440033957 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99869348e-01 8.76382592e-03 1.35824614e-02 -2.74860068e+01] [-8.69452735e-03 9.99948926e-01 -5.15274232e-03 1.49962688e+01] [-1.36269254e-02 5.03397602e-03 9.99894477e-01 1.68986224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.029259764 meters Centerline goodness [0,1] 0.5658583672156083 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99866145e-01 8.90853479e-03 1.37233628e-02 -2.74861424e+01] [-8.84420595e-03 9.99949650e-01 -4.74112204e-03 1.49948429e+01] [-1.37649082e-02 4.61911517e-03 9.99894590e-01 1.68980178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.059259764 meters Centerline goodness [0,1] 0.5674122896555747 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99865637e-01 9.30773319e-03 1.34935038e-02 -2.74848919e+01] [-9.24864198e-03 9.99947395e-01 -4.43504181e-03 1.49943406e+01] [-1.35340741e-02 4.30964932e-03 9.99899123e-01 1.68972555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.089259764 meters Centerline goodness [0,1] 0.5718418514946962 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99866053e-01 9.44793137e-03 1.33646183e-02 -2.74845170e+01] [-9.39053199e-03 9.99946441e-01 -4.35113086e-03 1.49943236e+01] [-1.34050117e-02 4.22504716e-03 9.99901222e-01 1.68972391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.119259764 meters Centerline goodness [0,1] 0.5667270707897352 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.99, Z:16.90 [[ 9.99866144e-01 9.50861189e-03 1.33146467e-02 -2.74845027e+01] [-9.45200764e-03 9.99946050e-01 -4.30777252e-03 1.49941375e+01] [-1.33548893e-02 4.18134575e-03 9.99902077e-01 1.68973960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.149259764 meters Centerline goodness [0,1] 0.5626110512364918 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99865774e-01 9.43635236e-03 1.33936348e-02 -2.74850608e+01] [-9.37843334e-03 9.99946426e-01 -4.38061139e-03 1.49940195e+01] [-1.34342542e-02 4.25441209e-03 9.99900705e-01 1.68979065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.179259764 meters Centerline goodness [0,1] 0.561720843527904 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99863623e-01 9.36131845e-03 1.36051584e-02 -2.74861527e+01] [-9.30379954e-03 9.99947538e-01 -4.28489018e-03 1.49925738e+01] [-1.36445569e-02 4.15772615e-03 9.99898265e-01 1.68985131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.209259764 meters Centerline goodness [0,1] 0.5605637895960476 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99862444e-01 9.32661418e-03 1.37152508e-02 -2.74866055e+01] [-9.26973897e-03 9.99948195e-01 -4.20460074e-03 1.49918820e+01] [-1.37537550e-02 4.07688558e-03 9.99897101e-01 1.68986256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.239259764 meters Centerline goodness [0,1] 0.5582443791629097 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99860608e-01 9.29041879e-03 1.38727193e-02 -2.74871142e+01] [-9.23545866e-03 9.99949269e-01 -4.02056530e-03 1.49911353e+01] [-1.39093683e-02 3.89188394e-03 9.99895686e-01 1.68984837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.269259764 meters Centerline goodness [0,1] 0.5659976730657359 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99856854e-01 9.31342505e-03 1.41255703e-02 -2.74873885e+01] [-9.26701847e-03 9.99951458e-01 -3.34719445e-03 1.49887354e+01] [-1.41560584e-02 3.21581339e-03 9.99894627e-01 1.68972322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29925976399997 meters Centerline goodness [0,1] 0.5680741623318125 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99854146e-01 9.32619466e-03 1.43076688e-02 -2.74877535e+01] [-9.28387194e-03 9.99952339e-01 -3.02161783e-03 1.49873327e+01] [-1.43351670e-02 2.88834655e-03 9.99893075e-01 1.68967423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32925976399997 meters Centerline goodness [0,1] 0.5648854961832062 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99852760e-01 9.27349545e-03 1.44381971e-02 -2.74881839e+01] [-9.23297813e-03 9.99953255e-01 -2.87039329e-03 1.49866056e+01] [-1.44641408e-02 2.73666310e-03 9.99891644e-01 1.68966638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35925976399997 meters Centerline goodness [0,1] 0.5671014492753623 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99851380e-01 9.17392632e-03 1.45964400e-02 -2.74888653e+01] [-9.13311472e-03 9.99954202e-01 -2.86020515e-03 1.49861938e+01] [-1.46220108e-02 2.72646910e-03 9.99889375e-01 1.68969264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38925976399997 meters Centerline goodness [0,1] 0.564201209105898 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99852309e-01 8.56893051e-03 1.48974334e-02 -2.74911170e+01] [-8.52323887e-03 9.99958785e-01 -3.12787291e-03 1.49855389e+01] [-1.49236219e-02 3.00043657e-03 9.99884135e-01 1.68985238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41925976399997 meters Centerline goodness [0,1] 0.5644758976738791 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99853462e-01 8.15911316e-03 1.50493962e-02 -2.74923993e+01] [-8.10727711e-03 9.99961003e-01 -3.50219342e-03 1.49857412e+01] [-1.50773842e-02 3.37967059e-03 9.99880618e-01 1.68996505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44925976399998 meters Centerline goodness [0,1] 0.5599756972572618 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99852321e-01 8.02794787e-03 1.51949775e-02 -2.74931460e+01] [-7.97527358e-03 9.99961988e-01 -3.52398678e-03 1.49855805e+01] [-1.52226903e-02 3.40228226e-03 9.99878340e-01 1.68999828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47925976399998 meters Centerline goodness [0,1] 0.560761981846563 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99851999e-01 7.93121032e-03 1.52668450e-02 -2.74936831e+01] [-7.87635839e-03 9.99962321e-01 -3.64966020e-03 1.49856345e+01] [-1.52952160e-02 3.52887290e-03 9.99876794e-01 1.69004783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50925976399998 meters Centerline goodness [0,1] 0.5623895983551965 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99853458e-01 8.35701689e-03 1.49406466e-02 -2.74922430e+01] [-8.30201501e-03 9.99958545e-01 -3.73959961e-03 1.49868121e+01] [-1.49712792e-02 3.61501413e-03 9.99881389e-01 1.69002529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53925976399998 meters Centerline goodness [0,1] 0.559271926265144 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99853615e-01 8.51922728e-03 1.48381538e-02 -2.74917037e+01] [-8.46331278e-03 9.99956862e-01 -3.82701923e-03 1.49874977e+01] [-1.48701170e-02 3.70087907e-03 9.99882585e-01 1.69001354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56925976399998 meters Centerline goodness [0,1] 0.5622285284067875 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99854979e-01 8.65729110e-03 1.46653568e-02 -2.74910678e+01] [-8.60144235e-03 9.99955530e-01 -3.86701435e-03 1.49881767e+01] [-1.46981825e-02 3.74031033e-03 9.99884980e-01 1.69000286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59925976399998 meters Centerline goodness [0,1] 0.5662580776029442 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99855441e-01 8.89412857e-03 1.44910845e-02 -2.74902315e+01] [-8.84071617e-03 9.99953904e-01 -3.74578118e-03 1.49885940e+01] [-1.45237320e-02 3.61712813e-03 9.99887983e-01 1.68996021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62925976399998 meters Centerline goodness [0,1] 0.5674561709044468 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99856699e-01 9.01727225e-03 1.43272863e-02 -2.74896206e+01] [-8.96292252e-03 9.99952409e-01 -3.85313629e-03 1.49895207e+01] [-1.43613492e-02 3.72416977e-03 9.99889935e-01 1.68995278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65925976399998 meters Centerline goodness [0,1] 0.5690749257728358 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99858551e-01 9.31236852e-03 1.40056197e-02 -2.74883250e+01] [-9.25753652e-03 9.99949248e-01 -3.97475054e-03 1.49911892e+01] [-1.40419232e-02 3.84453078e-03 9.99894016e-01 1.68993129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68925976399998 meters Centerline goodness [0,1] 0.5695433843279225 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99859204e-01 9.41215543e-03 1.38918592e-02 -2.74878423e+01] [-9.35627676e-03 9.99947898e-01 -4.08193029e-03 1.49923079e+01] [-1.39295552e-02 3.95137949e-03 9.99895172e-01 1.68992296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.719259764 meters Centerline goodness [0,1] 0.5725159552667018 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99861188e-01 9.39638661e-03 1.37591214e-02 -2.74876308e+01] [-9.33611714e-03 9.99946569e-01 -4.43802959e-03 1.49937565e+01] [-1.38000877e-02 4.30895676e-03 9.99895490e-01 1.68997042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.749259764 meters Centerline goodness [0,1] 0.5720295655730521 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99861506e-01 9.32470223e-03 1.37847045e-02 -2.74878974e+01] [-9.25980867e-03 9.99945779e-01 -4.76400424e-03 1.49946804e+01] [-1.38283800e-02 4.63570073e-03 9.99893637e-01 1.69002386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.779259764 meters Centerline goodness [0,1] 0.5735534774985389 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99860119e-01 9.32326249e-03 1.38859574e-02 -2.74881892e+01] [-9.25957849e-03 9.99946348e-01 -4.64346976e-03 1.49943794e+01] [-1.39285047e-02 4.51424212e-03 9.99892803e-01 1.69000761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.809259764 meters Centerline goodness [0,1] 0.5710861685958144 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99860526e-01 9.19106111e-03 1.39446642e-02 -2.74887265e+01] [-9.12599311e-03 9.99947205e-01 -4.72263820e-03 1.49943854e+01] [-1.39873341e-02 4.59472060e-03 9.99891616e-01 1.69004920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.839259764 meters Centerline goodness [0,1] 0.5712699433113202 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99860701e-01 9.04575752e-03 1.40268435e-02 -2.74893606e+01] [-8.97858448e-03 9.99947957e-01 -4.84449491e-03 1.49945027e+01] [-1.40699356e-02 4.71787887e-03 9.99889883e-01 1.69009771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.869259764 meters Centerline goodness [0,1] 0.5692828185609706 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99859805e-01 8.93642899e-03 1.41601639e-02 -2.74898368e+01] [-8.86951615e-03 9.99949235e-01 -4.78120467e-03 1.49943108e+01] [-1.42021720e-02 4.65494056e-03 9.99888309e-01 1.69009083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.899259764 meters Centerline goodness [0,1] 0.5700122470402986 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99859266e-01 9.11114003e-03 1.40866734e-02 -2.74893118e+01] [-9.04892164e-03 9.99949048e-01 -4.47427478e-03 1.49939119e+01] [-1.41267214e-02 4.34617589e-03 9.99890767e-01 1.69002926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.929259764 meters Centerline goodness [0,1] 0.5723743692944847 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99858490e-01 9.20298821e-03 1.40820735e-02 -2.74890404e+01] [-9.14335770e-03 9.99948983e-01 -4.29303776e-03 1.49937766e+01] [-1.41208639e-02 4.16367282e-03 9.99891627e-01 1.68997908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.959259764 meters Centerline goodness [0,1] 0.5719745594585133 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99858535e-01 9.18219334e-03 1.40924604e-02 -2.74893025e+01] [-9.12254939e-03 9.99949183e-01 -4.29079527e-03 1.49934729e+01] [-1.41311432e-02 4.16162910e-03 9.99891490e-01 1.69000452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.989259764 meters Centerline goodness [0,1] 0.5728874883286648 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99857291e-01 9.11811943e-03 1.42217581e-02 -2.74898543e+01] [-9.05819010e-03 9.99949846e-01 -4.27265760e-03 1.49933194e+01] [-1.42600034e-02 4.14322446e-03 9.99889737e-01 1.69001980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.019259764 meters Centerline goodness [0,1] 0.5736479213336049 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99858419e-01 8.92561580e-03 1.42645016e-02 -2.74905694e+01] [-8.86064653e-03 9.99950111e-01 -4.61134124e-03 1.49938484e+01] [-1.43049490e-02 4.48429566e-03 9.99887623e-01 1.69011566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04925976399997 meters Centerline goodness [0,1] 0.5691061630911255 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99857060e-01 8.66339576e-03 1.45191031e-02 -2.74918182e+01] [-8.59352355e-03 9.99951226e-01 -4.86793233e-03 1.49938262e+01] [-1.45605678e-02 4.74246626e-03 9.99882743e-01 1.69019179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07925976399997 meters Centerline goodness [0,1] 0.5678254545454545 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99855584e-01 8.71109095e-03 1.45920269e-02 -2.74920915e+01] [-8.64299114e-03 9.99951492e-01 -4.72350009e-03 1.49933659e+01] [-1.46324659e-02 4.59669918e-03 9.99882374e-01 1.69019351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10925976399997 meters Centerline goodness [0,1] 0.5698693133859185 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99855162e-01 8.69594002e-03 1.46299698e-02 -2.74922523e+01] [-8.62694949e-03 9.99951400e-01 -4.77221921e-03 1.49935894e+01] [-1.46707577e-02 4.64531600e-03 9.99881588e-01 1.69020216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13925976399997 meters Centerline goodness [0,1] 0.5687829916299688 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99857835e-01 9.25351188e-03 1.40954394e-02 -2.74902094e+01] [-9.18599898e-03 9.99946061e-01 -4.84693645e-03 1.49953674e+01] [-1.41395302e-02 4.71676670e-03 9.99888907e-01 1.69018242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16925976399997 meters Centerline goodness [0,1] 0.5747028862478778 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99859051e-01 9.48018895e-03 1.38565209e-02 -2.74892134e+01] [-9.41153149e-03 9.99943151e-01 -5.01172428e-03 1.49969039e+01] [-1.39032453e-02 4.88060680e-03 9.99891434e-01 1.69016382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19925976399998 meters Centerline goodness [0,1] 0.5724214786357371 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99859813e-01 9.77342742e-03 1.35954056e-02 -2.74881635e+01] [-9.70552906e-03 9.99940142e-01 -5.05126057e-03 1.49980263e+01] [-1.36439599e-02 4.91860184e-03 9.99894819e-01 1.69014127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22925976399998 meters Centerline goodness [0,1] 0.5728363199108426 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99857260e-01 9.97442151e-03 1.36371167e-02 -2.74878432e+01] [-9.90637970e-03 9.99938189e-01 -5.04793753e-03 1.49984172e+01] [-1.36866241e-02 4.91212253e-03 9.99894268e-01 1.69010479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25925976399998 meters Centerline goodness [0,1] 0.5680312005160988 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99853552e-01 1.03083063e-02 1.36606720e-02 -2.74873186e+01] [-1.02440751e-02 9.99936182e-01 -4.76356845e-03 1.49979091e+01] [-1.37089045e-02 4.62292989e-03 9.99895342e-01 1.69003164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28925976399998 meters Centerline goodness [0,1] 0.5695976067573909 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99851927e-01 1.05306888e-02 1.36098968e-02 -2.74869866e+01] [-1.04696732e-02 9.99934855e-01 -4.54667881e-03 1.49972434e+01] [-1.36568899e-02 4.40351440e-03 9.99897044e-01 1.69000238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31925976399998 meters Centerline goodness [0,1] 0.5703645054397232 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99850338e-01 1.06292313e-02 1.36499342e-02 -2.74870334e+01] [-1.05708928e-02 9.99934713e-01 -4.33896446e-03 1.49965529e+01] [-1.36951629e-02 4.19402309e-03 9.99897421e-01 1.68998231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34925976399998 meters Centerline goodness [0,1] 0.5741935483870968 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99850220e-01 1.05453288e-02 1.37234592e-02 -2.74874704e+01] [-1.04867729e-02 9.99935629e-01 -4.33184055e-03 1.49965495e+01] [-1.37682565e-02 4.18727693e-03 9.99896446e-01 1.69000082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37925976399998 meters Centerline goodness [0,1] 0.571897147542904 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99850674e-01 1.05081367e-02 1.37188974e-02 -2.74877246e+01] [-1.04496817e-02 9.99936044e-01 -4.32566468e-03 1.49964958e+01] [-1.37634747e-02 4.18166064e-03 9.99896535e-01 1.69002822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40925976399998 meters Centerline goodness [0,1] 0.5724775473188427 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99850108e-01 1.04369225e-02 1.38142373e-02 -2.74883122e+01] [-1.03781430e-02 9.99936814e-01 -4.31986555e-03 1.49960244e+01] [-1.38584505e-02 4.17585190e-03 9.99895247e-01 1.69006324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.43925976399998 meters Centerline goodness [0,1] 0.5654444152737668 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99888205e-01 6.44687907e-03 1.34912795e-02 -2.74879390e+01] [-6.32913365e-03 9.99941670e-01 -8.75209335e-03 1.49973044e+01] [-1.35469163e-02 8.66572681e-03 9.99870685e-01 1.69015958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.469259764 meters Centerline goodness [0,1] 0.5608245624236785 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.90 [[ 9.99883445e-01 6.53187708e-03 1.37996732e-02 -2.74886217e+01] [-6.41948785e-03 9.99945995e-01 -8.17299794e-03 1.49951074e+01] [-1.38523130e-02 8.08345850e-03 9.99871377e-01 1.69009439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.499259764 meters Centerline goodness [0,1] 0.5591781139511969 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99878391e-01 6.46908465e-03 1.41899579e-02 -2.74898085e+01] [-6.35978535e-03 9.99949866e-01 -7.73422911e-03 1.49929089e+01] [-1.42392799e-02 7.64304347e-03 9.99869405e-01 1.69006717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.529259764 meters Centerline goodness [0,1] 0.5569075144508671 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99873107e-01 6.37113401e-03 1.46006435e-02 -2.74909988e+01] [-6.26495267e-03 9.99953681e-01 -7.30661032e-03 1.49907958e+01] [-1.46465186e-02 7.21421082e-03 9.99866708e-01 1.69003405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.559259764 meters Centerline goodness [0,1] 0.5565129682997119 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99868645e-01 6.19620806e-03 1.49766717e-02 -2.74923580e+01] [-6.09464899e-03 9.99958189e-01 -6.81730712e-03 1.49882999e+01] [-1.50182870e-02 6.72513407e-03 9.99864603e-01 1.69001435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.589259764 meters Centerline goodness [0,1] 0.5561408053420833 Centerline is valid? [False, False] Translation: X:-27.49, Y:14.99, Z:16.90 [[ 9.99863139e-01 5.91739405e-03 1.54495526e-02 -2.74941035e+01] [-5.82126993e-03 9.99963466e-01 -6.25938104e-03 1.49853974e+01] [-1.54860274e-02 6.16858835e-03 9.99861056e-01 1.68999512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.619259764 meters Centerline goodness [0,1] 0.5532623360220456 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.98, Z:16.90 [[ 9.99877663e-01 1.38845811e-03 1.55798308e-02 -2.74958475e+01] [-1.22775269e-03 9.99945996e-01 -1.03197938e-02 1.49836490e+01] [-1.55933180e-02 1.02994031e-02 9.99825370e-01 1.69013780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.649259764 meters Centerline goodness [0,1] 0.5529052162486431 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.98, Z:16.90 [[ 9.99870011e-01 9.69939668e-04 1.60940875e-02 -2.74979895e+01] [-8.10354037e-04 9.99950474e-01 -9.91935273e-03 1.49810902e+01] [-1.61029116e-02 9.90502142e-03 9.99821277e-01 1.69016182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.679259764 meters Centerline goodness [0,1] 0.5487246566383257 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.98, Z:16.90 [[ 9.99859748e-01 4.34478036e-04 1.67420211e-02 -2.75004964e+01] [-2.73428089e-04 9.99953684e-01 -9.62059304e-03 1.49786216e+01] [-1.67454256e-02 9.61466599e-03 9.99813557e-01 1.69019300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.709259764 meters Centerline goodness [0,1] 0.5407782365250835 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.97, Z:16.90 [[ 9.99852247e-01 -7.15250287e-04 1.71747929e-02 -2.75033807e+01] [ 8.71105460e-04 9.99958497e-01 -9.06888076e-03 1.49741955e+01] [-1.71675936e-02 9.08250185e-03 9.99811373e-01 1.69021786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.739259764 meters Centerline goodness [0,1] 0.5398295037543048 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.97, Z:16.90 [[ 9.99851051e-01 -5.85073062e-04 1.72491497e-02 -2.75033940e+01] [ 7.37490094e-04 9.99960733e-01 -8.83116909e-03 1.49737710e+01] [-1.72433055e-02 8.84257477e-03 9.99812221e-01 1.69018158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.769259764 meters Centerline goodness [0,1] 0.5206134517981947 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.97, Z:16.90 [[ 9.99848706e-01 -5.58886712e-04 1.73854036e-02 -2.75037948e+01] [ 7.08592603e-04 9.99962716e-01 -8.60604248e-03 1.49733577e+01] [-1.73799456e-02 8.61705961e-03 9.99811824e-01 1.69016590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79925976399997 meters Centerline goodness [0,1] 0.5206134517981947 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.97, Z:16.90 [[ 9.99848706e-01 -5.58886712e-04 1.73854036e-02 -2.75037948e+01] [ 7.08592603e-04 9.99962716e-01 -8.60604248e-03 1.49733577e+01] [-1.73799456e-02 8.61705961e-03 9.99811824e-01 1.69016590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82925976399997 meters Centerline goodness [0,1] 0.5194981349610037 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.97, Z:16.90 [[ 9.99846138e-01 -5.63839872e-04 1.75323287e-02 -2.75043577e+01] [ 7.09812126e-04 9.99965130e-01 -8.32078301e-03 1.49723230e+01] [-1.75270257e-02 8.33194742e-03 9.99811673e-01 1.69016064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85925976399997 meters Centerline goodness [0,1] 0.537043311310633 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.90 [[ 9.99839557e-01 -5.87284564e-04 1.79029500e-02 -2.75053331e+01] [ 7.26869551e-04 9.99969384e-01 -7.79124925e-03 1.49703193e+01] [-1.78978262e-02 7.80301231e-03 9.99809372e-01 1.69010389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88925976399997 meters Centerline goodness [0,1] 0.5226953541935846 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.90 [[ 9.99828152e-01 -9.51702418e-04 1.85138069e-02 -2.75074207e+01] [ 1.08000310e-03 9.99975465e-01 -6.92123620e-03 1.49656080e+01] [-1.85067657e-02 6.94004177e-03 9.99804649e-01 1.69003020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91925976399997 meters Centerline goodness [0,1] 0.5357022660982724 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.96, Z:16.90 [[ 9.99825248e-01 -1.01251452e-03 1.86667461e-02 -2.75081399e+01] [ 1.13827276e-03 9.99976721e-01 -6.72762677e-03 1.49646535e+01] [-1.86594997e-02 6.74769895e-03 9.99803126e-01 1.69004850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94925976399998 meters Centerline goodness [0,1] 0.5285537978234041 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.96, Z:16.90 [[ 9.99825970e-01 -9.87081770e-04 1.86294407e-02 -2.75082700e+01] [ 1.11146761e-03 9.99977153e-01 -6.66766996e-03 1.49649847e+01] [-1.86224336e-02 6.68721560e-03 9.99804224e-01 1.69007046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97925976399998 meters Centerline goodness [0,1] 0.5108610457955436 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.90 [[ 9.99827073e-01 -1.03151239e-03 1.85677301e-02 -2.75084504e+01] [ 1.15724383e-03 9.99976468e-01 -6.76203251e-03 1.49656952e+01] [-1.85603180e-02 6.78235056e-03 9.99804738e-01 1.69011710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00925976399998 meters Centerline goodness [0,1] 0.5041213412582708 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.90 [[ 9.99826993e-01 -8.79778725e-04 1.85798351e-02 -2.75083264e+01] [ 9.99977883e-04 9.99978627e-01 -6.46103462e-03 1.49653645e+01] [-1.85737537e-02 6.47849624e-03 9.99806504e-01 1.69007755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03925976399998 meters Centerline goodness [0,1] 0.5302135520165692 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.96, Z:16.90 [[ 9.99825303e-01 -3.38503219e-04 1.86882217e-02 -2.75075389e+01] [ 4.37968015e-04 9.99985761e-01 -5.31848913e-03 1.49624026e+01] [-1.86861553e-02 5.32574485e-03 9.99811214e-01 1.68986874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06925976399998 meters Centerline goodness [0,1] 0.5292355082609913 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.96, Z:16.90 [[ 9.99820281e-01 -1.33207209e-04 1.89575316e-02 -2.75076033e+01] [ 2.22783913e-04 9.99988821e-01 -4.72309144e-03 1.49607043e+01] [-1.89566906e-02 4.72646604e-03 9.99809134e-01 1.68974226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09925976399998 meters Centerline goodness [0,1] 0.5164115622464113 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.96, Z:16.90 [[ 9.99818316e-01 1.17341090e-04 1.90609885e-02 -2.75075098e+01] [-3.72142860e-05 9.99991162e-01 -4.20400697e-03 1.49593005e+01] [-1.90613133e-02 4.20253383e-03 9.99809484e-01 1.68966675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12925976399998 meters Centerline goodness [0,1] 0.5222439843312815 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.96, Z:16.90 [[ 9.99823085e-01 4.46455518e-04 1.88042235e-02 -2.75065213e+01] [-3.68103599e-04 9.99991238e-01 -4.16997439e-03 1.49600989e+01] [-1.88059204e-02 4.16231476e-03 9.99814489e-01 1.68965281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15925976399998 meters Centerline goodness [0,1] 0.505912682844813 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.96, Z:16.90 [[ 9.99824874e-01 5.83899772e-04 1.87050636e-02 -2.75061581e+01] [-5.04473717e-04 9.99990839e-01 -4.25066996e-03 1.49611329e+01] [-1.87073742e-02 4.24048935e-03 9.99816009e-01 1.68965589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18925976399998 meters Centerline goodness [0,1] 0.5252471504186854 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.96, Z:16.90 [[ 9.99824975e-01 7.04281589e-04 1.86955548e-02 -2.75059093e+01] [-6.23753756e-04 9.99990505e-01 -4.31280692e-03 1.49619121e+01] [-1.86984147e-02 4.30039065e-03 9.99815921e-01 1.68964598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.219259764 meters Centerline goodness [0,1] 0.5146275850473575 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.96, Z:16.90 [[ 9.99823920e-01 7.10029423e-04 1.87516724e-02 -2.75060136e+01] [-6.28623829e-04 9.99990355e-01 -4.34678212e-03 1.49623901e+01] [-1.87545779e-02 4.33422899e-03 9.99814723e-01 1.68964008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.249259764 meters Centerline goodness [0,1] 0.5242721172473819 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.96, Z:16.90 [[ 9.99822673e-01 5.84052764e-04 1.88223421e-02 -2.75063181e+01] [-5.01251151e-04 9.99990179e-01 -4.40353073e-03 1.49628090e+01] [-1.88247291e-02 4.39331515e-03 9.99813147e-01 1.68963747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.279259764 meters Centerline goodness [0,1] 0.5284844744887942 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.96, Z:16.90 [[ 9.99820395e-01 5.76260093e-04 1.89432330e-02 -2.75064037e+01] [-4.94667911e-04 9.99990583e-01 -4.31159772e-03 1.49629572e+01] [-1.89455392e-02 4.30145272e-03 9.99811264e-01 1.68959036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.309259764 meters Centerline goodness [0,1] 0.5167283120376598 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.96, Z:16.90 [[ 9.99818447e-01 3.09274118e-04 1.90519664e-02 -2.75068994e+01] [-2.21593665e-04 9.99989376e-01 -4.60411256e-03 1.49641071e+01] [-1.90531879e-02 4.59905488e-03 9.99807894e-01 1.68961478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.339259764 meters Centerline goodness [0,1] 0.5201963534361851 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.90 [[ 9.99817901e-01 2.24246602e-04 1.90818005e-02 -2.75070060e+01] [-1.31589895e-04 9.99988197e-01 -4.85688037e-03 1.49656221e+01] [-1.90826644e-02 4.85348496e-03 9.99806129e-01 1.68962575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.369259764 meters Centerline goodness [0,1] 0.5239674065748806 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.90 [[ 9.99821416e-01 3.34991592e-04 1.88950805e-02 -2.75065083e+01] [-2.38529247e-04 9.99986930e-01 -5.10717932e-03 1.49673168e+01] [-1.88965444e-02 5.10176023e-03 9.99808428e-01 1.68965602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.399259764 meters Centerline goodness [0,1] 0.5353892249420544 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.90 [[ 9.99806836e-01 4.50562949e-03 1.91308690e-02 -2.75064417e+01] [-4.48518483e-03 9.99989324e-01 -1.11144672e-03 1.49686594e+01] [-1.91356725e-02 1.02542654e-03 9.99816370e-01 1.68958646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.429259764 meters Centerline goodness [0,1] 0.5400119226729497 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.90 [[ 9.99810257e-01 4.46303574e-03 1.89612909e-02 -2.75060001e+01] [-4.43068246e-03 9.99988657e-01 -1.74794776e-03 1.49716656e+01] [-1.89688770e-02 1.66360464e-03 9.99818691e-01 1.68963319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.459259764 meters Centerline goodness [0,1] 0.545609402946938 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.97, Z:16.90 [[ 9.99814506e-01 4.72207279e-03 1.86722976e-02 -2.75047501e+01] [-4.68670917e-03 9.99987141e-01 -1.93721437e-03 1.49736043e+01] [-1.86812052e-02 1.84934340e-03 9.99823781e-01 1.68960151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.489259764 meters Centerline goodness [0,1] 0.5476840011366866 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.97, Z:16.90 [[ 9.99815236e-01 4.99978165e-03 1.85605836e-02 -2.75036943e+01] [-4.96413012e-03 9.99985745e-01 -1.96639538e-03 1.49749373e+01] [-1.85701506e-02 1.87389491e-03 9.99825804e-01 1.68952468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.519259764 meters Centerline goodness [0,1] 0.5500042556813346 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.98, Z:16.89 [[ 9.99815967e-01 5.59891497e-03 1.83489800e-02 -2.75016738e+01] [-5.56787366e-03 9.99982981e-01 -1.74236902e-03 1.49759034e+01] [-1.83584231e-02 1.63988356e-03 9.99830125e-01 1.68936512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54925976399997 meters Centerline goodness [0,1] 0.5464263376357537 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.98, Z:16.89 [[ 9.99817941e-01 5.58367235e-03 1.82457694e-02 -2.75014681e+01] [-5.54544562e-03 9.99982323e-01 -2.14502492e-03 1.49776413e+01] [-1.82574239e-02 2.04345348e-03 9.99831231e-01 1.68940911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57925976399997 meters Centerline goodness [0,1] 0.5515134209023416 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.98, Z:16.90 [[ 9.99821328e-01 5.35646661e-03 1.81279156e-02 -2.75015944e+01] [-5.30378607e-03 9.99981575e-01 -2.95287616e-03 1.49807767e+01] [-1.81433986e-02 2.85620197e-03 9.99831315e-01 1.68951901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60925976399997 meters Centerline goodness [0,1] 0.5537164093767868 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.98, Z:16.90 [[ 9.99826082e-01 5.44195534e-03 1.78379001e-02 -2.75008000e+01] [-5.37947184e-03 9.99979233e-01 -3.54896442e-03 1.49840070e+01] [-1.78568429e-02 3.45238871e-03 9.99834593e-01 1.68958049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63925976399997 meters Centerline goodness [0,1] 0.5552306413233565 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.99, Z:16.90 [[ 9.99831752e-01 5.42568310e-03 1.75222534e-02 -2.75002714e+01] [-5.35197762e-03 9.99976644e-01 -4.25055015e-03 1.49873726e+01] [-1.75449063e-02 4.15605629e-03 9.99837439e-01 1.68968002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66925976399997 meters Centerline goodness [0,1] 0.5576735373485675 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.99, Z:16.90 [[ 9.99833035e-01 5.51619750e-03 1.74204716e-02 -2.74996843e+01] [-5.43498420e-03 9.99974158e-01 -4.70585446e-03 1.49900926e+01] [-1.74459798e-02 4.61038876e-03 9.99837178e-01 1.68969398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69925976399998 meters Centerline goodness [0,1] 0.558878612383669 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.99, Z:16.90 [[ 9.99835767e-01 6.23593756e-03 1.70162297e-02 -2.74971529e+01] [-6.15381239e-03 9.99969185e-01 -4.87438583e-03 1.49934280e+01] [-1.70461017e-02 4.76887061e-03 9.99843332e-01 1.68958701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72925976399998 meters Centerline goodness [0,1] 0.5593606647240414 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.99, Z:16.90 [[ 9.99834393e-01 6.39128775e-03 1.70393180e-02 -2.74965540e+01] [-6.30825169e-03 9.99967987e-01 -4.92250611e-03 1.49947123e+01] [-1.70702337e-02 4.81420260e-03 9.99842703e-01 1.68951049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75925976399998 meters Centerline goodness [0,1] 0.5612457347753166 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.00, Z:16.89 [[ 9.99835142e-01 6.57561528e-03 1.69248541e-02 -2.74954440e+01] [-6.49180204e-03 9.99966416e-01 -5.00226673e-03 1.49967541e+01] [-1.69571787e-02 4.89156926e-03 9.99844251e-01 1.68941789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78925976399998 meters Centerline goodness [0,1] 0.5656108597285068 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.89 [[ 9.99840821e-01 6.79149703e-03 1.64987244e-02 -2.74940795e+01] [-6.70421248e-03 9.99963269e-01 -5.33994341e-03 1.49996863e+01] [-1.65343845e-02 5.22848245e-03 9.99849627e-01 1.68943350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81925976399998 meters Centerline goodness [0,1] 0.5670774238549174 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.89 [[ 9.99845642e-01 7.23911992e-03 1.60089613e-02 -2.74924701e+01] [-7.14586036e-03 9.99957210e-01 -5.87500993e-03 1.50034528e+01] [-1.60508062e-02 5.75970528e-03 9.99854588e-01 1.68949640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84925976399998 meters Centerline goodness [0,1] 0.5703202473312723 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.90 [[ 9.99848354e-01 7.42073137e-03 1.57544278e-02 -2.74916165e+01] [-7.32120818e-03 9.99952939e-01 -6.36546110e-03 1.50065001e+01] [-1.58009228e-02 6.24915436e-03 9.99855629e-01 1.68953808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87925976399998 meters Centerline goodness [0,1] 0.5677500438417022 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.90 [[ 9.99848260e-01 7.69508868e-03 1.56282499e-02 -2.74908434e+01] [-7.59125300e-03 9.99948790e-01 -6.69259224e-03 1.50087572e+01] [-1.56789497e-02 6.57293870e-03 9.99855473e-01 1.68953933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90925976399998 meters Centerline goodness [0,1] 0.5640912953033899 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.90 [[ 9.99848604e-01 8.03535945e-03 1.54337769e-02 -2.74896471e+01] [-7.92932945e-03 9.99944625e-01 -6.91894913e-03 1.50107459e+01] [-1.54885185e-02 6.79552213e-03 9.99856953e-01 1.68950752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.93925976399998 meters Centerline goodness [0,1] 0.5713401149933658 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99846668e-01 8.77920777e-03 1.51514444e-02 -2.74874939e+01] [-8.67279766e-03 9.99937365e-01 -7.07457519e-03 1.50138009e+01] [-1.52126046e-02 6.94208502e-03 9.99860182e-01 1.68941436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.969259764 meters Centerline goodness [0,1] 0.5700970529056693 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.02, Z:16.89 [[ 9.99845602e-01 8.95709078e-03 1.51176105e-02 -2.74870205e+01] [-8.84875064e-03 9.99934796e-01 -7.21822596e-03 1.50150966e+01] [-1.51812790e-02 7.08333952e-03 9.99859668e-01 1.68939196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.999259764 meters Centerline goodness [0,1] 0.5738254038832074 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.02, Z:16.89 [[ 9.99845865e-01 9.09682771e-03 1.50164838e-02 -2.74864957e+01] [-8.98677278e-03 9.99932383e-01 -7.38022366e-03 1.50167073e+01] [-1.50826051e-02 7.24413638e-03 9.99860009e-01 1.68938249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.029259764 meters Centerline goodness [0,1] 0.5726196481025427 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.02, Z:16.89 [[ 9.99849348e-01 9.07342509e-03 1.47970852e-02 -2.74861678e+01] [-8.95778851e-03 9.99928967e-01 -7.86246609e-03 1.50190851e+01] [-1.48673736e-02 7.72873244e-03 9.99859604e-01 1.68946029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.059259764 meters Centerline goodness [0,1] 0.5756602426837973 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.02, Z:16.89 [[ 9.99851661e-01 9.08556714e-03 1.46324304e-02 -2.74857778e+01] [-8.96625726e-03 9.99926190e-01 -8.19886396e-03 1.50213554e+01] [-1.47058418e-02 8.06644962e-03 9.99859325e-01 1.68949729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.089259764 meters Centerline goodness [0,1] 0.57807101155725 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.02, Z:16.89 [[ 9.99851119e-01 9.22179974e-03 1.45841498e-02 -2.74851703e+01] [-9.10172320e-03 9.99924310e-01 -8.27841278e-03 1.50230345e+01] [-1.46593878e-02 8.14443939e-03 9.99859375e-01 1.68944782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.119259764 meters Centerline goodness [0,1] 0.57885032860499 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.02, Z:16.89 [[ 9.99848811e-01 9.44554719e-03 1.45991985e-02 -2.74847632e+01] [-9.33006685e-03 9.99924807e-01 -7.95801992e-03 1.50225191e+01] [-1.46732686e-02 7.82060525e-03 9.99861757e-01 1.68937390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.149259764 meters Centerline goodness [0,1] 0.5772638087876806 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.02, Z:16.89 [[ 9.99846605e-01 9.59792944e-03 1.46508299e-02 -2.74845880e+01] [-9.48516423e-03 9.99925005e-01 -7.74702828e-03 1.50221137e+01] [-1.47240866e-02 7.60687440e-03 9.99862659e-01 1.68932527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.179259764 meters Centerline goodness [0,1] 0.5784444247211621 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.02, Z:16.89 [[ 9.99843415e-01 9.75192738e-03 1.47663295e-02 -2.74844488e+01] [-9.64383682e-03 9.99926310e-01 -7.37366883e-03 1.50214459e+01] [-1.48371488e-02 7.23011015e-03 9.99863783e-01 1.68923909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.209259764 meters Centerline goodness [0,1] 0.5755253617849038 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.02, Z:16.89 [[ 9.99840509e-01 9.84417080e-03 1.49013049e-02 -2.74845369e+01] [-9.74010305e-03 9.99927779e-01 -7.04034025e-03 1.50206039e+01] [-1.49695350e-02 6.89407713e-03 9.99864183e-01 1.68917518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.239259764 meters Centerline goodness [0,1] 0.5763459841129743 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.02, Z:16.89 [[ 9.99837187e-01 9.42573697e-03 1.53868221e-02 -2.74862406e+01] [-9.32344551e-03 9.99934048e-01 -6.70624416e-03 1.50183975e+01] [-1.54490186e-02 6.56169410e-03 9.99859126e-01 1.68915129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.269259764 meters Centerline goodness [0,1] 0.57390408943807 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.02, Z:16.89 [[ 9.99834555e-01 9.25279610e-03 1.56604134e-02 -2.74873539e+01] [-9.15263753e-03 9.99937277e-01 -6.45528720e-03 1.50168612e+01] [-1.57191605e-02 6.31088512e-03 9.99856530e-01 1.68916542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29925976399997 meters Centerline goodness [0,1] 0.569125779503471 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.02, Z:16.89 [[ 9.99831505e-01 9.24893030e-03 1.58561831e-02 -2.74878833e+01] [-9.15322623e-03 9.99939516e-01 -6.09774256e-03 1.50156011e+01] [-1.59116217e-02 5.95157989e-03 9.99855689e-01 1.68912840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32925976399997 meters Centerline goodness [0,1] 0.5698434188839181 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.02, Z:16.89 [[ 9.99832397e-01 9.50175652e-03 1.56491121e-02 -2.74872593e+01] [-9.40661066e-03 9.99936891e-01 -6.14238007e-03 1.50165146e+01] [-1.57064879e-02 5.99414549e-03 9.99858678e-01 1.68914928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35925976399997 meters Centerline goodness [0,1] 0.5726938355156687 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.02, Z:16.89 [[ 9.99832252e-01 9.70417398e-03 1.55337440e-02 -2.74871109e+01] [-9.60766605e-03 9.99934154e-01 -6.27541002e-03 1.50172535e+01] [-1.55936188e-02 6.12511430e-03 9.99859651e-01 1.68922019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38925976399997 meters Centerline goodness [0,1] 0.5748269388712894 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.02, Z:16.89 [[ 9.99829360e-01 9.86082349e-03 1.56209501e-02 -2.74872162e+01] [-9.76696626e-03 9.99933858e-01 -6.07335931e-03 1.50166635e+01] [-1.56798052e-02 5.91975366e-03 9.99859540e-01 1.68920039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41925976399997 meters Centerline goodness [0,1] 0.5724903786832751 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.02, Z:16.89 [[ 9.99824911e-01 1.00606262e-02 1.57775426e-02 -2.74872843e+01] [-9.97177553e-03 9.99934034e-01 -5.70005964e-03 1.50152627e+01] [-1.58338480e-02 5.54173151e-03 9.99859279e-01 1.68913702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44925976399998 meters Centerline goodness [0,1] 0.5697527786738614 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99818678e-01 1.03136149e-02 1.60075343e-02 -2.74874856e+01] [-1.02343700e-02 9.99935004e-01 -5.02452693e-03 1.50126761e+01] [-1.60583149e-02 4.85978884e-03 9.99859247e-01 1.68903781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47925976399998 meters Centerline goodness [0,1] 0.5695927708015491 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99817767e-01 1.02774265e-02 1.60874729e-02 -2.74877775e+01] [-1.01979474e-02 9.99935425e-01 -5.01470249e-03 1.50127657e+01] [-1.61379723e-02 4.84972944e-03 9.99858013e-01 1.68904390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50925976399998 meters Centerline goodness [0,1] 0.5687162003291795 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99818749e-01 1.02704900e-02 1.60307596e-02 -2.74880224e+01] [-1.01902693e-02 9.99935185e-01 -5.07786243e-03 1.50129222e+01] [-1.60818727e-02 4.91358431e-03 9.99858605e-01 1.68910620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53925976399998 meters Centerline goodness [0,1] 0.568600422336931 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99818048e-01 1.03513833e-02 1.60224732e-02 -2.74881725e+01] [-1.02733098e-02 9.99934989e-01 -4.94741473e-03 1.50126234e+01] [-1.60726441e-02 4.78191071e-03 9.99859392e-01 1.68912834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56925976399998 meters Centerline goodness [0,1] 0.566473818683739 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99816316e-01 1.03129583e-02 1.61547801e-02 -2.74887860e+01] [-1.02352053e-02 9.99935670e-01 -4.88831522e-03 1.50120188e+01] [-1.62041538e-02 4.72206983e-03 9.99857554e-01 1.68915861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59925976399998 meters Centerline goodness [0,1] 0.5654802077525749 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99810467e-01 1.04288046e-02 1.64399221e-02 -2.74895431e+01] [-1.03534630e-02 9.99935537e-01 -4.66131660e-03 1.50106733e+01] [-1.64874743e-02 4.49022300e-03 9.99853990e-01 1.68916111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62925976399998 meters Centerline goodness [0,1] 0.5631657716348271 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99809473e-01 1.05955945e-02 1.63936356e-02 -2.74893200e+01] [-1.05219501e-02 9.99934191e-01 -4.57200494e-03 1.50106275e+01] [-1.64409999e-02 4.39864084e-03 9.99855162e-01 1.68915364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65925976399998 meters Centerline goodness [0,1] 0.5628818139097744 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99807447e-01 1.07226174e-02 1.64345719e-02 -2.74892749e+01] [-1.06502727e-02 9.99933234e-01 -4.48320238e-03 1.50105145e+01] [-1.64815463e-02 4.30730645e-03 9.99854892e-01 1.68914083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68925976399998 meters Centerline goodness [0,1] 0.5628818139097744 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99807447e-01 1.07226174e-02 1.64345719e-02 -2.74892749e+01] [-1.06502727e-02 9.99933234e-01 -4.48320238e-03 1.50105145e+01] [-1.64815463e-02 4.30730645e-03 9.99854892e-01 1.68914083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.719259764 meters Centerline goodness [0,1] 0.5609241233728157 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99804820e-01 1.09078983e-02 1.64724068e-02 -2.74890964e+01] [-1.08394153e-02 9.99932258e-01 -4.24101566e-03 1.50100173e+01] [-1.65175515e-02 4.06163664e-03 9.99855326e-01 1.68909783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.749259764 meters Centerline goodness [0,1] 0.5675818528850389 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99801291e-01 1.10036935e-02 1.66222133e-02 -2.74892608e+01] [-1.09391417e-02 9.99932287e-01 -3.96941033e-03 1.50091466e+01] [-1.66647659e-02 3.78678883e-03 9.99853962e-01 1.68905206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.779259764 meters Centerline goodness [0,1] 0.571579814139513 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99799077e-01 1.14686353e-02 1.64400767e-02 -2.74881204e+01] [-1.14128243e-02 9.99928800e-01 -3.48462671e-03 1.50083769e+01] [-1.64788701e-02 3.29629886e-03 9.99858781e-01 1.68896130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.809259764 meters Centerline goodness [0,1] 0.5742976618175393 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99801194e-01 1.16188714e-02 1.62041439e-02 -2.74874736e+01] [-1.15632164e-02 9.99926934e-01 -3.52409092e-03 1.50092049e+01] [-1.62439059e-02 3.33601828e-03 9.99862494e-01 1.68897083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.839259764 meters Centerline goodness [0,1] 0.5738249118683901 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99801849e-01 1.18273738e-02 1.60117154e-02 -2.74869083e+01] [-1.17715455e-02 9.99924317e-01 -3.57648593e-03 1.50098396e+01] [-1.60528040e-02 3.38729461e-03 9.99865408e-01 1.68899418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.869259764 meters Centerline goodness [0,1] 0.5755385112697993 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99798877e-01 1.20471168e-02 1.60335107e-02 -2.74866986e+01] [-1.19930603e-02 9.99922083e-01 -3.46336897e-03 1.50095266e+01] [-1.60739850e-02 3.27038154e-03 9.99865457e-01 1.68897312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.899259764 meters Centerline goodness [0,1] 0.5755706354102406 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99795498e-01 1.20818662e-02 1.62170019e-02 -2.74871947e+01] [-1.20285253e-02 9.99921933e-01 -3.38271703e-03 1.50087423e+01] [-1.62566054e-02 3.18695864e-03 9.99862774e-01 1.68897442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.929259764 meters Centerline goodness [0,1] 0.5756728930725107 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99792534e-01 1.20955900e-02 1.63885689e-02 -2.74876587e+01] [-1.20436076e-02 9.99922137e-01 -3.26686508e-03 1.50081211e+01] [-1.64268074e-02 3.06880983e-03 9.99860361e-01 1.68896873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.959259764 meters Centerline goodness [0,1] 0.5782075360957859 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99791487e-01 1.21046776e-02 1.64456538e-02 -2.74879162e+01] [-1.20534779e-02 9.99922206e-01 -3.20883036e-03 1.50076375e+01] [-1.64832163e-02 3.00993395e-03 9.99859612e-01 1.68897477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.989259764 meters Centerline goodness [0,1] 0.5696031885587012 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99790212e-01 1.21377486e-02 1.64987079e-02 -2.74881069e+01] [-1.20889715e-02 9.99922265e-01 -3.05294882e-03 1.50070811e+01] [-1.65344813e-02 2.85285594e-03 9.99859226e-01 1.68896791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.019259764 meters Centerline goodness [0,1] 0.5724764743702144 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99786409e-01 1.19037969e-02 1.68948479e-02 -2.74895153e+01] [-1.18569380e-02 9.99925582e-01 -2.87102790e-03 1.50054409e+01] [-1.69277667e-02 2.67009351e-03 9.99853150e-01 1.68897518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04925976399997 meters Centerline goodness [0,1] 0.5684845658320459 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.89 [[ 9.99783133e-01 1.18377337e-02 1.71334597e-02 -2.74903042e+01] [-1.17930564e-02 9.99926797e-01 -2.70629963e-03 1.50045615e+01] [-1.71642419e-02 2.50365687e-03 9.99849549e-01 1.68898137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07925976399997 meters Centerline goodness [0,1] 0.5688474428092671 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.89 [[ 9.99783726e-01 1.15994059e-02 1.72613911e-02 -2.74912805e+01] [-1.15512502e-02 9.99929115e-01 -2.88688936e-03 1.50044528e+01] [-1.72936537e-02 2.68687436e-03 9.99846843e-01 1.68905822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10925976399997 meters Centerline goodness [0,1] 0.5679920593215391 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.00, Z:16.89 [[ 9.99783836e-01 1.14210782e-02 1.73735414e-02 -2.74920919e+01] [-1.13691079e-02 9.99930604e-01 -3.08718585e-03 1.50048197e+01] [-1.74075947e-02 2.88899685e-03 9.99844303e-01 1.68912863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13925976399997 meters Centerline goodness [0,1] 0.5670964174500159 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99783649e-01 1.13049391e-02 1.74600547e-02 -2.74926961e+01] [-1.12486468e-02 9.99931224e-01 -3.31891626e-03 1.50053347e+01] [-1.74963740e-02 3.12179622e-03 9.99842053e-01 1.68919734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16925976399997 meters Centerline goodness [0,1] 0.5636443148688046 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99782045e-01 1.13854134e-02 1.74995852e-02 -2.74928971e+01] [-1.13226626e-02 9.99929122e-01 -3.68075257e-03 1.50062346e+01] [-1.75402517e-02 3.48180843e-03 9.99840096e-01 1.68926202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19925976399998 meters Centerline goodness [0,1] 0.5628346915017461 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99780823e-01 1.16031103e-02 1.74262427e-02 -2.74924589e+01] [-1.15393755e-02 9.99926374e-01 -3.75351675e-03 1.50067925e+01] [-1.74685121e-02 3.55160611e-03 9.99841106e-01 1.68926284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22925976399998 meters Centerline goodness [0,1] 0.5680307799930046 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99781059e-01 1.18873557e-02 1.72198978e-02 -2.74915219e+01] [-1.18238992e-02 9.99922942e-01 -3.78220618e-03 1.50076356e+01] [-1.72635313e-02 3.57777177e-03 9.99844573e-01 1.68923822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25925976399998 meters Centerline goodness [0,1] 0.5763320869362001 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99780913e-01 1.24423108e-02 1.68319392e-02 -2.74897081e+01] [-1.23758538e-02 9.99915228e-01 -4.04668806e-03 1.50102381e+01] [-1.68808624e-02 3.83749187e-03 9.99850144e-01 1.68921999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28925976399998 meters Centerline goodness [0,1] 0.5776479181884587 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99780403e-01 1.26711562e-02 1.66909458e-02 -2.74889885e+01] [-1.26047875e-02 9.99912251e-01 -4.07555425e-03 1.50112982e+01] [-1.67411232e-02 3.86427345e-03 9.99852390e-01 1.68919409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31925976399998 meters Centerline goodness [0,1] 0.5856237403978153 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99780373e-01 1.28998791e-02 1.65165943e-02 -2.74882896e+01] [-1.28348353e-02 9.99909476e-01 -4.03805505e-03 1.50119156e+01] [-1.65671896e-02 3.82518042e-03 9.99855438e-01 1.68917826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34925976399998 meters Centerline goodness [0,1] 0.5854385093893286 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99780105e-01 1.31031910e-02 1.63721464e-02 -2.74877755e+01] [-1.30396964e-02 9.99907063e-01 -3.97896403e-03 1.50121150e+01] [-1.64227619e-02 3.76460126e-03 9.99858050e-01 1.68916856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37925976399998 meters Centerline goodness [0,1] 0.5901845514901582 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99778831e-01 1.31765141e-02 1.63910873e-02 -2.74877573e+01] [-1.31122373e-02 9.99905939e-01 -4.02275920e-03 1.50123948e+01] [-1.64425514e-02 3.80694567e-03 9.99857565e-01 1.68917169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40925976399998 meters Centerline goodness [0,1] 0.593684087180689 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99775381e-01 1.35337355e-02 1.63102999e-02 -2.74871203e+01] [-1.34655624e-02 9.99900165e-01 -4.28235628e-03 1.50136286e+01] [-1.63666279e-02 4.06176702e-03 9.99857808e-01 1.68918735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.43925976399998 meters Centerline goodness [0,1] 0.5897210243773652 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99774958e-01 1.35908595e-02 1.62886866e-02 -2.74871212e+01] [-1.35190244e-02 9.99898433e-01 -4.51215502e-03 1.50145948e+01] [-1.63483563e-02 4.29093245e-03 9.99857149e-01 1.68922118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.469259764 meters Centerline goodness [0,1] 0.5942364633109554 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.02, Z:16.89 [[ 9.99773880e-01 1.37490691e-02 1.62219787e-02 -2.74869022e+01] [-1.36766739e-02 9.99896048e-01 -4.56532155e-03 1.50150643e+01] [-1.62830613e-02 4.34242653e-03 9.99857993e-01 1.68923677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.499259764 meters Centerline goodness [0,1] 0.5942529408322117 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.02, Z:16.89 [[ 9.99773119e-01 1.38561252e-02 1.61777044e-02 -2.74867675e+01] [-1.37838949e-02 9.99894564e-01 -4.56780982e-03 1.50153635e+01] [-1.62392909e-02 4.34378169e-03 9.99858699e-01 1.68924502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.529259764 meters Centerline goodness [0,1] 0.594531824195208 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.02, Z:16.89 [[ 9.99773118e-01 1.36160127e-02 1.63803645e-02 -2.74876319e+01] [-1.35392852e-02 9.99896886e-01 -4.78593054e-03 1.50158193e+01] [-1.64438408e-02 4.56306627e-03 9.99854379e-01 1.68928295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.559259764 meters Centerline goodness [0,1] 0.5979796200041112 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99770597e-01 1.38657140e-02 1.63246872e-02 -2.74871508e+01] [-1.38003256e-02 9.99896319e-01 -4.11135388e-03 1.50141303e+01] [-1.63800015e-02 3.88512472e-03 9.99858291e-01 1.68917845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.589259764 meters Centerline goodness [0,1] 0.602835422231354 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99768045e-01 1.39272342e-02 1.64282665e-02 -2.74873640e+01] [-1.38674637e-02 9.99896823e-01 -3.74659658e-03 1.50129471e+01] [-1.64787512e-02 3.51790915e-03 9.99858027e-01 1.68913655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.619259764 meters Centerline goodness [0,1] 0.5938205376249523 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99766604e-01 1.38163934e-02 1.66085628e-02 -2.74883324e+01] [-1.37557826e-02 9.99898322e-01 -3.75809393e-03 1.50120984e+01] [-1.66587974e-02 3.52875303e-03 9.99855006e-01 1.68919744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.649259764 meters Centerline goodness [0,1] 0.5904312944690071 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.89 [[ 9.99765760e-01 1.36240411e-02 1.68169925e-02 -2.74895325e+01] [-1.35607840e-02 9.99900560e-01 -3.86982506e-03 1.50118052e+01] [-1.68680429e-02 3.64086699e-03 9.99851096e-01 1.68927948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.679259764 meters Centerline goodness [0,1] 0.5857547527961919 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.90 [[ 9.99764800e-01 1.30069267e-02 1.73541141e-02 -2.74925819e+01] [-1.29306012e-02 9.99906256e-01 -4.50311210e-03 1.50117654e+01] [-1.74110589e-02 4.27765384e-03 9.99839265e-01 1.68951692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.709259764 meters Centerline goodness [0,1] 0.5780848329048843 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.90 [[ 9.99763553e-01 1.27935560e-02 1.75830460e-02 -2.74938010e+01] [-1.27125454e-02 9.99908093e-01 -4.71139130e-03 1.50115984e+01] [-1.76417054e-02 4.48675204e-03 9.99834306e-01 1.68960474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.739259764 meters Centerline goodness [0,1] 0.5738800525317379 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.90 [[ 9.99810981e-01 8.90473740e-03 1.72831913e-02 -2.74934816e+01] [-8.74650302e-03 9.99919339e-01 -9.20949000e-03 1.50131667e+01] [-1.73638053e-02 9.05658174e-03 9.99808220e-01 1.68972049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.769259764 meters Centerline goodness [0,1] 0.5748830179905251 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.90 [[ 9.99806129e-01 8.99794251e-03 1.75140600e-02 -2.74939814e+01] [-8.84983454e-03 9.99924579e-01 -8.51573318e-03 1.50105975e+01] [-1.75893631e-02 8.35908568e-03 9.99810352e-01 1.68963742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79925976399997 meters Centerline goodness [0,1] 0.5732232174014191 Centerline is valid? [False, False] Translation: X:-27.49, Y:15.01, Z:16.90 [[ 9.99798134e-01 9.02558616e-03 1.79507477e-02 -2.74949359e+01] [-8.88850815e-03 9.99930838e-01 -7.70152134e-03 1.50077403e+01] [-1.80190170e-02 7.54041130e-03 9.99809210e-01 1.68952429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82925976399997 meters Centerline goodness [0,1] 0.5714244295613349 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.00, Z:16.89 [[ 9.99791850e-01 8.98163468e-03 1.83190564e-02 -2.74959500e+01] [-8.85685531e-03 9.99937100e-01 -6.88124844e-03 1.50046431e+01] [-1.83797090e-02 6.71756688e-03 9.99808512e-01 1.68943446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85925976399997 meters Centerline goodness [0,1] 0.5695235891354025 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.00, Z:16.89 [[ 9.99785841e-01 8.80570711e-03 1.87278209e-02 -2.74973675e+01] [-8.69174103e-03 9.99943264e-01 -6.15810534e-03 1.50016513e+01] [-1.87809848e-02 5.99400916e-03 9.99805654e-01 1.68938068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88925976399997 meters Centerline goodness [0,1] 0.5662185889870758 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.00, Z:16.89 [[ 9.99781106e-01 8.48705849e-03 1.91235256e-02 -2.74990123e+01] [-8.37960354e-03 9.99948690e-01 -5.69213636e-03 1.49993242e+01] [-1.91708538e-02 5.53064283e-03 9.99800925e-01 1.68937280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91925976399997 meters Centerline goodness [0,1] 0.5722784228072193 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.00, Z:16.89 [[ 9.99778621e-01 8.28238507e-03 1.93419630e-02 -2.75003066e+01] [-8.18323450e-03 9.99952998e-01 -5.19972425e-03 1.49969884e+01] [-1.93841200e-02 5.04029332e-03 9.99799406e-01 1.68939485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94925976399998 meters Centerline goodness [0,1] 0.5676187742213291 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.00, Z:16.89 [[ 9.99773855e-01 8.43366429e-03 1.95221199e-02 -2.75006401e+01] [-8.34260966e-03 9.99953961e-01 -4.74092993e-03 1.49954390e+01] [-1.95612045e-02 4.57699236e-03 9.99798185e-01 1.68934605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97925976399998 meters Centerline goodness [0,1] 0.5670120799221389 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.99, Z:16.89 [[ 9.99769230e-01 8.61378402e-03 1.96796517e-02 -2.75009601e+01] [-8.52892292e-03 9.99953983e-01 -4.39199526e-03 1.49940852e+01] [-1.97165778e-02 4.22313549e-03 9.99796690e-01 1.68931890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00925976399998 meters Centerline goodness [0,1] 0.5636769503749071 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.99, Z:16.89 [[ 9.99763665e-01 8.54456285e-03 1.99900916e-02 -2.75020446e+01] [-8.45925359e-03 9.99954766e-01 -4.34825252e-03 1.49931081e+01] [-2.00263413e-02 4.17812362e-03 9.99790723e-01 1.68934669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03925976399998 meters Centerline goodness [0,1] 0.5576005258495041 Centerline is valid? [False, False] Translation: X:-27.50, Y:14.99, Z:16.89 [[ 9.99753549e-01 8.40766273e-03 2.05463341e-02 -2.75040980e+01] [-8.32832154e-03 9.99957541e-01 -3.94409700e-03 1.49896057e+01] [-2.05786224e-02 3.77200850e-03 9.99781122e-01 1.68937845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06925976399998 meters Centerline goodness [0,1] 0.5569652734219079 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.99, Z:16.89 [[ 9.99745279e-01 8.35269890e-03 2.09668543e-02 -2.75054612e+01] [-8.28083742e-03 9.99959546e-01 -3.51187087e-03 1.49872873e+01] [-2.09953398e-02 3.33735321e-03 9.99774003e-01 1.68937058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09925976399998 meters Centerline goodness [0,1] 0.552611312359166 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.99, Z:16.89 [[ 9.99739299e-01 8.14268423e-03 2.13314546e-02 -2.75071159e+01] [-8.07617594e-03 9.99962260e-01 -3.20214733e-03 1.49850396e+01] [-2.13567236e-02 3.02903595e-03 9.99767331e-01 1.68941810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12925976399998 meters Centerline goodness [0,1] 0.5475019194130861 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.89 [[ 9.99730201e-01 7.70122581e-03 2.19138547e-02 -2.75094647e+01] [-7.63831084e-03 9.99966467e-01 -2.95327032e-03 1.49827292e+01] [-2.19358637e-02 2.78508869e-03 9.99755501e-01 1.68946814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15925976399998 meters Centerline goodness [0,1] 0.5463169485304498 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.90 [[ 9.99755697e-01 3.61829945e-03 2.18049350e-02 -2.75101173e+01] [-3.47086531e-03 9.99970886e-01 -6.79555965e-03 1.49808921e+01] [-2.18288885e-02 6.71821748e-03 9.99739149e-01 1.68956553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18925976399998 meters Centerline goodness [0,1] 0.5447314981949458 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.90 [[ 9.99747501e-01 3.51464663e-03 2.21941863e-02 -2.75113508e+01] [-3.37966218e-03 9.99975583e-01 -6.11655680e-03 1.49782841e+01] [-2.22151419e-02 6.04000353e-03 9.99734968e-01 1.68951189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.219259764 meters Centerline goodness [0,1] 0.5430472913905418 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.98, Z:16.89 [[ 9.99741441e-01 3.44429867e-03 2.24763864e-02 -2.75122709e+01] [-3.32074953e-03 9.99979185e-01 -5.53185265e-03 1.49760087e+01] [-2.24949719e-02 5.45578389e-03 9.99732069e-01 1.68946816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.249259764 meters Centerline goodness [0,1] 0.5366046026872482 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.89 [[ 9.99730421e-01 3.32931116e-03 2.29782540e-02 -2.75136022e+01] [-3.22761265e-03 9.99984839e-01 -4.46152824e-03 1.49722487e+01] [-2.29927594e-02 4.38616060e-03 9.99726010e-01 1.68932303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.279259764 meters Centerline goodness [0,1] 0.540072039621792 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.89 [[ 9.99723222e-01 3.33128372e-03 2.32890948e-02 -2.75142667e+01] [-3.23905292e-03 9.99986767e-01 -3.99685855e-03 1.49705942e+01] [-2.33021013e-02 3.92031769e-03 9.99720783e-01 1.68925453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.309259764 meters Centerline goodness [0,1] 0.5414052168040744 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.89 [[ 9.99720378e-01 3.20393221e-03 2.34286157e-02 -2.75149537e+01] [-3.10948476e-03 9.99986897e-01 -4.06660619e-03 1.49703989e+01] [-2.34413378e-02 3.99261816e-03 9.99717241e-01 1.68928791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.339259764 meters Centerline goodness [0,1] 0.5175301036124336 Centerline is valid? [False, False] Translation: X:-27.51, Y:14.97, Z:16.89 [[ 9.99721386e-01 3.42705152e-03 2.33539121e-02 -2.75146149e+01] [-3.33468924e-03 9.99986469e-01 -3.99269299e-03 1.49708102e+01] [-2.33672793e-02 3.91370253e-03 9.99719287e-01 1.68928479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.369259764 meters Centerline goodness [0,1] 0.5341008247248571 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.98, Z:16.90 [[ 9.99837903e-01 5.75206809e-03 1.70610954e-02 -2.75324607e+01] [-5.55330430e-03 9.99916428e-01 -1.16747048e-02 1.49754392e+01] [-1.71268233e-02 1.15780669e-02 9.99786287e-01 1.69013220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.399259764 meters Centerline goodness [0,1] 0.532633179412096 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.98, Z:16.90 [[ 9.99836600e-01 5.73179356e-03 1.71441096e-02 -2.75328370e+01] [-5.53105018e-03 9.99915860e-01 -1.17337610e-02 1.49759154e+01] [-1.72099225e-02 1.16370188e-02 9.99784176e-01 1.69015599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.429259764 meters Centerline goodness [0,1] 0.5245060736732335 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.98, Z:16.90 [[ 9.99835635e-01 6.13198903e-03 1.70617027e-02 -2.75320932e+01] [-5.93383830e-03 9.99914643e-01 -1.16402591e-02 1.49768263e+01] [-1.71316243e-02 1.15371045e-02 9.99786679e-01 1.69011924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.459259764 meters Centerline goodness [0,1] 0.53871921182266 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.98, Z:16.90 [[ 9.99835761e-01 6.46054723e-03 1.69325734e-02 -2.75311982e+01] [-6.26656002e-03 9.99914414e-01 -1.14845799e-02 1.49774801e+01] [-1.70053209e-02 1.13765847e-02 9.99790674e-01 1.69005598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.489259764 meters Centerline goodness [0,1] 0.5405572929873497 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.98, Z:16.90 [[ 9.99836016e-01 6.76291845e-03 1.67989265e-02 -2.75302264e+01] [-6.57313215e-03 9.99914241e-01 -1.13271646e-02 1.49781295e+01] [-1.68740905e-02 1.12148855e-02 9.99794725e-01 1.68998065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.519259764 meters Centerline goodness [0,1] 0.5433699467783943 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.98, Z:16.90 [[ 9.99788718e-01 1.08362593e-02 1.74669860e-02 -2.75311811e+01] [-1.07222404e-02 9.99920680e-01 -6.60816783e-03 1.49766099e+01] [-1.75372083e-02 6.41948642e-03 9.99825603e-01 1.68980239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54925976399997 meters Centerline goodness [0,1] 0.5420452294019417 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.98, Z:16.90 [[ 9.99790321e-01 1.09037000e-02 1.73327140e-02 -2.75310020e+01] [-1.07808996e-02 9.99916231e-01 -7.16261165e-03 1.49788702e+01] [-1.74093611e-02 6.97424755e-03 9.99824122e-01 1.68989486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57925976399997 meters Centerline goodness [0,1] 0.540450777790394 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.98, Z:16.90 [[ 9.99792350e-01 1.08633979e-02 1.72407407e-02 -2.75311796e+01] [-1.07292805e-02 9.99911605e-01 -7.85262539e-03 1.49818156e+01] [-1.73245230e-02 7.66601405e-03 9.99820530e-01 1.69001651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60925976399997 meters Centerline goodness [0,1] 0.540450777790394 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.98, Z:16.90 [[ 9.99792350e-01 1.08633979e-02 1.72407407e-02 -2.75311796e+01] [-1.07292805e-02 9.99911605e-01 -7.85262539e-03 1.49818156e+01] [-1.73245230e-02 7.66601405e-03 9.99820530e-01 1.69001651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63925976399997 meters Centerline goodness [0,1] 0.5385119726339795 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.98, Z:16.90 [[ 9.99793026e-01 1.09857095e-02 1.71236557e-02 -2.75311046e+01] [-1.08408371e-02 9.99904850e-01 -8.53035377e-03 1.49846665e+01] [-1.72157384e-02 8.34295344e-03 9.99816990e-01 1.69014231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66925976399997 meters Centerline goodness [0,1] 0.540324423120859 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.99, Z:16.90 [[ 9.99794434e-01 1.10401215e-02 1.70060170e-02 -2.75311096e+01] [-1.08838268e-02 9.99897931e-01 -9.25585143e-03 1.49876686e+01] [-1.71064670e-02 9.06885820e-03 9.99812545e-01 1.69026920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69925976399998 meters Centerline goodness [0,1] 0.5336147636840753 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.99, Z:16.90 [[ 9.99795062e-01 1.11657996e-02 1.68866778e-02 -2.75308762e+01] [-1.09980721e-02 9.99889585e-01 -9.99299633e-03 1.49909959e+01] [-1.69963931e-02 9.80522748e-03 9.99807472e-01 1.69038451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72925976399998 meters Centerline goodness [0,1] 0.5330595128676471 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.99, Z:16.90 [[ 9.99735131e-01 1.54932908e-02 1.70184060e-02 -2.75306732e+01] [-1.53887161e-02 9.99861999e-01 -6.25867137e-03 1.49933716e+01] [-1.71130248e-02 5.99512223e-03 9.99835588e-01 1.69040192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75925976399998 meters Centerline goodness [0,1] 0.5335909117121274 Centerline is valid? [False, False] Translation: X:-27.53, Y:15.00, Z:16.90 [[ 9.99734967e-01 1.59265762e-02 1.66234565e-02 -2.75291979e+01] [-1.58168510e-02 9.99852381e-01 -6.71136829e-03 1.49964141e+01] [-1.67278917e-02 6.44665882e-03 9.99839296e-01 1.69043386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78925976399998 meters Centerline goodness [0,1] 0.5415678333815447 Centerline is valid? [False, False] Translation: X:-27.53, Y:15.00, Z:16.90 [[ 9.99730693e-01 1.64897495e-02 1.63287887e-02 -2.75275622e+01] [-1.63792444e-02 9.99842192e-01 -6.87827549e-03 1.49986945e+01] [-1.64396329e-02 6.60896990e-03 9.99843018e-01 1.69039066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81925976399998 meters Centerline goodness [0,1] 0.5588481887305212 Centerline is valid? [False, False] Translation: X:-27.53, Y:15.00, Z:16.90 [[ 9.99727369e-01 1.70226616e-02 1.59817769e-02 -2.75258086e+01] [-1.69128261e-02 9.99832585e-01 -6.98273992e-03 1.50005431e+01] [-1.60979661e-02 6.71053919e-03 9.99847901e-01 1.69033987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84925976399998 meters Centerline goodness [0,1] 0.5775757224764 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.00, Z:16.90 [[ 9.99713999e-01 1.82964797e-02 1.53999641e-02 -2.75221820e+01] [-1.81882321e-02 9.99809086e-01 -7.14004464e-03 1.50043241e+01] [-1.55276617e-02 6.85790446e-03 9.99855920e-01 1.69023519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87925976399998 meters Centerline goodness [0,1] 0.5852271078217965 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.01, Z:16.90 [[ 9.99714495e-01 1.85985996e-02 1.50006888e-02 -2.75210355e+01] [-1.84855567e-02 9.99799940e-01 -7.63963361e-03 1.50069829e+01] [-1.51397743e-02 7.36015637e-03 9.99858298e-01 1.69030647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90925976399998 meters Centerline goodness [0,1] 0.5950492460559575 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.01, Z:16.90 [[ 9.99712184e-01 1.90582082e-02 1.45717102e-02 -2.75197374e+01] [-1.89415069e-02 9.99787739e-01 -8.10527559e-03 1.50098086e+01] [-1.47230892e-02 7.82693261e-03 9.99860975e-01 1.69039323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.93925976399998 meters Centerline goodness [0,1] 0.6001691603231545 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.01, Z:16.90 [[ 9.99710828e-01 1.94115644e-02 1.41933851e-02 -2.75187066e+01] [-1.92915971e-02 9.99777418e-01 -8.54096590e-03 1.50125047e+01] [-1.43560194e-02 8.26468303e-03 9.99862790e-01 1.69048516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.969259764 meters Centerline goodness [0,1] 0.6110433722348023 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.01, Z:16.91 [[ 9.99700659e-01 2.03443629e-02 1.35904295e-02 -2.75165367e+01] [-2.02205752e-02 9.99753355e-01 -9.18460480e-03 1.50148832e+01] [-1.37739324e-02 8.90704917e-03 9.99865463e-01 1.69062545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.999259764 meters Centerline goodness [0,1] 0.6080113619895076 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.01, Z:16.91 [[ 9.99695130e-01 2.06532370e-02 1.35311438e-02 -2.75161333e+01] [-2.05308006e-02 9.99747571e-01 -9.12577747e-03 1.50149481e+01] [-1.37162050e-02 8.84519007e-03 9.99866805e-01 1.69061994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.029259764 meters Centerline goodness [0,1] 0.6145311277846983 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.01, Z:16.91 [[ 9.99689207e-01 2.09659591e-02 1.34876952e-02 -2.75158158e+01] [-2.08462655e-02 9.99742592e-01 -8.95451138e-03 1.50145762e+01] [-1.36719633e-02 8.67056030e-03 9.99868941e-01 1.69061195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.059259764 meters Centerline goodness [0,1] 0.6136614241773548 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.01, Z:16.91 [[ 9.99684888e-01 2.11318883e-02 1.35487239e-02 -2.75157491e+01] [-2.10133652e-02 9.99740189e-01 -8.83141486e-03 1.50142427e+01] [-1.37318282e-02 8.54392769e-03 9.99869211e-01 1.69057886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.089259764 meters Centerline goodness [0,1] 0.6194918445983139 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.01, Z:16.91 [[ 9.99680320e-01 2.13921517e-02 1.34771392e-02 -2.75155168e+01] [-2.12775443e-02 9.99736699e-01 -8.59061131e-03 1.50133289e+01] [-1.36573624e-02 8.30110464e-03 9.99872276e-01 1.69057433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.119259764 meters Centerline goodness [0,1] 0.6192755010296123 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.01, Z:16.91 [[ 9.99674429e-01 2.16701857e-02 1.34699199e-02 -2.75153477e+01] [-2.15613871e-02 9.99734139e-01 -8.17058726e-03 1.50119335e+01] [-1.36433969e-02 7.87749700e-03 9.99875894e-01 1.69053628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.149259764 meters Centerline goodness [0,1] 0.6185396678164585 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.01, Z:16.91 [[ 9.99671682e-01 2.19106754e-02 1.32834582e-02 -2.75152335e+01] [-2.18129021e-02 9.99734228e-01 -7.46128162e-03 1.50091263e+01] [-1.34434096e-02 7.16908117e-03 9.99883933e-01 1.69053003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.179259764 meters Centerline goodness [0,1] 0.6206876658590055 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.01, Z:16.91 [[ 9.99668914e-01 2.19976550e-02 1.33478939e-02 -2.75157619e+01] [-2.19023028e-02 9.99733841e-01 -7.24825374e-03 1.50078834e+01] [-1.35037859e-02 6.95350433e-03 9.99884642e-01 1.69057345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.209259764 meters Centerline goodness [0,1] 0.6135716135716136 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.00, Z:16.91 [[ 9.99666557e-01 2.19393150e-02 1.36176688e-02 -2.75172262e+01] [-2.18469913e-02 9.99737571e-01 -6.89184569e-03 1.50047878e+01] [-1.37652975e-02 6.59204256e-03 9.99883524e-01 1.69064152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.239259764 meters Centerline goodness [0,1] 0.6088395246453544 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.01, Z:16.91 [[ 9.99748961e-01 1.81039162e-02 1.32009055e-02 -2.75167460e+01] [-1.79524670e-02 9.99772677e-01 -1.15022823e-02 1.50067488e+01] [-1.34061410e-02 1.12624060e-02 9.99846705e-01 1.69079513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.269259764 meters Centerline goodness [0,1] 0.6031508739650414 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.00, Z:16.91 [[ 9.99745744e-01 1.79084588e-02 1.37016003e-02 -2.75186843e+01] [-1.77574258e-02 9.99781080e-01 -1.10664061e-02 1.50037410e+01] [-1.38967830e-02 1.08202872e-02 9.99844888e-01 1.69081741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29925976399997 meters Centerline goodness [0,1] 0.5942199517850992 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.00, Z:16.91 [[ 9.99744160e-01 1.74818237e-02 1.43526897e-02 -2.75212877e+01] [-1.73311330e-02 9.99794067e-01 -1.05572266e-02 1.50000556e+01] [-1.45342936e-02 1.03057773e-02 9.99841260e-01 1.69083412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32925976399997 meters Centerline goodness [0,1] 0.5889393549861457 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.00, Z:16.91 [[ 9.99810184e-01 1.34956484e-02 1.40521857e-02 -2.75214181e+01] [-1.32879995e-02 9.99802664e-01 -1.47669557e-02 1.49998123e+01] [-1.42487024e-02 1.45774273e-02 9.99792215e-01 1.69096674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35925976399997 meters Centerline goodness [0,1] 0.5566356840339957 Centerline is valid? [False, False] Translation: X:-27.52, Y:14.99, Z:16.91 [[ 9.99858004e-01 9.09881483e-03 1.41839402e-02 -2.75234554e+01] [-8.84140000e-03 9.99796970e-01 -1.81066013e-02 1.49944302e+01] [-1.43458090e-02 1.79786243e-02 9.99735448e-01 1.69107183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38925976399997 meters Centerline goodness [0,1] 0.5533078339708174 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.99, Z:16.91 [[ 9.99855916e-01 8.57081513e-03 1.46522197e-02 -2.75259526e+01] [-8.31504802e-03 9.99813535e-01 -1.74285549e-02 1.49904446e+01] [-1.47988645e-02 1.73042098e-02 9.99740745e-01 1.69110543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41925976399997 meters Centerline goodness [0,1] 0.5052168518414077 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.99, Z:16.91 [[ 9.99853068e-01 7.92782565e-03 1.51983884e-02 -2.75287028e+01] [-7.66920388e-03 9.99826080e-01 -1.69998157e-02 1.49870120e+01] [-1.53305167e-02 1.68807583e-02 9.99739974e-01 1.69116562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44925976399998 meters Centerline goodness [0,1] 0.520258681287783 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.98, Z:16.91 [[ 9.99848861e-01 7.40053540e-03 1.57317235e-02 -2.75312164e+01] [-7.14309937e-03 9.99840686e-01 -1.63578150e-02 1.49831904e+01] [-1.58502738e-02 1.62429695e-02 9.99742434e-01 1.69118458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47925976399998 meters Centerline goodness [0,1] 0.5108515596484824 Centerline is valid? [False, False] Translation: X:-27.53, Y:14.98, Z:16.91 [[ 9.99843566e-01 6.91798476e-03 1.62783325e-02 -2.75334615e+01] [-6.66557880e-03 9.99857508e-01 -1.55091395e-02 1.49788288e+01] [-1.63833050e-02 1.53982088e-02 9.99747209e-01 1.69114340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50925976399998 meters Centerline goodness [0,1] 0.4961931755029454 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.97, Z:16.91 [[ 9.99861476e-01 1.73411597e-03 1.65536226e-02 -2.75367474e+01] [-1.41355430e-03 9.99811634e-01 -1.93571430e-02 1.49742953e+01] [-1.65840720e-02 1.93310621e-02 9.99675587e-01 1.69132739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53925976399998 meters Centerline goodness [0,1] 0.4833213475687338 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.97, Z:16.91 [[ 9.99853627e-01 1.08077179e-03 1.70749984e-02 -2.75391499e+01] [-7.64879240e-04 9.99828642e-01 -1.84960079e-02 1.49697538e+01] [-1.70920624e-02 1.84802402e-02 9.99683121e-01 1.69129203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56925976399998 meters Centerline goodness [0,1] 0.4834016337082978 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.97, Z:16.91 [[ 9.99844897e-01 3.21866062e-04 1.76090456e-02 -2.75416512e+01] [-1.05085190e-05 9.99843716e-01 -1.76789179e-02 1.49651279e+01] [-1.76119838e-02 1.76759908e-02 9.99688640e-01 1.69125266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59925976399998 meters Centerline goodness [0,1] 0.4771533326036993 Centerline is valid? [False, False] Translation: X:-27.54, Y:14.96, Z:16.91 [[ 9.99834546e-01 -7.69121257e-04 1.81738590e-02 -2.75446893e+01] [ 1.07797030e-03 9.99855071e-01 -1.69904562e-02 1.49606355e+01] [-1.81581574e-02 1.70072359e-02 9.99690470e-01 1.69124182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62925976399998 meters Centerline goodness [0,1] 0.46929457217734305 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.96, Z:16.91 [[ 9.99812119e-01 -6.84551485e-03 1.81346720e-02 -2.75480166e+01] [ 7.22934524e-03 9.99749430e-01 -2.11852420e-02 1.49557827e+01] [-1.79851041e-02 2.13123635e-02 9.99611084e-01 1.69145070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65925976399998 meters Centerline goodness [0,1] 0.47310322545904904 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.95, Z:16.91 [[ 9.99796145e-01 -7.92106572e-03 1.85721743e-02 -2.75507850e+01] [ 8.30246502e-03 9.99754359e-01 -2.05496958e-02 1.49513061e+01] [-1.84048367e-02 2.06997015e-02 9.99616319e-01 1.69145728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68925976399998 meters Centerline goodness [0,1] 0.47076211974631843 Centerline is valid? [False, False] Translation: X:-27.55, Y:14.95, Z:16.91 [[ 9.99773308e-01 -9.22831290e-03 1.91877546e-02 -2.75542040e+01] [ 9.61480560e-03 9.99750757e-01 -2.01489549e-02 1.49472632e+01] [-1.89970314e-02 2.03288738e-02 9.99612850e-01 1.69149239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.719259764 meters Centerline goodness [0,1] 0.466982267511835 Centerline is valid? [False, False] Translation: X:-27.56, Y:14.94, Z:16.91 [[ 9.99631939e-01 -1.69700413e-02 2.11661069e-02 -2.75635847e+01] [ 1.74604091e-02 9.99578310e-01 -2.32020660e-02 1.49437074e+01] [-2.07634414e-02 2.35630951e-02 9.99506708e-01 1.69138798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.749259764 meters Centerline goodness [0,1] 0.45296864576384255 Centerline is valid? [False, False] Translation: X:-27.57, Y:14.94, Z:16.91 [[ 9.99588128e-01 -1.85936706e-02 2.18597565e-02 -2.75676276e+01] [ 1.90969474e-02 9.99552035e-01 -2.30442007e-02 1.49398549e+01] [-2.14214878e-02 2.34521641e-02 9.99495431e-01 1.69146499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.779259764 meters Centerline goodness [0,1] 0.46951413991069535 Centerline is valid? [False, False] Translation: X:-27.57, Y:14.94, Z:16.91 [[ 9.99557921e-01 -1.92942022e-02 2.26206864e-02 -2.75705445e+01] [ 1.98033181e-02 9.99550622e-01 -2.25029268e-02 1.49364870e+01] [-2.21763452e-02 2.29409434e-02 9.99490832e-01 1.69145605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.809259764 meters Centerline goodness [0,1] 0.45022414387649545 Centerline is valid? [False, False] Translation: X:-27.57, Y:14.93, Z:16.91 [[ 9.99593189e-01 -1.61231292e-02 2.35266090e-02 -2.75737675e+01] [ 1.65396964e-02 9.99707938e-01 -1.76203721e-02 1.49320011e+01] [-2.32356422e-02 1.80023270e-02 9.99567917e-01 1.69135732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.839259764 meters Centerline goodness [0,1] 0.4405241935483871 Centerline is valid? [False, False] Translation: X:-27.58, Y:14.93, Z:16.91 [[ 9.99612326e-01 -1.33750325e-02 2.44193849e-02 -2.75776184e+01] [ 1.37009104e-02 9.99818651e-01 -1.32268643e-02 1.49279197e+01] [-2.42380468e-02 1.35563044e-02 9.99614297e-01 1.69135648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.869259764 meters Centerline goodness [0,1] 0.44273680318994424 Centerline is valid? [False, False] Translation: X:-27.58, Y:14.92, Z:16.91 [[ 9.99592669e-01 -1.37629366e-02 2.50015477e-02 -2.75799894e+01] [ 1.40797178e-02 9.99822253e-01 -1.25389230e-02 1.49243356e+01] [-2.48245313e-02 1.28858302e-02 9.99608772e-01 1.69135809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.899259764 meters Centerline goodness [0,1] 0.4421501751428797 Centerline is valid? [False, False] Translation: X:-27.58, Y:14.92, Z:16.91 [[ 9.99577162e-01 -1.38669547e-02 2.55578811e-02 -2.75814649e+01] [ 1.41763013e-02 9.99827950e-01 -1.19625766e-02 1.49216943e+01] [-2.53875994e-02 1.23198345e-02 9.99601766e-01 1.69129653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.929259764 meters Centerline goodness [0,1] 0.4442224792345705 Centerline is valid? [False, False] Translation: X:-27.58, Y:14.92, Z:16.91 [[ 9.99589785e-01 -1.07644811e-02 2.65403149e-02 -2.75845056e+01] [ 1.09515491e-02 9.99916132e-01 -6.91319217e-03 1.49160290e+01] [-2.64636721e-02 7.20101383e-03 9.99623839e-01 1.69112424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.959259764 meters Centerline goodness [0,1] 0.44289722812262344 Centerline is valid? [False, False] Translation: X:-27.61, Y:14.92, Z:16.92 [[ 9.99722429e-01 -1.02818750e-02 2.11978171e-02 -2.76068155e+01] [ 1.05888273e-02 9.99839967e-01 -1.44193413e-02 1.49212753e+01] [-2.10461668e-02 1.46397989e-02 9.99671314e-01 1.69186760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.989259764 meters Centerline goodness [0,1] 0.444916142557652 Centerline is valid? [False, False] Translation: X:-27.61, Y:14.92, Z:16.92 [[ 9.99737461e-01 -6.96957348e-03 2.18273823e-02 -2.76092233e+01] [ 7.18137643e-03 9.99927744e-01 -9.64023734e-03 1.49167111e+01] [-2.17586168e-02 9.79445704e-03 9.99715275e-01 1.69180098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.019259764 meters Centerline goodness [0,1] 0.4488373913724262 Centerline is valid? [False, False] Translation: X:-27.61, Y:14.91, Z:16.92 [[ 9.99734047e-01 -7.05522544e-03 2.19558653e-02 -2.76105411e+01] [ 7.26008697e-03 9.99930724e-01 -9.26492511e-03 1.49145637e+01] [-2.18889781e-02 9.42186256e-03 9.99716010e-01 1.69189135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04925976399997 meters Centerline goodness [0,1] 0.4501668056713928 Centerline is valid? [False, False] Translation: X:-27.61, Y:14.91, Z:16.92 [[ 9.99730253e-01 -6.95562052e-03 2.21594366e-02 -2.76111727e+01] [ 7.15065008e-03 9.99936289e-01 -8.73415012e-03 1.49128237e+01] [-2.20972734e-02 8.89024849e-03 9.99716297e-01 1.69186432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07925976399997 meters Centerline goodness [0,1] 0.4527454156000209 Centerline is valid? [False, False] Translation: X:-27.61, Y:14.91, Z:16.92 [[ 9.99727518e-01 -4.29917955e-03 2.29435478e-02 -2.76143777e+01] [ 4.39729683e-03 9.99981395e-01 -4.22772795e-03 1.49082106e+01] [-2.29249452e-02 4.32746556e-03 9.99727823e-01 1.69180470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10925976399997 meters Centerline goodness [0,1] 0.45201632822859517 Centerline is valid? [False, False] Translation: X:-27.62, Y:14.91, Z:16.92 [[ 9.99714401e-01 -4.70776005e-03 2.34297541e-02 -2.76162172e+01] [ 4.80904296e-03 9.99979327e-01 -4.26836631e-03 1.49071549e+01] [-2.34091752e-02 4.37982196e-03 9.99716374e-01 1.69184941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13925976399997 meters Centerline goodness [0,1] 0.4517792810305057 Centerline is valid? [False, False] Translation: X:-27.62, Y:14.90, Z:16.92 [[ 9.99691254e-01 -5.57912983e-03 2.42130317e-02 -2.76193364e+01] [ 5.67952062e-03 9.99975551e-01 -4.07935966e-03 1.49042264e+01] [-2.41896804e-02 4.21561858e-03 9.99698499e-01 1.69189310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16925976399997 meters Centerline goodness [0,1] 0.44046293659218605 Centerline is valid? [False, False] Translation: X:-27.62, Y:14.90, Z:16.92 [[ 9.99638502e-01 -7.13059932e-03 2.59233561e-02 -2.76249491e+01] [ 7.23455691e-03 9.99966152e-01 -3.91861550e-03 1.49036501e+01] [-2.58945366e-02 4.10474292e-03 9.99656253e-01 1.69184516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19925976399998 meters Centerline goodness [0,1] 0.4448376514349185 Centerline is valid? [False, False] Translation: X:-27.63, Y:14.90, Z:16.92 [[ 9.99615768e-01 -7.86215633e-03 2.65801168e-02 -2.76278487e+01] [ 7.97714763e-03 9.99959265e-01 -4.22294935e-03 1.49025754e+01] [-2.65458326e-02 4.43336028e-03 9.99637766e-01 1.69197794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22925976399998 meters Centerline goodness [0,1] 0.4479378917231952 Centerline is valid? [False, False] Translation: X:-27.65, Y:14.91, Z:16.93 [[ 9.99764617e-01 -5.28722992e-03 2.10417730e-02 -2.76463603e+01] [ 5.55228980e-03 9.99905725e-01 -1.25584202e-02 1.49080559e+01] [-2.09733901e-02 1.26722942e-02 9.99699720e-01 1.69292822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25925976399998 meters Centerline goodness [0,1] 0.43700868845676455 Centerline is valid? [False, False] Translation: X:-27.65, Y:14.91, Z:16.93 [[ 9.99755757e-01 -1.91940812e-03 2.20168583e-02 -2.76495560e+01] [ 2.09945992e-03 9.99964521e-01 -8.15770852e-03 1.49050311e+01] [-2.20004192e-02 8.20193957e-03 9.99724317e-01 1.69292525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28925976399998 meters Centerline goodness [0,1] 0.4438096222951837 Centerline is valid? [False, False] Translation: X:-27.65, Y:14.90, Z:16.93 [[ 9.99756063e-01 -1.84287439e-03 2.20095085e-02 -2.76496793e+01] [ 2.01974547e-03 9.99965827e-01 -8.01659722e-03 1.49049759e+01] [-2.19939828e-02 8.05909528e-03 9.99725620e-01 1.69293606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31925976399998 meters Centerline goodness [0,1] 0.45010862818125386 Centerline is valid? [False, False] Translation: X:-27.65, Y:14.90, Z:16.93 [[ 9.99756700e-01 -1.60554971e-03 2.19991702e-02 -2.76493151e+01] [ 1.77282772e-03 9.99969651e-01 -7.58644133e-03 1.49042911e+01] [-2.19863222e-02 7.62359628e-03 9.99729205e-01 1.69286943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34925976399998 meters Centerline goodness [0,1] 0.44213795781027565 Centerline is valid? [False, False] Translation: X:-27.65, Y:14.90, Z:16.93 [[ 9.99734893e-01 1.49801609e-03 2.29760639e-02 -2.76523165e+01] [-1.42443677e-03 9.99993806e-01 -3.21846567e-03 1.49002387e+01] [-2.29807429e-02 3.18488448e-03 9.99730835e-01 1.69281054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37925976399998 meters Centerline goodness [0,1] 0.43718761271706086 Centerline is valid? [False, False] Translation: X:-27.65, Y:14.90, Z:16.93 [[ 9.99727692e-01 1.36127936e-03 2.32956675e-02 -2.76532449e+01] [-1.30138161e-03 9.99995809e-01 -2.58616432e-03 1.48970742e+01] [-2.32990903e-02 2.55514354e-03 9.99725274e-01 1.69274813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40925976399998 meters Centerline goodness [0,1] 0.4460283028612747 Centerline is valid? [False, False] Translation: X:-27.66, Y:14.90, Z:16.93 [[ 9.99716526e-01 7.63884424e-04 2.37967188e-02 -2.76555839e+01] [-6.94200785e-04 9.99995448e-01 -2.93641111e-03 1.48965550e+01] [-2.37988535e-02 2.91905901e-03 9.99712506e-01 1.69287171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.43925976399998 meters Centerline goodness [0,1] 0.43329367337437275 Centerline is valid? [False, False] Translation: X:-27.66, Y:14.90, Z:16.93 [[ 9.99721139e-01 6.13025534e-04 2.36065159e-02 -2.76558817e+01] [-5.39824986e-04 9.99995027e-01 -3.10710976e-03 1.48969544e+01] [-2.36083032e-02 3.09349992e-03 9.99716499e-01 1.69297482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.469259764 meters Centerline goodness [0,1] 0.4479598177299089 Centerline is valid? [False, False] Translation: X:-27.66, Y:14.90, Z:16.93 [[ 9.99691471e-01 3.67818078e-03 2.45648818e-02 -2.76596541e+01] [-3.69078612e-03 9.99993080e-01 4.67825427e-04 1.48957664e+01] [-2.45629911e-02 -5.58344814e-04 9.99698128e-01 1.69312237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.499259764 meters Centerline goodness [0,1] 0.4479598177299089 Centerline is valid? [False, False] Translation: X:-27.66, Y:14.90, Z:16.93 [[ 9.99691471e-01 3.67818078e-03 2.45648818e-02 -2.76596541e+01] [-3.69078612e-03 9.99993080e-01 4.67825427e-04 1.48957664e+01] [-2.45629911e-02 -5.58344814e-04 9.99698128e-01 1.69312237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.529259764 meters Centerline goodness [0,1] 0.44025108493490395 Centerline is valid? [False, False] Translation: X:-27.68, Y:14.90, Z:16.94 [[ 9.99810900e-01 4.91919243e-03 1.88139862e-02 -2.76797375e+01] [-4.77167845e-03 9.99957587e-01 -7.87752617e-03 1.49037940e+01] [-1.88519393e-02 7.78626224e-03 9.99791968e-01 1.69403925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.559259764 meters Centerline goodness [0,1] 0.44439863959600123 Centerline is valid? [False, False] Translation: X:-27.68, Y:14.90, Z:16.94 [[ 9.99810730e-01 5.20968034e-03 1.87446765e-02 -2.76791825e+01] [-5.07086408e-03 9.99959424e-01 -7.44556088e-03 1.49027359e+01] [-1.87827049e-02 7.34909995e-03 9.99796580e-01 1.69397084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.589259764 meters Centerline goodness [0,1] 0.4129662979161307 Centerline is valid? [False, False] Translation: X:-27.68, Y:14.90, Z:16.94 [[ 9.99808007e-01 5.43893240e-03 1.88246320e-02 -2.76789547e+01] [-5.30679785e-03 9.99960982e-01 -7.06208738e-03 1.49016845e+01] [-1.88623077e-02 6.96083299e-03 9.99797860e-01 1.69389577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.619259764 meters Centerline goodness [0,1] 0.4508941206741284 Centerline is valid? [False, False] Translation: X:-27.68, Y:14.90, Z:16.94 [[ 9.99806664e-01 5.65736044e-03 1.88316124e-02 -2.76785395e+01] [-5.53456638e-03 9.99963125e-01 -6.56637772e-03 1.49007372e+01] [-1.88680664e-02 6.46088339e-03 9.99801107e-01 1.69380760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.649259764 meters Centerline goodness [0,1] 0.42319587628865984 Centerline is valid? [False, False] Translation: X:-27.68, Y:14.90, Z:16.94 [[ 9.99816575e-01 5.51650081e-03 1.83407915e-02 -2.76778373e+01] [-5.39171052e-03 9.99962027e-01 -6.84647608e-03 1.49027481e+01] [-1.83778636e-02 6.74633203e-03 9.99808352e-01 1.69388866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.679259764 meters Centerline goodness [0,1] 0.4182724595753474 Centerline is valid? [False, False] Translation: X:-27.68, Y:14.90, Z:16.94 [[ 9.99819862e-01 5.28712715e-03 1.82287947e-02 -2.76779831e+01] [-5.15768986e-03 9.99961206e-01 -7.14042099e-03 1.49039754e+01] [-1.82658398e-02 7.04511627e-03 9.99808344e-01 1.69394694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.709259764 meters Centerline goodness [0,1] 0.4234015642342738 Centerline is valid? [False, False] Translation: X:-27.68, Y:14.90, Z:16.94 [[ 9.99821083e-01 5.10708393e-03 1.82131477e-02 -2.76782756e+01] [-4.97526835e-03 9.99961157e-01 -7.27536861e-03 1.49046272e+01] [-1.82495962e-02 7.18345163e-03 9.99807657e-01 1.69398583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.739259764 meters Centerline goodness [0,1] 0.45043904958677683 Centerline is valid? [False, False] Translation: X:-27.68, Y:14.90, Z:16.94 [[ 9.99821295e-01 5.00254801e-03 1.82305450e-02 -2.76783748e+01] [-4.87132768e-03 9.99961961e-01 -7.23514129e-03 1.49048475e+01] [-1.82660457e-02 7.14504138e-03 9.99807631e-01 1.69397410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.769259764 meters Centerline goodness [0,1] 0.44060705283126733 Centerline is valid? [False, False] Translation: X:-27.68, Y:14.91, Z:16.94 [[ 9.99793057e-01 9.70315188e-03 1.78799231e-02 -2.76759520e+01] [-9.65735935e-03 9.99949867e-01 -2.64568268e-03 1.49053172e+01] [-1.79046981e-02 2.47246233e-03 9.99836641e-01 1.69378573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79925976399997 meters Centerline goodness [0,1] 0.4457196515206845 Centerline is valid? [False, False] Translation: X:-27.67, Y:14.91, Z:16.94 [[ 9.99799143e-01 1.02986889e-02 1.71933521e-02 -2.76733905e+01] [-1.02500651e-02 9.99943221e-01 -2.91378925e-03 1.49088630e+01] [-1.72223841e-02 2.73697101e-03 9.99847938e-01 1.69375209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82925976399997 meters Centerline goodness [0,1] 0.45095982377006194 Centerline is valid? [False, False] Translation: X:-27.67, Y:14.91, Z:16.94 [[ 9.99806829e-01 1.05972416e-02 1.65530377e-02 -2.76715980e+01] [-1.05443595e-02 9.99939031e-01 -3.27872645e-03 1.49119306e+01] [-1.65867739e-02 3.10355192e-03 9.99857613e-01 1.69378315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85925976399997 meters Centerline goodness [0,1] 0.4702745512143611 Centerline is valid? [False, False] Translation: X:-27.67, Y:14.92, Z:16.94 [[ 9.99811471e-01 1.13770276e-02 1.57348717e-02 -2.76686218e+01] [-1.13227640e-02 9.99929653e-01 -3.53342103e-03 1.49156549e+01] [-1.57739646e-02 3.35459264e-03 9.99869956e-01 1.69376036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88925976399997 meters Centerline goodness [0,1] 0.4683189769064102 Centerline is valid? [False, False] Translation: X:-27.67, Y:14.92, Z:16.94 [[ 9.99812875e-01 1.15667477e-02 1.55056649e-02 -2.76677907e+01] [-1.15098743e-02 9.99926719e-01 -3.75214540e-03 1.49169465e+01] [-1.55479288e-02 3.57297502e-03 9.99872740e-01 1.69375608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91925976399997 meters Centerline goodness [0,1] 0.4781114518346199 Centerline is valid? [False, False] Translation: X:-27.67, Y:14.92, Z:16.94 [[ 9.99814560e-01 1.16110505e-02 1.53632508e-02 -2.76674070e+01] [-1.15496776e-02 9.99924987e-01 -4.07749892e-03 1.49183575e+01] [-1.54094424e-02 3.89930219e-03 9.99873664e-01 1.69378092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94925976399998 meters Centerline goodness [0,1] 0.46814272061165974 Centerline is valid? [False, False] Translation: X:-27.67, Y:14.92, Z:16.94 [[ 9.99819077e-01 1.14425929e-02 1.51947445e-02 -2.76671569e+01] [-1.13734497e-02 9.99924605e-01 -4.62911533e-03 1.49207200e+01] [-1.52465679e-02 4.45546116e-03 9.99873838e-01 1.69383371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97925976399998 meters Centerline goodness [0,1] 0.452353616532721 Centerline is valid? [False, False] Translation: X:-27.67, Y:14.93, Z:16.94 [[ 9.99834083e-01 1.11961950e-02 1.43684577e-02 -2.76654519e+01] [-1.11197697e-02 9.99923658e-01 -5.38787712e-03 1.49265367e+01] [-1.44276845e-02 5.22720923e-03 9.99882252e-01 1.69391302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00925976399998 meters Centerline goodness [0,1] 0.47803936290019844 Centerline is valid? [False, False] Translation: X:-27.66, Y:14.93, Z:16.94 [[ 9.99838095e-01 1.17931521e-02 1.35906389e-02 -2.76626096e+01] [-1.17197967e-02 9.99916389e-01 -5.46455789e-03 1.49305736e+01] [-1.36539469e-02 5.30439362e-03 9.99892711e-01 1.69385386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03925976399998 meters Centerline goodness [0,1] 0.47405552414034524 Centerline is valid? [False, False] Translation: X:-27.66, Y:14.93, Z:16.94 [[ 9.99839567e-01 1.24605728e-02 1.28675544e-02 -2.76596169e+01] [-1.23893167e-02 9.99907554e-01 -5.60260011e-03 1.49343098e+01] [-1.29361765e-02 5.44228106e-03 9.99901514e-01 1.69376740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06925976399998 meters Centerline goodness [0,1] 0.4945194384449244 Centerline is valid? [False, False] Translation: X:-27.66, Y:14.94, Z:16.94 [[ 9.99839560e-01 1.29682828e-02 1.23563124e-02 -2.76572259e+01] [-1.28966189e-02 9.99899653e-01 -5.86192233e-03 1.49375627e+01] [-1.24310916e-02 5.70162719e-03 9.99906475e-01 1.69369008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09925976399998 meters Centerline goodness [0,1] 0.4913716035001219 Centerline is valid? [False, False] Translation: X:-27.65, Y:14.94, Z:16.94 [[ 9.99825524e-01 1.44287714e-02 1.18630915e-02 -2.76532579e+01] [-1.43580502e-02 9.99878765e-01 -6.02515968e-03 1.49422901e+01] [-1.19485890e-02 5.85377756e-03 9.99911478e-01 1.69350947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12925976399998 meters Centerline goodness [0,1] 0.4955292838700911 Centerline is valid? [False, False] Translation: X:-27.65, Y:14.95, Z:16.93 [[ 9.99824733e-01 1.49584846e-02 1.12581651e-02 -2.76506820e+01] [-1.48901686e-02 9.99870359e-01 -6.12768742e-03 1.49452509e+01] [-1.13483665e-02 5.95897746e-03 9.99917849e-01 1.69342885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15925976399998 meters Centerline goodness [0,1] 0.5094257382586902 Centerline is valid? [False, False] Translation: X:-27.65, Y:14.95, Z:16.93 [[ 9.99818212e-01 1.58801574e-02 1.05528945e-02 -2.76475489e+01] [-1.58148996e-02 9.99855473e-01 -6.23882814e-03 1.49495451e+01] [-1.06504429e-02 6.07080103e-03 9.99924854e-01 1.69336162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18925976399998 meters Centerline goodness [0,1] 0.5160618923729974 Centerline is valid? [False, False] Translation: X:-27.64, Y:14.95, Z:16.93 [[ 9.99808286e-01 1.68220978e-02 1.00204411e-02 -2.76449943e+01] [-1.67592211e-02 9.99839542e-01 -6.32611328e-03 1.49544786e+01] [-1.01252517e-02 6.15696568e-03 9.99929783e-01 1.69331437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.219259764 meters Centerline goodness [0,1] 0.5284062758051198 Centerline is valid? [False, False] Translation: X:-27.64, Y:14.96, Z:16.93 [[ 9.99804086e-01 1.74424593e-02 9.35687242e-03 -2.76425003e+01] [-1.73793260e-02 9.99825935e-01 -6.78666535e-03 1.49593501e+01] [-9.47361985e-03 6.62271961e-03 9.99933193e-01 1.69332040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.249259764 meters Centerline goodness [0,1] 0.5354765338954843 Centerline is valid? [False, False] Translation: X:-27.64, Y:14.96, Z:16.93 [[ 9.99720905e-01 2.16389277e-02 9.47993813e-03 -2.76418166e+01] [-2.16093452e-02 9.99761331e-01 -3.21194832e-03 1.49626477e+01] [-9.54717868e-03 3.00619662e-03 9.99949906e-01 1.69327199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.279259764 meters Centerline goodness [0,1] 0.5377883630119915 Centerline is valid? [False, False] Translation: X:-27.64, Y:14.97, Z:16.93 [[ 9.99720320e-01 2.17973111e-02 9.17384373e-03 -2.76405805e+01] [-2.17651202e-02 9.99756651e-01 -3.59432117e-03 1.49650963e+01] [-9.24995782e-03 3.39364610e-03 9.99951460e-01 1.69325771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.309259764 meters Centerline goodness [0,1] 0.539926597341934 Centerline is valid? [False, False] Translation: X:-27.64, Y:14.97, Z:16.93 [[ 9.99721881e-01 2.18416853e-02 8.89386092e-03 -2.76395829e+01] [-2.18071553e-02 9.99754349e-01 -3.96110883e-03 1.49671406e+01] [-8.97819342e-03 3.76605736e-03 9.99952603e-01 1.69324792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.339259764 meters Centerline goodness [0,1] 0.5407436377350057 Centerline is valid? [False, False] Translation: X:-27.64, Y:14.97, Z:16.93 [[ 9.99720340e-01 2.20860713e-02 8.45263945e-03 -2.76375590e+01] [-2.20489348e-02 9.99746937e-01 -4.46174937e-03 1.49708103e+01] [-8.54904291e-03 4.27412990e-03 9.99954322e-01 1.69320358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.369259764 meters Centerline goodness [0,1] 0.5431981174361273 Centerline is valid? [False, False] Translation: X:-27.63, Y:14.97, Z:16.93 [[ 9.99713664e-01 2.26291694e-02 7.77889874e-03 -2.76349853e+01] [-2.25934913e-02 9.99733947e-01 -4.64422226e-03 1.49741760e+01] [-7.88192404e-03 4.46713997e-03 9.99958959e-01 1.69316401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.399259764 meters Centerline goodness [0,1] 0.5444003490106674 Centerline is valid? [False, False] Translation: X:-27.63, Y:14.98, Z:16.93 [[ 9.99713683e-01 2.28416253e-02 7.12831537e-03 -2.76331749e+01] [-2.28046377e-02 9.99726272e-01 -5.22768399e-03 1.49778837e+01] [-7.24577296e-03 5.06362856e-03 9.99960928e-01 1.69322273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.429259764 meters Centerline goodness [0,1] 0.5483196246360835 Centerline is valid? [False, False] Translation: X:-27.63, Y:14.98, Z:16.93 [[ 9.99714661e-01 2.29341904e-02 6.67973263e-03 -2.76318603e+01] [-2.28965073e-02 9.99721794e-01 -5.66428470e-03 1.49808329e+01] [-6.80778008e-03 5.50972592e-03 9.99961648e-01 1.69324668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.459259764 meters Centerline goodness [0,1] 0.5474046083473023 Centerline is valid? [False, False] Translation: X:-27.63, Y:14.98, Z:16.93 [[ 9.99707608e-01 2.33467374e-02 6.29508118e-03 -2.76296922e+01] [-2.33097986e-02 9.99711005e-01 -5.87876613e-03 1.49834910e+01] [-6.43051195e-03 5.73031015e-03 9.99962905e-01 1.69315165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.489259764 meters Centerline goodness [0,1] 0.5488171555000851 Centerline is valid? [False, False] Translation: X:-27.63, Y:14.98, Z:16.93 [[ 9.99705116e-01 2.34697467e-02 6.23315829e-03 -2.76289537e+01] [-2.34328598e-02 9.99707847e-01 -5.92637561e-03 1.49843364e+01] [-6.37042778e-03 5.77856729e-03 9.99963012e-01 1.69308599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.519259764 meters Centerline goodness [0,1] 0.548983416628805 Centerline is valid? [False, False] Translation: X:-27.63, Y:14.99, Z:16.93 [[ 9.99707193e-01 2.34062300e-02 6.13812584e-03 -2.76285691e+01] [-2.33676055e-02 9.99707149e-01 -6.29055243e-03 1.49860170e+01] [-6.28356640e-03 6.14527721e-03 9.99961375e-01 1.69309267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54925976399997 meters Centerline goodness [0,1] 0.5498888825574106 Centerline is valid? [False, False] Translation: X:-27.63, Y:14.99, Z:16.93 [[ 9.99703144e-01 2.37094531e-02 5.61119555e-03 -2.76266557e+01] [-2.36720169e-02 9.99697683e-01 -6.64663843e-03 1.49889944e+01] [-5.76708735e-03 6.51183702e-03 9.99962168e-01 1.69308350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57925976399997 meters Centerline goodness [0,1] 0.5583529276825142 Centerline is valid? [False, False] Translation: X:-27.63, Y:14.99, Z:16.93 [[ 9.99592795e-01 2.79712755e-02 5.64371864e-03 -2.76254164e+01] [-2.79561605e-02 9.99605396e-01 -2.73955195e-03 1.49918555e+01] [-5.71812037e-03 2.58065969e-03 9.99980321e-01 1.69297187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60925976399997 meters Centerline goodness [0,1] 0.5523026977332146 Centerline is valid? [False, False] Translation: X:-27.62, Y:14.99, Z:16.93 [[ 9.99590491e-01 2.81434460e-02 5.17662833e-03 -2.76239007e+01] [-2.81277143e-02 9.99599571e-01 -3.08710403e-03 1.49941393e+01] [-5.26143720e-03 2.94023311e-03 9.99981836e-01 1.69297966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63925976399997 meters Centerline goodness [0,1] 0.5543428308823529 Centerline is valid? [False, False] Translation: X:-27.62, Y:15.00, Z:16.93 [[ 9.99588311e-01 2.82744759e-02 4.87462733e-03 -2.76227051e+01] [-2.82580729e-02 9.99594873e-01 -3.40165388e-03 1.49962048e+01] [-4.96883246e-03 3.26250588e-03 9.99982333e-01 1.69296475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66925976399997 meters Centerline goodness [0,1] 0.5542036673970707 Centerline is valid? [False, False] Translation: X:-27.62, Y:15.00, Z:16.93 [[ 9.99578280e-01 2.86979320e-02 4.43746775e-03 -2.76207210e+01] [-2.86785284e-02 9.99579107e-01 -4.37618213e-03 1.50012172e+01] [-4.56118743e-03 4.24707656e-03 9.99980579e-01 1.69300827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69925976399998 meters Centerline goodness [0,1] 0.5564198958935801 Centerline is valid? [False, False] Translation: X:-27.62, Y:15.00, Z:16.93 [[ 9.99583554e-01 2.85650815e-02 4.09321116e-03 -2.76200308e+01] [-2.85437171e-02 9.99579091e-01 -5.18614582e-03 1.50044810e+01] [-4.23963097e-03 5.06715061e-03 9.99978175e-01 1.69309763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72925976399998 meters Centerline goodness [0,1] 0.5561215629522431 Centerline is valid? [False, False] Translation: X:-27.62, Y:15.01, Z:16.93 [[ 9.99586641e-01 2.84890423e-02 3.86275917e-03 -2.76193964e+01] [-2.84664222e-02 9.99577982e-01 -5.78966661e-03 1.50071844e+01] [-4.02607108e-03 5.67731447e-03 9.99975779e-01 1.69314339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75925976399998 meters Centerline goodness [0,1] 0.5570611960653454 Centerline is valid? [False, False] Translation: X:-27.62, Y:15.01, Z:16.93 [[ 9.99591194e-01 2.83455468e-02 3.73833625e-03 -2.76191243e+01] [-2.83218500e-02 9.99579339e-01 -6.24640089e-03 1.50090948e+01] [-3.91382133e-03 6.13797073e-03 9.99973503e-01 1.69317474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78925976399998 meters Centerline goodness [0,1] 0.5587884083296928 Centerline is valid? [False, False] Translation: X:-27.62, Y:15.01, Z:16.93 [[ 9.99585284e-01 2.85977655e-02 3.38047937e-03 -2.76174030e+01] [-2.85752481e-02 9.99570305e-01 -6.53152413e-03 1.50115789e+01] [-3.56581379e-03 6.43221737e-03 9.99972955e-01 1.69312274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81925976399998 meters Centerline goodness [0,1] 0.5586532025725344 Centerline is valid? [False, False] Translation: X:-27.62, Y:15.01, Z:16.93 [[ 9.99589832e-01 2.84393109e-02 3.37234242e-03 -2.76172943e+01] [-2.84152675e-02 9.99571868e-01 -6.97517450e-03 1.50135464e+01] [-3.56926777e-03 6.87648750e-03 9.99969987e-01 1.69313702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84925976399998 meters Centerline goodness [0,1] 0.5574353888337904 Centerline is valid? [False, False] Translation: X:-27.62, Y:15.02, Z:16.93 [[ 9.99590829e-01 2.84343267e-02 3.10872575e-03 -2.76165944e+01] [-2.84106456e-02 9.99568845e-01 -7.41343214e-03 1.50156433e+01] [-3.31818136e-03 7.32207787e-03 9.99967688e-01 1.69317404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87925976399998 meters Centerline goodness [0,1] 0.5618629173989456 Centerline is valid? [False, False] Translation: X:-27.62, Y:15.02, Z:16.93 [[ 9.99589770e-01 2.85168181e-02 2.66123806e-03 -2.76153818e+01] [-2.84945188e-02 9.99561361e-01 -8.07141861e-03 1.50187879e+01] [-2.89024192e-03 7.99227677e-03 9.99963884e-01 1.69324142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90925976399998 meters Centerline goodness [0,1] 0.5624392971716161 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99575355e-01 2.90656145e-02 2.07350062e-03 -2.76131131e+01] [-2.90464419e-02 9.99539814e-01 -8.74435678e-03 1.50232356e+01] [-2.32670653e-03 8.68041571e-03 9.99959618e-01 1.69329007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93925976399998 meters Centerline goodness [0,1] 0.5613610898154154 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.93 [[ 9.99575954e-01 2.90624408e-02 1.81281299e-03 -2.76124299e+01] [-2.90446523e-02 9.99536061e-01 -9.16898926e-03 1.50253050e+01] [-2.07844516e-03 9.11244867e-03 9.99956321e-01 1.69332785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.969259764 meters Centerline goodness [0,1] 0.5633260238250459 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.93 [[ 9.99578084e-01 2.89972980e-02 1.67630290e-03 -2.76120552e+01] [-2.89799801e-02 9.99534203e-01 -9.56757014e-03 1.50272417e+01] [-1.95295577e-03 9.51495421e-03 9.99952825e-01 1.69335469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.999259764 meters Centerline goodness [0,1] 0.5626423690205011 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.93 [[ 9.99576351e-01 2.90680291e-02 1.47219974e-03 -2.76114686e+01] [-2.90522720e-02 9.99530012e-01 -9.78365308e-03 1.50284336e+01] [-1.75589933e-03 9.73673750e-03 9.99951055e-01 1.69337383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.029259764 meters Centerline goodness [0,1] 0.5625037098593222 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.93 [[ 9.99570443e-01 2.92750344e-02 1.37893040e-03 -2.76108331e+01] [-2.92599461e-02 9.99522596e-01 -9.92151225e-03 1.50292569e+01] [-1.66872470e-03 9.87690297e-03 9.99949830e-01 1.69335843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.059259764 meters Centerline goodness [0,1] 0.5604359705393205 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.93 [[ 9.99567644e-01 2.93701926e-02 1.38426641e-03 -2.76106090e+01] [-2.93550076e-02 9.99519575e-01 -9.94500963e-03 1.50293275e+01] [-1.67568822e-03 9.90007470e-03 9.99949589e-01 1.69334091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.089259764 meters Centerline goodness [0,1] 0.56163163519772 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.93 [[ 9.99566509e-01 2.94117370e-02 1.32078655e-03 -2.76103833e+01] [-2.93970611e-02 9.99517612e-01 -1.00177981e-02 1.50299014e+01] [-1.61479026e-03 9.97462818e-03 9.99948948e-01 1.69333934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.119259764 meters Centerline goodness [0,1] 0.5637858860552801 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.93 [[ 9.99566714e-01 2.94128559e-02 1.12649191e-03 -2.76099944e+01] [-2.93997533e-02 9.99514930e-01 -1.02741549e-02 1.50311544e+01] [-1.42813772e-03 1.02365847e-02 9.99946585e-01 1.69337695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.149259764 meters Centerline goodness [0,1] 0.5657765764695399 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.93 [[ 9.99564068e-01 2.95138553e-02 7.78866770e-04 -2.76092072e+01] [-2.95039940e-02 9.99508847e-01 -1.05630831e-02 1.50328367e+01] [-1.09024153e-03 1.05354986e-02 9.99943906e-01 1.69343425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.179259764 meters Centerline goodness [0,1] 0.5636536575216241 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.93 [[ 9.99563952e-01 2.95167603e-02 8.16429395e-04 -2.76094372e+01] [-2.95064618e-02 9.99508387e-01 -1.05997061e-02 1.50327746e+01] [-1.12889701e-03 1.05709942e-02 9.99943488e-01 1.69345648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.209259764 meters Centerline goodness [0,1] 0.5640402123305952 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.93 [[ 9.99563680e-01 2.95234155e-02 9.04572969e-04 -2.76098176e+01] [-2.95121973e-02 9.99508325e-01 -1.05895755e-02 1.50324420e+01] [-1.21676865e-03 1.05582592e-02 9.99943520e-01 1.69347558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.239259764 meters Centerline goodness [0,1] 0.5588348593949092 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.94 [[ 9.99562395e-01 2.95654935e-02 9.49011860e-04 -2.76101550e+01] [-2.95537683e-02 9.99506798e-01 -1.06177207e-02 1.50320659e+01] [-1.26246196e-03 1.05850275e-02 9.99943180e-01 1.69351399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.269259764 meters Centerline goodness [0,1] 0.5649995553052088 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.94 [[ 9.99560106e-01 2.96435164e-02 9.25629885e-04 -2.76100868e+01] [-2.96321391e-02 9.99505373e-01 -1.05331053e-02 1.50319503e+01] [-1.23741032e-03 1.05010435e-02 9.99944097e-01 1.69351059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29925976399997 meters Centerline goodness [0,1] 0.5620199863594579 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.94 [[ 9.99557766e-01 2.97251246e-02 8.30815818e-04 -2.76097696e+01] [-2.97147959e-02 9.99503445e-01 -1.04830236e-02 1.50320959e+01] [-1.14201245e-03 1.04537001e-02 9.99944706e-01 1.69350263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32925976399997 meters Centerline goodness [0,1] 0.5582146136303054 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.93 [[ 9.99549511e-01 3.00064340e-02 6.23819934e-04 -2.76089157e+01] [-2.99987866e-02 9.99500803e-01 -9.91048636e-03 1.50308667e+01] [-9.20886880e-04 9.88730795e-03 9.99950695e-01 1.69342504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35925976399997 meters Centerline goodness [0,1] 0.562640749081427 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.93 [[ 9.99649667e-01 2.64661705e-02 -2.90914784e-04 -2.76064015e+01] [-2.64676381e-02 9.99549715e-01 -1.41361907e-02 1.50333917e+01] [-8.33470445e-05 1.41389382e-02 9.99900037e-01 1.69345061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38925976399997 meters Centerline goodness [0,1] 0.5561342250103569 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.93 [[ 9.99647456e-01 2.65509285e-02 -1.10871389e-04 -2.76067712e+01] [-2.65499371e-02 9.99552622e-01 -1.37715545e-02 1.50317812e+01] [-2.54825771e-04 1.37696430e-02 9.99905162e-01 1.69341045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41925976399997 meters Centerline goodness [0,1] 0.5561342250103569 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.93 [[ 9.99647456e-01 2.65509285e-02 -1.10871389e-04 -2.76067712e+01] [-2.65499371e-02 9.99552622e-01 -1.37715545e-02 1.50317812e+01] [-2.54825771e-04 1.37696430e-02 9.99905162e-01 1.69341045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44925976399998 meters Centerline goodness [0,1] 0.5563792085056114 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.93 [[ 9.99645689e-01 2.66175822e-02 1.46065988e-05 -2.76072572e+01] [-2.66149618e-02 9.99554684e-01 -1.34935783e-02 1.50305311e+01] [-3.73766523e-04 1.34884086e-02 9.99908957e-01 1.69341271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47925976399998 meters Centerline goodness [0,1] 0.5526463216865694 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.94 [[ 9.99653579e-01 2.63180366e-02 2.87240888e-04 -2.76090930e+01] [-2.63117346e-02 9.99562031e-01 -1.35439618e-02 1.50292881e+01] [-6.43565567e-04 1.35317121e-02 9.99908235e-01 1.69353846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50925976399998 meters Centerline goodness [0,1] 0.5528474406844441 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.94 [[ 9.99652203e-01 2.63687039e-02 4.04742542e-04 -2.76095992e+01] [-2.63609708e-02 9.99563625e-01 -1.33288642e-02 1.50282020e+01] [-7.56030795e-04 1.33135590e-02 9.99911085e-01 1.69354864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53925976399998 meters Centerline goodness [0,1] 0.5491824933219831 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.03, Z:16.94 [[ 9.99647599e-01 2.65412792e-02 4.87996479e-04 -2.76097498e+01] [-2.65326951e-02 9.99563370e-01 -1.30032962e-02 1.50268378e+01] [-8.32907521e-04 1.29857660e-02 9.99915334e-01 1.69352956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56925976399998 meters Centerline goodness [0,1] 0.5479290984449866 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99644287e-01 2.66621314e-02 6.55674890e-04 -2.76102033e+01] [-2.66518246e-02 9.99566160e-01 -1.25368422e-02 1.50249235e+01] [-9.89649367e-04 1.25149078e-02 9.99921196e-01 1.69349532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59925976399998 meters Centerline goodness [0,1] 0.5487561605256982 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99641134e-01 2.67800579e-02 6.56885644e-04 -2.76100211e+01] [-2.67699741e-02 9.99566108e-01 -1.22867342e-02 1.50242564e+01] [-9.85640081e-04 1.22647401e-02 9.99924299e-01 1.69345569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62925976399998 meters Centerline goodness [0,1] 0.549710863885872 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99636609e-01 2.69487869e-02 6.42055871e-04 -2.76096437e+01] [-2.69391916e-02 9.99565559e-01 -1.19571041e-02 1.50236352e+01] [-9.64006387e-04 1.19354625e-02 9.99928305e-01 1.69339446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65925976399998 meters Centerline goodness [0,1] 0.5494731280636356 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99634711e-01 2.70191617e-02 6.40575267e-04 -2.76094221e+01] [-2.70097759e-02 9.99566085e-01 -1.17521930e-02 1.50232892e+01] [-9.57831714e-04 1.17305982e-02 9.99930735e-01 1.69335095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68925976399998 meters Centerline goodness [0,1] 0.5523298436995983 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99626848e-01 2.73072151e-02 6.92868657e-04 -2.76091231e+01] [-2.72976805e-02 9.99563804e-01 -1.12711719e-02 1.50218066e+01] [-1.00035075e-03 1.12480524e-02 9.99936238e-01 1.69327224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.719259764 meters Centerline goodness [0,1] 0.5493266978922717 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99626961e-01 2.73028546e-02 7.01928121e-04 -2.76091985e+01] [-2.72932024e-02 9.99563747e-01 -1.12870075e-02 1.50217455e+01] [-1.00978943e-03 1.12636391e-02 9.99936053e-01 1.69328071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.749259764 meters Centerline goodness [0,1] 0.549885690837681 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99628716e-01 2.72396472e-02 6.56433999e-04 -2.76094856e+01] [-2.72303263e-02 9.99563280e-01 -1.14786414e-02 1.50221142e+01] [-9.68821462e-04 1.14565046e-02 9.99933903e-01 1.69334814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.779259764 meters Centerline goodness [0,1] 0.5483984409342673 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99631715e-01 2.71295714e-02 6.48005118e-04 -2.76098666e+01] [-2.71201535e-02 9.99563856e-01 -1.16873991e-02 1.50228079e+01] [-9.64796625e-04 1.16655209e-02 9.99931490e-01 1.69340808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.809259764 meters Centerline goodness [0,1] 0.5504692082111438 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99636196e-01 2.69639014e-02 6.51186483e-04 -2.76104553e+01] [-2.69540937e-02 9.99563896e-01 -1.20621056e-02 1.50235347e+01] [-9.76143924e-04 1.20401652e-02 9.99927038e-01 1.69350549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.839259764 meters Centerline goodness [0,1] 0.5508915521777258 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99632979e-01 2.70842788e-02 5.91139496e-04 -2.76103977e+01] [-2.70752674e-02 9.99561698e-01 -1.19725712e-02 1.50234631e+01] [-9.15148855e-04 1.19521718e-02 9.99928151e-01 1.69352351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.869259764 meters Centerline goodness [0,1] 0.5478543030869971 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99629098e-01 2.72247036e-02 6.94213454e-04 -2.76104194e+01] [-2.72147663e-02 9.99561587e-01 -1.16614986e-02 1.50225054e+01] [-1.01138995e-03 1.16382805e-02 9.99931761e-01 1.69347420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.899259764 meters Centerline goodness [0,1] 0.5487167508540396 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99629168e-01 2.72141165e-02 9.58149097e-04 -2.76109984e+01] [-2.72014364e-02 9.99564918e-01 -1.14042026e-02 1.50213129e+01] [-1.26808752e-03 1.13739105e-02 9.99934511e-01 1.69343060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.929259764 meters Centerline goodness [0,1] 0.5504645946811919 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99729211e-01 2.32701709e-02 6.61184148e-05 -2.76093472e+01] [-2.32662388e-02 9.99605062e-01 -1.57607520e-02 1.50234298e+01] [-4.32847694e-04 1.57549458e-02 9.99875789e-01 1.69352422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.959259764 meters Centerline goodness [0,1] 0.5491000029079066 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99729362e-01 2.32628968e-02 2.00340349e-04 -2.76098904e+01] [-2.32569634e-02 9.99608395e-01 -1.55618368e-02 1.50225767e+01] [-5.62275299e-04 1.55529659e-02 9.99878887e-01 1.69352951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.989259764 meters Centerline goodness [0,1] 0.5497758630727135 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99730653e-01 2.32064222e-02 2.87763065e-04 -2.76104166e+01] [-2.31991451e-02 9.99609954e-01 -1.55480039e-02 1.50220881e+01] [-6.48464367e-04 1.55371402e-02 9.99879081e-01 1.69356070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01925976399997 meters Centerline goodness [0,1] 0.5467135059807223 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99734251e-01 2.30490203e-02 4.11648225e-04 -2.76111582e+01] [-2.30398382e-02 9.99613652e-01 -1.55471250e-02 1.50217926e+01] [-7.69835185e-04 1.55335091e-02 9.99879051e-01 1.69359500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04925976399997 meters Centerline goodness [0,1] 0.5419381107491856 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99734999e-01 2.30141215e-02 5.31616192e-04 -2.76116280e+01] [-2.30032216e-02 9.99616959e-01 -1.53878668e-02 1.50209471e+01] [-8.85550796e-04 1.53715601e-02 9.99881458e-01 1.69359635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07925976399997 meters Centerline goodness [0,1] 0.5404056524388474 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99732304e-01 2.31325787e-02 4.50948793e-04 -2.76114945e+01] [-2.31229986e-02 9.99615980e-01 -1.52715094e-02 1.50204551e+01] [-8.04045012e-04 1.52569940e-02 9.99883282e-01 1.69360466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10925976399997 meters Centerline goodness [0,1] 0.5442733257925114 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99729434e-01 2.32557382e-02 4.78476895e-04 -2.76113913e+01] [-2.32458952e-02 9.99616259e-01 -1.50652986e-02 1.50199782e+01] [-8.28647924e-04 1.50500998e-02 9.99886397e-01 1.69357301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13925976399997 meters Centerline goodness [0,1] 0.5424868813962254 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99731625e-01 2.31606202e-02 5.14122758e-04 -2.76116636e+01] [-2.31503351e-02 9.99619935e-01 -1.49682423e-02 1.50199213e+01] [-8.60601133e-04 1.49523231e-02 9.99887837e-01 1.69357333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16925976399997 meters Centerline goodness [0,1] 0.5399889685603971 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99736770e-01 2.29332820e-02 6.74529940e-04 -2.76125974e+01] [-2.29205765e-02 9.99624529e-01 -1.50149570e-02 1.50195911e+01] [-1.01861892e-03 1.49955440e-02 9.99887042e-01 1.69362066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19925976399998 meters Centerline goodness [0,1] 0.5450898308041165 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99737405e-01 2.29023417e-02 7.76427675e-04 -2.76129434e+01] [-2.28882146e-02 9.99626645e-01 -1.49231478e-02 1.50190926e+01] [-1.11791282e-03 1.49014581e-02 9.99888342e-01 1.69361791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22925976399998 meters Centerline goodness [0,1] 0.5423418714061683 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99735398e-01 2.29901436e-02 7.66249599e-04 -2.76127568e+01] [-2.29763610e-02 9.99627338e-01 -1.47401163e-02 1.50187310e+01] [-1.10484144e-03 1.47186105e-02 9.99891065e-01 1.69358549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25925976399998 meters Centerline goodness [0,1] 0.5460568188393219 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99736516e-01 2.29331918e-02 9.83303213e-04 -2.76131375e+01] [-2.29165477e-02 9.99632333e-01 -1.44924474e-02 1.50179112e+01] [-1.31529976e-03 1.44660950e-02 9.99894495e-01 1.69352453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28925976399998 meters Centerline goodness [0,1] 0.5439129554070088 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99734529e-01 2.30140987e-02 1.10540940e-03 -2.76133514e+01] [-2.29959976e-02 9.99633690e-01 -1.42712865e-02 1.50170681e+01] [-1.43344527e-03 1.42420779e-02 9.99897549e-01 1.69349902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31925976399998 meters Centerline goodness [0,1] 0.5440845314394596 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99735036e-01 2.29935898e-02 1.07324397e-03 -2.76135829e+01] [-2.29759177e-02 9.99633834e-01 -1.42935472e-02 1.50169709e+01] [-1.40151095e-03 1.42651012e-02 9.99897266e-01 1.69353706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34925976399998 meters Centerline goodness [0,1] 0.5434192281026116 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99738661e-01 2.28305312e-02 1.17309059e-03 -2.76142497e+01] [-2.28112351e-02 9.99635535e-01 -1.44375962e-02 1.50171924e+01] [-1.50228103e-03 1.44070635e-02 9.99895084e-01 1.69358799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37925976399998 meters Centerline goodness [0,1] 0.5416232488132453 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99740299e-01 2.27668713e-02 1.00237511e-03 -2.76141708e+01] [-2.27496368e-02 9.99632511e-01 -1.47409795e-02 1.50184580e+01] [-1.33761274e-03 1.47143476e-02 9.99890843e-01 1.69366053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40925976399998 meters Centerline goodness [0,1] 0.5445412697953157 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99736920e-01 2.29248006e-02 7.37347841e-04 -2.76133330e+01] [-2.29113893e-02 9.99627989e-01 -1.47970308e-02 1.50194455e+01] [-1.07629252e-03 1.47762443e-02 9.99890246e-01 1.69365759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43925976399998 meters Centerline goodness [0,1] 0.54185723383315 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99731483e-01 2.31634943e-02 6.44410621e-04 -2.76126033e+01] [-2.31515895e-02 9.99624833e-01 -1.46354455e-02 1.50194819e+01] [-9.83176919e-04 1.46165965e-02 9.99892688e-01 1.69359879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.469259764 meters Centerline goodness [0,1] 0.5445894981143022 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99723484e-01 2.35082610e-02 5.63882293e-04 -2.76117079e+01] [-2.34978313e-02 9.99622111e-01 -1.42648586e-02 1.50189816e+01] [-8.99011228e-04 1.42476642e-02 9.99898093e-01 1.69350634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.499259764 meters Centerline goodness [0,1] 0.5422764227642276 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99714898e-01 2.38708998e-02 5.51036573e-04 -2.76111422e+01] [-2.38608844e-02 9.99617774e-01 -1.39629466e-02 1.50181131e+01] [-8.84134052e-04 1.39458175e-02 9.99902361e-01 1.69344525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.529259764 meters Centerline goodness [0,1] 0.546 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99714331e-01 2.38956338e-02 5.06018614e-04 -2.76112753e+01] [-2.38862625e-02 9.99617477e-01 -1.39408414e-02 1.50179776e+01] [-8.38950291e-04 1.39247720e-02 9.99902694e-01 1.69347818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.559259764 meters Centerline goodness [0,1] 0.5449629886652787 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99718540e-01 2.37157685e-02 6.34570256e-04 -2.76121665e+01] [-2.37045143e-02 9.99620204e-01 -1.40550529e-02 1.50177986e+01] [-9.67655628e-04 1.40360547e-02 9.99901022e-01 1.69354646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.589259764 meters Centerline goodness [0,1] 0.5418015726179464 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99721009e-01 2.36109173e-02 6.54776915e-04 -2.76127979e+01] [-2.35994234e-02 9.99623169e-01 -1.40209513e-02 1.50171689e+01] [-9.85577695e-04 1.40015872e-02 9.99901487e-01 1.69360730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.619259764 meters Centerline goodness [0,1] 0.5440960525179235 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99812087e-01 1.93851545e-02 8.03829850e-05 -2.76124681e+01] [-1.93803268e-02 9.99640025e-01 -1.85532590e-02 1.50187218e+01] [-4.40011841e-04 1.85482147e-02 9.99827870e-01 1.69376323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.649259764 meters Centerline goodness [0,1] 0.5381819230880189 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99811870e-01 1.93948992e-02 2.48414401e-04 -2.76130928e+01] [-1.93871031e-02 9.99644447e-01 -1.83062842e-02 1.50175066e+01] [-6.03374614e-04 1.82980242e-02 9.99832395e-01 1.69376509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.679259764 meters Centerline goodness [0,1] 0.5382929642445213 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99811170e-01 1.94281290e-02 4.15924537e-04 -2.76134541e+01] [-1.94173775e-02 9.99646584e-01 -1.81568618e-02 1.50168820e+01] [-7.68531397e-04 1.81453571e-02 9.99835064e-01 1.69374993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.709259764 meters Centerline goodness [0,1] 0.5410520857340402 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99808660e-01 1.95577734e-02 3.69009590e-04 -2.76131763e+01] [-1.95479634e-02 9.99646831e-01 -1.80025196e-02 1.50167063e+01] [-7.20968465e-04 1.79918616e-02 9.99837873e-01 1.69372692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.739259764 meters Centerline goodness [0,1] 0.539699879261772 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99803296e-01 1.98311279e-02 3.09287367e-04 -2.76125834e+01] [-1.98225457e-02 9.99646742e-01 -1.77047394e-02 1.50162048e+01] [-6.60283059e-04 1.76951259e-02 9.99843211e-01 1.69366914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76925976399997 meters Centerline goodness [0,1] 0.5431521864543671 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99796868e-01 2.01536342e-02 2.33161335e-04 -2.76117846e+01] [-2.01466844e-02 9.99650277e-01 -1.71299364e-02 1.50150332e+01] [-5.78310265e-04 1.71217593e-02 9.99853245e-01 1.69356049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79925976399997 meters Centerline goodness [0,1] 0.5407161420733468 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.01, Z:16.94 [[ 9.99793957e-01 2.02981130e-02 1.76488524e-04 -2.76113965e+01] [-2.02922631e-02 9.99652246e-01 -1.68407871e-02 1.50146425e+01] [-5.18263349e-04 1.68337358e-02 9.99858168e-01 1.69351125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82925976399997 meters Centerline goodness [0,1] 0.5435418900512939 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.01, Z:16.93 [[ 9.99790269e-01 2.04787326e-02 1.97945527e-04 -2.76110517e+01] [-2.04726762e-02 9.99654143e-01 -1.65064975e-02 1.50139382e+01] [-5.35909215e-04 1.64989831e-02 9.99863739e-01 1.69344538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85925976399997 meters Centerline goodness [0,1] 0.5442555770396237 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.01, Z:16.93 [[ 9.99787876e-01 2.05943717e-02 2.74123852e-04 -2.76111145e+01] [-2.05873014e-02 9.99658703e-01 -1.60823244e-02 1.50125559e+01] [-6.05235661e-04 1.60732695e-02 9.99870633e-01 1.69339104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88925976399997 meters Centerline goodness [0,1] 0.5421186245095777 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.01, Z:16.93 [[ 9.99787330e-01 2.06212305e-02 2.45138987e-04 -2.76110839e+01] [-2.06146801e-02 9.99659742e-01 -1.59823532e-02 1.50123602e+01] [-5.74631364e-04 1.59739007e-02 9.99872244e-01 1.69338837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91925976399997 meters Centerline goodness [0,1] 0.5431430968152497 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.01, Z:16.93 [[ 9.99786876e-01 2.06434357e-02 2.25044987e-04 -2.76110534e+01] [-2.06372253e-02 9.99659904e-01 -1.59430348e-02 1.50125941e+01] [-5.54087464e-04 1.59349927e-02 9.99872876e-01 1.69338754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94925976399998 meters Centerline goodness [0,1] 0.544338177930596 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.01, Z:16.93 [[ 9.99790702e-01 2.04582201e-02 1.18525041e-04 -2.76111809e+01] [-2.04536261e-02 9.99659916e-01 -1.61771852e-02 1.50136601e+01] [-4.49441147e-04 1.61713751e-02 9.99869134e-01 1.69344245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97925976399998 meters Centerline goodness [0,1] 0.545168370588575 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.01, Z:16.93 [[ 9.99791540e-01 2.04175776e-02 6.38238352e-06 -2.76111496e+01] [-2.04147863e-02 9.99659929e-01 -1.62253936e-02 1.50139835e+01] [-3.37663446e-04 1.62218810e-02 9.99868360e-01 1.69347271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00925976399998 meters Centerline goodness [0,1] 0.554415494581508 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.01, Z:16.94 [[ 9.99793310e-01 2.03306885e-02 1.13081410e-06 -2.76113502e+01] [-2.03279581e-02 9.99659944e-01 -1.63330938e-02 1.50143847e+01] [-3.33193472e-04 1.63296949e-02 9.99866606e-01 1.69350062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03925976399998 meters Centerline goodness [0,1] 0.5463308727746418 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.01, Z:16.93 [[ 9.99791950e-01 2.03973887e-02 -5.10886471e-05 -2.76111263e+01] [-2.03954916e-02 9.99657965e-01 -1.63700103e-02 1.50149014e+01] [-2.82834290e-04 1.63676465e-02 9.99866001e-01 1.69349967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06925976399998 meters Centerline goodness [0,1] 0.5465863686374428 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99789227e-01 2.05271607e-02 -3.70115807e-04 -2.76102519e+01] [-2.05304757e-02 9.99651730e-01 -1.65806483e-02 1.50164783e+01] [ 2.96332763e-05 1.65847522e-02 9.99862463e-01 1.69352206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09925976399998 meters Centerline goodness [0,1] 0.5496923255543945 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99788140e-01 2.05774921e-02 -4.91834811e-04 -2.76098856e+01] [-2.05828469e-02 9.99647516e-01 -1.67687119e-02 1.50176030e+01] [ 1.46603410e-04 1.67752827e-02 9.99859274e-01 1.69353812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12925976399998 meters Centerline goodness [0,1] 0.5427848690140435 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99787269e-01 2.06149152e-02 -6.64863634e-04 -2.76095792e+01] [-2.06232396e-02 9.99642854e-01 -1.69954572e-02 1.50187460e+01] [ 3.14266271e-04 1.70055534e-02 9.99855346e-01 1.69358103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15925976399998 meters Centerline goodness [0,1] 0.5492720351050536 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99786050e-01 2.06756607e-02 -6.08560440e-04 -2.76096218e+01] [-2.06829905e-02 9.99643478e-01 -1.68858046e-02 1.50186192e+01] [ 2.59218308e-04 1.68947788e-02 9.99857239e-01 1.69355923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18925976399998 meters Centerline goodness [0,1] 0.544076934285298 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99785619e-01 2.06984405e-02 -5.39444207e-04 -2.76097844e+01] [-2.07045771e-02 9.99644994e-01 -1.67692042e-02 1.50183224e+01] [ 1.92156328e-04 1.67767781e-02 9.99859241e-01 1.69354584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.219259764 meters Centerline goodness [0,1] 0.5468981764243958 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99784907e-01 2.07352827e-02 -4.33819228e-04 -2.76099152e+01] [-2.07396232e-02 9.99647855e-01 -1.65539911e-02 1.50178180e+01] [ 9.04147747e-05 1.65594277e-02 9.99862879e-01 1.69351116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.249259764 meters Centerline goodness [0,1] 0.5495768894076452 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99785048e-01 2.07275716e-02 -4.75428216e-04 -2.76098909e+01] [-2.07325824e-02 9.99650455e-01 -1.64051313e-02 1.50176282e+01] [ 1.35223498e-04 1.64114618e-02 9.99865314e-01 1.69350310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.279259764 meters Centerline goodness [0,1] 0.5483268118904397 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99783585e-01 2.07925366e-02 -6.73385317e-04 -2.76093948e+01] [-2.08007856e-02 9.99649146e-01 -1.63985426e-02 1.50182774e+01] [ 3.32181759e-04 1.64090007e-02 9.99865308e-01 1.69350599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.309259764 meters Centerline goodness [0,1] 0.5483268118904397 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.94 [[ 9.99783585e-01 2.07925366e-02 -6.73385317e-04 -2.76093948e+01] [-2.08007856e-02 9.99649146e-01 -1.63985426e-02 1.50182774e+01] [ 3.32181759e-04 1.64090007e-02 9.99865308e-01 1.69350599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.339259764 meters Centerline goodness [0,1] 0.5457381972997405 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99778120e-01 2.10449056e-02 -9.07442112e-04 -2.76084236e+01] [-2.10568572e-02 9.99646812e-01 -1.62129548e-02 1.50185867e+01] [ 5.65921513e-04 1.62284653e-02 9.99868150e-01 1.69346101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.369259764 meters Centerline goodness [0,1] 0.549937231775319 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99765002e-01 2.16460989e-02 -1.17758319e-03 -2.76068134e+01] [-2.16621358e-02 9.99638160e-01 -1.59468434e-02 1.50188753e+01] [ 8.31970140e-04 1.59686048e-02 9.99872148e-01 1.69337605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.399259764 meters Centerline goodness [0,1] 0.544685707596863 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99760937e-01 2.18258480e-02 -1.30398023e-03 -2.76062460e+01] [-2.18438192e-02 9.99635229e-01 -1.58825928e-02 1.50192840e+01] [ 9.56853518e-04 1.59072797e-02 9.99873013e-01 1.69335214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.429259764 meters Centerline goodness [0,1] 0.5474580223880596 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99760403e-01 2.18433541e-02 -1.41556671e-03 -2.76060272e+01] [-2.18632262e-02 9.99632893e-01 -1.60024397e-02 1.50200960e+01] [ 1.06550008e-03 1.60295544e-02 9.99870951e-01 1.69337055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.459259764 meters Centerline goodness [0,1] 0.5458422174840085 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99759622e-01 2.18748328e-02 -1.48014196e-03 -2.76059138e+01] [-2.18958538e-02 9.99630502e-01 -1.61068461e-02 1.50206255e+01] [ 1.12726048e-03 1.61353833e-02 9.99869181e-01 1.69339164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.489259764 meters Centerline goodness [0,1] 0.5427409206637207 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99761243e-01 2.17954133e-02 -1.55467826e-03 -2.76060563e+01] [-2.18178536e-02 9.99629427e-01 -1.62785181e-02 1.50212637e+01] [ 1.19930511e-03 1.63085512e-02 9.99866287e-01 1.69344064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51925976399997 meters Centerline goodness [0,1] 0.5405112588211181 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99761936e-01 2.17685918e-02 -1.48308979e-03 -2.76063328e+01] [-2.17899388e-02 9.99629013e-01 -1.63411842e-02 1.50214788e+01] [ 1.12681502e-03 1.63696104e-02 9.99865374e-01 1.69345621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54925976399997 meters Centerline goodness [0,1] 0.5419064590575794 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99762425e-01 2.17545035e-02 -1.35444369e-03 -2.76065922e+01] [-2.17737174e-02 9.99629845e-01 -1.63118890e-02 1.50215692e+01] [ 9.99085287e-04 1.63375050e-02 9.99866035e-01 1.69343924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57925976399997 meters Centerline goodness [0,1] 0.5402037182967049 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99760562e-01 2.18433213e-02 -1.29916272e-03 -2.76065611e+01] [-2.18615222e-02 9.99629620e-01 -1.62079025e-02 1.50213249e+01] [ 9.44647115e-04 1.62324234e-02 9.99867799e-01 1.69341576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60925976399997 meters Centerline goodness [0,1] 0.5402820032763866 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99760180e-01 2.18506524e-02 -1.45972449e-03 -2.76061687e+01] [-2.18715512e-02 9.99628042e-01 -1.62914790e-02 1.50222101e+01] [ 1.10320209e-03 1.63194984e-02 9.99866220e-01 1.69342149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63925976399997 meters Centerline goodness [0,1] 0.5405689584672002 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99761539e-01 2.17887222e-02 -1.45519119e-03 -2.76063593e+01] [-2.18097177e-02 9.99626971e-01 -1.64394180e-02 1.50227968e+01] [ 1.09645445e-03 1.64672351e-02 9.99863805e-01 1.69345309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66925976399997 meters Centerline goodness [0,1] 0.5411919368974584 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99762701e-01 2.17379745e-02 -1.41513228e-03 -2.76067893e+01] [-2.17583875e-02 9.99626992e-01 -1.65060502e-02 1.50226728e+01] [ 1.05579633e-03 1.65329243e-02 9.99862764e-01 1.69349437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69925976399998 meters Centerline goodness [0,1] 0.5376539057701869 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99759928e-01 2.18726782e-02 -1.29290468e-03 -2.76068337e+01] [-2.18908605e-02 9.99627470e-01 -1.63006568e-02 1.50220447e+01] [ 9.35884014e-04 1.63250463e-02 9.99866300e-01 1.69345261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72925976399998 meters Centerline goodness [0,1] 0.5394856189835269 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99753809e-01 2.21417700e-02 -1.43625250e-03 -2.76058996e+01] [-2.21620120e-02 9.99625179e-01 -1.60731657e-02 1.50222010e+01] [ 1.07982583e-03 1.61010388e-02 9.99869787e-01 1.69338311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75925976399998 meters Centerline goodness [0,1] 0.5377902720431051 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99748179e-01 2.23883077e-02 -1.53052818e-03 -2.76051528e+01] [-2.24097231e-02 9.99623911e-01 -1.58063751e-02 1.50220722e+01] [ 1.17607457e-03 1.58366935e-02 9.99873900e-01 1.69331443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78925976399998 meters Centerline goodness [0,1] 0.5426533356721044 Centerline is valid? [False, False] Translation: X:-27.60, Y:15.02, Z:16.93 [[ 9.99741379e-01 2.26855287e-02 -1.59431754e-03 -2.76044175e+01] [-2.27074469e-02 9.99623121e-01 -1.54268791e-02 1.50214739e+01] [ 1.24374977e-03 1.54590923e-02 9.99879728e-01 1.69323125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81925976399998 meters Centerline goodness [0,1] 0.5426259202991703 Centerline is valid? [False, False] Translation: X:-27.60, Y:15.02, Z:16.93 [[ 9.99734492e-01 2.29874863e-02 -1.58774946e-03 -2.76039055e+01] [-2.30086286e-02 9.99624059e-01 -1.49112186e-02 1.50202965e+01] [ 1.24438112e-03 1.49437915e-02 9.99887561e-01 1.69313960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84925976399998 meters Centerline goodness [0,1] 0.5423852248893032 Centerline is valid? [False, False] Translation: X:-27.60, Y:15.02, Z:16.93 [[ 9.99733382e-01 2.30388342e-02 -1.54161222e-03 -2.76041285e+01] [-2.30591090e-02 9.99625030e-01 -1.47674384e-02 1.50196188e+01] [ 1.20080960e-03 1.47990493e-02 9.99889767e-01 1.69314506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87925976399998 meters Centerline goodness [0,1] 0.5431519426389577 Centerline is valid? [False, False] Translation: X:-27.60, Y:15.02, Z:16.93 [[ 9.99735555e-01 2.29521081e-02 -1.42162270e-03 -2.76046670e+01] [-2.29705549e-02 9.99627909e-01 -1.47104114e-02 1.50192185e+01] [ 1.08345877e-03 1.47391768e-02 9.99890785e-01 1.69315866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90925976399998 meters Centerline goodness [0,1] 0.5418330176307737 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99736367e-01 2.29223868e-02 -1.32674383e-03 -2.76050469e+01] [-2.29392543e-02 9.99631345e-01 -1.45245960e-02 1.50185688e+01] [ 9.93316312e-04 1.45512013e-02 9.99893632e-01 1.69315239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93925976399998 meters Centerline goodness [0,1] 0.5405476259831051 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99736785e-01 2.29194041e-02 -1.02994965e-03 -2.76058623e+01] [-2.29317459e-02 9.99635797e-01 -1.42270599e-02 1.50170896e+01] [ 7.03498807e-04 1.42469337e-02 9.99898260e-01 1.69312723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.969259764 meters Centerline goodness [0,1] 0.5431441048034935 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99731991e-01 2.31227020e-02 -1.13447903e-03 -2.76053716e+01] [-2.31363947e-02 9.99633150e-01 -1.40809121e-02 1.50168827e+01] [ 8.08474114e-04 1.41033861e-02 9.99900215e-01 1.69310504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.999259764 meters Centerline goodness [0,1] 0.5399639073233204 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99731588e-01 2.31386562e-02 -1.16383012e-03 -2.76052971e+01] [-2.31528285e-02 9.99631636e-01 -1.41612024e-02 1.50175199e+01] [ 8.35730216e-04 1.41843473e-02 9.99899048e-01 1.69311300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.029259764 meters Centerline goodness [0,1] 0.5405342489670022 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99732100e-01 2.31135828e-02 -1.22080796e-03 -2.76054021e+01] [-2.31286384e-02 9.99631041e-01 -1.42424645e-02 1.50180189e+01] [ 8.91163150e-04 1.42668845e-02 9.99897826e-01 1.69314806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.059259764 meters Centerline goodness [0,1] 0.535911441687489 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99730960e-01 2.31680030e-02 -1.11877515e-03 -2.76057606e+01] [-2.31813967e-02 9.99633400e-01 -1.39888616e-02 1.50169302e+01] [ 7.94271023e-04 1.40110328e-02 9.99901525e-01 1.69313771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.089259764 meters Centerline goodness [0,1] 0.5387761020881671 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99726629e-01 2.33558476e-02 -1.08209418e-03 -2.76055568e+01] [-2.33684676e-02 9.99633448e-01 -1.36705583e-02 1.50161885e+01] [ 7.62410057e-04 1.36921081e-02 9.99905968e-01 1.69308622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.119259764 meters Centerline goodness [0,1] 0.5372427026398419 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.02, Z:16.93 [[ 9.99724377e-01 2.34556073e-02 -1.00246968e-03 -2.76056272e+01] [-2.34669274e-02 9.99635100e-01 -1.33779403e-02 1.50152521e+01] [ 6.88316168e-04 1.33977779e-02 9.99910009e-01 1.69304647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.149259764 meters Centerline goodness [0,1] 0.5389710368067862 Centerline is valid? [False, False] Translation: X:-27.61, Y:15.01, Z:16.93 [[ 9.99723610e-01 2.34932848e-02 -8.76542459e-04 -2.76059663e+01] [-2.35027599e-02 9.99637883e-01 -1.31043112e-02 1.50141103e+01] [ 5.68361733e-04 1.31212905e-02 9.99913751e-01 1.69302233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.179259764 meters Centerline goodness [0,1] 0.5360705172813732 Centerline is valid? [False, False] Translation: X:-27.60, Y:15.01, Z:16.93 [[ 9.99713989e-01 2.38828940e-02 -1.24406939e-03 -2.76046268e+01] [-2.38969917e-02 9.99630883e-01 -1.29240766e-02 1.50146022e+01] [ 9.34945832e-04 1.29501096e-02 9.99915707e-01 1.69299182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.209259764 meters Centerline goodness [0,1] 0.5426915833695495 Centerline is valid? [False, False] Translation: X:-27.60, Y:15.02, Z:16.93 [[ 9.99714955e-01 2.38343328e-02 -1.39017851e-03 -2.76044505e+01] [-2.38505966e-02 9.99628728e-01 -1.31740289e-02 1.50159691e+01] [ 1.07566818e-03 1.32034303e-02 9.99912252e-01 1.69303853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.239259764 meters Centerline goodness [0,1] 0.5414913069979392 Centerline is valid? [False, False] Translation: X:-27.60, Y:15.02, Z:16.93 [[ 9.99715046e-01 2.38248186e-02 -1.48465733e-03 -2.76044746e+01] [-2.38424500e-02 9.99627572e-01 -1.32760655e-02 1.50164800e+01] [ 1.16780455e-03 1.33076803e-02 9.99910767e-01 1.69307909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26925976399997 meters Centerline goodness [0,1] 0.5396595226356544 Centerline is valid? [False, False] Translation: X:-27.60, Y:15.02, Z:16.93 [[ 9.99711675e-01 2.39714727e-02 -1.39129789e-03 -2.76045022e+01] [-2.39875546e-02 9.99627697e-01 -1.30025186e-02 1.50154752e+01] [ 1.07909039e-03 1.30321435e-02 9.99914496e-01 1.69303779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29925976399997 meters Centerline goodness [0,1] 0.5377347553906793 Centerline is valid? [False, False] Translation: X:-27.60, Y:15.02, Z:16.93 [[ 9.99796044e-01 2.01062756e-02 -1.89929596e-03 -2.76033800e+01] [-2.01358449e-02 9.99650992e-01 -1.71009320e-02 1.50156961e+01] [ 1.55479703e-03 1.71356881e-02 9.99851964e-01 1.69306091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32925976399997 meters Centerline goodness [0,1] 0.536486525602802 Centerline is valid? [False, False] Translation: X:-27.60, Y:15.01, Z:16.93 [[ 9.99795659e-01 2.01397713e-02 -1.74058350e-03 -2.76038895e+01] [-2.01660998e-02 9.99656628e-01 -1.67318348e-02 1.50141040e+01] [ 1.40301051e-03 1.67635166e-02 9.99858498e-01 1.69303979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35925976399997 meters Centerline goodness [0,1] 0.5355743749279871 Centerline is valid? [False, False] Translation: X:-27.59, Y:15.01, Z:16.92 [[ 9.99840629e-01 1.73271234e-02 4.29960139e-03 -2.75880007e+01] [-1.72900097e-02 9.99814182e-01 -8.52395504e-03 1.50100667e+01] [-4.44649806e-03 8.44825642e-03 9.99954427e-01 1.69225426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38925976399997 meters Centerline goodness [0,1] 0.5392988449179283 Centerline is valid? [False, False] Translation: X:-27.59, Y:15.01, Z:16.92 [[ 9.99840456e-01 1.74614485e-02 3.76300504e-03 -2.75868416e+01] [-1.74274693e-02 9.99808688e-01 -8.88094572e-03 1.50126340e+01] [-3.91735931e-03 8.81394916e-03 9.99953483e-01 1.69233204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41925976399997 meters Centerline goodness [0,1] 0.5367115684800833 Centerline is valid? [False, False] Translation: X:-27.59, Y:15.01, Z:16.92 [[ 9.99842414e-01 1.73547895e-02 3.73617112e-03 -2.75870385e+01] [-1.73203227e-02 9.99808872e-01 -9.06789689e-03 1.50134081e+01] [-3.89282848e-03 9.00175622e-03 9.99951906e-01 1.69237132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44925976399998 meters Centerline goodness [0,1] 0.5367815094448783 Centerline is valid? [False, False] Translation: X:-27.59, Y:15.01, Z:16.92 [[ 9.99841973e-01 1.73790753e-02 3.74126061e-03 -2.75870799e+01] [-1.73445167e-02 9.99808347e-01 -9.07950559e-03 1.50133913e+01] [-3.89833700e-03 9.01318043e-03 9.99951782e-01 1.69237759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47925976399998 meters Centerline goodness [0,1] 0.5350281669796331 Centerline is valid? [False, False] Translation: X:-27.59, Y:15.01, Z:16.92 [[ 9.99838425e-01 1.75989972e-02 3.66039280e-03 -2.75865412e+01] [-1.75657550e-02 9.99805887e-01 -8.92368349e-03 1.50131006e+01] [-3.81673015e-03 8.85794408e-03 9.99953484e-01 1.69234182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50925976399998 meters Centerline goodness [0,1] 0.5362691308114351 Centerline is valid? [False, False] Translation: X:-27.59, Y:15.01, Z:16.92 [[ 9.99836525e-01 1.77040935e-02 3.67254310e-03 -2.75863135e+01] [-1.76706507e-02 9.99803830e-01 -8.94708446e-03 1.50133749e+01] [-3.83022268e-03 8.88072561e-03 9.99953230e-01 1.69231572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53925976399998 meters Centerline goodness [0,1] 0.538526108602524 Centerline is valid? [False, False] Translation: X:-27.59, Y:15.01, Z:16.92 [[ 9.99838987e-01 1.75726485e-02 3.63341001e-03 -2.75861309e+01] [-1.75386334e-02 9.99803944e-01 -9.19077325e-03 1.50149519e+01] [-3.79420388e-03 9.12556837e-03 9.99951163e-01 1.69230804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56925976399998 meters Centerline goodness [0,1] 0.5369421032814898 Centerline is valid? [False, False] Translation: X:-27.59, Y:15.02, Z:16.92 [[ 9.99839498e-01 1.75516075e-02 3.59428577e-03 -2.75857759e+01] [-1.75180046e-02 9.99804439e-01 -9.17628812e-03 1.50156572e+01] [-3.75464148e-03 9.11185059e-03 9.99951437e-01 1.69226478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59925976399998 meters Centerline goodness [0,1] 0.5402498768008812 Centerline is valid? [False, False] Translation: X:-27.58, Y:15.02, Z:16.92 [[ 9.99838562e-01 1.76566806e-02 3.33044708e-03 -2.75847680e+01] [-1.76251485e-02 9.99801684e-01 -9.27078390e-03 1.50169753e+01] [-3.49347787e-03 9.21058762e-03 9.99951479e-01 1.69223676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62925976399998 meters Centerline goodness [0,1] 0.5461525039260164 Centerline is valid? [False, False] Translation: X:-27.58, Y:15.02, Z:16.92 [[ 9.99836201e-01 1.78528460e-02 2.97435800e-03 -2.75834182e+01] [-1.78238683e-02 9.99796012e-01 -9.49966680e-03 1.50191277e+01] [-3.14334736e-03 9.44509620e-03 9.99950454e-01 1.69221882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65925976399998 meters Centerline goodness [0,1] 0.5429055930766307 Centerline is valid? [False, False] Translation: X:-27.58, Y:15.02, Z:16.92 [[ 9.99828442e-01 1.83575554e-02 2.46716006e-03 -2.75813576e+01] [-1.83318143e-02 9.99781147e-01 -1.00797768e-02 1.50235953e+01] [-2.65166018e-03 1.00328200e-02 9.99946154e-01 1.69224110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68925976399998 meters Centerline goodness [0,1] 0.541838737076414 Centerline is valid? [False, False] Translation: X:-27.58, Y:15.02, Z:16.92 [[ 9.99824327e-01 1.86155059e-02 2.18580106e-03 -2.75803188e+01] [-1.85922014e-02 9.99774736e-01 -1.02375480e-02 1.50248967e+01] [-2.37588581e-03 1.01951107e-02 9.99945206e-01 1.69223707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.719259764 meters Centerline goodness [0,1] 0.5431266846361186 Centerline is valid? [False, False] Translation: X:-27.58, Y:15.03, Z:16.92 [[ 9.99823149e-01 1.86800452e-02 2.17414546e-03 -2.75800452e+01] [-1.86564129e-02 9.99771604e-01 -1.04248944e-02 1.50258558e+01] [-2.36838639e-03 1.03824890e-02 9.99943296e-01 1.69222660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.749259764 meters Centerline goodness [0,1] 0.5405333959936556 Centerline is valid? [False, False] Translation: X:-27.58, Y:15.03, Z:16.92 [[ 9.99821679e-01 1.87686155e-02 2.08529788e-03 -2.75797210e+01] [-1.87456298e-02 9.99768688e-01 -1.05438393e-02 1.50265161e+01] [-2.28270879e-03 1.05028689e-02 9.99942238e-01 1.69223302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.779259764 meters Centerline goodness [0,1] 0.5412214863870493 Centerline is valid? [False, False] Translation: X:-27.58, Y:15.03, Z:16.92 [[ 9.99816931e-01 1.90682422e-02 1.58349671e-03 -2.75780705e+01] [-1.90499359e-02 9.99759478e-01 -1.08667190e-02 1.50290504e+01] [-1.79032508e-03 1.08345641e-02 9.99939702e-01 1.69225037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.809259764 meters Centerline goodness [0,1] 0.5420260841404894 Centerline is valid? [False, False] Translation: X:-27.58, Y:15.03, Z:16.92 [[ 9.99818088e-01 1.90141708e-02 1.50044625e-03 -2.75778750e+01] [-1.89963256e-02 9.99757655e-01 -1.11252218e-02 1.50304776e+01] [-1.71161950e-03 1.10946950e-02 9.99936987e-01 1.69226603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.839259764 meters Centerline goodness [0,1] 0.5439849513564354 Centerline is valid? [False, False] Translation: X:-27.58, Y:15.03, Z:16.92 [[ 9.99815540e-01 1.91637857e-02 1.27860150e-03 -2.75770452e+01] [-1.91483804e-02 9.99754658e-01 -1.11338408e-02 1.50312868e+01] [-1.49165435e-03 1.11073039e-02 9.99937199e-01 1.69224345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.869259764 meters Centerline goodness [0,1] 0.544467014042215 Centerline is valid? [False, False] Translation: X:-27.58, Y:15.03, Z:16.92 [[ 9.99813223e-01 1.92959548e-02 1.08889207e-03 -2.75762968e+01] [-1.92827112e-02 9.99752608e-01 -1.10860065e-02 1.50318694e+01] [-1.30253777e-03 1.10629391e-02 9.99937955e-01 1.69221543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.899259764 meters Centerline goodness [0,1] 0.5466654852619766 Centerline is valid? [False, False] Translation: X:-27.57, Y:15.03, Z:16.92 [[ 9.99807915e-01 1.95836209e-02 7.84327370e-04 -2.75748598e+01] [-1.95737060e-02 9.99746686e-01 -1.11100373e-02 1.50334471e+01] [-1.00170345e-03 1.10925510e-02 9.99937974e-01 1.69215914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.929259764 meters Centerline goodness [0,1] 0.5499157477754457 Centerline is valid? [False, False] Translation: X:-27.57, Y:15.03, Z:16.92 [[ 9.99809174e-01 1.95210726e-02 7.36435876e-04 -2.75747200e+01] [-1.95114690e-02 9.99745272e-01 -1.13443052e-02 1.50346476e+01] [-9.57701291e-04 1.13277715e-02 9.99935380e-01 1.69216869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.959259764 meters Centerline goodness [0,1] 0.5467653589933383 Centerline is valid? [False, False] Translation: X:-27.57, Y:15.04, Z:16.92 [[ 9.99806357e-01 1.96685422e-02 6.30499557e-04 -2.75740664e+01] [-1.96601489e-02 9.99742621e-01 -1.13212189e-02 1.50352579e+01] [-8.53009151e-04 1.13066309e-02 9.99935714e-01 1.69212749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.989259764 meters Centerline goodness [0,1] 0.5496472819965618 Centerline is valid? [False, False] Translation: X:-27.57, Y:15.04, Z:16.92 [[ 9.99805722e-01 1.97034954e-02 5.38210915e-04 -2.75736074e+01] [-1.96960840e-02 9.99741027e-01 -1.13992345e-02 1.50361144e+01] [-7.62676297e-04 1.13864192e-02 9.99934882e-01 1.69210443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01925976399997 meters Centerline goodness [0,1] 0.5528539967859056 Centerline is valid? [False, False] Translation: X:-27.57, Y:15.04, Z:16.92 [[ 9.99796366e-01 2.01794159e-02 -1.30138186e-04 -2.75712044e+01] [-2.01795473e-02 9.99726824e-01 -1.17924978e-02 1.50407483e+01] [-1.07863084e-04 1.17927226e-02 9.99930458e-01 1.69210543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04925976399997 meters Centerline goodness [0,1] 0.5582930179776623 Centerline is valid? [False, False] Translation: X:-27.57, Y:15.04, Z:16.92 [[ 9.99793923e-01 2.02896934e-02 -6.63543325e-04 -2.75698658e+01] [-2.02963571e-02 9.99717319e-01 -1.23830522e-02 1.50441859e+01] [ 4.12107422e-04 1.23939679e-02 9.99923107e-01 1.69217744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07925976399997 meters Centerline goodness [0,1] 0.5586178035511449 Centerline is valid? [False, False] Translation: X:-27.57, Y:15.05, Z:16.92 [[ 9.99790601e-01 2.04338117e-02 -1.10194787e-03 -2.75684294e+01] [-2.04463800e-02 9.99707046e-01 -1.29525180e-02 1.50477692e+01] [ 8.36955739e-04 1.29723366e-02 9.99915505e-01 1.69220945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10925976399997 meters Centerline goodness [0,1] 0.5618392599711677 Centerline is valid? [False, False] Translation: X:-27.57, Y:15.05, Z:16.92 [[ 9.99773630e-01 2.12233789e-02 -1.50207786e-03 -2.75656568e+01] [-2.12417219e-02 9.99683446e-01 -1.34832476e-02 1.50532646e+01] [ 1.21544230e-03 1.35121021e-02 9.99907969e-01 1.69214471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13925976399997 meters Centerline goodness [0,1] 0.5602571454441192 Centerline is valid? [False, False] Translation: X:-27.56, Y:15.06, Z:16.92 [[ 9.99759884e-01 2.18201985e-02 -2.01344326e-03 -2.75631074e+01] [-2.18454930e-02 9.99669707e-01 -1.35370640e-02 1.50556919e+01] [ 1.71739681e-03 1.35777982e-02 9.99906343e-01 1.69205289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16925976399997 meters Centerline goodness [0,1] 0.5654830318794991 Centerline is valid? [False, False] Translation: X:-27.56, Y:15.06, Z:16.92 [[ 9.99747724e-01 2.23234292e-02 -2.48056257e-03 -2.75606783e+01] [-2.23555293e-02 9.99655256e-01 -1.37695306e-02 1.50587085e+01] [ 2.17232427e-03 1.38215111e-02 9.99902119e-01 1.69197357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19925976399998 meters Centerline goodness [0,1] 0.569115287992978 Centerline is valid? [False, False] Translation: X:-27.56, Y:15.06, Z:16.92 [[ 9.99731599e-01 2.29637067e-02 -3.06576810e-03 -2.75578551e+01] [-2.30042622e-02 9.99638412e-01 -1.39229445e-02 1.50621099e+01] [ 2.74493714e-03 1.39897333e-02 9.99898371e-01 1.69189442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22925976399998 meters Centerline goodness [0,1] 0.569115287992978 Centerline is valid? [False, False] Translation: X:-27.56, Y:15.06, Z:16.92 [[ 9.99731599e-01 2.29637067e-02 -3.06576810e-03 -2.75578551e+01] [-2.30042622e-02 9.99638412e-01 -1.39229445e-02 1.50621099e+01] [ 2.74493714e-03 1.39897333e-02 9.99898371e-01 1.69189442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25925976399998 meters Centerline goodness [0,1] 0.5852128408360621 Centerline is valid? [False, False] Translation: X:-27.55, Y:15.07, Z:16.92 [[ 9.99614603e-01 2.75378596e-02 -3.50884436e-03 -2.75548579e+01] [-2.75726170e-02 9.99566988e-01 -1.02755375e-02 1.50678360e+01] [ 3.22435868e-03 1.03683253e-02 9.99941049e-01 1.69178400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28925976399998 meters Centerline goodness [0,1] 0.5907510538137288 Centerline is valid? [False, False] Translation: X:-27.55, Y:15.07, Z:16.92 [[ 9.99596061e-01 2.81057942e-02 -4.21658131e-03 -2.75519764e+01] [-2.81493664e-02 9.99546919e-01 -1.06568978e-02 1.50723336e+01] [ 3.91515029e-03 1.07712871e-02 9.99934323e-01 1.69176367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31925976399998 meters Centerline goodness [0,1] 0.6019240849804199 Centerline is valid? [False, False] Translation: X:-27.55, Y:15.08, Z:16.92 [[ 9.99580922e-01 2.85550840e-02 -4.75271562e-03 -2.75495469e+01] [-2.86068023e-02 9.99528051e-01 -1.11949230e-02 1.50762989e+01] [ 4.43080062e-03 1.13261914e-02 9.99926040e-01 1.69174802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34925976399998 meters Centerline goodness [0,1] 0.6320971549260778 Centerline is valid? [False, False] Translation: X:-27.55, Y:15.08, Z:16.91 [[ 9.99412055e-01 3.39613479e-02 -4.70854591e-03 -2.75457805e+01] [-3.39936770e-02 9.99397778e-01 -6.96498552e-03 1.50797546e+01] [ 4.46917003e-03 7.12095128e-03 9.99964659e-01 1.69143808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37925976399998 meters Centerline goodness [0,1] 0.6541264033524096 Centerline is valid? [False, False] Translation: X:-27.54, Y:15.09, Z:16.91 [[ 9.99378648e-01 3.48431312e-02 -5.31734959e-03 -2.75425357e+01] [-3.48832793e-02 9.99362081e-01 -7.65427646e-03 1.50854621e+01] [ 5.04725859e-03 7.83500705e-03 9.99956568e-01 1.69143722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40925976399998 meters Centerline goodness [0,1] 0.6842931115644124 Centerline is valid? [False, False] Translation: X:-27.51, Y:15.09, Z:16.92 [[ 9.99358715e-01 3.46883525e-02 -8.88124592e-03 -2.75073657e+01] [-3.47570528e-02 9.99366116e-01 -7.70158038e-03 1.50912378e+01] [ 8.60846110e-03 8.00532741e-03 9.99930902e-01 1.69179829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43925976399998 meters Centerline goodness [0,1] 0.7301065410515002 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.10, Z:16.92 [[ 9.99326067e-01 3.54918964e-02 -9.36684387e-03 -2.75044150e+01] [-3.55701826e-02 9.99332482e-01 -8.32786702e-03 1.50967083e+01] [ 9.06501954e-03 8.65543494e-03 9.99921451e-01 1.69178162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.469259764 meters Centerline goodness [0,1] 0.7559120277539069 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.10, Z:16.92 [[ 9.99173682e-01 3.81068850e-02 -1.41357520e-02 -2.74676343e+01] [-3.81891106e-02 9.99254877e-01 -5.59315838e-03 1.51020169e+01] [ 1.39120813e-02 6.12836845e-03 9.99884442e-01 1.69193380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.499259764 meters Centerline goodness [0,1] 0.7547241718804586 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.10, Z:16.91 [[ 9.99292456e-01 3.65393738e-02 -8.91410075e-03 -2.74460457e+01] [-3.65311291e-02 9.99331925e-01 1.08603616e-03 1.50976628e+01] [ 8.94782854e-03 -7.59625580e-04 9.99959679e-01 1.69132855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.529259764 meters Centerline goodness [0,1] 0.7496978948037907 Centerline is valid? [False, False] Translation: X:-27.44, Y:15.10, Z:16.91 [[ 9.99416945e-01 3.26273883e-02 -1.00610396e-02 -2.74436303e+01] [-3.26643473e-02 9.99460140e-01 -3.53125655e-03 1.51009548e+01] [ 9.94039236e-03 3.85783492e-03 9.99943151e-01 1.69144931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.559259764 meters Centerline goodness [0,1] 0.7472018770411237 Centerline is valid? [False, False] Translation: X:-27.41, Y:15.10, Z:16.92 [[ 9.99513241e-01 2.82498416e-02 -1.32373251e-02 -2.74129599e+01] [-2.82989718e-02 9.99593239e-01 -3.53896333e-03 1.51028469e+01] [ 1.31319655e-02 3.91184340e-03 9.99906120e-01 1.69162896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.589259764 meters Centerline goodness [0,1] 0.7424641034581128 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.10, Z:16.91 [[ 9.99641407e-01 2.42243920e-02 -1.14121066e-02 -2.73864973e+01] [-2.42402147e-02 9.99705381e-01 -1.25018395e-03 1.51026733e+01] [ 1.13784594e-02 1.52636756e-03 9.99934098e-01 1.69132952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.619259764 meters Centerline goodness [0,1] 0.7309257214950323 Centerline is valid? [False, False] Translation: X:-27.36, Y:15.10, Z:16.91 [[ 9.99784544e-01 1.95485566e-02 -6.97993100e-03 -2.73617410e+01] [-1.95438005e-02 9.99808721e-01 7.48974222e-04 1.50994193e+01] [ 6.99323725e-03 -6.12398472e-04 9.99975359e-01 1.69076878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.649259764 meters Centerline goodness [0,1] 0.7185444014228601 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.10, Z:16.90 [[ 9.99864379e-01 1.60385220e-02 -3.74035710e-03 -2.73345597e+01] [-1.60273441e-02 9.99867055e-01 2.99952027e-03 1.50983723e+01] [ 3.78796771e-03 -2.93916548e-03 9.99988506e-01 1.69034650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.679259764 meters Centerline goodness [0,1] 0.7130692569698499 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.10, Z:16.91 [[ 9.99918164e-01 1.19521913e-02 -4.56186412e-03 -2.73328713e+01] [-1.19617899e-02 9.99926286e-01 -2.08263385e-03 1.51020945e+01] [ 4.53663581e-03 2.13703147e-03 9.99987426e-01 1.69050846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.709259764 meters Centerline goodness [0,1] 0.7016032694121346 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.10, Z:16.90 [[ 9.99959693e-01 8.95318392e-03 6.73357251e-04 -2.73139642e+01] [-8.95642744e-03 9.99947495e-01 4.97893313e-03 1.50995664e+01] [-6.28744593e-04 -4.98476332e-03 9.99987378e-01 1.68976197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.739259764 meters Centerline goodness [0,1] 0.692527741976046 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.10, Z:16.90 [[ 9.99989278e-01 4.62893976e-03 -1.28327954e-04 -2.73129802e+01] [-4.62898396e-03 9.99989226e-01 -3.46305927e-04 1.51035622e+01] [ 1.26723542e-04 3.46896242e-04 9.99999932e-01 1.69001810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76925976399997 meters Centerline goodness [0,1] 0.6691141861997553 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.11, Z:16.90 [[ 9.99999898e-01 -2.30142286e-04 -3.89317284e-04 -2.73138576e+01] [ 2.28167291e-04 9.99987145e-01 -5.06543077e-03 1.51055961e+01] [ 3.90478049e-04 5.06534142e-03 9.99987095e-01 1.69019137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79925976399997 meters Centerline goodness [0,1] 0.6546947473987714 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99999798e-01 -6.31421798e-04 6.79940757e-05 -2.73153126e+01] [ 6.31717559e-04 9.99989938e-01 -4.44136328e-03 1.51033403e+01] [-6.51890180e-05 4.44140534e-03 9.99990135e-01 1.69009104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82925976399997 meters Centerline goodness [0,1] 0.6463025525525525 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99999670e-01 -7.02167546e-04 4.08862542e-04 -2.73156759e+01] [ 7.03517760e-04 9.99994269e-01 -3.31164095e-03 1.51001584e+01] [-4.06534872e-04 3.31192750e-03 9.99994433e-01 1.68985889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85925976399997 meters Centerline goodness [0,1] 0.6461163684062587 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99999833e-01 -4.85130987e-04 3.15548884e-04 -2.73152053e+01] [ 4.86104585e-04 9.99995099e-01 -3.09268715e-03 1.50998315e+01] [-3.14046980e-04 3.09284002e-03 9.99995168e-01 1.68982697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88925976399997 meters Centerline goodness [0,1] 0.6432395418326693 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.10, Z:16.90 [[ 9.99990990e-01 -4.22711357e-03 -3.89037267e-04 -2.73131914e+01] [ 4.22403301e-03 9.99962159e-01 -7.60507415e-03 1.51030649e+01] [ 4.21170058e-04 7.60336232e-03 9.99971005e-01 1.68990142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91925976399997 meters Centerline goodness [0,1] 0.6452224744255465 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.10, Z:16.90 [[ 9.99992457e-01 -3.85916598e-03 -4.39992863e-04 -2.73124158e+01] [ 3.85607498e-03 9.99969296e-01 -6.82190322e-03 1.51012956e+01] [ 4.66306210e-04 6.82015511e-03 9.99976634e-01 1.68976488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94925976399998 meters Centerline goodness [0,1] 0.6440741201343116 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.10, Z:16.90 [[ 9.99993749e-01 -3.52369806e-03 -2.93905359e-04 -2.73120112e+01] [ 3.52184983e-03 9.99975386e-01 -6.06832692e-03 1.50993565e+01] [ 3.15281076e-04 6.06725390e-03 9.99981544e-01 1.68961114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97925976399998 meters Centerline goodness [0,1] 0.6361864092090606 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.09, Z:16.89 [[ 9.99995302e-01 -3.06300160e-03 1.18406987e-04 -2.73119906e+01] [ 3.06350617e-03 9.99985065e-01 -4.52605730e-03 1.50943078e+01] [-1.04541898e-04 4.52639878e-03 9.99989750e-01 1.68933530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00925976399998 meters Centerline goodness [0,1] 0.6375845142169121 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.09, Z:16.89 [[ 9.99996212e-01 -2.74481668e-03 2.05795048e-04 -2.73117021e+01] [ 2.74558212e-03 9.99988949e-01 -3.81629389e-03 1.50921402e+01] [-1.95317746e-04 3.81684446e-03 9.99992697e-01 1.68922371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03925976399998 meters Centerline goodness [0,1] 0.6319735867686991 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.09, Z:16.89 [[ 9.99996701e-01 -2.54844752e-03 3.20800035e-04 -2.73117148e+01] [ 2.54947851e-03 9.99991451e-01 -3.25551516e-03 1.50903985e+01] [-3.12500783e-04 3.25632229e-03 9.99994649e-01 1.68914304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06925976399998 meters Centerline goodness [0,1] 0.6300286250731016 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.09, Z:16.89 [[ 9.99997066e-01 -2.38677732e-03 4.14237442e-04 -2.73118169e+01] [ 2.38790655e-03 9.99993375e-01 -2.74732431e-03 1.50887649e+01] [-4.07677447e-04 2.74830541e-03 9.99996140e-01 1.68908468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09925976399998 meters Centerline goodness [0,1] 0.6277277770928369 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.08, Z:16.89 [[ 9.99995697e-01 -2.75730859e-03 1.00208351e-03 -2.73140416e+01] [ 2.75955409e-03 9.99993669e-01 -2.24639945e-03 1.50847026e+01] [-9.95883153e-04 2.24915508e-03 9.99996975e-01 1.68908376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12925976399998 meters Centerline goodness [0,1] 0.6253682789098944 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.09, Z:16.89 [[ 9.99978730e-01 -6.51832179e-03 2.27104923e-04 -2.73121309e+01] [ 6.51969734e-03 9.99956297e-01 -6.70059944e-03 1.50870117e+01] [-1.83418334e-04 6.70193757e-03 9.99977525e-01 1.68918673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15925976399998 meters Centerline goodness [0,1] 0.6165415846456692 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.08, Z:16.89 [[ 9.99978618e-01 -6.52090957e-03 4.91823122e-04 -2.73129879e+01] [ 6.52378519e-03 9.99960167e-01 -6.09138403e-03 1.50848823e+01] [-4.52082167e-04 6.09446233e-03 9.99981326e-01 1.68913858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18925976399998 meters Centerline goodness [0,1] 0.6144471323146645 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.08, Z:16.89 [[ 9.99978145e-01 -6.56537108e-03 7.78371422e-04 -2.73140368e+01] [ 6.56950595e-03 9.99963654e-01 -5.43431150e-03 1.50821361e+01] [-7.42664860e-04 5.43930625e-03 9.99984931e-01 1.68909786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.219259764 meters Centerline goodness [0,1] 0.609222782104138 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.08, Z:16.89 [[ 9.99976017e-01 -6.78125162e-03 1.40740425e-03 -2.73160131e+01] [ 6.78768080e-03 9.99966315e-01 -4.61474330e-03 1.50781780e+01] [-1.37606311e-03 4.62418563e-03 9.99988362e-01 1.68903381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.249259764 meters Centerline goodness [0,1] 0.6030281882452893 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.07, Z:16.89 [[ 9.99973375e-01 -7.10840421e-03 1.64906004e-03 -2.73174670e+01] [ 7.11344919e-03 9.99969975e-01 -3.07388803e-03 1.50701304e+01] [-1.62716009e-03 3.08553669e-03 9.99993916e-01 1.68890644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.279259764 meters Centerline goodness [0,1] 0.6001091438273103 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.07, Z:16.89 [[ 9.99971765e-01 -7.19788013e-03 2.15848939e-03 -2.73190172e+01] [ 7.20306229e-03 9.99971171e-01 -2.40274013e-03 1.50667128e+01] [-2.14113253e-03 2.41822002e-03 9.99994784e-01 1.68886457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.309259764 meters Centerline goodness [0,1] 0.5910373394164965 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.89 [[ 9.99967962e-01 -7.57876144e-03 2.57631028e-03 -2.73211962e+01] [ 7.58236663e-03 9.99970284e-01 -1.39248738e-03 1.50596748e+01] [-2.56568039e-03 1.41197730e-03 9.99995712e-01 1.68885780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.339259764 meters Centerline goodness [0,1] 0.5875929925605952 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.89 [[ 9.99966734e-01 -7.54812963e-03 3.09138799e-03 -2.73227214e+01] [ 7.55021425e-03 9.99971277e-01 -6.63218940e-04 1.50554010e+01] [-3.08629313e-03 6.86537519e-04 9.99995002e-01 1.68882984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.369259764 meters Centerline goodness [0,1] 0.5872576177285318 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.05, Z:16.89 [[ 9.99963473e-01 -7.68715736e-03 3.73643739e-03 -2.73247784e+01] [ 7.68697932e-03 9.99970453e-01 6.20087895e-05 1.50512819e+01] [-3.73680366e-03 -3.32846075e-05 9.99993018e-01 1.68880296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.399259764 meters Centerline goodness [0,1] 0.58465883752044 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.05, Z:16.89 [[ 9.99961810e-01 -7.67096972e-03 4.18746401e-03 -2.73261986e+01] [ 7.66713717e-03 9.99970174e-01 9.30532144e-04 1.50471171e+01] [-4.19447720e-03 -8.98390746e-04 9.99990800e-01 1.68875824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.429259764 meters Centerline goodness [0,1] 0.5795266761095372 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.04, Z:16.89 [[ 9.99954405e-01 -8.41186093e-03 4.51980058e-03 -2.73291827e+01] [ 8.40460528e-03 9.99963365e-01 1.62190667e-03 1.50408734e+01] [-4.53327825e-03 -1.58384558e-03 9.99988470e-01 1.68889045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.459259764 meters Centerline goodness [0,1] 0.5773214075556079 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.04, Z:16.89 [[ 9.99949788e-01 -8.64831675e-03 5.06234048e-03 -2.73314784e+01] [ 8.63787866e-03 9.99960529e-01 2.08015667e-03 1.50373304e+01] [-5.08013052e-03 -2.03632434e-03 9.99985023e-01 1.68895758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.489259764 meters Centerline goodness [0,1] 0.581740479466089 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.03, Z:16.89 [[ 9.99943871e-01 -8.94378253e-03 5.68010391e-03 -2.73340071e+01] [ 8.92886941e-03 9.99956637e-01 2.64545450e-03 1.50331555e+01] [-5.70351797e-03 -2.59458911e-03 9.99980369e-01 1.68901233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51925976399997 meters Centerline goodness [0,1] 0.5767839430538537 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.03, Z:16.89 [[ 9.99936284e-01 -9.35444630e-03 6.31839473e-03 -2.73367942e+01] [ 9.33578857e-03 9.99951992e-01 2.97599136e-03 1.50289532e+01] [-6.34593015e-03 -2.91681454e-03 9.99975610e-01 1.68911240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54925976399997 meters Centerline goodness [0,1] 0.5765269322870085 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.02, Z:16.89 [[ 9.99884059e-01 -1.36612441e-02 6.72605245e-03 -2.73391746e+01] [ 1.36649220e-02 9.99906505e-01 -5.01167479e-04 1.50232758e+01] [-6.71857703e-03 5.93020355e-04 9.99977254e-01 1.68925184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57925976399997 meters Centerline goodness [0,1] 0.5688442211055276 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.02, Z:16.89 [[ 9.99876337e-01 -1.38996414e-02 7.35597001e-03 -2.73414105e+01] [ 1.38972410e-02 9.99903357e-01 3.77342104e-04 1.50181509e+01] [-7.36050403e-03 -2.75067753e-04 9.99972873e-01 1.68923814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60925976399997 meters Centerline goodness [0,1] 0.568470426724631 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.01, Z:16.89 [[ 9.99866669e-01 -1.42553100e-02 7.96433643e-03 -2.73437122e+01] [ 1.42468272e-02 9.99897881e-01 1.12082592e-03 1.50133645e+01] [-7.97950084e-03 -1.00720995e-03 9.99967656e-01 1.68923497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63925976399997 meters Centerline goodness [0,1] 0.5668370244179444 Centerline is valid? [False, False] Translation: X:-27.35, Y:15.01, Z:16.89 [[ 9.99857295e-01 -1.46638208e-02 8.38823316e-03 -2.73458472e+01] [ 1.46479267e-02 9.99890806e-01 1.95312511e-03 1.50082470e+01] [-8.41595749e-03 -1.82997616e-03 9.99962911e-01 1.68925125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66925976399997 meters Centerline goodness [0,1] 0.5621774879500993 Centerline is valid? [False, False] Translation: X:-27.35, Y:15.00, Z:16.89 [[ 9.99841615e-01 -1.52757115e-02 9.13221199e-03 -2.73489053e+01] [ 1.52534885e-02 9.99880538e-01 2.49819618e-03 1.50033930e+01] [-9.16928276e-03 -2.35850241e-03 9.99955180e-01 1.68930478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69925976399998 meters Centerline goodness [0,1] 0.5414649251210449 Centerline is valid? [False, False] Translation: X:-27.35, Y:15.00, Z:16.89 [[ 9.99820116e-01 -1.65791980e-02 9.21226372e-03 -2.73517926e+01] [ 1.65523635e-02 9.99858555e-01 2.98156673e-03 1.49963518e+01] [-9.26039267e-03 -2.82854566e-03 9.99953121e-01 1.68945949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72925976399998 meters Centerline goodness [0,1] 0.5554746161604842 Centerline is valid? [False, False] Translation: X:-27.35, Y:14.99, Z:16.90 [[ 9.99810898e-01 -1.68669568e-02 9.67857949e-03 -2.73539441e+01] [ 1.68336391e-02 9.99852131e-01 3.51362219e-03 1.49927579e+01] [-9.73641244e-03 -3.35003204e-03 9.99946988e-01 1.68951798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75925976399998 meters Centerline goodness [0,1] 0.5497335453809882 Centerline is valid? [False, False] Translation: X:-27.36, Y:14.99, Z:16.90 [[ 9.99806079e-01 -1.69441456e-02 1.00349956e-02 -2.73555628e+01] [ 1.69039132e-02 9.99848792e-01 4.08056101e-03 1.49890923e+01] [-1.01026199e-02 -3.91013901e-03 9.99941322e-01 1.68956430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78925976399998 meters Centerline goodness [0,1] 0.5467655885295098 Centerline is valid? [False, False] Translation: X:-27.36, Y:14.99, Z:16.90 [[ 9.99790949e-01 -1.74534956e-02 1.06505157e-02 -2.73581731e+01] [ 1.74096727e-02 9.99839646e-01 4.19357003e-03 1.49862916e+01] [-1.07220003e-02 -4.00727137e-03 9.99934488e-01 1.68965480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81925976399998 meters Centerline goodness [0,1] 0.5319337016574586 Centerline is valid? [False, False] Translation: X:-27.36, Y:14.98, Z:16.90 [[ 9.99775102e-01 -1.79518510e-02 1.12905075e-02 -2.73610955e+01] [ 1.78996836e-02 9.99828719e-01 4.70467348e-03 1.49804018e+01] [-1.13730313e-02 -4.50151890e-03 9.99925192e-01 1.68974350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84925976399998 meters Centerline goodness [0,1] 0.519228650137741 Centerline is valid? [False, False] Translation: X:-27.36, Y:14.98, Z:16.90 [[ 9.99767097e-01 -1.81271905e-02 1.17113604e-02 -2.73628485e+01] [ 1.80703102e-02 9.99824492e-01 4.94455485e-03 1.49777293e+01] [-1.17989359e-02 -4.73177533e-03 9.99919194e-01 1.68980544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87925976399998 meters Centerline goodness [0,1] 0.5317235499573719 Centerline is valid? [False, False] Translation: X:-27.36, Y:14.98, Z:16.90 [[ 9.99757175e-01 -1.83376161e-02 1.22197468e-02 -2.73648909e+01] [ 1.82771566e-02 9.99820250e-01 5.04113735e-03 1.49752027e+01] [-1.23099928e-02 -4.81657101e-03 9.99912629e-01 1.68988847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90925976399998 meters Centerline goodness [0,1] 0.5419505494505494 Centerline is valid? [False, False] Translation: X:-27.37, Y:14.97, Z:16.90 [[ 9.99748358e-01 -1.84811844e-02 1.27148356e-02 -2.73667325e+01] [ 1.84158460e-02 9.99816700e-01 5.23679061e-03 1.49726112e+01] [-1.28092871e-02 -5.00131836e-03 9.99905450e-01 1.68994819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93925976399998 meters Centerline goodness [0,1] 0.5348341037774555 Centerline is valid? [False, False] Translation: X:-27.37, Y:14.97, Z:16.90 [[ 9.99729413e-01 -1.89966236e-02 1.34249625e-02 -2.73701131e+01] [ 1.89227556e-02 9.99805220e-01 5.60807219e-03 1.49675142e+01] [-1.35288820e-02 -5.35251744e-03 9.99894154e-01 1.69009413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.969259764 meters Centerline goodness [0,1] 0.4969533021832391 Centerline is valid? [False, False] Translation: X:-27.37, Y:14.96, Z:16.90 [[ 9.99713861e-01 -1.94033267e-02 1.39895617e-02 -2.73726239e+01] [ 1.93250630e-02 9.99796959e-01 5.70809120e-03 1.49649954e+01] [-1.40974772e-02 -5.43610874e-03 9.99885848e-01 1.69020709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.999259764 meters Centerline goodness [0,1] 0.5081682024518198 Centerline is valid? [False, False] Translation: X:-27.38, Y:14.96, Z:16.90 [[ 9.99696834e-01 -1.98341850e-02 1.45892464e-02 -2.73751744e+01] [ 1.97509792e-02 9.99787959e-01 5.82538456e-03 1.49621625e+01] [-1.47016946e-02 -5.53546660e-03 9.99876602e-01 1.69030943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.029259764 meters Centerline goodness [0,1] 0.5124318754914454 Centerline is valid? [False, False] Translation: X:-27.38, Y:14.96, Z:16.90 [[ 9.99676914e-01 -2.03499963e-02 1.52297262e-02 -2.73780076e+01] [ 2.02623360e-02 9.99777358e-01 5.88822325e-03 1.49592613e+01] [-1.53461608e-02 -5.57773102e-03 9.99866683e-01 1.69043288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.059259764 meters Centerline goodness [0,1] 0.5094771417801949 Centerline is valid? [False, False] Translation: X:-27.38, Y:14.95, Z:16.91 [[ 9.99641697e-01 -2.15637762e-02 1.58581540e-02 -2.73822223e+01] [ 2.14763857e-02 9.99753331e-01 5.66058251e-03 1.49542019e+01] [-1.59763059e-02 -5.31797847e-03 9.99858228e-01 1.69070016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.089259764 meters Centerline goodness [0,1] 0.5057863222619016 Centerline is valid? [False, False] Translation: X:-27.38, Y:14.95, Z:16.91 [[ 9.99624059e-01 -2.19405557e-02 1.64423821e-02 -2.73845307e+01] [ 2.18504412e-02 9.99745340e-01 5.64039833e-03 1.49523692e+01] [-1.65619483e-02 -5.27900457e-03 9.99848906e-01 1.69079253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.119259764 meters Centerline goodness [0,1] 0.5057863222619016 Centerline is valid? [False, False] Translation: X:-27.38, Y:14.95, Z:16.91 [[ 9.99624059e-01 -2.19405557e-02 1.64423821e-02 -2.73845307e+01] [ 2.18504412e-02 9.99745340e-01 5.64039833e-03 1.49523692e+01] [-1.65619483e-02 -5.27900457e-03 9.99848906e-01 1.69079253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.149259764 meters Centerline goodness [0,1] 0.5012711070673552 Centerline is valid? [False, False] Translation: X:-27.39, Y:14.95, Z:16.91 [[ 9.99609128e-01 -2.22880434e-02 1.68770174e-02 -2.73865196e+01] [ 2.21962578e-02 9.99737913e-01 5.60644379e-03 1.49507244e+01] [-1.69975508e-02 -5.22964576e-03 9.99841855e-01 1.69089025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.179259764 meters Centerline goodness [0,1] 0.5064314688300597 Centerline is valid? [False, False] Translation: X:-27.40, Y:14.95, Z:16.92 [[ 9.99700887e-01 -2.17841278e-02 1.11170501e-02 -2.74041246e+01] [ 2.18337973e-02 9.99752080e-01 -4.36621589e-03 1.49543536e+01] [-1.10191798e-02 4.60763732e-03 9.99928671e-01 1.69173254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.209259764 meters Centerline goodness [0,1] 0.5044033524012239 Centerline is valid? [False, False] Translation: X:-27.41, Y:14.95, Z:16.92 [[ 9.99694787e-01 -2.17692677e-02 1.16803619e-02 -2.74056989e+01] [ 2.18084652e-02 9.99756920e-01 -3.23902750e-03 1.49491497e+01] [-1.16070113e-02 3.49276967e-03 9.99926536e-01 1.69165117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.239259764 meters Centerline goodness [0,1] 0.4933641237989064 Centerline is valid? [False, False] Translation: X:-27.41, Y:14.95, Z:16.92 [[ 9.99691511e-01 -2.17393224e-02 1.20118160e-02 -2.74066728e+01] [ 2.17738578e-02 9.99759134e-01 -2.75184652e-03 1.49468205e+01] [-1.19490995e-02 3.01254118e-03 9.99924069e-01 1.69163546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26925976399997 meters Centerline goodness [0,1] 0.4928123262647923 Centerline is valid? [False, False] Translation: X:-27.41, Y:14.94, Z:16.92 [[ 9.99684444e-01 -2.18461621e-02 1.23999313e-02 -2.74079744e+01] [ 2.18757597e-02 9.99758151e-01 -2.25630778e-03 1.49443892e+01] [-1.23476408e-02 2.52685370e-03 9.99920572e-01 1.69162715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29925976399997 meters Centerline goodness [0,1] 0.49514537421624916 Centerline is valid? [False, False] Translation: X:-27.41, Y:14.94, Z:16.92 [[ 9.99667242e-01 -2.22151226e-02 1.31107946e-02 -2.74103662e+01] [ 2.22438701e-02 9.99750471e-01 -2.05090477e-03 1.49417871e+01] [-1.30619620e-02 2.34185713e-03 9.99911947e-01 1.69166344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32925976399997 meters Centerline goodness [0,1] 0.49113456464379945 Centerline is valid? [False, False] Translation: X:-27.41, Y:14.94, Z:16.92 [[ 9.99651096e-01 -2.25729845e-02 1.37166654e-02 -2.74126814e+01] [ 2.26001650e-02 9.99742909e-01 -1.82977834e-03 1.49391908e+01] [-1.36718354e-02 2.13913882e-03 9.99904248e-01 1.69172893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35925976399997 meters Centerline goodness [0,1] 0.48119093374049016 Centerline is valid? [False, False] Translation: X:-27.42, Y:14.94, Z:16.92 [[ 9.99625268e-01 -2.32364000e-02 1.44704302e-02 -2.74156048e+01] [ 2.32670048e-02 9.99727384e-01 -1.95021903e-03 1.49374951e+01] [-1.44211693e-02 2.28617179e-03 9.99893396e-01 1.69182622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38925976399997 meters Centerline goodness [0,1] 0.48004204440940745 Centerline is valid? [False, False] Translation: X:-27.42, Y:14.94, Z:16.92 [[ 9.99591349e-01 -2.44245603e-02 1.48517960e-02 -2.74187107e+01] [ 2.44557662e-02 9.99699063e-01 -1.92314937e-03 1.49351058e+01] [-1.48003545e-02 2.28557553e-03 9.99887857e-01 1.69198880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41925976399997 meters Centerline goodness [0,1] 0.4647643979057592 Centerline is valid? [False, False] Translation: X:-27.42, Y:14.93, Z:16.92 [[ 9.99572559e-01 -2.48940041e-02 1.53293199e-02 -2.74207879e+01] [ 2.49238208e-02 9.99687809e-01 -1.75708468e-03 1.49332641e+01] [-1.52807933e-02 2.13839886e-03 9.99880955e-01 1.69205387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44925976399998 meters Centerline goodness [0,1] 0.4613861901909202 Centerline is valid? [False, False] Translation: X:-27.42, Y:14.93, Z:16.92 [[ 9.99426626e-01 -2.98454311e-02 1.59896962e-02 -2.74236155e+01] [ 2.99458377e-02 9.99533048e-01 -6.07721263e-03 1.49317444e+01] [-1.58008528e-02 6.55255295e-03 9.99853688e-01 1.69218632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47925976399998 meters Centerline goodness [0,1] 0.4554197398941854 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.94, Z:16.93 [[ 9.99472639e-01 -3.04762835e-02 1.12088959e-02 -2.74486895e+01] [ 3.06100768e-02 9.99459785e-01 -1.19650038e-02 1.49373637e+01] [-1.08381919e-02 1.23017991e-02 9.99865591e-01 1.69258179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50925976399998 meters Centerline goodness [0,1] 0.4607682077759524 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.93, Z:16.93 [[ 9.99566099e-01 -2.68835058e-02 1.20370320e-02 -2.74512292e+01] [ 2.69739053e-02 9.99608660e-01 -7.41180541e-03 1.49342144e+01] [-1.18330661e-02 7.73327519e-03 9.99900083e-01 1.69250846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53925976399998 meters Centerline goodness [0,1] 0.4304752980373783 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.93, Z:16.92 [[ 9.99647039e-01 -2.33678295e-02 1.26388749e-02 -2.74534278e+01] [ 2.34055134e-02 9.99722014e-01 -2.84192132e-03 1.49313151e+01] [-1.25689519e-02 3.13673759e-03 9.99916088e-01 1.69246001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56925976399998 meters Centerline goodness [0,1] 0.46384332542311 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.93, Z:16.93 [[ 9.99706934e-01 -2.01856333e-02 1.33636120e-02 -2.74565231e+01] [ 2.01738831e-02 9.99795973e-01 1.01349838e-03 1.49297600e+01] [-1.33813436e-02 -7.43605407e-04 9.99910189e-01 1.69252944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59925976399998 meters Centerline goodness [0,1] 0.46657475808968885 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.93, Z:16.93 [[ 9.99702554e-01 -2.03640951e-02 1.34203861e-02 -2.74570345e+01] [ 2.03571603e-02 9.99792558e-01 6.53155299e-04 1.49308507e+01] [-1.34309031e-02 -3.79760069e-04 9.99909729e-01 1.69258754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62925976399998 meters Centerline goodness [0,1] 0.46903321301513934 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.93, Z:16.93 [[ 9.99700055e-01 -2.04626806e-02 1.34565294e-02 -2.74574118e+01] [ 2.04589849e-02 9.99790608e-01 4.12257566e-04 1.49315568e+01] [-1.34621476e-02 -1.36826980e-04 9.99909372e-01 1.69262598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65925976399998 meters Centerline goodness [0,1] 0.4709736123748862 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.93, Z:16.93 [[ 9.99695887e-01 -2.05900281e-02 1.35714275e-02 -2.74578422e+01] [ 2.05904431e-02 9.99787988e-01 1.09157404e-04 1.49323723e+01] [-1.35707978e-02 1.70317500e-04 9.99907898e-01 1.69264866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68925976399998 meters Centerline goodness [0,1] 0.4564895028486693 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99853119e-01 -1.55032516e-02 7.30675172e-03 -2.74717765e+01] [ 1.55562315e-02 9.99852705e-01 -7.25062833e-03 1.49394591e+01] [-7.19326716e-03 7.36322888e-03 9.99947018e-01 1.69340798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.719259764 meters Centerline goodness [0,1] 0.46317324721325137 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99905827e-01 -1.13318084e-02 7.74124456e-03 -2.74725223e+01] [ 1.13530031e-02 9.99931909e-01 -2.69945605e-03 1.49384799e+01] [-7.71012773e-03 2.78708821e-03 9.99966392e-01 1.69330511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.749259764 meters Centerline goodness [0,1] 0.4770977423985384 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99939078e-01 -7.25479505e-03 8.31911825e-03 -2.74737449e+01] [ 7.23950628e-03 9.99972053e-01 1.86643086e-03 1.49369151e+01] [-8.33242633e-03 -1.80609084e-03 9.99963654e-01 1.69321539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.779259764 meters Centerline goodness [0,1] 0.48761217068257334 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99941520e-01 -7.09331024e-03 8.16338537e-03 -2.74732142e+01] [ 7.07939917e-03 9.99973441e-01 1.73171755e-03 1.49380410e+01] [-8.17545217e-03 -1.67382442e-03 9.99965180e-01 1.69321583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.809259764 meters Centerline goodness [0,1] 0.4683040506925715 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99943180e-01 -6.87754270e-03 8.14470044e-03 -2.74727370e+01] [ 6.86336771e-03 9.99974886e-01 1.76706746e-03 1.49382110e+01] [-8.15664897e-03 -1.71106698e-03 9.99965270e-01 1.69316448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.839259764 meters Centerline goodness [0,1] 0.46380598965138764 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99944970e-01 -6.59090701e-03 8.16196971e-03 -2.74722894e+01] [ 6.57507897e-03 9.99976454e-01 1.96456043e-03 1.49378478e+01] [-8.17472576e-03 -1.91078672e-03 9.99964761e-01 1.69310246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.869259764 meters Centerline goodness [0,1] 0.48453310963141616 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99946601e-01 -6.34899803e-03 8.15383716e-03 -2.74716340e+01] [ 6.33282857e-03 9.99977933e-01 2.00733991e-03 1.49386089e+01] [-8.16640183e-03 -1.95559587e-03 9.99964742e-01 1.69302588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.899259764 meters Centerline goodness [0,1] 0.4936546226860349 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99947059e-01 -6.29368276e-03 8.14050528e-03 -2.74712792e+01] [ 6.27733458e-03 9.99978232e-01 2.03224500e-03 1.49394005e+01] [-8.15311838e-03 -1.98103674e-03 9.99964800e-01 1.69297760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.929259764 meters Centerline goodness [0,1] 0.46953734597903474 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99946386e-01 -6.53203151e-03 8.03479803e-03 -2.74711722e+01] [ 6.51867127e-03 9.99977329e-01 1.68786403e-03 1.49414694e+01] [-8.04564105e-03 -1.63539733e-03 9.99966296e-01 1.69299829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.959259764 meters Centerline goodness [0,1] 0.4382802028856009 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99945930e-01 -6.60438765e-03 8.03239622e-03 -2.74712986e+01] [ 6.59138597e-03 9.99976925e-01 1.64405309e-03 1.49419254e+01] [-8.04306884e-03 -1.59101957e-03 9.99966388e-01 1.69301143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.989259764 meters Centerline goodness [0,1] 0.477924334570729 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99944295e-01 -6.71263590e-03 8.14537239e-03 -2.74716621e+01] [ 6.69957103e-03 9.99976229e-01 1.63018931e-03 1.49421275e+01] [-8.15612163e-03 -1.57552800e-03 9.99965497e-01 1.69300984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01925976399997 meters Centerline goodness [0,1] 0.48058775596036063 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99945757e-01 -6.65559025e-03 8.01158172e-03 -2.74712242e+01] [ 6.64373268e-03 9.99976796e-01 1.50575892e-03 1.49430212e+01] [-8.02141753e-03 -1.45245043e-03 9.99966773e-01 1.69300706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04925976399997 meters Centerline goodness [0,1] 0.43309265310424794 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99947485e-01 -6.61082559e-03 7.83096004e-03 -2.74708215e+01] [ 6.60193784e-03 9.99977534e-01 1.16025802e-03 1.49445042e+01] [-7.83845437e-03 -1.10849758e-03 9.99968664e-01 1.69304222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07925976399997 meters Centerline goodness [0,1] 0.44043932777557226 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99947746e-01 -6.66107254e-03 7.75474842e-03 -2.74706200e+01] [ 6.65556980e-03 9.99977581e-01 7.35186343e-04 1.49467191e+01] [-7.75947169e-03 -6.83535657e-04 9.99969661e-01 1.69306655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10925976399997 meters Centerline goodness [0,1] 0.4675104591431446 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99946881e-01 -6.64201594e-03 7.88153459e-03 -2.74707575e+01] [ 6.63540937e-03 9.99977612e-01 8.64088300e-04 1.49464249e+01] [-7.88709743e-03 -8.11745192e-04 9.99968567e-01 1.69302809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13925976399997 meters Centerline goodness [0,1] 0.4540307431806757 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99946259e-01 -6.59327306e-03 8.00050118e-03 -2.74710099e+01] [ 6.58519951e-03 9.99977782e-01 1.03505459e-03 1.49458153e+01] [-8.00714782e-03 -9.82314066e-04 9.99967460e-01 1.69300905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16925976399997 meters Centerline goodness [0,1] 0.4534865251231005 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99945874e-01 -6.54505454e-03 8.08778011e-03 -2.74711609e+01] [ 6.53605926e-03 9.99977992e-01 1.13813861e-03 1.49455389e+01] [-8.09505129e-03 -1.08521480e-03 9.99966646e-01 1.69299417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19925976399998 meters Centerline goodness [0,1] 0.4644039954428636 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99947465e-01 -6.48302575e-03 7.93963589e-03 -2.74709556e+01] [ 6.47437836e-03 9.99978420e-01 1.11436145e-03 1.49459320e+01] [-7.94668899e-03 -1.06289870e-03 9.99967860e-01 1.69301995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22925976399998 meters Centerline goodness [0,1] 0.46048865804536787 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99948750e-01 -6.42656374e-03 7.82280756e-03 -2.74705878e+01] [ 6.41895996e-03 9.99978902e-01 9.96720980e-04 1.49467758e+01] [-7.82904801e-03 -9.46455609e-04 9.99968905e-01 1.69302262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25925976399998 meters Centerline goodness [0,1] 0.46460340993328386 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99951877e-01 -6.13262469e-03 7.65738084e-03 -2.74698343e+01] [ 6.12397483e-03 9.99980584e-01 1.15254760e-03 1.49469260e+01] [-7.66430031e-03 -1.10559853e-03 9.99970018e-01 1.69298857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28925976399998 meters Centerline goodness [0,1] 0.46288001272230905 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99954525e-01 -5.73745477e-03 7.61766250e-03 -2.74689036e+01] [ 5.72489697e-03 9.99982219e-01 1.66929437e-03 1.49461210e+01] [-7.62710455e-03 -1.62560813e-03 9.99969592e-01 1.69286107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31925976399998 meters Centerline goodness [0,1] 0.4608866055823314 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99954345e-01 -5.60649580e-03 7.73784384e-03 -2.74690100e+01] [ 5.59139340e-03 9.99982424e-01 1.97201343e-03 1.49448967e+01] [-7.74876392e-03 -1.92865807e-03 9.99968118e-01 1.69282028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34925976399998 meters Centerline goodness [0,1] 0.4607059695173582 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99951983e-01 -5.57530563e-03 8.05896304e-03 -2.74696854e+01] [ 5.55693241e-03 9.99981914e-01 2.30044619e-03 1.49433581e+01] [-8.07164297e-03 -2.25555261e-03 9.99964880e-01 1.69277804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37925976399998 meters Centerline goodness [0,1] 0.4606417847325016 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99949517e-01 -5.67690614e-03 8.29069695e-03 -2.74707178e+01] [ 5.65703985e-03 9.99981076e-01 2.41770313e-03 1.49420821e+01] [-8.30426513e-03 -2.37068028e-03 9.99962709e-01 1.69282153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40925976399998 meters Centerline goodness [0,1] 0.4601248082923476 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99945488e-01 -5.89241074e-03 8.61981372e-03 -2.74720908e+01] [ 5.87123337e-03 9.99979689e-01 2.48007044e-03 1.49411018e+01] [-8.63425223e-03 -2.42932631e-03 9.99959773e-01 1.69287448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43925976399998 meters Centerline goodness [0,1] 0.46223572938689217 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99941902e-01 -6.25325162e-03 8.78009866e-03 -2.74734718e+01] [ 6.23238725e-03 9.99977694e-01 2.40167842e-03 1.49404603e+01] [-8.79492111e-03 -2.34681791e-03 9.99958570e-01 1.69297908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.469259764 meters Centerline goodness [0,1] 0.46268498942917546 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99942025e-01 -6.30353228e-03 8.72990909e-03 -2.74736784e+01] [ 6.28401446e-03 9.99977698e-01 2.26137054e-03 1.49409198e+01] [-8.74396902e-03 -2.20638056e-03 9.99959337e-01 1.69302951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.499259764 meters Centerline goodness [0,1] 0.47153180338283174 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99941803e-01 -6.31115840e-03 8.74981281e-03 -2.74737811e+01] [ 6.29092159e-03 9.99977478e-01 2.33842402e-03 1.49409337e+01] [-8.76437391e-03 -2.28324354e-03 9.99958985e-01 1.69302677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.529259764 meters Centerline goodness [0,1] 0.4703238598810311 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99941681e-01 -6.21656471e-03 8.83113709e-03 -2.74737787e+01] [ 6.19377173e-03 9.99977423e-01 2.60598812e-03 1.49403044e+01] [-8.84713800e-03 -2.55113809e-03 9.99957609e-01 1.69298285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.559259764 meters Centerline goodness [0,1] 0.46851079554452835 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99937858e-01 -6.09281765e-03 9.33584566e-03 -2.74743701e+01] [ 6.06281203e-03 9.99976375e-01 3.23896013e-03 1.49370344e+01] [-9.35535949e-03 -3.18215738e-03 9.99951174e-01 1.69284652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.589259764 meters Centerline goodness [0,1] 0.4615506120837173 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99937970e-01 -5.80198805e-03 9.50748992e-03 -2.74742402e+01] [ 5.76601462e-03 9.99976131e-01 3.80674608e-03 1.49351734e+01] [-9.52934968e-03 -3.75168962e-03 9.99947557e-01 1.69274846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.619259764 meters Centerline goodness [0,1] 0.4768037156278039 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99939518e-01 -5.68716234e-03 9.41362917e-03 -2.74739525e+01] [ 5.65172236e-03 9.99976858e-01 3.78708333e-03 1.49352600e+01] [-9.43494908e-03 -3.73365106e-03 9.99948519e-01 1.69275227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.649259764 meters Centerline goodness [0,1] 0.4691844177810667 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99942343e-01 -5.59463254e-03 9.16578589e-03 -2.74734779e+01] [ 5.56340898e-03 9.99978647e-01 3.42849620e-03 1.49370769e+01] [-9.18477134e-03 -3.37730551e-03 9.99952116e-01 1.69280615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.679259764 meters Centerline goodness [0,1] 0.4881956378056841 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99945451e-01 -5.52643944e-03 8.86302969e-03 -2.74730472e+01] [ 5.49936227e-03 9.99980146e-01 3.07653660e-03 1.49388527e+01] [-8.87985602e-03 -3.02762776e-03 9.99955990e-01 1.69288216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.709259764 meters Centerline goodness [0,1] 0.4910794642384456 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99946473e-01 -5.56202706e-03 8.72433944e-03 -2.74730740e+01] [ 5.53849921e-03 9.99980967e-01 2.71865174e-03 1.49402092e+01] [-8.73929460e-03 -2.67018647e-03 9.99958247e-01 1.69295623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.739259764 meters Centerline goodness [0,1] 0.4836351158739376 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99950803e-01 -5.16041864e-03 8.47128286e-03 -2.74723061e+01] [ 5.13902076e-03 9.99983555e-01 2.54575866e-03 1.49411757e+01] [-8.48428072e-03 -2.50209931e-03 9.99960877e-01 1.69299498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76925976399997 meters Centerline goodness [0,1] 0.49052214144084605 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99950752e-01 -5.23767676e-03 8.42974199e-03 -2.74724396e+01] [ 5.21909900e-03 9.99983907e-01 2.22432643e-03 1.49422231e+01] [-8.44125662e-03 -2.18022123e-03 9.99961995e-01 1.69303939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79925976399997 meters Centerline goodness [0,1] 0.494711233340385 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99951964e-01 -5.20034472e-03 8.30819278e-03 -2.74722236e+01] [ 5.18419636e-03 9.99984633e-01 1.96402295e-03 1.49432573e+01] [-8.31827870e-03 -1.92085730e-03 9.99963558e-01 1.69307168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82925976399997 meters Centerline goodness [0,1] 0.4950350853965312 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99953843e-01 -5.01433696e-03 8.19566105e-03 -2.74715554e+01] [ 4.99882119e-03 9.99985677e-01 1.91255835e-03 1.49441637e+01] [-8.20513387e-03 -1.87150143e-03 9.99964586e-01 1.69303446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85925976399997 meters Centerline goodness [0,1] 0.48603603603603607 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99955045e-01 -4.82361382e-03 8.16334408e-03 -2.74710411e+01] [ 4.80674149e-03 9.99986273e-01 2.08519984e-03 1.49440904e+01] [-8.17329022e-03 -2.04586702e-03 9.99964505e-01 1.69297816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88925976399997 meters Centerline goodness [0,1] 0.4876961057577447 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99954901e-01 -4.72732747e-03 8.23701959e-03 -2.74709201e+01] [ 4.70898485e-03 9.99986393e-01 2.24482393e-03 1.49439667e+01] [-8.24751953e-03 -2.20593469e-03 9.99963555e-01 1.69292960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91925976399997 meters Centerline goodness [0,1] 0.49469073533315633 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99954512e-01 -4.64636885e-03 8.32978938e-03 -2.74710363e+01] [ 4.62650149e-03 9.99986411e-01 2.40278194e-03 1.49433374e+01] [-8.34084040e-03 -2.36413486e-03 9.99962420e-01 1.69290664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94925976399998 meters Centerline goodness [0,1] 0.47903825717322 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99951117e-01 -4.93637692e-03 8.56712828e-03 -2.74722678e+01] [ 4.91624420e-03 9.99985108e-01 2.36946716e-03 1.49424619e+01] [-8.57869728e-03 -2.32723324e-03 9.99960494e-01 1.69296903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97925976399998 meters Centerline goodness [0,1] 0.48124552042685353 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99947245e-01 -5.35504358e-03 8.76530135e-03 -2.74735462e+01] [ 5.33755700e-03 9.99983721e-01 2.01715627e-03 1.49432366e+01] [-8.77596061e-03 -1.97026456e-03 9.99959549e-01 1.69306420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00925976399998 meters Centerline goodness [0,1] 0.4833138484429801 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99944551e-01 -5.69776969e-03 8.85607256e-03 -2.74746594e+01] [ 5.68364977e-03 9.99982538e-01 1.61872814e-03 1.49439964e+01] [-8.86514105e-03 -1.56830357e-03 9.99959474e-01 1.69318797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03925976399998 meters Centerline goodness [0,1] 0.4833138484429801 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99944551e-01 -5.69776969e-03 8.85607256e-03 -2.74746594e+01] [ 5.68364977e-03 9.99982538e-01 1.61872814e-03 1.49439964e+01] [-8.86514105e-03 -1.56830357e-03 9.99959474e-01 1.69318797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06925976399998 meters Centerline goodness [0,1] 0.4902101622772014 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.93 [[ 9.99937059e-01 -6.17661689e-03 9.36631083e-03 -2.74766978e+01] [ 6.16313144e-03 9.99979930e-01 1.46796277e-03 1.49431796e+01] [-9.37518989e-03 -1.41014457e-03 9.99955058e-01 1.69325919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09925976399998 meters Centerline goodness [0,1] 0.47553394963340767 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.93 [[ 9.99932811e-01 -6.29609560e-03 9.73311553e-03 -2.74775563e+01] [ 6.28054511e-03 9.99978953e-01 1.62742898e-03 1.49422779e+01] [-9.74315712e-03 -1.56619036e-03 9.99951308e-01 1.69322823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12925976399998 meters Centerline goodness [0,1] 0.4865828036488391 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.93 [[ 9.99930406e-01 -6.30696776e-03 9.97023356e-03 -2.74778386e+01] [ 6.28861216e-03 9.99978476e-01 1.87132017e-03 1.49417034e+01] [-9.98182131e-03 -1.80849101e-03 9.99948545e-01 1.69316427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15925976399998 meters Centerline goodness [0,1] 0.4896149544655696 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.93 [[ 9.99931193e-01 -6.16790034e-03 9.97833009e-03 -2.74773911e+01] [ 6.14696442e-03 9.99978844e-01 2.12744871e-03 1.49414218e+01] [-9.99124088e-03 -2.06596589e-03 9.99947952e-01 1.69308718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18925976399998 meters Centerline goodness [0,1] 0.4594190915637586 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.93 [[ 9.99934133e-01 -5.94537398e-03 9.81741244e-03 -2.74764342e+01] [ 5.92184179e-03 9.99979527e-01 2.42431762e-03 1.49415320e+01] [-9.83162492e-03 -2.36602078e-03 9.99948869e-01 1.69300125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.219259764 meters Centerline goodness [0,1] 0.4733616975729844 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.93 [[ 9.99936627e-01 -5.91336260e-03 9.57991120e-03 -2.74759840e+01] [ 5.89409810e-03 9.99980553e-01 2.03791337e-03 1.49434519e+01] [-9.59177582e-03 -1.98131928e-03 9.99952035e-01 1.69305248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.249259764 meters Centerline goodness [0,1] 0.48995790094655833 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.95, Z:16.93 [[ 9.99942358e-01 -5.71982474e-03 9.08650304e-03 -2.74750093e+01] [ 5.70605976e-03 9.99982534e-01 1.54008442e-03 1.49460695e+01] [-9.09515336e-03 -1.48814752e-03 9.99957531e-01 1.69314518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.279259764 meters Centerline goodness [0,1] 0.4924492368766932 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99944858e-01 -5.74006509e-03 8.79391987e-03 -2.74746741e+01] [ 5.73258572e-03 9.99983185e-01 8.75487163e-04 1.49486076e+01] [-8.79879735e-03 -8.25026987e-04 9.99960949e-01 1.69325201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.309259764 meters Centerline goodness [0,1] 0.49998660271696904 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99947167e-01 -5.62488012e-03 8.60375072e-03 -2.74742470e+01] [ 5.62081960e-03 9.99984080e-01 4.96056014e-04 1.49503236e+01] [-8.60640400e-03 -4.47669675e-04 9.99962864e-01 1.69329924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.339259764 meters Centerline goodness [0,1] 0.49428893178893174 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99955781e-01 -4.69046438e-03 8.15079528e-03 -2.74716143e+01] [ 4.68810202e-03 9.99988963e-01 3.08914091e-04 1.49531289e+01] [-8.15215427e-03 -2.70688671e-04 9.99966734e-01 1.69321286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.369259764 meters Centerline goodness [0,1] 0.4752919071265602 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99960330e-01 -4.34083377e-03 7.77786873e-03 -2.74700481e+01] [ 4.33966024e-03 9.99990570e-01 1.67751408e-04 1.49550952e+01] [-7.77852356e-03 -1.33991446e-04 9.99969738e-01 1.69316751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.399259764 meters Centerline goodness [0,1] 0.48985296884659835 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99962488e-01 -4.15690455e-03 7.59891294e-03 -2.74689617e+01] [ 4.15619505e-03 9.99991357e-01 1.09158593e-04 1.49567103e+01] [-7.59930102e-03 -7.75719344e-05 9.99971122e-01 1.69309405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.429259764 meters Centerline goodness [0,1] 0.4999730269191347 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99964231e-01 -4.08502932e-03 7.40599968e-03 -2.74682457e+01] [ 4.08571883e-03 9.99991650e-01 -7.79738814e-05 1.49581810e+01] [-7.40561932e-03 1.08229925e-04 9.99972572e-01 1.69308001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.459259764 meters Centerline goodness [0,1] 0.5008214603140402 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99964914e-01 -4.06625018e-03 7.32373944e-03 -2.74681150e+01] [ 4.06784294e-03 9.99991706e-01 -2.02596517e-04 1.49589909e+01] [-7.32285489e-03 2.32381231e-04 9.99973161e-01 1.69309973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.489259764 meters Centerline goodness [0,1] 0.5043769588241651 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99961520e-01 -4.47202661e-03 7.54711042e-03 -2.74696545e+01] [ 4.47643899e-03 9.99989819e-01 -5.67853460e-04 1.49593817e+01] [-7.54449413e-03 6.01615788e-04 9.99971359e-01 1.69322012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51925976399997 meters Centerline goodness [0,1] 0.4891140331968097 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99959733e-01 -4.63072487e-03 7.68695980e-03 -2.74704226e+01] [ 4.63593141e-03 9.99989036e-01 -6.59640681e-04 1.49594107e+01] [-7.68382091e-03 6.95250337e-04 9.99970237e-01 1.69326955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54925976399997 meters Centerline goodness [0,1] 0.4836308721212448 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99958244e-01 -4.82664822e-03 7.75981268e-03 -2.74710262e+01] [ 4.83386212e-03 9.99987902e-01 -9.11163038e-04 1.49601477e+01] [-7.75532093e-03 9.48634856e-04 9.99969477e-01 1.69332897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57925976399997 meters Centerline goodness [0,1] 0.5032169117647058 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99956940e-01 -5.10933911e-03 7.74674762e-03 -2.74711921e+01] [ 5.11910015e-03 9.99986128e-01 -1.24071418e-03 1.49618791e+01] [-7.74030093e-03 1.28031713e-03 9.99969224e-01 1.69335130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60925976399997 meters Centerline goodness [0,1] 0.48692739844425237 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99958457e-01 -4.93564311e-03 7.66319805e-03 -2.74705895e+01] [ 4.94360131e-03 9.99987260e-01 -1.01990079e-03 1.49617891e+01] [-7.65806656e-03 1.05774222e-03 9.99970117e-01 1.69329075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63925976399997 meters Centerline goodness [0,1] 0.5120327007931567 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99964783e-01 -4.40593229e-03 7.14284315e-03 -2.74686455e+01] [ 4.41350269e-03 9.99989715e-01 -1.04444184e-03 1.49633714e+01] [-7.13816794e-03 1.07593001e-03 9.99973944e-01 1.69325496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66925976399997 meters Centerline goodness [0,1] 0.5148847414470299 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99965974e-01 -4.31185091e-03 7.03274558e-03 -2.74683352e+01] [ 4.32094347e-03 9.99989848e-01 -1.27820794e-03 1.49646170e+01] [-7.02716274e-03 1.30855255e-03 9.99974453e-01 1.69327577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69925976399998 meters Centerline goodness [0,1] 0.497314161692892 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.97, Z:16.93 [[ 9.99965369e-01 -4.41271196e-03 7.05613506e-03 -2.74688086e+01] [ 4.42325606e-03 9.99989123e-01 -1.47940933e-03 1.49652144e+01] [-7.04953010e-03 1.51056919e-03 9.99974011e-01 1.69333888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72925976399998 meters Centerline goodness [0,1] 0.5179118644067797 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99964971e-01 -4.41162385e-03 7.11295631e-03 -2.74690203e+01] [ 4.42122086e-03 9.99989336e-01 -1.33406956e-03 1.49648191e+01] [-7.10699505e-03 1.36547078e-03 9.99973813e-01 1.69333246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75925976399998 meters Centerline goodness [0,1] 0.4959384815336294 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99963704e-01 -4.44147711e-03 7.27072466e-03 -2.74696013e+01] [ 4.45018783e-03 9.99989399e-01 -1.18231478e-03 1.49640933e+01] [-7.26539636e-03 1.21462795e-03 9.99972869e-01 1.69334140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78925976399998 meters Centerline goodness [0,1] 0.5019652489767152 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99962090e-01 -4.48464905e-03 7.46373389e-03 -2.74702947e+01] [ 4.49235084e-03 9.99989394e-01 -1.01544938e-03 1.49631187e+01] [-7.45910079e-03 1.04894060e-03 9.99971630e-01 1.69335181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81925976399998 meters Centerline goodness [0,1] 0.4848238922252881 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99962012e-01 -4.52587997e-03 7.44918374e-03 -2.74702922e+01] [ 4.53228836e-03 9.99989373e-01 -8.43624102e-04 1.49629485e+01] [-7.44528643e-03 8.77353903e-04 9.99971899e-01 1.69333215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84925976399998 meters Centerline goodness [0,1] 0.4894106191339158 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99965992e-01 -4.32739659e-03 7.02058105e-03 -2.74691537e+01] [ 4.33424011e-03 9.99990146e-01 -9.59857488e-04 1.49645767e+01] [-7.01635819e-03 9.90253729e-04 9.99974895e-01 1.69334778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87925976399998 meters Centerline goodness [0,1] 0.4931343606965848 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.97, Z:16.93 [[ 9.99967696e-01 -4.29181958e-03 6.79615506e-03 -2.74685908e+01] [ 4.29986535e-03 9.99990071e-01 -1.16970238e-03 1.49659028e+01] [-6.79106743e-03 1.19888714e-03 9.99976222e-01 1.69336449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90925976399998 meters Centerline goodness [0,1] 0.49405795528543517 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.97, Z:16.93 [[ 9.99968530e-01 -4.16425920e-03 6.75263975e-03 -2.74683560e+01] [ 4.17204621e-03 9.99990648e-01 -1.13950411e-03 1.49661515e+01] [-6.74783141e-03 1.16764058e-03 9.99976551e-01 1.69335692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93925976399998 meters Centerline goodness [0,1] 0.4964275041430085 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.97, Z:16.93 [[ 9.99969099e-01 -4.02064908e-03 6.75544289e-03 -2.74681943e+01] [ 4.02792870e-03 9.99991321e-01 -1.06433459e-03 1.49659836e+01] [-6.75110494e-03 1.09151214e-03 9.99976615e-01 1.69334191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.969259764 meters Centerline goodness [0,1] 0.49876663684909595 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99968671e-01 -3.86649868e-03 6.90703613e-03 -2.74684225e+01] [ 3.87193169e-03 9.99992205e-01 -7.73391209e-04 1.49647463e+01] [-6.90399198e-03 8.00110551e-04 9.99975847e-01 1.69330552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.999259764 meters Centerline goodness [0,1] 0.49948450811221445 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99967564e-01 -3.81329946e-03 7.09428529e-03 -2.74687817e+01] [ 3.81722304e-03 9.99992569e-01 -5.39604451e-04 1.49639250e+01] [-7.09217490e-03 5.66667418e-04 9.99974690e-01 1.69327701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.029259764 meters Centerline goodness [0,1] 0.5011651853457619 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99965768e-01 -3.86588720e-03 7.31556287e-03 -2.74694830e+01] [ 3.86801862e-03 9.99992481e-01 -2.77227610e-04 1.49628626e+01] [-7.31443613e-03 3.05514853e-04 9.99973202e-01 1.69326739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.059259764 meters Centerline goodness [0,1] 0.5051882436029771 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99966900e-01 -3.86877049e-03 7.15762299e-03 -2.74693672e+01] [ 3.86983920e-03 9.99992503e-01 -1.35466209e-04 1.49626541e+01] [-7.15704524e-03 1.63160575e-04 9.99974375e-01 1.69329172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.089259764 meters Centerline goodness [0,1] 0.5059143439836846 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99968634e-01 -3.71114060e-03 6.99699295e-03 -2.74690093e+01] [ 3.71266723e-03 9.99993087e-01 -2.05207081e-04 1.49633109e+01] [-6.99618302e-03 2.31178151e-04 9.99975500e-01 1.69331378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.119259764 meters Centerline goodness [0,1] 0.5077984892125428 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99968766e-01 -3.72116612e-03 6.97283476e-03 -2.74691833e+01] [ 3.72353904e-03 9.99993014e-01 -3.27356958e-04 1.49637026e+01] [-6.97156790e-03 3.53310356e-04 9.99975636e-01 1.69335277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.149259764 meters Centerline goodness [0,1] 0.5041030378783762 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99968840e-01 -3.63487226e-03 7.00759648e-03 -2.74693350e+01] [ 3.63669839e-03 9.99993356e-01 -2.47868857e-04 1.49633603e+01] [-7.00664896e-03 2.73345649e-04 9.99975416e-01 1.69336218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.179259764 meters Centerline goodness [0,1] 0.5051019027255257 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99966889e-01 -3.63100869e-03 7.28257380e-03 -2.74701935e+01] [ 3.63081769e-03 9.99993408e-01 3.94484816e-05 1.49613887e+01] [-7.28266903e-03 -1.30054777e-05 9.99973481e-01 1.69335680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.209259764 meters Centerline goodness [0,1] 0.48804047838086473 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99964963e-01 -3.56847786e-03 7.57228945e-03 -2.74709805e+01] [ 3.56585699e-03 9.99993578e-01 3.59585590e-04 1.49595679e+01] [-7.57352399e-03 -3.32571289e-04 9.99971265e-01 1.69335075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.239259764 meters Centerline goodness [0,1] 0.48516000215854516 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99962417e-01 -3.66331773e-03 7.85779405e-03 -2.74719424e+01] [ 3.65848041e-03 9.99993109e-01 6.29894146e-04 1.49582251e+01] [-7.86004740e-03 -6.01122887e-04 9.99968929e-01 1.69335394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26925976399997 meters Centerline goodness [0,1] 0.4855963748179317 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.93 [[ 9.99961902e-01 -3.72857995e-03 7.89255410e-03 -2.74725129e+01] [ 3.72390061e-03 9.99992882e-01 6.07492479e-04 1.49578008e+01] [-7.89476300e-03 -5.78078247e-04 9.99968669e-01 1.69341619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29925976399997 meters Centerline goodness [0,1] 0.48853006981696634 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.94 [[ 9.99961299e-01 -3.83215649e-03 7.91932451e-03 -2.74733278e+01] [ 3.82854750e-03 9.99992560e-01 4.70829453e-04 1.49575998e+01] [-7.92106988e-03 -4.40491721e-04 9.99968531e-01 1.69351753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32925976399997 meters Centerline goodness [0,1] 0.4922377377781365 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.94 [[ 9.99960220e-01 -3.75187387e-03 8.09205505e-03 -2.74740133e+01] [ 3.74564377e-03 9.99992677e-01 7.84920530e-04 1.49560474e+01] [-8.09494072e-03 -7.54579351e-04 9.99966951e-01 1.69353385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35925976399997 meters Centerline goodness [0,1] 0.4954431809016856 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.94 [[ 9.99963022e-01 -3.40245405e-03 7.89803088e-03 -2.74732250e+01] [ 3.39459315e-03 9.99993730e-01 1.00849102e-03 1.49556240e+01] [-7.90141270e-03 -9.81643129e-04 9.99968302e-01 1.69350456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38925976399997 meters Centerline goodness [0,1] 0.5121990541702494 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99964441e-01 -3.07893388e-03 7.85087688e-03 -2.74727800e+01] [ 3.06829625e-03 9.99994359e-01 1.36664496e-03 1.49546490e+01] [-7.85504040e-03 -1.34250755e-03 9.99968248e-01 1.69345910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41925976399997 meters Centerline goodness [0,1] 0.5039585625721263 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99963945e-01 -2.99778927e-03 7.94497629e-03 -2.74732007e+01] [ 2.98569690e-03 9.99994367e-01 1.53343852e-03 1.49535227e+01] [-7.94952847e-03 -1.50966194e-03 9.99967262e-01 1.69347852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44925976399998 meters Centerline goodness [0,1] 0.4967769660507091 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99962274e-01 -3.03086211e-03 8.14028783e-03 -2.74739065e+01] [ 3.01443628e-03 9.99993397e-01 2.02935609e-03 1.49511536e+01] [-8.14638478e-03 -2.00474115e-03 9.99964808e-01 1.69345977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47925976399998 meters Centerline goodness [0,1] 0.49505693235097115 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99959995e-01 -2.99870964e-03 8.42710037e-03 -2.74746269e+01] [ 2.97823526e-03 9.99992586e-01 2.44108713e-03 1.49493386e+01] [-8.43435800e-03 -2.41589159e-03 9.99961512e-01 1.69342882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50925976399998 meters Centerline goodness [0,1] 0.4959288622241268 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.95, Z:16.93 [[ 9.99956519e-01 -3.03185740e-03 8.81864290e-03 -2.74757032e+01] [ 3.00705993e-03 9.99991492e-01 2.82383922e-03 1.49471163e+01] [-8.82712934e-03 -2.79719825e-03 9.99957128e-01 1.69341363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53925976399998 meters Centerline goodness [0,1] 0.49134094686611973 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.95, Z:16.93 [[ 9.99955184e-01 -3.08960865e-03 8.94900788e-03 -2.74763200e+01] [ 3.06361246e-03 9.99991052e-01 2.91717707e-03 1.49461454e+01] [-8.95794074e-03 -2.88963004e-03 9.99955702e-01 1.69344222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56925976399998 meters Centerline goodness [0,1] 0.49581629106851655 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.95, Z:16.94 [[ 9.99954898e-01 -3.36616215e-03 8.88095399e-03 -2.74771810e+01] [ 3.34472654e-03 9.99991460e-01 2.42741064e-03 1.49470409e+01] [-8.88904920e-03 -2.39759679e-03 9.99957617e-01 1.69359906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59925976399998 meters Centerline goodness [0,1] 0.4887397025783674 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.95, Z:16.94 [[ 9.99956010e-01 -3.51588720e-03 8.69574650e-03 -2.74774269e+01] [ 3.49817435e-03 9.99991777e-01 2.05132757e-03 1.49478912e+01] [-8.70288723e-03 -2.02081810e-03 9.99960087e-01 1.69370985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62925976399998 meters Centerline goodness [0,1] 0.499504300527853 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.95, Z:16.94 [[ 9.99956554e-01 -3.40874575e-03 8.67581589e-03 -2.74773897e+01] [ 3.39014144e-03 9.99991925e-01 2.15819068e-03 1.49476213e+01] [-8.68310255e-03 -2.12868467e-03 9.99960035e-01 1.69371097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65925976399998 meters Centerline goodness [0,1] 0.5040809226899301 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99956541e-01 -3.05842059e-03 8.80690697e-03 -2.74770724e+01] [ 3.03233854e-03 9.99990982e-01 2.97337652e-03 1.49447338e+01] [-8.81592138e-03 -2.94654178e-03 9.99956798e-01 1.69357828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68925976399998 meters Centerline goodness [0,1] 0.4976200663172532 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99956548e-01 -2.82951516e-03 8.88230857e-03 -2.74768522e+01] [ 2.80031908e-03 9.99990642e-01 3.29771001e-03 1.49435007e+01] [-8.89155637e-03 -3.27269342e-03 9.99955114e-01 1.69351958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.719259764 meters Centerline goodness [0,1] 0.5061073181139322 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.93 [[ 9.99958132e-01 -2.63099973e-03 8.76427926e-03 -2.74763629e+01] [ 2.60005896e-03 9.99990355e-01 3.53985163e-03 1.49430759e+01] [-8.77350808e-03 -3.51691578e-03 9.99955327e-01 1.69348578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.749259764 meters Centerline goodness [0,1] 0.5086748469537787 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99958609e-01 -2.78171398e-03 8.66264315e-03 -2.74766362e+01] [ 2.75490457e-03 9.99991384e-01 3.10522574e-03 1.49441861e+01] [-8.67120636e-03 -3.08123246e-03 9.99957657e-01 1.69357756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.779259764 meters Centerline goodness [0,1] 0.4923002887391723 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.95, Z:16.94 [[ 9.99963254e-01 -2.60783109e-03 8.16633150e-03 -2.74761030e+01] [ 2.58819844e-03 9.99993738e-01 2.41374372e-03 1.49467694e+01] [-8.17257499e-03 -2.39251894e-03 9.99963742e-01 1.69375357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.809259764 meters Centerline goodness [0,1] 0.46271204523631704 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.95, Z:16.94 [[ 9.99963629e-01 -2.51723253e-03 8.14884054e-03 -2.74762784e+01] [ 2.49828811e-03 9.99994155e-01 2.33414482e-03 1.49467228e+01] [-8.15466849e-03 -2.31370177e-03 9.99964073e-01 1.69379854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.839259764 meters Centerline goodness [0,1] 0.4971353608909831 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.95, Z:16.94 [[ 9.99963573e-01 -2.25467874e-03 8.23219259e-03 -2.74763374e+01] [ 2.23301427e-03 9.99994022e-01 2.63992126e-03 1.49455637e+01] [-8.23809555e-03 -2.62144250e-03 9.99962630e-01 1.69377628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.869259764 meters Centerline goodness [0,1] 0.49565426684138747 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99964013e-01 -2.12567680e-03 8.21299594e-03 -2.74763100e+01] [ 2.10276286e-03 9.99993876e-01 2.79758890e-03 1.49448533e+01] [-8.21889241e-03 -2.78021825e-03 9.99962359e-01 1.69377701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.899259764 meters Centerline goodness [0,1] 0.5002546575526069 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99963981e-01 -2.05180015e-03 8.23565802e-03 -2.74764670e+01] [ 2.02751941e-03 9.99993577e-01 2.95551246e-03 1.49439942e+01] [-8.24166924e-03 -2.93870805e-03 9.99961719e-01 1.69378512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.929259764 meters Centerline goodness [0,1] 0.5002546575526069 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99963981e-01 -2.05180015e-03 8.23565802e-03 -2.74764670e+01] [ 2.02751941e-03 9.99993577e-01 2.95551246e-03 1.49439942e+01] [-8.24166924e-03 -2.93870805e-03 9.99961719e-01 1.69378512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.959259764 meters Centerline goodness [0,1] 0.48679073747259216 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99963655e-01 -1.98389851e-03 8.29174497e-03 -2.74766802e+01] [ 1.95788564e-03 9.99993141e-01 3.14414198e-03 1.49430217e+01] [-8.29792575e-03 -3.12779342e-03 9.99960680e-01 1.69378834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.989259764 meters Centerline goodness [0,1] 0.496121750294212 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99961918e-01 -1.95858528e-03 8.50444510e-03 -2.74771919e+01] [ 1.92942368e-03 9.99992236e-01 3.43583458e-03 1.49416503e+01] [-8.51110845e-03 -3.41929506e-03 9.99957934e-01 1.69376580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01925976399997 meters Centerline goodness [0,1] 0.4790481531928531 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99960022e-01 -2.08119266e-03 8.69612559e-03 -2.74781058e+01] [ 2.05042436e-03 9.99991612e-01 3.54558157e-03 1.49405397e+01] [-8.70343168e-03 -3.52760908e-03 9.99955902e-01 1.69380757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04925976399997 meters Centerline goodness [0,1] 0.4866472801003121 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99956780e-01 -2.46571659e-03 8.96433311e-03 -2.74796422e+01] [ 2.43541393e-03 9.99991289e-01 3.38970436e-03 1.49398576e+01] [-8.97261307e-03 -3.36772600e-03 9.99954074e-01 1.69390493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07925976399997 meters Centerline goodness [0,1] 0.47719943498307615 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99948694e-01 -3.69147113e-03 9.43301353e-03 -2.74827272e+01] [ 3.66314811e-03 9.99988736e-01 3.01805831e-03 1.49380382e+01] [-9.44404835e-03 -2.98334894e-03 9.99950954e-01 1.69407422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10925976399997 meters Centerline goodness [0,1] 0.46149956083149235 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99950785e-01 -3.63487396e-03 9.23121769e-03 -2.74823627e+01] [ 3.60847916e-03 9.99989358e-01 2.87434623e-03 1.49390720e+01] [-9.24156734e-03 -2.84089412e-03 9.99953260e-01 1.69410564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13925976399997 meters Centerline goodness [0,1] 0.4830124273294576 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99950958e-01 -3.78778730e-03 9.15063914e-03 -2.74827038e+01] [ 3.76505070e-03 9.99989786e-01 2.50065103e-03 1.49401429e+01] [-9.16001761e-03 -2.46607577e-03 9.99955005e-01 1.69419145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16925976399997 meters Centerline goodness [0,1] 0.48344441482271394 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99949488e-01 -3.93139152e-03 9.25019857e-03 -2.74832601e+01] [ 3.91017166e-03 9.99989685e-01 2.31095774e-03 1.49404187e+01] [-9.25918843e-03 -2.27467115e-03 9.99954546e-01 1.69423444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19925976399998 meters Centerline goodness [0,1] 0.48580946035976014 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99948672e-01 -3.72832063e-03 9.42086118e-03 -2.74833166e+01] [ 3.70196598e-03 9.99989190e-01 2.81336899e-03 1.49385760e+01] [-9.43124848e-03 -2.77834888e-03 9.99951665e-01 1.69415405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22925976399998 meters Centerline goodness [0,1] 0.4729834092301137 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99948314e-01 -3.66763324e-03 9.48252158e-03 -2.74833734e+01] [ 3.63931981e-03 9.99988873e-01 3.00138804e-03 1.49376487e+01] [-9.49342406e-03 -2.96672298e-03 9.99950536e-01 1.69413035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25925976399998 meters Centerline goodness [0,1] 0.45643617021276595 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99950208e-01 -3.49870846e-03 9.34559689e-03 -2.74828678e+01] [ 3.47058093e-03 9.99989404e-01 3.02423419e-03 1.49378030e+01] [-9.35607878e-03 -2.99164896e-03 9.99951756e-01 1.69412086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28925976399998 meters Centerline goodness [0,1] 0.46280398671096346 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99952397e-01 -3.38681799e-03 9.15054366e-03 -2.74823424e+01] [ 3.36039743e-03 9.99990145e-01 2.90115576e-03 1.49387251e+01] [-9.16027917e-03 -2.87026820e-03 9.99953924e-01 1.69412667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31925976399998 meters Centerline goodness [0,1] 0.47913623203803557 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99952727e-01 -3.54120617e-03 9.05559025e-03 -2.74827627e+01] [ 3.51835082e-03 9.99990588e-01 2.53858138e-03 1.49397907e+01] [-9.06449467e-03 -2.50660063e-03 9.99955775e-01 1.69423217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34925976399998 meters Centerline goodness [0,1] 0.4634133375860511 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99953123e-01 -3.60571427e-03 8.98611219e-03 -2.74829229e+01] [ 3.58412541e-03 9.99990655e-01 2.41741719e-03 1.49400444e+01] [-8.99474474e-03 -2.38509652e-03 9.99956702e-01 1.69427951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37925976399998 meters Centerline goodness [0,1] 0.4641962811018169 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99954504e-01 -3.52381082e-03 8.86413992e-03 -2.74825579e+01] [ 3.50302430e-03 9.99991081e-01 2.35944689e-03 1.49406861e+01] [-8.87237510e-03 -2.32828825e-03 9.99957929e-01 1.69428188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40925976399998 meters Centerline goodness [0,1] 0.47276020992620615 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99959182e-01 -2.95140055e-03 8.53948447e-03 -2.74809106e+01] [ 2.93139833e-03 9.99992933e-01 2.35389179e-03 1.49420671e+01] [-8.54637140e-03 -2.32876308e-03 9.99960767e-01 1.69421723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43925976399998 meters Centerline goodness [0,1] 0.46843703388024716 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99959712e-01 -2.93364444e-03 8.48343059e-03 -2.74806187e+01] [ 2.91588874e-03 9.99993534e-01 2.10459787e-03 1.49430784e+01] [-8.48954987e-03 -2.07977634e-03 9.99961800e-01 1.69421365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.469259764 meters Centerline goodness [0,1] 0.48197778192183716 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99961061e-01 -2.85534487e-03 8.35002368e-03 -2.74801814e+01] [ 2.83845488e-03 9.99993903e-01 2.03389929e-03 1.49438719e+01] [-8.35578026e-03 -2.01011892e-03 9.99963069e-01 1.69420505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.499259764 meters Centerline goodness [0,1] 0.46367196866757254 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.95, Z:16.94 [[ 9.99961635e-01 -3.00988511e-03 8.22618295e-03 -2.74800113e+01] [ 2.99706030e-03 9.99994275e-01 1.57090690e-03 1.49458808e+01] [-8.23086410e-03 -1.54619227e-03 9.99964930e-01 1.69424098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.529259764 meters Centerline goodness [0,1] 0.48630685458039713 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.95, Z:16.94 [[ 9.99962605e-01 -3.15114595e-03 8.05350914e-03 -2.74798904e+01] [ 3.14358597e-03 9.99994607e-01 9.51204528e-04 1.49484451e+01] [-8.05646309e-03 -9.25852059e-04 9.99967118e-01 1.69431575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.559259764 meters Centerline goodness [0,1] 0.46821241585639495 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.95, Z:16.94 [[ 9.99960805e-01 -3.29094571e-03 8.21942915e-03 -2.74805128e+01] [ 3.28439368e-03 9.99994278e-01 8.10510295e-04 1.49487512e+01] [-8.22204947e-03 -7.83482686e-04 9.99965891e-01 1.69433901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.589259764 meters Centerline goodness [0,1] 0.4850620744893873 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.95, Z:16.94 [[ 9.99960294e-01 -3.43873660e-03 8.22102721e-03 -2.74808703e+01] [ 3.43426759e-03 9.99993947e-01 5.57661562e-04 1.49494735e+01] [-8.22289510e-03 -5.29406212e-04 9.99966051e-01 1.69439141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.619259764 meters Centerline goodness [0,1] 0.4884541372674791 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.95, Z:16.94 [[ 9.99963654e-01 -3.31409829e-03 7.85541783e-03 -2.74798699e+01] [ 3.31243984e-03 9.99994489e-01 2.24122933e-04 1.49517506e+01] [-7.85611731e-03 -1.98094188e-04 9.99969121e-01 1.69441232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.649259764 meters Centerline goodness [0,1] 0.49177340693499116 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.96, Z:16.94 [[ 9.99968623e-01 -3.03390636e-03 7.31767326e-03 -2.74782661e+01] [ 3.03543021e-03 9.99995374e-01 -1.97145349e-04 1.49550552e+01] [-7.31704129e-03 2.19351450e-04 9.99973206e-01 1.69443262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.679259764 meters Centerline goodness [0,1] 0.48501993749326433 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.96, Z:16.94 [[ 9.99974921e-01 -2.38336188e-03 6.66904385e-03 -2.74758321e+01] [ 2.38776899e-03 9.99996936e-01 -6.52947826e-04 1.49602354e+01] [-6.66746721e-03 6.68855587e-04 9.99977549e-01 1.69443393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.709259764 meters Centerline goodness [0,1] 0.500134611242731 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.96, Z:16.94 [[ 9.99975450e-01 -2.28867786e-03 6.62280781e-03 -2.74754166e+01] [ 2.29339262e-03 9.99997122e-01 -7.04389856e-04 1.49610004e+01] [-6.62117663e-03 7.19561261e-04 9.99977821e-01 1.69440064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.739259764 meters Centerline goodness [0,1] 0.4922998223035916 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.96, Z:16.94 [[ 9.99975315e-01 -2.12510318e-03 6.69728801e-03 -2.74751653e+01] [ 2.12867244e-03 9.99997596e-01 -5.25858010e-04 1.49605930e+01] [-6.69615441e-03 5.40101362e-04 9.99977435e-01 1.69433687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76925976399997 meters Centerline goodness [0,1] 0.47261728726979435 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.96, Z:16.94 [[ 9.99974224e-01 -2.05758027e-03 6.87876532e-03 -2.74753518e+01] [ 2.06011172e-03 9.99997813e-01 -3.60943767e-04 1.49599043e+01] [-6.87800761e-03 3.75105489e-04 9.99976276e-01 1.69429199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79925976399997 meters Centerline goodness [0,1] 0.4986803124158362 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.94 [[ 9.99979961e-01 -1.33620780e-03 6.18803298e-03 -2.74728822e+01] [ 1.33923000e-03 9.99998986e-01 -4.84277160e-04 1.49626342e+01] [-6.18737961e-03 4.92554655e-04 9.99980737e-01 1.69427573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82925976399997 meters Centerline goodness [0,1] 0.49418006604948295 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.94 [[ 9.99982191e-01 -1.31554259e-03 5.82117528e-03 -2.74723457e+01] [ 1.32087745e-03 9.99998711e-01 -9.12706606e-04 1.49649345e+01] [-5.81996707e-03 9.20379411e-04 9.99982640e-01 1.69435591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85925976399997 meters Centerline goodness [0,1] 0.5131589624300127 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.97, Z:16.94 [[ 9.99982527e-01 -1.40763077e-03 5.74146411e-03 -2.74725502e+01] [ 1.41493404e-03 9.99998195e-01 -1.26815842e-03 1.49664125e+01] [-5.73966865e-03 1.27626005e-03 9.99982714e-01 1.69442663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88925976399997 meters Centerline goodness [0,1] 0.4583513982224149 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.97, Z:16.94 [[ 9.99982872e-01 -1.25767062e-03 5.71613601e-03 -2.74724024e+01] [ 1.26521212e-03 9.99998334e-01 -1.31591174e-03 1.49666038e+01] [-5.71447150e-03 1.32312133e-03 9.99982797e-01 1.69443209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91925976399997 meters Centerline goodness [0,1] 0.5059043388765505 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.97, Z:16.94 [[ 9.99982513e-01 -1.07135957e-03 5.81605639e-03 -2.74723242e+01] [ 1.07701625e-03 9.99998950e-01 -9.69551987e-04 1.49657109e+01] [-5.81501155e-03 9.75799019e-04 9.99982617e-01 1.69437410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94925976399998 meters Centerline goodness [0,1] 0.4895383863876903 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.94 [[ 9.99982597e-01 -9.45749711e-04 5.82331456e-03 -2.74721384e+01] [ 9.49538368e-04 9.99999339e-01 -6.47871074e-04 1.49649773e+01] [-5.82269799e-03 6.53389260e-04 9.99982834e-01 1.69432738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97925976399998 meters Centerline goodness [0,1] 0.505902787201129 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.94 [[ 9.99982201e-01 -9.24550417e-04 5.89438690e-03 -2.74721610e+01] [ 9.27539622e-04 9.99999443e-01 -5.04413878e-04 1.49646488e+01] [-5.89391726e-03 5.09872177e-04 9.99982501e-01 1.69429533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00925976399998 meters Centerline goodness [0,1] 0.4614528778052156 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.94 [[ 9.99982731e-01 -9.65806634e-04 5.79699618e-03 -2.74721366e+01] [ 9.67870616e-04 9.99999469e-01 -3.53248638e-04 1.49643110e+01] [-5.79665193e-03 3.58853280e-04 9.99983135e-01 1.69430424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03925976399998 meters Centerline goodness [0,1] 0.5030971527928711 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.94 [[ 9.99982868e-01 -1.01251655e-03 5.76526203e-03 -2.74722429e+01] [ 1.01514777e-03 9.99999382e-01 -4.53484441e-04 1.49647986e+01] [-5.76479931e-03 4.59329265e-04 9.99983278e-01 1.69433179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06925976399998 meters Centerline goodness [0,1] 0.49892555014552675 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.94 [[ 9.99982812e-01 -1.03449024e-03 5.77114373e-03 -2.74725649e+01] [ 1.03667820e-03 9.99999392e-01 -3.76140967e-04 1.49645133e+01] [-5.77075111e-03 3.82117320e-04 9.99983276e-01 1.69435956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09925976399998 meters Centerline goodness [0,1] 0.4659845433765103 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.94 [[ 9.99983938e-01 -9.61010106e-04 5.58572875e-03 -2.74722086e+01] [ 9.63185368e-04 9.99999461e-01 -3.86755182e-04 1.49649189e+01] [-5.58535407e-03 3.92129062e-04 9.99984325e-01 1.69438070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12925976399998 meters Centerline goodness [0,1] 0.5063094067518846 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.97, Z:16.94 [[ 9.99987105e-01 -5.78595370e-04 5.04538925e-03 -2.74708181e+01] [ 5.82275705e-04 9.99999565e-01 -7.28006844e-04 1.49675241e+01] [-5.04496584e-03 7.30935264e-04 9.99987007e-01 1.69443372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15925976399998 meters Centerline goodness [0,1] 0.4777059641659167 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.97, Z:16.94 [[ 9.99987263e-01 -5.10725104e-04 5.02135165e-03 -2.74705984e+01] [ 5.14433526e-04 9.99999596e-01 -7.37266837e-04 1.49679508e+01] [-5.02097308e-03 7.39840598e-04 9.99987121e-01 1.69441377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18925976399998 meters Centerline goodness [0,1] 0.4785041626859561 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.97, Z:16.94 [[ 9.99986863e-01 -3.85087805e-04 5.11132371e-03 -2.74704440e+01] [ 3.88045316e-04 9.99999758e-01 -5.77640230e-04 1.49679018e+01] [-5.11110003e-03 5.79616067e-04 9.99986770e-01 1.69435699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.219259764 meters Centerline goodness [0,1] 0.48164111517267716 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.97, Z:16.94 [[ 9.99986832e-01 -1.82979869e-04 5.12863406e-03 -2.74699103e+01] [ 1.84595492e-04 9.99999933e-01 -3.14548549e-04 1.49676418e+01] [-5.12857617e-03 3.15491130e-04 9.99986799e-01 1.69427100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.249259764 meters Centerline goodness [0,1] 0.48593784197855105 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.97, Z:16.94 [[ 9.99987588e-01 -1.73213686e-04 4.97937005e-03 -2.74694661e+01] [ 1.76075760e-04 9.99999820e-01 -5.74353736e-04 1.49688410e+01] [-4.97926966e-03 5.75223353e-04 9.99987438e-01 1.69427786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.279259764 meters Centerline goodness [0,1] 0.4959772316786164 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.97, Z:16.94 [[ 9.99990243e-01 6.39333639e-04 4.37092836e-03 -2.74672096e+01] [-6.34889419e-04 9.99999280e-01 -1.01807976e-03 1.49731009e+01] [-4.37157611e-03 1.01529477e-03 9.99989929e-01 1.69431259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.309259764 meters Centerline goodness [0,1] 0.5042060699362216 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.98, Z:16.94 [[ 9.99992573e-01 8.57793991e-04 3.75729646e-03 -2.74659388e+01] [-8.51199546e-04 9.99998095e-01 -1.75635129e-03 1.49766679e+01] [-3.75879589e-03 1.75314004e-03 9.99991399e-01 1.69443309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.339259764 meters Centerline goodness [0,1] 0.511864499986252 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.98, Z:16.94 [[ 9.99993735e-01 1.10866457e-03 3.36164110e-03 -2.74648308e+01] [-1.10157256e-03 9.99997166e-01 -2.11080359e-03 1.49794155e+01] [-3.36397174e-03 2.10708728e-03 9.99992122e-01 1.69446448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.369259764 meters Centerline goodness [0,1] 0.5185572111948095 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.98, Z:16.94 [[ 9.99994368e-01 1.68544924e-03 2.90226982e-03 -2.74628657e+01] [-1.67927338e-03 9.99996324e-01 -2.12906360e-03 1.49813133e+01] [-2.90584758e-03 2.12417791e-03 9.99993522e-01 1.69440581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.399259764 meters Centerline goodness [0,1] 0.5211643854479359 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.98, Z:16.94 [[ 9.99994132e-01 1.75227994e-03 2.94355312e-03 -2.74626022e+01] [-1.74608301e-03 9.99996257e-01 -2.10650673e-03 1.49813614e+01] [-2.94723329e-03 2.10135468e-03 9.99993449e-01 1.69435580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.429259764 meters Centerline goodness [0,1] 0.522066088483917 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.98, Z:16.94 [[ 9.99995872e-01 -1.73207771e-03 2.29263081e-03 -2.74601973e+01] [ 1.74636031e-03 9.99978990e-01 -6.24251356e-03 1.49844977e+01] [-2.28177012e-03 6.24649155e-03 9.99977887e-01 1.69431677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.459259764 meters Centerline goodness [0,1] 0.4987871437234688 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.98, Z:16.94 [[ 9.99995378e-01 -1.74803952e-03 2.48771015e-03 -2.74604995e+01] [ 1.76304689e-03 9.99980185e-01 -6.04325471e-03 1.49841431e+01] [-2.47709701e-03 6.04761273e-03 9.99978645e-01 1.69426915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.489259764 meters Centerline goodness [0,1] 0.5214756040444114 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.98, Z:16.94 [[ 9.99994680e-01 -1.94682160e-03 2.61705346e-03 -2.74610662e+01] [ 1.96269963e-03 9.99979601e-01 -6.07832554e-03 1.49844175e+01] [-2.60516666e-03 6.08342970e-03 9.99978102e-01 1.69428193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51925976399997 meters Centerline goodness [0,1] 0.5273159144893111 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.99, Z:16.94 [[ 9.99996326e-01 -1.81395843e-03 2.01413587e-03 -2.74597455e+01] [ 1.82703733e-03 9.99977135e-01 -6.51081607e-03 1.49881402e+01] [-2.00227947e-03 6.51447205e-03 9.99976776e-01 1.69435560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54925976399997 meters Centerline goodness [0,1] 0.5205407497511887 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.99, Z:16.94 [[ 9.99996371e-01 -1.90111047e-03 1.90890743e-03 -2.74596898e+01] [ 1.91409404e-03 9.99974892e-01 -6.82294280e-03 1.49896850e+01] [-1.89588833e-03 6.82657187e-03 9.99974901e-01 1.69439984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57925976399997 meters Centerline goodness [0,1] 0.5186403205748238 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.99, Z:16.94 [[ 9.99996583e-01 -1.79145914e-03 1.90408737e-03 -2.74594057e+01] [ 1.80439887e-03 9.99975143e-01 -6.81591060e-03 1.49902202e+01] [-1.89182961e-03 6.81932304e-03 9.99974959e-01 1.69437158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60925976399997 meters Centerline goodness [0,1] 0.5279043913285159 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.99, Z:16.94 [[ 9.99998745e-01 -1.10243297e-04 1.58054740e-03 -2.74559231e+01] [ 1.19966906e-04 9.99981061e-01 -6.15327719e-03 1.49927153e+01] [-1.57983911e-03 6.15345908e-03 9.99979819e-01 1.69413987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63925976399997 meters Centerline goodness [0,1] 0.530483219607297 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.99, Z:16.94 [[ 9.99999228e-01 1.54577144e-04 1.23297024e-03 -2.74547095e+01] [-1.46936155e-04 9.99980801e-01 -6.19490641e-03 1.49939376e+01] [-1.23390416e-03 6.19472046e-03 9.99980051e-01 1.69411463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66925976399997 meters Centerline goodness [0,1] 0.5343551797040169 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.99, Z:16.94 [[ 9.99999346e-01 4.19798757e-04 1.06393898e-03 -2.74538640e+01] [-4.13225448e-04 9.99980874e-01 -6.17098382e-03 1.49948250e+01] [-1.06650920e-03 6.17054013e-03 9.99980393e-01 1.69407703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69925976399998 meters Centerline goodness [0,1] 0.5361553009233508 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.00, Z:16.94 [[ 9.99999221e-01 1.03604478e-03 6.96720659e-04 -2.74522257e+01] [-1.03187946e-03 9.99981751e-01 -5.95248801e-03 1.49951183e+01] [-7.02874989e-04 5.95176444e-03 9.99982041e-01 1.69402078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72925976399998 meters Centerline goodness [0,1] 0.5369856936896973 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.99, Z:16.94 [[ 9.99999085e-01 1.13917059e-03 7.29893418e-04 -2.74522182e+01] [-1.13487826e-03 9.99982219e-01 -5.85442465e-03 1.49949172e+01] [-7.36549628e-04 5.85359095e-03 9.99982596e-01 1.69400410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75925976399998 meters Centerline goodness [0,1] 0.5360948062425237 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.99, Z:16.94 [[ 9.99998886e-01 1.28859628e-03 7.53904068e-04 -2.74519105e+01] [-1.28436312e-03 9.99983558e-01 -5.58878333e-03 1.49946614e+01] [-7.61093358e-04 5.58780882e-03 9.99984098e-01 1.69394082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78925976399998 meters Centerline goodness [0,1] 0.5384016461820811 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.99, Z:16.94 [[ 9.99998761e-01 1.39588287e-03 7.27930100e-04 -2.74517075e+01] [-1.39198217e-03 9.99984817e-01 -5.33188441e-03 1.49942820e+01] [-7.35361734e-04 5.33086454e-03 9.99985520e-01 1.69390600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81925976399998 meters Centerline goodness [0,1] 0.5415368350767862 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.99, Z:16.94 [[ 9.99998493e-01 1.55468261e-03 7.72594019e-04 -2.74515832e+01] [-1.55081331e-03 9.99986378e-01 -4.98381521e-03 1.49935757e+01] [-7.80331745e-04 4.98260956e-03 9.99987282e-01 1.69385786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84925976399998 meters Centerline goodness [0,1] 0.5415368350767862 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.99, Z:16.94 [[ 9.99998493e-01 1.55468261e-03 7.72594019e-04 -2.74515832e+01] [-1.55081331e-03 9.99986378e-01 -4.98381521e-03 1.49935757e+01] [-7.80331745e-04 4.98260956e-03 9.99987282e-01 1.69385786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87925976399998 meters Centerline goodness [0,1] 0.5363942080542509 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.99, Z:16.94 [[ 9.99998313e-01 1.60222718e-03 8.97928798e-04 -2.74518581e+01] [-1.59804850e-03 9.99987980e-01 -4.63523726e-03 1.49925256e+01] [-9.05344708e-04 4.63379451e-03 9.99988854e-01 1.69382347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90925976399998 meters Centerline goodness [0,1] 0.5350477671628526 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.99, Z:16.94 [[ 9.99998720e-01 8.12171438e-04 1.37866942e-03 -2.74545351e+01] [-8.06042223e-04 9.99989816e-01 -4.44049595e-03 1.49898110e+01] [-1.38226182e-03 4.43937900e-03 9.99989191e-01 1.69390390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93925976399998 meters Centerline goodness [0,1] 0.5318788686263081 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.99, Z:16.94 [[ 9.99998088e-01 5.25442831e-04 1.88341301e-03 -2.74564659e+01] [-5.17590790e-04 9.99991184e-01 -4.16711447e-03 1.49877020e+01] [-1.88558599e-03 4.16613166e-03 9.99989544e-01 1.69394370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.969259764 meters Centerline goodness [0,1] 0.5307281136621708 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.99, Z:16.94 [[ 9.99997273e-01 3.01832625e-04 2.31574529e-03 -2.74580313e+01] [-2.92984074e-04 9.99992659e-01 -3.82042648e-03 1.49855632e+01] [-2.31688142e-03 3.81973759e-03 9.99990021e-01 1.69395374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.999259764 meters Centerline goodness [0,1] 0.531240492324713 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.99, Z:16.94 [[ 9.99997564e-01 5.80966363e-04 2.12921824e-03 -2.74572879e+01] [-5.73436203e-04 9.99993586e-01 -3.53549002e-03 1.49854538e+01] [-2.13125859e-03 3.53426044e-03 9.99991483e-01 1.69391625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.029259764 meters Centerline goodness [0,1] 0.5319702293666824 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.99, Z:16.94 [[ 9.99997998e-01 8.15483050e-04 1.82745669e-03 -2.74565973e+01] [-8.09203663e-04 9.99993776e-01 -3.43424343e-03 1.49859916e+01] [-1.83024588e-03 3.43275777e-03 9.99992433e-01 1.69393450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.059259764 meters Centerline goodness [0,1] 0.5347853727300367 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.98, Z:16.94 [[ 9.99997546e-01 1.18095639e-03 1.87460285e-03 -2.74561689e+01] [-1.17555928e-03 9.99995169e-01 -2.87756761e-03 1.49844865e+01] [-1.87799207e-03 2.87535684e-03 9.99994103e-01 1.69384588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.089259764 meters Centerline goodness [0,1] 0.5315709761806415 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.98, Z:16.94 [[ 9.99996467e-01 1.64989414e-03 2.08427043e-03 -2.74558350e+01] [-1.64561238e-03 9.99996536e-01 -2.05436833e-03 1.49816278e+01] [-2.08765270e-03 2.05093117e-03 9.99995718e-01 1.69369767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.119259764 meters Centerline goodness [0,1] 0.5349604221635884 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.98, Z:16.94 [[ 9.99997509e-01 -1.58824977e-03 1.56823805e-03 -2.74533697e+01] [ 1.59675712e-03 9.99983936e-01 -5.43851750e-03 1.49804705e+01] [-1.55957514e-03 5.44100805e-03 9.99983981e-01 1.69356189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.149259764 meters Centerline goodness [0,1] 0.5207124989691856 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.98, Z:16.94 [[ 9.99997534e-01 -1.56334767e-03 1.57708864e-03 -2.74534361e+01] [ 1.57151818e-03 9.99985282e-01 -5.19289302e-03 1.49801053e+01] [-1.56894714e-03 5.19535864e-03 9.99985273e-01 1.69354382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.179259764 meters Centerline goodness [0,1] 0.5365504718408671 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.98, Z:16.94 [[ 9.99997411e-01 -1.63508183e-03 1.58233028e-03 -2.74538438e+01] [ 1.64327826e-03 9.99985168e-01 -5.19261033e-03 1.49803076e+01] [-1.57381647e-03 5.19519709e-03 9.99985266e-01 1.69359041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.209259764 meters Centerline goodness [0,1] 0.5299100778594144 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.98, Z:16.94 [[ 9.99997263e-01 -1.66709173e-03 1.64162986e-03 -2.74544490e+01] [ 1.67540678e-03 9.99985709e-01 -5.07683824e-03 1.49796908e+01] [-1.63314284e-03 5.07957474e-03 9.99985765e-01 1.69363750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.239259764 meters Centerline goodness [0,1] 0.5233371590971198 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.98, Z:16.94 [[ 9.99995480e-01 -2.00506836e-03 2.24032379e-03 -2.74565612e+01] [ 2.01476246e-03 9.99988582e-01 -4.33325133e-03 1.49751940e+01] [-2.23160974e-03 4.33774546e-03 9.99988102e-01 1.69360412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26925976399997 meters Centerline goodness [0,1] 0.5215256179407431 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.97, Z:16.94 [[ 9.99993426e-01 -2.32025394e-03 2.78636262e-03 -2.74585219e+01] [ 2.33113143e-03 9.99989651e-01 -3.90695219e-03 1.49724901e+01] [-2.77726866e-03 3.91342188e-03 9.99988486e-01 1.69361277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29925976399997 meters Centerline goodness [0,1] 0.5113459914462393 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.97, Z:16.94 [[ 9.99990418e-01 -2.80846432e-03 3.35818900e-03 -2.74609290e+01] [ 2.82053050e-03 9.99989565e-01 -3.59374029e-03 1.49696977e+01] [-3.34806106e-03 3.60317772e-03 9.99987904e-01 1.69366632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32925976399997 meters Centerline goodness [0,1] 0.49451801997394707 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.97, Z:16.94 [[ 9.99986302e-01 -3.34725715e-03 4.02378910e-03 -2.74635287e+01] [ 3.36013430e-03 9.99989242e-01 -3.19776661e-03 1.49663521e+01] [-4.01304206e-03 3.21124328e-03 9.99986792e-01 1.69370244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35925976399997 meters Centerline goodness [0,1] 0.4591055436811775 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.94 [[ 9.99981266e-01 -3.95443578e-03 4.67220777e-03 -2.74660072e+01] [ 3.96708620e-03 9.99988482e-01 -2.70143042e-03 1.49625268e+01] [-4.66147132e-03 2.71991486e-03 9.99985436e-01 1.69370658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38925976399997 meters Centerline goodness [0,1] 0.4943428833742878 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.96, Z:16.94 [[ 9.99978788e-01 -3.96372864e-03 5.16830810e-03 -2.74671705e+01] [ 3.97348391e-03 9.99990341e-01 -1.87861683e-03 1.49590986e+01] [-5.16081185e-03 1.89911317e-03 9.99984880e-01 1.69362751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41925976399997 meters Centerline goodness [0,1] 0.49302802276343827 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.94 [[ 9.99976711e-01 -3.86733951e-03 5.62325234e-03 -2.74681701e+01] [ 3.87260471e-03 9.99992073e-01 -9.25739846e-04 1.49548405e+01] [-5.61962761e-03 9.47494921e-04 9.99983761e-01 1.69352925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44925976399998 meters Centerline goodness [0,1] 0.45908699397071495 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99974052e-01 -3.82389814e-03 6.10515868e-03 -2.74692447e+01] [ 3.82568782e-03 9.99992642e-01 -2.81491110e-04 1.49518361e+01] [-6.10403737e-03 3.04840237e-04 9.99981324e-01 1.69346308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47925976399998 meters Centerline goodness [0,1] 0.49033245609323806 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99971246e-01 -3.74395607e-03 6.59466154e-03 -2.74701921e+01] [ 3.74088041e-03 9.99992888e-01 4.78660298e-04 1.49485547e+01] [-6.59640673e-03 -4.53976694e-04 9.99978140e-01 1.69337159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50925976399998 meters Centerline goodness [0,1] 0.48410045198042306 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99970734e-01 -3.57725712e-03 6.76267277e-03 -2.74707235e+01] [ 3.56987268e-03 9.99993019e-01 1.10369703e-03 1.49456618e+01] [-6.76657376e-03 -1.07952285e-03 9.99976524e-01 1.69335151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53925976399998 meters Centerline goodness [0,1] 0.4868126001067805 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99970182e-01 -3.65483575e-03 6.80272942e-03 -2.74714029e+01] [ 3.64764284e-03 9.99992775e-01 1.06946348e-03 1.49452277e+01] [-6.80658899e-03 -1.04461766e-03 9.99976289e-01 1.69342576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56925976399998 meters Centerline goodness [0,1] 0.45463027136535694 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.94 [[ 9.99968670e-01 -3.73252044e-03 6.98048138e-03 -2.74724466e+01] [ 3.72516728e-03 9.99992493e-01 1.06609460e-03 1.49444502e+01] [-6.98440820e-03 -1.04005774e-03 9.99975068e-01 1.69350324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59925976399998 meters Centerline goodness [0,1] 0.4569522341245581 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.94 [[ 9.99966637e-01 -3.77042488e-03 7.24634454e-03 -2.74735726e+01] [ 3.76200769e-03 9.99992233e-01 1.17485696e-03 1.49430784e+01] [-7.25071797e-03 -1.14755696e-03 9.99973055e-01 1.69355997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62925976399998 meters Centerline goodness [0,1] 0.45897116175417185 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.94 [[ 9.99961484e-01 -4.00377317e-03 7.81032580e-03 -2.74750432e+01] [ 3.99094755e-03 9.99990663e-01 1.65703119e-03 1.49399759e+01] [-7.81688726e-03 -1.62579677e-03 9.99968126e-01 1.69350316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65925976399998 meters Centerline goodness [0,1] 0.4543052656609158 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.93 [[ 9.99959271e-01 -3.85694171e-03 8.15962518e-03 -2.74751983e+01] [ 3.83799353e-03 9.99989905e-01 2.33657346e-03 1.49378611e+01] [-8.16855484e-03 -2.30516170e-03 9.99963980e-01 1.69336350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68925976399998 meters Centerline goodness [0,1] 0.45684338688758896 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.93 [[ 9.99957790e-01 -3.82347444e-03 8.35453708e-03 -2.74753771e+01] [ 3.80104459e-03 9.99989134e-01 2.69898188e-03 1.49361476e+01] [-8.36476578e-03 -2.66711199e-03 9.99961458e-01 1.69329409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.719259764 meters Centerline goodness [0,1] 0.46677604593929445 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99960148e-01 -3.51502547e-03 8.20650782e-03 -2.74744372e+01] [ 3.49179457e-03 9.99989861e-01 2.84340387e-03 1.49364671e+01] [-8.21641925e-03 -2.81463512e-03 9.99962283e-01 1.69323200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.749259764 meters Centerline goodness [0,1] 0.4690333324522217 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99963642e-01 -3.21285075e-03 7.89891535e-03 -2.74732308e+01] [ 3.18985890e-03 9.99990644e-01 2.92163705e-03 1.49374530e+01] [-7.90822824e-03 -2.89633440e-03 9.99964535e-01 1.69318971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.779259764 meters Centerline goodness [0,1] 0.4655304531642225 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99963494e-01 -3.21476939e-03 7.91679621e-03 -2.74734352e+01] [ 3.19180038e-03 9.99990666e-01 2.91222908e-03 1.49374242e+01] [-7.92608446e-03 -2.88685394e-03 9.99964421e-01 1.69320922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.809259764 meters Centerline goodness [0,1] 0.4700519452984204 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99962498e-01 -3.32484140e-03 7.99675229e-03 -2.74740263e+01] [ 3.30213343e-03 9.99990483e-01 2.85117795e-03 1.49372583e+01] [-8.00615590e-03 -2.82466468e-03 9.99963961e-01 1.69325645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.839259764 meters Centerline goodness [0,1] 0.4697242364897052 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99960825e-01 -3.50153426e-03 8.12948353e-03 -2.74749287e+01] [ 3.47902735e-03 9.99990081e-01 2.78104616e-03 1.49368992e+01] [-8.13914082e-03 -2.75265452e-03 9.99963088e-01 1.69332482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.869259764 meters Centerline goodness [0,1] 0.46951428646808957 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.93 [[ 9.99953890e-01 -4.16582901e-03 8.65242591e-03 -2.74772614e+01] [ 4.14368398e-03 9.99988098e-01 2.57575290e-03 1.49355771e+01] [-8.66305307e-03 -2.53978121e-03 9.99959250e-01 1.69341553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.899259764 meters Centerline goodness [0,1] 0.46337218501133903 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.93, Z:16.93 [[ 9.99952097e-01 -4.12414451e-03 8.87661121e-03 -2.74776273e+01] [ 4.09873729e-03 9.99987457e-01 2.87855725e-03 1.49343023e+01] [-8.88837146e-03 -2.84203646e-03 9.99956459e-01 1.69336903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.929259764 meters Centerline goodness [0,1] 0.4601338532883642 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.93, Z:16.93 [[ 9.99952469e-01 -4.03958278e-03 8.87362608e-03 -2.74772950e+01] [ 4.01322318e-03 9.99987488e-01 2.98635686e-03 1.49341721e+01] [-8.88557869e-03 -2.95060308e-03 9.99956169e-01 1.69332413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.959259764 meters Centerline goodness [0,1] 0.4666894971154606 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.93, Z:16.93 [[ 9.99953350e-01 -3.98390636e-03 8.79918256e-03 -2.74769755e+01] [ 3.95871289e-03 9.99988021e-01 2.87872305e-03 1.49349815e+01] [-8.81054572e-03 -2.84375532e-03 9.99957143e-01 1.69331603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.989259764 meters Centerline goodness [0,1] 0.45981954411143944 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.93 [[ 9.99951146e-01 -4.28343519e-03 8.90827652e-03 -2.74777471e+01] [ 4.26130206e-03 9.99987790e-01 2.50205608e-03 1.49356284e+01] [-8.91888515e-03 -2.46397299e-03 9.99957190e-01 1.69338384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01925976399997 meters Centerline goodness [0,1] 0.4663786972897517 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.93 [[ 9.99949483e-01 -4.39377937e-03 9.04023714e-03 -2.74782667e+01] [ 4.37165431e-03 9.99987404e-01 2.46570539e-03 1.49354754e+01] [-9.05095703e-03 -2.42606004e-03 9.99956096e-01 1.69340082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04925976399997 meters Centerline goodness [0,1] 0.43996311907270813 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.93 [[ 9.99950670e-01 -4.33661692e-03 8.93599700e-03 -2.74779996e+01] [ 4.31535604e-03 9.99987816e-01 2.39714882e-03 1.49360326e+01] [-8.94628364e-03 -2.35846856e-03 9.99957200e-01 1.69340550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07925976399997 meters Centerline goodness [0,1] 0.44783446382855185 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.93 [[ 9.99952747e-01 -4.29711090e-03 8.72005517e-03 -2.74775058e+01] [ 4.27939415e-03 9.99988743e-01 2.04936753e-03 1.49377572e+01] [-8.72876337e-03 -2.01195413e-03 9.99959880e-01 1.69344067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10925976399997 meters Centerline goodness [0,1] 0.4571353065539112 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.93 [[ 9.99957473e-01 -3.98897456e-03 8.31501725e-03 -2.74761238e+01] [ 3.97492869e-03 9.99990646e-01 1.70506057e-03 1.49405096e+01] [-8.32174092e-03 -1.67193646e-03 9.99963976e-01 1.69344120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13925976399997 meters Centerline goodness [0,1] 0.4586243386243386 Centerline is valid? [False, False] Translation: X:-27.48, Y:14.94, Z:16.93 [[ 9.99960248e-01 -3.89007373e-03 8.02303436e-03 -2.74751727e+01] [ 3.87822082e-03 9.99991366e-01 1.49238914e-03 1.49423908e+01] [-8.02877060e-03 -1.46121471e-03 9.99966701e-01 1.69342885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16925976399997 meters Centerline goodness [0,1] 0.4718928239819604 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.94, Z:16.93 [[ 9.99963727e-01 -3.74941290e-03 7.64763317e-03 -2.74739284e+01] [ 3.74069952e-03 9.99992338e-01 1.15334260e-03 1.49447093e+01] [-7.65189893e-03 -1.12469327e-03 9.99970091e-01 1.69341781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19925976399998 meters Centerline goodness [0,1] 0.4736254089857155 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99966255e-01 -3.48727325e-03 7.43831376e-03 -2.74727243e+01] [ 3.47860336e-03 9.99993256e-01 1.17819139e-03 1.49459550e+01] [-7.44237226e-03 -1.15227669e-03 9.99971641e-01 1.69333985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22925976399998 meters Centerline goodness [0,1] 0.4787018255578094 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99971316e-01 -2.77268281e-03 7.04832093e-03 -2.74700275e+01] [ 2.76241010e-03 9.99995109e-01 1.46678679e-03 1.49470995e+01] [-7.05235339e-03 -1.44727436e-03 9.99974085e-01 1.69314288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25925976399998 meters Centerline goodness [0,1] 0.4810771858652717 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99977064e-01 -2.01799214e-03 6.46518382e-03 -2.74674326e+01] [ 2.00862369e-03 9.99996924e-01 1.45522737e-03 1.49498881e+01] [-6.46810057e-03 -1.44220787e-03 9.99978042e-01 1.69305857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28925976399998 meters Centerline goodness [0,1] 0.4676872111351553 Centerline is valid? [False, False] Translation: X:-27.47, Y:14.95, Z:16.93 [[ 9.99980950e-01 -1.78832911e-03 5.90780745e-03 -2.74657389e+01] [ 1.78232628e-03 9.99997890e-01 1.02119315e-03 1.49531828e+01] [-5.90962121e-03 -1.01064406e-03 9.99982027e-01 1.69306621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31925976399998 meters Centerline goodness [0,1] 0.4803805950147414 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.96, Z:16.93 [[ 9.99983931e-01 -1.60800735e-03 5.43613065e-03 -2.74643786e+01] [ 1.60448470e-03 9.99998500e-01 6.52305813e-04 1.49559828e+01] [-5.43717141e-03 -6.43573143e-04 9.99985011e-01 1.69308244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34925976399998 meters Centerline goodness [0,1] 0.4907335180353445 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.96, Z:16.93 [[ 9.99987042e-01 -1.22310252e-03 4.94157904e-03 -2.74625551e+01] [ 1.22182689e-03 9.99999219e-01 2.61153921e-04 1.49592728e+01] [-4.94189460e-03 -2.55112783e-04 9.99987756e-01 1.69306485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37925976399998 meters Centerline goodness [0,1] 0.5010076582023377 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.96, Z:16.93 [[ 9.99987501e-01 -1.10679400e-03 4.87579130e-03 -2.74622308e+01] [ 1.10611359e-03 9.99999378e-01 1.42243209e-04 1.49599763e+01] [-4.87594570e-03 -1.36848252e-04 9.99988103e-01 1.69306087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40925976399998 meters Centerline goodness [0,1] 0.47033362905610665 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.96, Z:16.93 [[ 9.99987653e-01 -1.14410409e-03 4.83582112e-03 -2.74621049e+01] [ 1.14420418e-03 9.99999345e-01 -1.79304326e-05 1.49609460e+01] [-4.83579744e-03 2.34633779e-05 9.99988307e-01 1.69306230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43925976399998 meters Centerline goodness [0,1] 0.4722229695192489 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.96, Z:16.93 [[ 9.99987110e-01 -1.18192146e-03 4.93781608e-03 -2.74621030e+01] [ 1.18204873e-03 9.99999301e-01 -2.28561735e-05 1.49614741e+01] [-4.93778562e-03 2.86926181e-05 9.99987809e-01 1.69301962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.469259764 meters Centerline goodness [0,1] 0.47075606276747506 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.96, Z:16.93 [[ 9.99986489e-01 -1.14644087e-03 5.07030234e-03 -2.74621346e+01] [ 1.14594721e-03 9.99999338e-01 1.00268520e-04 1.49613309e+01] [-5.07041394e-03 -9.44568665e-05 9.99987141e-01 1.69297002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.499259764 meters Centerline goodness [0,1] 0.46771322220424016 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.96, Z:16.93 [[ 9.99986025e-01 -1.07605026e-03 5.17612248e-03 -2.74618238e+01] [ 1.07530260e-03 9.99999411e-01 1.47225087e-04 1.49618984e+01] [-5.17627785e-03 -1.41657132e-04 9.99986593e-01 1.69288652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.529259764 meters Centerline goodness [0,1] 0.4800896304095462 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.96, Z:16.93 [[ 9.99989274e-01 -6.11726373e-04 4.59105848e-03 -2.74596927e+01] [ 6.11976165e-04 9.99999811e-01 -5.30038224e-05 1.49645756e+01] [-4.59102519e-03 5.58128722e-05 9.99989460e-01 1.69285593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.559259764 meters Centerline goodness [0,1] 0.48023715415019763 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.97, Z:16.93 [[ 9.99991627e-01 -1.83976733e-04 4.08796224e-03 -2.74578077e+01] [ 1.85165053e-04 9.99999941e-01 -2.90310858e-04 1.49675220e+01] [-4.08790859e-03 2.91065375e-04 9.99991602e-01 1.69283427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.589259764 meters Centerline goodness [0,1] 0.4920367451214872 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.97, Z:16.93 [[ 9.99993751e-01 3.01105654e-04 3.52238893e-03 -2.74560437e+01] [-2.96779007e-04 9.99999201e-01 -1.22878543e-03 1.49725082e+01] [-3.52275611e-03 1.22773238e-03 9.99993041e-01 1.69294378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.619259764 meters Centerline goodness [0,1] 0.5007882148293108 Centerline is valid? [False, False] Translation: X:-27.46, Y:14.97, Z:16.93 [[ 9.99994025e-01 4.46095214e-04 3.42806277e-03 -2.74553429e+01] [-4.41486721e-04 9.99998998e-01 -1.34498231e-03 1.49738937e+01] [-3.42865933e-03 1.34346083e-03 9.99993220e-01 1.69289911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.649259764 meters Centerline goodness [0,1] 0.5071101667211507 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.97, Z:16.93 [[ 9.99994577e-01 7.72957348e-04 3.20130219e-03 -2.74539855e+01] [-7.69047374e-04 9.99998957e-01 -1.22242076e-03 1.49748150e+01] [-3.20224373e-03 1.21995218e-03 9.99994129e-01 1.69280931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.679259764 meters Centerline goodness [0,1] 0.5018142136134225 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.98, Z:16.93 [[ 9.99994878e-01 1.06179053e-03 3.01935815e-03 -2.74527212e+01] [-1.05854580e-03 9.99998861e-01 -1.07603609e-03 1.49757529e+01] [-3.02049724e-03 1.07283445e-03 9.99994863e-01 1.69270867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.709259764 meters Centerline goodness [0,1] 0.5185723691429825 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.98, Z:16.93 [[ 9.99995602e-01 1.16640778e-03 2.72693492e-03 -2.74512628e+01] [-1.16274382e-03 9.99998420e-01 -1.34481670e-03 1.49788200e+01] [-2.72849922e-03 1.34164006e-03 9.99995378e-01 1.69263859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.739259764 meters Centerline goodness [0,1] 0.5185723691429825 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.98, Z:16.93 [[ 9.99995602e-01 1.16640778e-03 2.72693492e-03 -2.74512628e+01] [-1.16274382e-03 9.99998420e-01 -1.34481670e-03 1.49788200e+01] [-2.72849922e-03 1.34164006e-03 9.99995378e-01 1.69263859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76925976399997 meters Centerline goodness [0,1] 0.5186622625928985 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.98, Z:16.93 [[ 9.99995898e-01 1.17034740e-03 2.61438801e-03 -2.74506921e+01] [-1.16633741e-03 9.99998142e-01 -1.53481157e-03 1.49805917e+01] [-2.61617941e-03 1.53175602e-03 9.99995405e-01 1.69261191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79925976399997 meters Centerline goodness [0,1] 0.5200982150246918 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.98, Z:16.93 [[ 9.99996347e-01 1.06614827e-03 2.48398857e-03 -2.74502254e+01] [-1.06142291e-03 9.99997626e-01 -1.90286975e-03 1.49828643e+01] [-2.48601142e-03 1.90022624e-03 9.99995104e-01 1.69260684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82925976399997 meters Centerline goodness [0,1] 0.5272646831102754 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.98, Z:16.93 [[ 9.99996642e-01 1.21463482e-03 2.28906055e-03 -2.74491654e+01] [-1.20988817e-03 9.99997118e-01 -2.07386674e-03 1.49846669e+01] [-2.29157295e-03 2.07109027e-03 9.99995230e-01 1.69255497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85925976399997 meters Centerline goodness [0,1] 0.5341227364743074 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.99, Z:16.92 [[ 9.99996675e-01 1.66704474e-03 1.96724268e-03 -2.74470026e+01] [-1.66227907e-03 9.99995686e-01 -2.42166998e-03 1.49886233e+01] [-1.97127123e-03 2.41839182e-03 9.99995133e-01 1.69244630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88925976399997 meters Centerline goodness [0,1] 0.5365623088472447 Centerline is valid? [False, False] Translation: X:-27.45, Y:14.99, Z:16.92 [[ 9.99996936e-01 1.92859784e-03 1.55202300e-03 -2.74453466e+01] [-1.92434273e-03 9.99994399e-01 -2.73849017e-03 1.49920644e+01] [-1.55729575e-03 2.73549515e-03 9.99995046e-01 1.69241050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91925976399997 meters Centerline goodness [0,1] 0.5026500781075653 Centerline is valid? [False, False] Translation: X:-27.44, Y:15.00, Z:16.92 [[ 9.99997155e-01 2.11100938e-03 1.11058135e-03 -2.74438654e+01] [-2.10742376e-03 9.99992595e-01 -3.21992083e-03 1.49959503e+01] [-1.11737041e-03 3.21757120e-03 9.99994199e-01 1.69241534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94925976399998 meters Centerline goodness [0,1] 0.5385348354912841 Centerline is valid? [False, False] Translation: X:-27.44, Y:15.00, Z:16.92 [[ 9.99996421e-01 2.61783905e-03 5.51500397e-04 -2.74416299e+01] [-2.61584146e-03 9.99990127e-01 -3.59220243e-03 1.49998987e+01] [-5.60898760e-04 3.59074694e-03 9.99993396e-01 1.69238981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97925976399998 meters Centerline goodness [0,1] 0.5448841153193895 Centerline is valid? [False, False] Translation: X:-27.44, Y:15.00, Z:16.92 [[ 9.99974071e-01 7.17750099e-03 5.84067721e-04 -2.74400058e+01] [-7.17774589e-03 9.99974152e-01 4.18294850e-04 1.50027271e+01] [-5.81050313e-04 -4.22476293e-04 9.99999742e-01 1.69220794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00925976399998 meters Centerline goodness [0,1] 0.5448186014897052 Centerline is valid? [False, False] Translation: X:-27.44, Y:15.01, Z:16.92 [[ 9.99971954e-01 7.48364575e-03 2.94080094e-04 -2.74383857e+01] [-7.48365356e-03 9.99971997e-01 2.54490547e-05 1.50054766e+01] [-2.93881407e-04 -2.76491345e-05 9.99999956e-01 1.69215848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03925976399998 meters Centerline goodness [0,1] 0.543963385166444 Centerline is valid? [False, False] Translation: X:-27.44, Y:15.01, Z:16.92 [[ 9.99970535e-01 7.67652945e-03 1.34254166e-05 -2.74370348e+01] [-7.67652154e-03 9.99970403e-01 -5.13438501e-04 1.50085144e+01] [-1.73664451e-05 5.13320312e-04 9.99999868e-01 1.69213920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06925976399998 meters Centerline goodness [0,1] 0.5504759733226928 Centerline is valid? [False, False] Translation: X:-27.44, Y:15.01, Z:16.92 [[ 9.99969373e-01 7.81833502e-03 -3.54605234e-04 -2.74355308e+01] [-7.81873865e-03 9.99968770e-01 -1.15151640e-03 1.50122531e+01] [ 3.45591219e-04 1.15425370e-03 9.99999274e-01 1.69213152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09925976399998 meters Centerline goodness [0,1] 0.552749013101436 Centerline is valid? [False, False] Translation: X:-27.43, Y:15.02, Z:16.92 [[ 9.99967256e-01 8.03824419e-03 -9.34350160e-04 -2.74335723e+01] [-8.03977526e-03 9.99966325e-01 -1.64661258e-03 1.50161548e+01] [ 9.21082821e-04 1.65407063e-03 9.99998208e-01 1.69212960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12925976399998 meters Centerline goodness [0,1] 0.5525884147218785 Centerline is valid? [False, False] Translation: X:-27.43, Y:15.02, Z:16.92 [[ 9.99963475e-01 8.43752561e-03 -1.36287292e-03 -2.74318137e+01] [-8.44167355e-03 9.99959665e-01 -3.06700379e-03 1.50236895e+01] [ 1.33694002e-03 3.07839670e-03 9.99994368e-01 1.69226114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15925976399998 meters Centerline goodness [0,1] 0.5462090104678734 Centerline is valid? [False, False] Translation: X:-27.43, Y:15.03, Z:16.92 [[ 9.99966590e-01 8.03841925e-03 -1.48384753e-03 -2.74319706e+01] [-8.04465363e-03 9.99958633e-01 -4.24446156e-03 1.50277718e+01] [ 1.44966739e-03 4.25625680e-03 9.99989891e-01 1.69239057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18925976399998 meters Centerline goodness [0,1] 0.5518299745193421 Centerline is valid? [False, False] Translation: X:-27.43, Y:15.03, Z:16.92 [[ 9.99966254e-01 8.00238776e-03 -1.85799766e-03 -2.74311274e+01] [-8.01185887e-03 9.99954657e-01 -5.14725989e-03 1.50319347e+01] [ 1.81672304e-03 5.16197221e-03 9.99985027e-01 1.69248646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.219259764 meters Centerline goodness [0,1] 0.5476266697709613 Centerline is valid? [False, False] Translation: X:-27.43, Y:15.04, Z:16.93 [[ 9.99965076e-01 8.01320734e-03 -2.37383841e-03 -2.74297007e+01] [-8.02737775e-03 9.99949652e-01 -6.02126659e-03 1.50370062e+01] [ 2.32546924e-03 6.04011200e-03 9.99979054e-01 1.69254857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.249259764 meters Centerline goodness [0,1] 0.5528397894055708 Centerline is valid? [False, False] Translation: X:-27.43, Y:15.04, Z:16.92 [[ 9.99919757e-01 1.24117938e-02 -2.53518793e-03 -2.74278680e+01] [-1.24187711e-02 9.99919088e-01 -2.75522745e-03 1.50428184e+01] [ 2.50078549e-03 2.78649028e-03 9.99992991e-01 1.69247431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.279259764 meters Centerline goodness [0,1] 0.5590153773501372 Centerline is valid? [False, False] Translation: X:-27.43, Y:15.05, Z:16.92 [[ 9.99910902e-01 1.29833459e-02 -3.10178205e-03 -2.74251416e+01] [-1.29934620e-02 9.99910255e-01 -3.26379504e-03 1.50474154e+01] [ 3.05912870e-03 3.30380713e-03 9.99989863e-01 1.69241339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.309259764 meters Centerline goodness [0,1] 0.5611318739989322 Centerline is valid? [False, False] Translation: X:-27.42, Y:15.05, Z:16.92 [[ 9.99900372e-01 1.36503894e-02 -3.59346168e-03 -2.74224196e+01] [-1.36637402e-02 9.99899737e-01 -3.71733105e-03 1.50518230e+01] [ 3.54235837e-03 3.76606083e-03 9.99986634e-01 1.69233715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.339259764 meters Centerline goodness [0,1] 0.5698242478403337 Centerline is valid? [False, False] Translation: X:-27.42, Y:15.06, Z:16.92 [[ 9.99887353e-01 1.44474143e-02 -4.06852272e-03 -2.74195374e+01] [-1.44644145e-02 9.99886646e-01 -4.18050208e-03 1.50565769e+01] [ 4.00766409e-03 4.23887996e-03 9.99982985e-01 1.69225755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.369259764 meters Centerline goodness [0,1] 0.5840262713906965 Centerline is valid? [False, False] Translation: X:-27.42, Y:15.06, Z:16.92 [[ 9.99799295e-01 1.95490317e-02 -4.38228183e-03 -2.74158102e+01] [-1.95511156e-02 9.99808765e-01 -4.33203793e-04 1.50624836e+01] [ 4.37297507e-03 5.18795345e-04 9.99990304e-01 1.69203482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.399259764 meters Centerline goodness [0,1] 0.5872623000301842 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.07, Z:16.92 [[ 9.99803416e-01 1.83515612e-02 -7.50662479e-03 -2.73828418e+01] [-1.83557238e-02 9.99831401e-01 -4.86008608e-04 1.50673878e+01] [ 7.49644017e-03 6.23702598e-04 9.99971707e-01 1.69234578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.429259764 meters Centerline goodness [0,1] 0.5945544854321885 Centerline is valid? [False, False] Translation: X:-27.35, Y:15.07, Z:16.93 [[ 9.99814060e-01 1.64526389e-02 -1.00576345e-02 -2.73504098e+01] [-1.64688811e-02 9.99863202e-01 -1.53422764e-03 1.50729984e+01] [ 1.00310165e-02 1.69958035e-03 9.99948244e-01 1.69270420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.459259764 meters Centerline goodness [0,1] 0.6158058039788282 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.08, Z:16.93 [[ 9.99749656e-01 1.85684278e-02 -1.24835446e-02 -2.73170830e+01] [-1.85734605e-02 9.99827457e-01 -2.87322181e-04 1.50802165e+01] [ 1.24760556e-02 5.19112875e-04 9.99922036e-01 1.69312149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.489259764 meters Centerline goodness [0,1] 0.6367435334309419 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.09, Z:16.94 [[ 9.99737394e-01 1.70768604e-02 -1.52814824e-02 -2.72841215e+01] [-1.71018007e-02 9.99852624e-01 -1.50285880e-03 1.50860868e+01] [ 1.52535662e-02 1.76380501e-03 9.99882102e-01 1.69359700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51925976399997 meters Centerline goodness [0,1] 0.6423599398975806 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.09, Z:16.94 [[ 9.99727052e-01 1.72725705e-02 -1.57315103e-02 -2.72826200e+01] [-1.73135014e-02 9.99847061e-01 -2.46937058e-03 1.50906938e+01] [ 1.56864520e-02 2.74106409e-03 9.99873203e-01 1.69368386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54925976399997 meters Centerline goodness [0,1] 0.6586534033342544 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.09, Z:16.94 [[ 9.99749368e-01 1.65718462e-02 -1.50524068e-02 -2.72538145e+01] [-1.65648315e-02 9.99862619e-01 5.90583830e-04 1.50926033e+01] [ 1.50601259e-02 -3.41095230e-04 9.99886532e-01 1.69365216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57925976399997 meters Centerline goodness [0,1] 0.6712885930855981 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.10, Z:16.94 [[ 9.99748764e-01 1.65156959e-02 -1.51538762e-02 -2.72534817e+01] [-1.65212346e-02 9.99863486e-01 -2.40374733e-04 1.50955401e+01] [ 1.51478375e-02 4.90675085e-04 9.99885145e-01 1.69372585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60925976399997 meters Centerline goodness [0,1] 0.7038465097627935 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.10, Z:16.94 [[ 9.99733242e-01 1.69768351e-02 -1.56598861e-02 -2.72512378e+01] [-1.69926402e-02 9.99855230e-01 -8.76755796e-04 1.50991278e+01] [ 1.56427345e-02 1.14262472e-03 9.99876992e-01 1.69373787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63925976399997 meters Centerline goodness [0,1] 0.7084543600519128 Centerline is valid? [False, False] Translation: X:-27.22, Y:15.10, Z:16.93 [[ 9.99775221e-01 1.49301194e-02 -1.50531795e-02 -2.72245209e+01] [-1.48764193e-02 9.99882594e-01 3.67305671e-03 1.51000165e+01] [ 1.51062513e-02 -3.44829367e-03 9.99879948e-01 1.69347959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66925976399997 meters Centerline goodness [0,1] 0.7141398830698797 Centerline is valid? [False, False] Translation: X:-27.22, Y:15.11, Z:16.94 [[ 9.99810372e-01 1.13872536e-02 -1.57971988e-02 -2.72227394e+01] [-1.14204833e-02 9.99932754e-01 -2.01489838e-03 1.51065794e+01] [ 1.57731923e-02 2.19492794e-03 9.99873186e-01 1.69379275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69925976399998 meters Centerline goodness [0,1] 0.7292460133147546 Centerline is valid? [False, False] Translation: X:-27.20, Y:15.10, Z:16.93 [[ 9.99899056e-01 1.02288902e-02 -9.86140410e-03 -2.72041939e+01] [-1.01681722e-02 9.99929158e-01 6.18773423e-03 1.51047197e+01] [ 9.92399915e-03 -6.08683716e-03 9.99932230e-01 1.69306004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72925976399998 meters Centerline goodness [0,1] 0.7474412257304137 Centerline is valid? [False, False] Translation: X:-27.20, Y:15.11, Z:16.94 [[ 9.99919478e-01 7.41697959e-03 -1.02968414e-02 -2.72021570e+01] [-7.42777896e-03 9.99971903e-01 -1.01095862e-03 1.51117533e+01] [ 1.02890538e-02 1.08735988e-03 9.99946475e-01 1.69367610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75925976399998 meters Centerline goodness [0,1] 0.7506672459810068 Centerline is valid? [False, False] Translation: X:-27.20, Y:15.12, Z:16.94 [[ 9.99938399e-01 4.34816670e-03 -1.02123405e-02 -2.72012858e+01] [-4.40426751e-03 9.99975300e-01 -5.47738312e-03 1.51162855e+01] [ 1.01882717e-02 5.52202358e-03 9.99932851e-01 1.69375149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78925976399998 meters Centerline goodness [0,1] 0.7542557157057654 Centerline is valid? [False, False] Translation: X:-27.20, Y:15.12, Z:16.94 [[ 9.99938879e-01 4.35114418e-03 -1.01639300e-02 -2.72014656e+01] [-4.40723730e-03 9.99975146e-01 -5.50297873e-03 1.51167291e+01] [ 1.01397332e-02 5.54743724e-03 9.99933204e-01 1.69375993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81925976399998 meters Centerline goodness [0,1] 0.7543156979632389 Centerline is valid? [False, False] Translation: X:-27.20, Y:15.12, Z:16.94 [[ 9.99938167e-01 4.41639631e-03 -1.02057352e-02 -2.72016473e+01] [-4.47123082e-03 9.99975658e-01 -5.35635530e-03 1.51163399e+01] [ 1.01818310e-02 5.40165630e-03 9.99933574e-01 1.69378422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84925976399998 meters Centerline goodness [0,1] 0.7529459191267676 Centerline is valid? [False, False] Translation: X:-27.20, Y:15.11, Z:16.94 [[ 9.99942237e-01 4.37800130e-03 -9.81611011e-03 -2.72031906e+01] [-4.42790228e-03 9.99977356e-01 -5.06762247e-03 1.51137170e+01] [ 9.79370177e-03 5.11079452e-03 9.99938980e-01 1.69382752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87925976399998 meters Centerline goodness [0,1] 0.7473134881422925 Centerline is valid? [False, False] Translation: X:-27.20, Y:15.12, Z:16.94 [[ 9.99945703e-01 7.26842595e-04 -1.03953517e-02 -2.72015135e+01] [-8.25661056e-04 9.99954487e-01 -9.50489343e-03 1.51158909e+01] [ 1.03879700e-02 9.51296038e-03 9.99900792e-01 1.69390622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90925976399998 meters Centerline goodness [0,1] 0.7458975940777298 Centerline is valid? [False, False] Translation: X:-27.20, Y:15.11, Z:16.94 [[ 9.99947288e-01 1.07647469e-03 -1.02109227e-02 -2.72014897e+01] [-1.16559838e-03 9.99961245e-01 -8.72633865e-03 1.51132596e+01] [ 1.02011333e-02 8.73778050e-03 9.99909790e-01 1.69379510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93925976399998 meters Centerline goodness [0,1] 0.741085128582827 Centerline is valid? [False, False] Translation: X:-27.20, Y:15.11, Z:16.94 [[ 9.99949084e-01 1.43994681e-03 -9.98775297e-03 -2.72018271e+01] [-1.51295260e-03 9.99972168e-01 -7.30583085e-03 1.51079843e+01] [ 9.97695498e-03 7.32056987e-03 9.99923432e-01 1.69364875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.969259764 meters Centerline goodness [0,1] 0.7316071702160257 Centerline is valid? [False, False] Translation: X:-27.20, Y:15.10, Z:16.94 [[ 9.99951119e-01 1.65939213e-03 -9.74709115e-03 -2.72023936e+01] [-1.72264640e-03 9.99977490e-01 -6.48474663e-03 1.51048796e+01] [ 9.73611101e-03 6.50122044e-03 9.99931469e-01 1.69358363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.999259764 meters Centerline goodness [0,1] 0.728245951139171 Centerline is valid? [False, False] Translation: X:-27.20, Y:15.10, Z:16.94 [[ 9.99952203e-01 1.99064042e-03 -9.57228014e-03 -2.72026716e+01] [-2.04411569e-03 9.99982343e-01 -5.57993751e-03 1.51015006e+01] [ 9.56100347e-03 5.59923765e-03 9.99938616e-01 1.69350837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.029259764 meters Centerline goodness [0,1] 0.7150720759077915 Centerline is valid? [False, False] Translation: X:-27.20, Y:15.10, Z:16.93 [[ 9.99954847e-01 2.01653841e-03 -9.28642560e-03 -2.72036662e+01] [-2.06317552e-03 9.99985295e-01 -5.01523456e-03 1.50985595e+01] [ 9.27617563e-03 5.03416763e-03 9.99944303e-01 1.69349336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.059259764 meters Centerline goodness [0,1] 0.7095136778115502 Centerline is valid? [False, False] Translation: X:-27.20, Y:15.10, Z:16.93 [[ 9.99956116e-01 2.19237441e-03 -9.10824137e-03 -2.72042429e+01] [-2.23092422e-03 9.99988589e-01 -4.22440728e-03 1.50955455e+01] [ 9.09887595e-03 4.24454170e-03 9.99949596e-01 1.69344909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.089259764 meters Centerline goodness [0,1] 0.6900740293095633 Centerline is valid? [False, False] Translation: X:-27.20, Y:15.09, Z:16.94 [[ 9.99953870e-01 -1.94199017e-03 -9.40672313e-03 -2.72048101e+01] [ 1.86464240e-03 9.99964440e-01 -8.22440776e-03 1.50938536e+01] [ 9.42236035e-03 8.20648819e-03 9.99921933e-01 1.69362783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.119259764 meters Centerline goodness [0,1] 0.651685393258427 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.09, Z:16.94 [[ 9.99957388e-01 -1.83786691e-03 -9.04673875e-03 -2.72057469e+01] [ 1.77159760e-03 9.99971582e-01 -7.32778749e-03 1.50900905e+01] [ 9.05994916e-03 7.31144807e-03 9.99932228e-01 1.69355111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.149259764 meters Centerline goodness [0,1] 0.6582441626952013 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.09, Z:16.93 [[ 9.99960758e-01 -1.74112678e-03 -8.68629555e-03 -2.72067502e+01] [ 1.68518753e-03 9.99977823e-01 -6.44311126e-03 1.50864143e+01] [ 8.69732119e-03 6.42822038e-03 9.99941516e-01 1.69348717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.179259764 meters Centerline goodness [0,1] 0.6596637396229807 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.08, Z:16.93 [[ 9.99962834e-01 -1.59246676e-03 -8.47312766e-03 -2.72073907e+01] [ 1.54433074e-03 9.99982650e-01 -5.68453443e-03 1.50835427e+01] [ 8.48203308e-03 5.67123785e-03 9.99947945e-01 1.69344056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.209259764 meters Centerline goodness [0,1] 0.6344166095737392 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.08, Z:16.93 [[ 9.99967140e-01 -1.92479298e-03 -7.87489225e-03 -2.72097387e+01] [ 1.88543635e-03 9.99985712e-01 -5.00211118e-03 1.50787473e+01] [ 7.88440776e-03 4.98709920e-03 9.99956482e-01 1.69344783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.239259764 meters Centerline goodness [0,1] 0.6316602775549018 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.08, Z:16.93 [[ 9.99969142e-01 -1.54610935e-03 -7.70225183e-03 -2.72097208e+01] [ 1.51568087e-03 9.99991031e-01 -3.95486737e-03 1.50750688e+01] [ 7.70829741e-03 3.94307117e-03 9.99962516e-01 1.69332486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26925976399997 meters Centerline goodness [0,1] 0.6187054614270084 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.07, Z:16.93 [[ 9.99972367e-01 -1.40138931e-03 -7.30083514e-03 -2.72106271e+01] [ 1.37878527e-03 9.99994244e-01 -3.10020422e-03 1.50713950e+01] [ 7.30513771e-03 3.09005226e-03 9.99968543e-01 1.69324454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29925976399997 meters Centerline goodness [0,1] 0.608562420813813 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.07, Z:16.93 [[ 9.99975107e-01 -1.27920659e-03 -6.93892181e-03 -2.72115998e+01] [ 1.26296287e-03 9.99996453e-01 -2.34483420e-03 1.50680509e+01] [ 6.94189673e-03 2.33601223e-03 9.99973176e-01 1.69319552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32925976399997 meters Centerline goodness [0,1] 0.590364270433432 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.07, Z:16.93 [[ 9.99959453e-01 -5.62602240e-03 -7.03132790e-03 -2.72126917e+01] [ 5.58100249e-03 9.99963907e-01 -6.40606533e-03 1.50663037e+01] [ 7.06711478e-03 6.36656373e-03 9.99954760e-01 1.69336553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35925976399997 meters Centerline goodness [0,1] 0.5833626244874048 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.06, Z:16.93 [[ 9.99961864e-01 -5.83011123e-03 -6.50239934e-03 -2.72144970e+01] [ 5.79303672e-03 9.99966941e-01 -5.70600080e-03 1.50629093e+01] [ 6.53545100e-03 5.66811455e-03 9.99962579e-01 1.69334174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38925976399997 meters Centerline goodness [0,1] 0.5863151102768653 Centerline is valid? [False, False] Translation: X:-27.22, Y:15.06, Z:16.93 [[ 9.99962488e-01 -6.30232103e-03 -5.94159079e-03 -2.72168510e+01] [ 6.27071057e-03 9.99966167e-01 -5.32390338e-03 1.50601149e+01] [ 5.97494272e-03 5.28644567e-03 9.99968176e-01 1.69338471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41925976399997 meters Centerline goodness [0,1] 0.5761238585811286 Centerline is valid? [False, False] Translation: X:-27.22, Y:15.06, Z:16.93 [[ 9.99963413e-01 -6.60959348e-03 -5.43015474e-03 -2.72187632e+01] [ 6.58310436e-03 9.99966416e-01 -4.88162856e-03 1.50573263e+01] [ 5.46223795e-03 4.84570268e-03 9.99973341e-01 1.69340372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44925976399998 meters Centerline goodness [0,1] 0.5710304789550072 Centerline is valid? [False, False] Translation: X:-27.22, Y:15.05, Z:16.93 [[ 9.99960043e-01 -7.34167865e-03 -5.10017612e-03 -2.72207789e+01] [ 7.32157504e-03 9.99965398e-01 -3.94930014e-03 1.50515974e+01] [ 5.12899413e-03 3.91180101e-03 9.99979195e-01 1.69336826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47925976399998 meters Centerline goodness [0,1] 0.5609481138892903 Centerline is valid? [False, False] Translation: X:-27.22, Y:15.05, Z:16.93 [[ 9.99961507e-01 -7.43505326e-03 -4.65872081e-03 -2.72221109e+01] [ 7.41904308e-03 9.99966546e-01 -3.44451177e-03 1.50488525e+01] [ 4.68417509e-03 3.40981593e-03 9.99983216e-01 1.69334477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50925976399998 meters Centerline goodness [0,1] 0.5570933256284312 Centerline is valid? [False, False] Translation: X:-27.22, Y:15.05, Z:16.93 [[ 9.99961858e-01 -7.67035955e-03 -4.17718490e-03 -2.72237176e+01] [ 7.65781903e-03 9.99966149e-01 -3.00991022e-03 1.50463265e+01] [ 4.20013059e-03 2.97780729e-03 9.99986746e-01 1.69333470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53925976399998 meters Centerline goodness [0,1] 0.5556866921903336 Centerline is valid? [False, False] Translation: X:-27.23, Y:15.04, Z:16.93 [[ 9.99961531e-01 -7.97217964e-03 -3.65790205e-03 -2.72256068e+01] [ 7.96252205e-03 9.99964795e-01 -2.64720950e-03 1.50437542e+01] [ 3.67887731e-03 2.61798154e-03 9.99989806e-01 1.69335414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56925976399998 meters Centerline goodness [0,1] 0.5515844514034534 Centerline is valid? [False, False] Translation: X:-27.23, Y:15.04, Z:16.93 [[ 9.99960571e-01 -8.32468052e-03 -3.09126225e-03 -2.72274818e+01] [ 8.31805910e-03 9.99963096e-01 -2.14869344e-03 1.50409605e+01] [ 3.10903536e-03 2.12289542e-03 9.99992914e-01 1.69333521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59925976399998 meters Centerline goodness [0,1] 0.5501176200585232 Centerline is valid? [False, False] Translation: X:-27.23, Y:15.04, Z:16.93 [[ 9.99958673e-01 -8.71384659e-03 -2.59254968e-03 -2.72293012e+01] [ 8.70962929e-03 9.99960736e-01 -1.63356646e-03 1.50381103e+01] [ 2.60668253e-03 1.61091880e-03 9.99995305e-01 1.69332483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62925976399998 meters Centerline goodness [0,1] 0.5434925160370634 Centerline is valid? [False, False] Translation: X:-27.23, Y:15.03, Z:16.93 [[ 9.99947017e-01 -9.98357190e-03 -2.50842524e-03 -2.72314745e+01] [ 9.98088979e-03 9.99949607e-01 -1.07949392e-03 1.50336837e+01] [ 2.51907604e-03 1.05440041e-03 9.99996271e-01 1.69334626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65925976399998 meters Centerline goodness [0,1] 0.5434925160370634 Centerline is valid? [False, False] Translation: X:-27.23, Y:15.03, Z:16.93 [[ 9.99947017e-01 -9.98357190e-03 -2.50842524e-03 -2.72314745e+01] [ 9.98088979e-03 9.99949607e-01 -1.07949392e-03 1.50336837e+01] [ 2.51907604e-03 1.05440041e-03 9.99996271e-01 1.69334626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68925976399998 meters Centerline goodness [0,1] 0.5515856056073168 Centerline is valid? [False, False] Translation: X:-27.23, Y:15.03, Z:16.93 [[ 9.99945888e-01 -1.01914742e-02 -2.08686613e-03 -2.72327048e+01] [ 1.01902661e-02 9.99947905e-01 -5.88730362e-04 1.50314359e+01] [ 2.09275745e-03 5.67432783e-04 9.99997649e-01 1.69330546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.719259764 meters Centerline goodness [0,1] 0.5463987934321732 Centerline is valid? [False, False] Translation: X:-27.23, Y:15.03, Z:16.93 [[ 9.99943854e-01 -1.04731136e-02 -1.61323070e-03 -2.72340711e+01] [ 1.04730465e-02 9.99945155e-01 -5.00383564e-05 1.50290963e+01] [ 1.61366628e-03 3.31401068e-05 9.99998697e-01 1.69324504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.749259764 meters Centerline goodness [0,1] 0.5503759398496241 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.03, Z:16.93 [[ 9.99925774e-01 -1.20952727e-02 -1.46626002e-03 -2.72363066e+01] [ 1.20956998e-02 9.99926804e-01 2.82765054e-04 1.50256368e+01] [ 1.46273257e-03 -3.00479507e-04 9.99998885e-01 1.69323028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.779259764 meters Centerline goodness [0,1] 0.5532669447045139 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.02, Z:16.93 [[ 9.99923225e-01 -1.23474873e-02 -1.04092853e-03 -2.72374854e+01] [ 1.23482987e-02 9.99923455e-01 7.76656474e-04 1.50237890e+01] [ 1.03125909e-03 -7.89450543e-04 9.99999157e-01 1.69316936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.809259764 meters Centerline goodness [0,1] 0.5479199727952846 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.02, Z:16.93 [[ 9.99920746e-01 -1.25705021e-02 -6.96542343e-04 -2.72386880e+01] [ 1.25712208e-02 9.99920441e-01 1.03730742e-03 1.50222102e+01] [ 6.83447452e-04 -1.04598160e-03 9.99999219e-01 1.69317120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.839259764 meters Centerline goodness [0,1] 0.5472259197371775 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.02, Z:16.93 [[ 9.99917596e-01 -1.28356286e-02 -2.19888036e-04 -2.72402139e+01] [ 1.28358915e-02 9.99916849e-01 1.23933268e-03 1.50208248e+01] [ 2.03962138e-04 -1.24205301e-03 9.99999208e-01 1.69317193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.869259764 meters Centerline goodness [0,1] 0.5489657126664778 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.02, Z:16.93 [[ 9.99913908e-01 -1.31216005e-02 5.48732517e-06 -2.72411907e+01] [ 1.31215885e-02 9.99913411e-01 9.97398867e-04 1.50214413e+01] [-1.85743195e-05 -9.97240996e-04 9.99999503e-01 1.69321508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.899259764 meters Centerline goodness [0,1] 0.5485033338062136 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.02, Z:16.93 [[ 9.99959252e-01 -9.01741659e-03 4.25941470e-04 -2.72420286e+01] [ 9.01489880e-03 9.99943778e-01 5.58329843e-03 1.50200497e+01] [-4.76264450e-04 -5.57923110e-03 9.99984323e-01 1.69311523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.929259764 meters Centerline goodness [0,1] 0.5542637862421831 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.02, Z:16.93 [[ 9.99958019e-01 -9.16068850e-03 2.06136989e-04 -2.72417167e+01] [ 9.15953966e-03 9.99945473e-01 5.01541781e-03 1.50223019e+01] [-2.52070429e-04 -5.01331914e-03 9.99987401e-01 1.69317567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.959259764 meters Centerline goodness [0,1] 0.5568023635692168 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.02, Z:16.93 [[ 9.99960237e-01 -8.91766227e-03 2.62173973e-05 -2.72408250e+01] [ 8.91741100e-03 9.99947120e-01 5.12214970e-03 1.50224708e+01] [-7.18936121e-05 -5.12171224e-03 9.99986881e-01 1.69312967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.989259764 meters Centerline goodness [0,1] 0.557689025430961 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.02, Z:16.93 [[ 9.99962141e-01 -8.70133854e-03 5.03119142e-05 -2.72404006e+01] [ 8.70094547e-03 9.99947868e-01 5.34366352e-03 1.50220983e+01] [-9.68063167e-05 -5.34302346e-03 9.99985721e-01 1.69306380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01925976399997 meters Centerline goodness [0,1] 0.5453277942180742 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.02, Z:16.93 [[ 9.99966254e-01 -8.21205097e-03 -2.29892024e-04 -2.72389569e+01] [ 8.21315965e-03 9.99952071e-01 5.32905325e-03 1.50232203e+01] [ 1.86118549e-04 -5.33076155e-03 9.99985774e-01 1.69301544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04925976399997 meters Centerline goodness [0,1] 0.5487891839470607 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.02, Z:16.93 [[ 9.99965312e-01 -8.32560104e-03 -2.44435759e-04 -2.72392794e+01] [ 8.32669114e-03 9.99953516e-01 4.86128907e-03 1.50244850e+01] [ 2.03951243e-04 -4.86315579e-03 9.99988154e-01 1.69309303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07925976399997 meters Centerline goodness [0,1] 0.560196419904645 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.03, Z:16.93 [[ 9.99965285e-01 -8.32895291e-03 -2.41416270e-04 -2.72392933e+01] [ 8.32999032e-03 9.99954386e-01 4.67302728e-03 1.50252430e+01] [ 2.02483834e-04 -4.67487605e-03 9.99989052e-01 1.69310907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10925976399997 meters Centerline goodness [0,1] 0.5575430788542737 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.03, Z:16.93 [[ 9.99966226e-01 -8.21454827e-03 -2.62421591e-04 -2.72391338e+01] [ 8.21568373e-03 9.99955361e-01 4.66682138e-03 1.50252221e+01] [ 2.24074047e-04 -4.66881974e-03 9.99989076e-01 1.69310917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13925976399997 meters Centerline goodness [0,1] 0.560408314140294 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.03, Z:16.93 [[ 9.99967293e-01 -8.08325859e-03 -2.73366078e-04 -2.72388481e+01] [ 8.08446034e-03 9.99956156e-01 4.72528405e-03 1.50251657e+01] [ 2.35158399e-04 -4.72733951e-03 9.99988798e-01 1.69308487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16925976399997 meters Centerline goodness [0,1] 0.5612625701506994 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.03, Z:16.93 [[ 9.99966812e-01 -8.14668836e-03 -7.85882840e-05 -2.72392142e+01] [ 8.14696645e-03 9.99955920e-01 4.66751267e-03 1.50250780e+01] [ 4.05600486e-05 -4.66799803e-03 9.99989104e-01 1.69306546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19925976399998 meters Centerline goodness [0,1] 0.5615634436784229 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.02, Z:16.93 [[ 9.99967689e-01 -8.03843279e-03 7.25734453e-05 -2.72393841e+01] [ 8.03796883e-03 9.99955166e-01 5.00565905e-03 1.50237997e+01] [-1.12807845e-04 -5.00491397e-03 9.99987469e-01 1.69301894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22925976399998 meters Centerline goodness [0,1] 0.554875283446712 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.02, Z:16.93 [[ 9.99963818e-01 -8.49043225e-03 5.25425911e-04 -2.72413654e+01] [ 8.48757332e-03 9.99950339e-01 5.22315411e-03 1.50215754e+01] [-5.69746654e-04 -5.21850553e-03 9.99986221e-01 1.69306011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25925976399998 meters Centerline goodness [0,1] 0.5557595616066888 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.02, Z:16.93 [[ 9.99962912e-01 -8.57338743e-03 8.19850634e-04 -2.72423944e+01] [ 8.56878313e-03 9.99948361e-01 5.46364905e-03 1.50201516e+01] [-8.66650278e-04 -5.45642129e-03 9.99984738e-01 1.69307142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28925976399998 meters Centerline goodness [0,1] 0.5563994691814665 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.02, Z:16.93 [[ 9.99961474e-01 -8.69929302e-03 1.17136090e-03 -2.72434906e+01] [ 8.69251878e-03 9.99946149e-01 5.66918192e-03 1.50185109e+01] [-1.22061569e-03 -5.65878144e-03 9.99983244e-01 1.69307240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31925976399998 meters Centerline goodness [0,1] 0.5532971996386631 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.02, Z:16.93 [[ 9.99959417e-01 -8.87325506e-03 1.55890971e-03 -2.72447535e+01] [ 8.86402768e-03 9.99943721e-01 5.82954280e-03 1.50169333e+01] [-1.61054900e-03 -5.81548800e-03 9.99981793e-01 1.69308321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34925976399998 meters Centerline goodness [0,1] 0.5491932310114128 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.02, Z:16.93 [[ 9.99958631e-01 -8.94068138e-03 1.67352392e-03 -2.72452564e+01] [ 8.93053707e-03 9.99942277e-01 5.97402208e-03 1.50162569e+01] [-1.72683915e-03 -5.95882947e-03 9.99980755e-01 1.69309091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37925976399998 meters Centerline goodness [0,1] 0.5346057342617914 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.02, Z:16.93 [[ 9.99953814e-01 -9.41355529e-03 1.93771946e-03 -2.72467770e+01] [ 9.40272137e-03 9.99940523e-01 5.52624391e-03 1.50168084e+01] [-1.98962581e-03 -5.50776884e-03 9.99982853e-01 1.69319770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40925976399998 meters Centerline goodness [0,1] 0.5483337073608617 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.02, Z:16.93 [[ 9.99954129e-01 -9.37938859e-03 1.94076801e-03 -2.72470351e+01] [ 9.36830135e-03 9.99940182e-01 5.64514200e-03 1.50161413e+01] [-1.99359990e-03 -5.62670135e-03 9.99982183e-01 1.69323039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43925976399998 meters Centerline goodness [0,1] 0.5497671547999776 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.02, Z:16.93 [[ 9.99955066e-01 -9.25316512e-03 2.06033028e-03 -2.72473444e+01] [ 9.24092047e-03 9.99940041e-01 5.87530583e-03 1.50150398e+01] [-2.11457192e-03 -5.85600248e-03 9.99980618e-01 1.69322591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.469259764 meters Centerline goodness [0,1] 0.549074074074074 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.01, Z:16.93 [[ 9.99954005e-01 -9.32927738e-03 2.22546749e-03 -2.72481577e+01] [ 9.31619025e-03 9.99939665e-01 5.82023719e-03 1.50144229e+01] [-2.27963182e-03 -5.79923661e-03 9.99980586e-01 1.69328100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.499259764 meters Centerline goodness [0,1] 0.5469078081693217 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.01, Z:16.93 [[ 9.99953133e-01 -9.39470702e-03 2.33904190e-03 -2.72487201e+01] [ 9.38108719e-03 9.99939365e-01 5.76725466e-03 1.50140566e+01] [-2.39308174e-03 -5.74504161e-03 9.99980634e-01 1.69331375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.529259764 meters Centerline goodness [0,1] 0.5473643042713077 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.01, Z:16.93 [[ 9.99954466e-01 -9.19960585e-03 2.53651618e-03 -2.72488070e+01] [ 9.18407839e-03 9.99939422e-01 6.06673155e-03 1.50126049e+01] [-2.59217406e-03 -6.04315974e-03 9.99978380e-01 1.69325599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.559259764 meters Centerline goodness [0,1] 0.5378438120820392 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.01, Z:16.93 [[ 9.99955446e-01 -9.05803936e-03 2.65677397e-03 -2.72488010e+01] [ 9.04092466e-03 9.99938747e-01 6.38469039e-03 1.50114341e+01] [-2.71444401e-03 -6.36038624e-03 9.99976088e-01 1.69320052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.589259764 meters Centerline goodness [0,1] 0.547487591322291 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.01, Z:16.93 [[ 9.99956922e-01 -8.87790634e-03 2.70872793e-03 -2.72486225e+01] [ 8.85919607e-03 9.99937343e-01 6.84293164e-03 1.50099943e+01] [-2.76930912e-03 -6.81863970e-03 9.99972918e-01 1.69313712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.619259764 meters Centerline goodness [0,1] 0.5433800145065 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.01, Z:16.93 [[ 9.99955522e-01 -8.99146171e-03 2.84754283e-03 -2.72492485e+01] [ 8.97149241e-03 9.99935605e-01 6.94961974e-03 1.50090659e+01] [-2.90984670e-03 -6.92376392e-03 9.99971797e-01 1.69315491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.649259764 meters Centerline goodness [0,1] 0.5370972673949908 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.01, Z:16.93 [[ 9.99953797e-01 -9.15476340e-03 2.93146678e-03 -2.72498839e+01] [ 9.13361159e-03 9.99932730e-01 7.14930962e-03 1.50081333e+01] [-2.99671981e-03 -7.12220442e-03 9.99970146e-01 1.69317905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.679259764 meters Centerline goodness [0,1] 0.536401766617594 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.01, Z:16.93 [[ 9.99952906e-01 -9.24106224e-03 2.96461864e-03 -2.72504789e+01] [ 9.21994665e-03 9.99932580e-01 7.05883947e-03 1.50079958e+01] [-3.02964995e-03 -7.03117342e-03 9.99970691e-01 1.69324730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.709259764 meters Centerline goodness [0,1] 0.5368415203378529 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.01, Z:16.93 [[ 9.99950270e-01 -9.46068999e-03 3.15467349e-03 -2.72515463e+01] [ 9.43889178e-03 9.99931959e-01 6.85455613e-03 1.50077427e+01] [-3.21930768e-03 -6.82443863e-03 9.99971531e-01 1.69332449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.739259764 meters Centerline goodness [0,1] 0.5255826859045505 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.00, Z:16.93 [[ 9.99942527e-01 -1.00026034e-02 3.85880126e-03 -2.72540753e+01] [ 9.97575552e-03 9.99926330e-01 6.91519043e-03 1.50049353e+01] [-3.92768688e-03 -6.87629854e-03 9.99968644e-01 1.69337019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76925976399997 meters Centerline goodness [0,1] 0.5234522095470151 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.00, Z:16.93 [[ 9.99941468e-01 -1.00016500e-02 4.12641443e-03 -2.72546427e+01] [ 9.97169563e-03 9.99924237e-01 7.21698051e-03 1.50032723e+01] [-4.19828352e-03 -7.17541074e-03 9.99965443e-01 1.69333374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79925976399997 meters Centerline goodness [0,1] 0.5258439402324294 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.00, Z:16.93 [[ 9.99942023e-01 -9.90370844e-03 4.22686858e-03 -2.72547585e+01] [ 9.87197827e-03 9.99923423e-01 7.46276212e-03 1.50022559e+01] [-4.30045392e-03 -7.42060190e-03 9.99963220e-01 1.69330565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82925976399997 meters Centerline goodness [0,1] 0.5103737878829737 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.00, Z:16.93 [[ 9.99943026e-01 -9.84818072e-03 4.11796678e-03 -2.72545745e+01] [ 9.81776889e-03 9.99924856e-01 7.34127880e-03 1.50028608e+01] [-4.18995558e-03 -7.30043129e-03 9.99964573e-01 1.69333029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85925976399997 meters Centerline goodness [0,1] 0.5352838500540271 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.00, Z:16.93 [[ 9.99941429e-01 -1.00038119e-02 4.13071591e-03 -2.72550488e+01] [ 9.97437642e-03 9.99925146e-01 7.08614864e-03 1.50034610e+01] [-4.20129521e-03 -7.04453228e-03 9.99966361e-01 1.69339226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88925976399997 meters Centerline goodness [0,1] 0.5314739707761542 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.00, Z:16.93 [[ 9.99939596e-01 -1.01748851e-02 4.15653152e-03 -2.72555873e+01] [ 1.01461903e-02 9.99924945e-01 6.86726780e-03 1.50037466e+01] [-4.22609321e-03 -6.82468003e-03 9.99967781e-01 1.69345495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91925976399997 meters Centerline goodness [0,1] 0.521747556687616 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.00, Z:16.93 [[ 9.99943144e-01 -9.85694704e-03 4.06816186e-03 -2.72549607e+01] [ 9.82613308e-03 9.99923399e-01 7.52614911e-03 1.50016819e+01] [-4.14203509e-03 -7.48574690e-03 9.99963403e-01 1.69337366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94925976399998 meters Centerline goodness [0,1] 0.5138684917842002 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.00, Z:16.93 [[ 9.99942022e-01 -9.85967756e-03 4.32892398e-03 -2.72555906e+01] [ 9.82635346e-03 9.99922435e-01 7.65295173e-03 1.50002967e+01] [-4.40404384e-03 -7.60997049e-03 9.99961346e-01 1.69336237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97925976399998 meters Centerline goodness [0,1] 0.5353099133516042 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.00, Z:16.93 [[ 9.99943265e-01 -9.69110181e-03 4.42139610e-03 -2.72557230e+01] [ 9.65550885e-03 9.99921369e-01 8.00171110e-03 1.49985609e+01] [-4.49859384e-03 -7.95856629e-03 9.99958211e-01 1.69334079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00925976399998 meters Centerline goodness [0,1] 0.5182984134004092 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.00, Z:16.93 [[ 9.99935318e-01 -1.02553387e-02 4.91810332e-03 -2.72580971e+01] [ 1.02167245e-02 9.99917282e-01 7.81331273e-03 1.49967182e+01] [-4.99782467e-03 -7.76256045e-03 9.99957381e-01 1.69345465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03925976399998 meters Centerline goodness [0,1] 0.5342480881256729 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.00, Z:16.93 [[ 9.99932437e-01 -1.04237195e-02 5.14475078e-03 -2.72591499e+01] [ 1.03826953e-02 9.99914596e-01 7.93731734e-03 1.49954542e+01] [-5.22704777e-03 -7.88336469e-03 9.99955264e-01 1.69349660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06925976399998 meters Centerline goodness [0,1] 0.5108752584424534 Centerline is valid? [False, False] Translation: X:-27.26, Y:14.99, Z:16.94 [[ 9.99927224e-01 -1.07475222e-02 5.48057508e-03 -2.72606432e+01] [ 1.07036049e-02 9.99910867e-01 7.98060527e-03 1.49939736e+01] [-5.56585831e-03 -7.92136257e-03 9.99953136e-01 1.69355558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09925976399998 meters Centerline goodness [0,1] 0.5280502590102503 Centerline is valid? [False, False] Translation: X:-27.26, Y:14.99, Z:16.94 [[ 9.99922177e-01 -1.10022074e-02 5.88143713e-03 -2.72622263e+01] [ 1.09546364e-02 9.99907510e-01 8.06027007e-03 1.49922724e+01] [-5.96957392e-03 -7.99521379e-03 9.99950219e-01 1.69360915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12925976399998 meters Centerline goodness [0,1] 0.5057054084522533 Centerline is valid? [False, False] Translation: X:-27.26, Y:14.99, Z:16.94 [[ 9.99911713e-01 -1.16324972e-02 6.42264893e-03 -2.72647267e+01] [ 1.15814291e-02 9.99901472e-01 7.93200642e-03 1.49907573e+01] [-6.51428517e-03 -7.85692267e-03 9.99947915e-01 1.69371177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15925976399998 meters Centerline goodness [0,1] 0.4973750034358594 Centerline is valid? [False, False] Translation: X:-27.27, Y:14.99, Z:16.94 [[ 9.99908358e-01 -1.18433618e-02 6.55825150e-03 -2.72655025e+01] [ 1.17926782e-02 9.99900711e-01 7.71369690e-03 1.49908601e+01] [-6.64895644e-03 -7.63565066e-03 9.99948743e-01 1.69377032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18925976399998 meters Centerline goodness [0,1] 0.5031103770988163 Centerline is valid? [False, False] Translation: X:-27.27, Y:14.99, Z:16.94 [[ 9.99906219e-01 -1.20024860e-02 6.59503847e-03 -2.72656928e+01] [ 1.19531256e-02 9.99900629e-01 7.47360109e-03 1.49916594e+01] [-6.68408490e-03 -7.39406888e-03 9.99950324e-01 1.69378418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.219259764 meters Centerline goodness [0,1] 0.5160410872139454 Centerline is valid? [False, False] Translation: X:-27.27, Y:14.99, Z:16.94 [[ 9.99904153e-01 -1.21138586e-02 6.70363972e-03 -2.72660032e+01] [ 1.20645458e-02 9.99900220e-01 7.34830609e-03 1.49919187e+01] [-6.79198717e-03 -7.26672541e-03 9.99950531e-01 1.69378637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.249259764 meters Centerline goodness [0,1] 0.4991193306913254 Centerline is valid? [False, False] Translation: X:-27.27, Y:14.99, Z:16.94 [[ 9.99901347e-01 -1.22402523e-02 6.89007582e-03 -2.72666160e+01] [ 1.21903278e-02 9.99899471e-01 7.24179970e-03 1.49917134e+01] [-6.97802463e-03 -7.15709299e-03 9.99950040e-01 1.69380263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.279259764 meters Centerline goodness [0,1] 0.49973881725455693 Centerline is valid? [False, False] Translation: X:-27.27, Y:14.99, Z:16.94 [[ 9.99903283e-01 -1.20329316e-02 6.97377418e-03 -2.72665176e+01] [ 1.19824493e-02 9.99902026e-01 7.23601407e-03 1.49912858e+01] [-7.06016140e-03 -7.15175132e-03 9.99949502e-01 1.69378692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.309259764 meters Centerline goodness [0,1] 0.49626773171739424 Centerline is valid? [False, False] Translation: X:-27.27, Y:14.99, Z:16.94 [[ 9.99899637e-01 -1.22891638e-02 7.04928127e-03 -2.72671521e+01] [ 1.22414151e-02 9.99902104e-01 6.77716862e-03 1.49924960e+01] [-7.13187690e-03 -6.69019526e-03 9.99952188e-01 1.69385748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.339259764 meters Centerline goodness [0,1] 0.5111092756256711 Centerline is valid? [False, False] Translation: X:-27.27, Y:14.99, Z:16.94 [[ 9.99896576e-01 -1.25583471e-02 7.00890055e-03 -2.72677750e+01] [ 1.25148982e-02 9.99902409e-01 6.20891953e-03 1.49940079e+01] [-7.08619030e-03 -6.12056170e-03 9.99956161e-01 1.69397531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.369259764 meters Centerline goodness [0,1] 0.49838714124231476 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.00, Z:16.94 [[ 9.99889904e-01 -1.29683305e-02 7.21126626e-03 -2.72690204e+01] [ 1.29280133e-02 9.99900694e-01 5.60964777e-03 1.49953091e+01] [-7.28329790e-03 -5.51580282e-03 9.99958264e-01 1.69408618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.399259764 meters Centerline goodness [0,1] 0.5081457427486378 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.00, Z:16.94 [[ 9.99888032e-01 -1.30798691e-02 7.26919135e-03 -2.72695535e+01] [ 1.30399947e-02 9.99899816e-01 5.50599131e-03 1.49953266e+01] [-7.34048074e-03 -5.41058460e-03 9.99958421e-01 1.69413414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.429259764 meters Centerline goodness [0,1] 0.5078521049151421 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.00, Z:16.94 [[ 9.99882657e-01 -1.33468494e-02 7.51890305e-03 -2.72704878e+01] [ 1.33083190e-02 9.99898171e-01 5.15141375e-03 1.49960206e+01] [-7.58689255e-03 -5.05074530e-03 9.99958464e-01 1.69417848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.459259764 meters Centerline goodness [0,1] 0.5134344020103279 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.00, Z:16.94 [[ 9.99883099e-01 -1.33614441e-02 7.43369958e-03 -2.72704051e+01] [ 1.33268578e-02 9.99900228e-01 4.68287818e-03 1.49977215e+01] [-7.49552791e-03 -4.58326289e-03 9.99961405e-01 1.69423190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.489259764 meters Centerline goodness [0,1] 0.5215299095660831 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.00, Z:16.94 [[ 9.99883633e-01 -1.33396885e-02 7.40087602e-03 -2.72702563e+01] [ 1.33076708e-02 9.99901949e-01 4.35871629e-03 1.49994067e+01] [-7.45829428e-03 -4.25972065e-03 9.99963114e-01 1.69424457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51925976399997 meters Centerline goodness [0,1] 0.5145131862663792 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.00, Z:16.94 [[ 9.99891167e-01 -1.29911742e-02 6.99164112e-03 -2.72687530e+01] [ 1.29636330e-02 9.99908087e-01 3.97016620e-03 1.50021311e+01] [-7.04257562e-03 -3.87909705e-03 9.99967677e-01 1.69424621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54925976399997 meters Centerline goodness [0,1] 0.5145131862663792 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.00, Z:16.94 [[ 9.99891167e-01 -1.29911742e-02 6.99164112e-03 -2.72687530e+01] [ 1.29636330e-02 9.99908087e-01 3.97016620e-03 1.50021311e+01] [-7.04257562e-03 -3.87909705e-03 9.99967677e-01 1.69424621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57925976399997 meters Centerline goodness [0,1] 0.5096833180949214 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.00, Z:16.94 [[ 9.99886757e-01 -1.32711657e-02 7.09571632e-03 -2.72694219e+01] [ 1.32466021e-02 9.99906143e-01 3.49761908e-03 1.50034540e+01] [-7.14146782e-03 -3.40322887e-03 9.99968708e-01 1.69430758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60925976399997 meters Centerline goodness [0,1] 0.5004418424831547 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.00, Z:16.94 [[ 9.99887150e-01 -1.32315870e-02 7.11418916e-03 -2.72694012e+01] [ 1.32076148e-02 9.99906974e-01 3.40612252e-03 1.50039903e+01] [-7.15859577e-03 -3.31177667e-03 9.99968893e-01 1.69430768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63925976399997 meters Centerline goodness [0,1] 0.526806978676267 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.00, Z:16.94 [[ 9.99925602e-01 -9.38201861e-03 7.79538032e-03 -2.72711572e+01] [ 9.32326602e-03 9.99928115e-01 7.53931092e-03 1.50026695e+01] [-7.86555390e-03 -7.46607161e-03 9.99941194e-01 1.69427178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66925976399997 meters Centerline goodness [0,1] 0.5325079118316585 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.94 [[ 9.99930603e-01 -9.18897011e-03 7.37236415e-03 -2.72700754e+01] [ 9.13796672e-03 9.99934288e-01 6.92229876e-03 1.50055794e+01] [-7.43548849e-03 -6.85444996e-03 9.99948864e-01 1.69433767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69925976399998 meters Centerline goodness [0,1] 0.5366559127822894 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.94 [[ 9.99939755e-01 -8.57247866e-03 6.85554653e-03 -2.72679866e+01] [ 8.52861748e-03 9.99943138e-01 6.40175679e-03 1.50095960e+01] [-6.91003564e-03 -6.34290278e-03 9.99956009e-01 1.69434434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72925976399998 meters Centerline goodness [0,1] 0.5386437089044913 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.94 [[ 9.99942289e-01 -8.47116650e-03 6.60734523e-03 -2.72672640e+01] [ 8.43083992e-03 9.99945809e-01 6.10745407e-03 1.50112402e+01] [-6.65872443e-03 -6.05139613e-03 9.99959520e-01 1.69435686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75925976399998 meters Centerline goodness [0,1] 0.5376499735545472 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.94 [[ 9.99944091e-01 -8.37664283e-03 6.45342538e-03 -2.72666764e+01] [ 8.33911850e-03 9.99948293e-01 5.81976857e-03 1.50126910e+01] [-6.50184182e-03 -5.76562732e-03 9.99962241e-01 1.69435942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78925976399998 meters Centerline goodness [0,1] 0.5317013327385267 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.94 [[ 9.99944730e-01 -8.33919248e-03 6.40268401e-03 -2.72664891e+01] [ 8.30294745e-03 9.99949473e-01 5.66677554e-03 1.50134794e+01] [-6.44961684e-03 -5.61330119e-03 9.99963446e-01 1.69436179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81925976399998 meters Centerline goodness [0,1] 0.5357522222843406 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.94 [[ 9.99943991e-01 -8.35570828e-03 6.49586699e-03 -2.72665384e+01] [ 8.32069334e-03 9.99950808e-01 5.39880806e-03 1.50143088e+01] [-6.54065831e-03 -5.34445557e-03 9.99964328e-01 1.69435528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84925976399998 meters Centerline goodness [0,1] 0.5354860410359905 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.94 [[ 9.99941651e-01 -8.53340830e-03 6.62383726e-03 -2.72671151e+01] [ 8.49961298e-03 9.99950803e-01 5.11356850e-03 1.50150273e+01] [-6.66714755e-03 -5.05697008e-03 9.99964987e-01 1.69439313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87925976399998 meters Centerline goodness [0,1] 0.5356341818997421 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.94 [[ 9.99941937e-01 -8.52321436e-03 6.59381577e-03 -2.72670680e+01] [ 8.49064913e-03 9.99951697e-01 4.95108259e-03 1.50158622e+01] [-6.63569640e-03 -4.89480934e-03 9.99966004e-01 1.69440936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90925976399998 meters Centerline goodness [0,1] 0.5360628154795288 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.94 [[ 9.99941097e-01 -8.62335660e-03 6.59091185e-03 -2.72673192e+01] [ 8.59311699e-03 9.99952486e-01 4.60270779e-03 1.50168344e+01] [-6.63028948e-03 -4.54580020e-03 9.99967687e-01 1.69446401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93925976399998 meters Centerline goodness [0,1] 0.5312447363988546 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99939413e-01 -8.77873156e-03 6.64114221e-03 -2.72678442e+01] [ 8.75081021e-03 9.99952799e-01 4.22174026e-03 1.50177935e+01] [-6.67789027e-03 -4.16336910e-03 9.99969036e-01 1.69453735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.969259764 meters Centerline goodness [0,1] 0.5158119418075605 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99938896e-01 -8.90139360e-03 6.55510943e-03 -2.72682263e+01] [ 8.87597005e-03 9.99953013e-01 3.89736487e-03 1.50186621e+01] [-6.58949340e-03 -3.83894377e-03 9.99970920e-01 1.69463311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.999259764 meters Centerline goodness [0,1] 0.5145497443963822 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99937705e-01 -8.98156878e-03 6.62705145e-03 -2.72685301e+01] [ 8.95700018e-03 9.99952937e-01 3.72773232e-03 1.50192884e+01] [-6.66022044e-03 -3.66814159e-03 9.99971093e-01 1.69465502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.029259764 meters Centerline goodness [0,1] 0.5341157971584208 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99940024e-01 -8.79163925e-03 6.53107607e-03 -2.72678962e+01] [ 8.76701447e-03 9.99954388e-01 3.78951089e-03 1.50196167e+01] [-6.56409419e-03 -3.73202557e-03 9.99971492e-01 1.69461079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.059259764 meters Centerline goodness [0,1] 0.5339532262609186 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99947620e-01 -8.14163814e-03 6.20247175e-03 -2.72659352e+01] [ 8.11847334e-03 9.99960010e-01 3.75083733e-03 1.50211001e+01] [-6.23276167e-03 -3.70028626e-03 9.99973730e-01 1.69452814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.089259764 meters Centerline goodness [0,1] 0.5350173185773422 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99949246e-01 -8.02584935e-03 6.09020880e-03 -2.72654941e+01] [ 8.00442383e-03 9.99961718e-01 3.53428513e-03 1.50222700e+01] [-6.11834130e-03 -3.48535714e-03 9.99975209e-01 1.69453521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.119259764 meters Centerline goodness [0,1] 0.5344214152595019 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99948422e-01 -8.22168551e-03 5.96299920e-03 -2.72655838e+01] [ 8.20454067e-03 9.99962154e-01 2.89399055e-03 1.50242696e+01] [-5.98656701e-03 -2.84491762e-03 9.99978033e-01 1.69462140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.149259764 meters Centerline goodness [0,1] 0.5273478396197051 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.95 [[ 9.99949789e-01 -8.27937346e-03 5.64542998e-03 -2.72651886e+01] [ 8.26849835e-03 9.99963920e-01 1.94698382e-03 1.50279533e+01] [-5.66134609e-03 -1.90020683e-03 9.99982169e-01 1.69476078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.179259764 meters Centerline goodness [0,1] 0.5340918739916787 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.95 [[ 9.99949221e-01 -8.36900001e-03 5.61381642e-03 -2.72652593e+01] [ 8.35988740e-03 9.99963703e-01 1.64475428e-03 1.50291991e+01] [-5.62737760e-03 -1.59773989e-03 9.99982890e-01 1.69479336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.209259764 meters Centerline goodness [0,1] 0.5288266456266908 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.95 [[ 9.99949717e-01 -8.25101434e-03 5.69950901e-03 -2.72652018e+01] [ 8.24177254e-03 9.99964686e-01 1.64309794e-03 1.50295767e+01] [-5.71286496e-03 -1.59604127e-03 9.99982408e-01 1.69476524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.239259764 meters Centerline goodness [0,1] 0.5310189105278014 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.03, Z:16.95 [[ 9.99951347e-01 -8.10442901e-03 5.62328813e-03 -2.72647379e+01] [ 8.09656981e-03 9.99966215e-01 1.41897710e-03 1.50306366e+01] [-5.63459815e-03 -1.37337871e-03 9.99983182e-01 1.69476064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26925976399997 meters Centerline goodness [0,1] 0.5260806465382317 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.95 [[ 9.99974065e-01 -3.95587750e-03 6.01831493e-03 -2.72651411e+01] [ 3.92332690e-03 9.99977665e-01 5.41081527e-03 1.50315314e+01] [-6.03958504e-03 -5.38706312e-03 9.99967251e-01 1.69467908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29925976399997 meters Centerline goodness [0,1] 0.5260806465382317 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.95 [[ 9.99974065e-01 -3.95587750e-03 6.01831493e-03 -2.72651411e+01] [ 3.92332690e-03 9.99977665e-01 5.41081527e-03 1.50315314e+01] [-6.03958504e-03 -5.38706312e-03 9.99967251e-01 1.69467908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32925976399997 meters Centerline goodness [0,1] 0.5273122461820055 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.04, Z:16.95 [[ 9.99980326e-01 -3.02382247e-03 5.49576471e-03 -2.72626637e+01] [ 2.99831272e-03 9.99984721e-01 4.64403767e-03 1.50367590e+01] [-5.50972349e-03 -4.62746828e-03 9.99974114e-01 1.69472236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35925976399997 meters Centerline goodness [0,1] 0.5270916220625698 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.04, Z:16.95 [[ 9.99982021e-01 -2.88618895e-03 5.25624200e-03 -2.72618045e+01] [ 2.86412636e-03 9.99987078e-01 4.20011025e-03 1.50386186e+01] [-5.26829639e-03 -4.18498019e-03 9.99977365e-01 1.69474111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38925976399997 meters Centerline goodness [0,1] 0.5293492619608293 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.04, Z:16.95 [[ 9.99982778e-01 -2.80848189e-03 5.15323466e-03 -2.72612559e+01] [ 2.78846085e-03 9.99988553e-01 3.88822196e-03 1.50401024e+01] [-5.16409567e-03 -3.87378540e-03 9.99979163e-01 1.69473206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41925976399997 meters Centerline goodness [0,1] 0.531164452640982 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.04, Z:16.95 [[ 9.99985028e-01 -2.47246538e-03 4.88166156e-03 -2.72599134e+01] [ 2.45618649e-03 9.99991413e-01 3.33788499e-03 1.50433299e+01] [-4.88987245e-03 -3.32584474e-03 9.99982514e-01 1.69473065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44925976399998 meters Centerline goodness [0,1] 0.5391359520101517 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.05, Z:16.95 [[ 9.99986131e-01 -2.42204468e-03 4.67668682e-03 -2.72592899e+01] [ 2.40860871e-03 9.99992962e-01 2.87646576e-03 1.50456490e+01] [-4.68362084e-03 -2.86516156e-03 9.99984927e-01 1.69475695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47925976399998 meters Centerline goodness [0,1] 0.5339012517385258 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.05, Z:16.95 [[ 9.99987004e-01 -2.54621485e-03 4.41681867e-03 -2.72590904e+01] [ 2.53703811e-03 9.99994614e-01 2.08203908e-03 1.50484059e+01] [-4.42209621e-03 -2.07080638e-03 9.99988078e-01 1.69487766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50925976399998 meters Centerline goodness [0,1] 0.5378298095404508 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.05, Z:16.95 [[ 9.99989439e-01 -2.33114011e-03 3.96078199e-03 -2.72581734e+01] [ 2.32841540e-03 9.99997050e-01 6.92394063e-04 1.50538343e+01] [-3.96238437e-03 -6.83164404e-04 9.99991916e-01 1.69509014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53925976399998 meters Centerline goodness [0,1] 0.5351669483130354 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.95 [[ 9.99990493e-01 -2.32341062e-03 3.69000431e-03 -2.72577030e+01] [ 2.32292653e-03 9.99997293e-01 1.35469207e-04 1.50559756e+01] [-3.69030908e-03 -1.26896310e-04 9.99993183e-01 1.69516848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56925976399998 meters Centerline goodness [0,1] 0.5365732921786733 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.95 [[ 9.99990951e-01 -2.31616365e-03 3.56838606e-03 -2.72573457e+01] [ 2.31710703e-03 9.99997282e-01 -2.60258898e-04 1.50577387e+01] [-3.56777356e-03 2.68524875e-04 9.99993599e-01 1.69519396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59925976399998 meters Centerline goodness [0,1] 0.5451357433005055 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.95 [[ 9.99991496e-01 -2.25916587e-03 3.45030735e-03 -2.72568965e+01] [ 2.26138472e-03 9.99997239e-01 -6.39321676e-04 1.50595487e+01] [-3.44885349e-03 6.47118711e-04 9.99993843e-01 1.69521046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62925976399998 meters Centerline goodness [0,1] 0.5445530072548561 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.95 [[ 9.99992812e-01 -2.15423031e-03 3.12021974e-03 -2.72560353e+01] [ 2.15752490e-03 9.99997118e-01 -1.05290233e-03 1.50614730e+01] [-3.11794255e-03 1.05962671e-03 9.99994578e-01 1.69525327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65925976399998 meters Centerline goodness [0,1] 0.5483219117905465 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.95 [[ 9.99993914e-01 -1.98488695e-03 2.86935113e-03 -2.72552356e+01] [ 1.98850020e-03 9.99997233e-01 -1.25695237e-03 1.50627800e+01] [-2.86684828e-03 1.26265043e-03 9.99995093e-01 1.69526483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68925976399998 meters Centerline goodness [0,1] 0.5512115182020367 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.06, Z:16.95 [[ 9.99995575e-01 -1.69742185e-03 2.44322471e-03 -2.72538545e+01] [ 1.70080019e-03 9.99997600e-01 -1.38132241e-03 1.50647457e+01] [-2.44087416e-03 1.38547173e-03 9.99996061e-01 1.69525453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.719259764 meters Centerline goodness [0,1] 0.5549329656467274 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99995769e-01 -1.73231720e-03 2.33681176e-03 -2.72538215e+01] [ 1.73632710e-03 9.99997022e-01 -1.71503225e-03 1.50656842e+01] [-2.33383382e-03 1.71908246e-03 9.99995799e-01 1.69531491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.749259764 meters Centerline goodness [0,1] 0.5493320834309819 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99995857e-01 -1.68761742e-03 2.33199863e-03 -2.72537719e+01] [ 1.69162762e-03 9.99997092e-01 -1.71874134e-03 1.50662069e+01] [-2.32909127e-03 1.72267909e-03 9.99995804e-01 1.69530535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.779259764 meters Centerline goodness [0,1] 0.5544801290511805 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99996327e-01 -1.57251328e-03 2.20767814e-03 -2.72533595e+01] [ 1.57625147e-03 9.99997325e-01 -1.69255344e-03 1.50664889e+01] [-2.20501067e-03 1.69602708e-03 9.99996131e-01 1.69529649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.809259764 meters Centerline goodness [0,1] 0.5546893386679219 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99997341e-01 -1.32376781e-03 1.88844252e-03 -2.72524187e+01] [ 1.32700705e-03 9.99997649e-01 -1.71507781e-03 1.50674536e+01] [-1.88616771e-03 1.71757923e-03 9.99996746e-01 1.69529963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.839259764 meters Centerline goodness [0,1] 0.5552671935826354 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99997408e-01 -1.29798329e-03 1.87049611e-03 -2.72526120e+01] [ 1.30141794e-03 9.99997467e-01 -1.83617825e-03 1.50676978e+01] [-1.86810805e-03 1.83860778e-03 9.99996565e-01 1.69534475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.869259764 meters Centerline goodness [0,1] 0.5517413960608826 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99997418e-01 -1.14848237e-03 1.96090241e-03 -2.72527522e+01] [ 1.15184423e-03 9.99997867e-01 -1.71417593e-03 1.50673635e+01] [-1.95892953e-03 1.71643016e-03 9.99996608e-01 1.69533977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.899259764 meters Centerline goodness [0,1] 0.5374329975849679 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99997308e-01 -1.03738263e-03 2.07529564e-03 -2.72532110e+01] [ 1.04053462e-03 9.99998306e-01 -1.51831073e-03 1.50664911e+01] [-2.07371705e-03 1.52046606e-03 9.99996694e-01 1.69535717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.929259764 meters Centerline goodness [0,1] 0.5557127697205518 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99997519e-01 -1.02572884e-03 1.97712029e-03 -2.72532629e+01] [ 1.02892283e-03 9.99998166e-01 -1.61513743e-03 1.50669946e+01] [-1.97545997e-03 1.61716773e-03 9.99996741e-01 1.69540658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.959259764 meters Centerline goodness [0,1] 0.5526913434596668 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99997670e-01 -1.01225983e-03 1.90643695e-03 -2.72533880e+01] [ 1.01553282e-03 9.99998011e-01 -1.71662363e-03 1.50674737e+01] [-1.90469549e-03 1.71855569e-03 9.99996709e-01 1.69545890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.989259764 meters Centerline goodness [0,1] 0.5586430678466077 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99997932e-01 -8.28139846e-04 1.85735273e-03 -2.72533300e+01] [ 8.31227218e-04 9.99998273e-01 -1.66208735e-03 1.50670436e+01] [-1.85597308e-03 1.66362780e-03 9.99996894e-01 1.69548651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01925976399997 meters Centerline goodness [0,1] 0.544158871610257 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99998147e-01 -5.79476972e-04 1.83599595e-03 -2.72530873e+01] [ 5.82143375e-04 9.99998776e-01 -1.45209139e-03 1.50662706e+01] [-1.83515225e-03 1.45315751e-03 9.99997260e-01 1.69546967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04925976399997 meters Centerline goodness [0,1] 0.5627931675369502 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99998483e-01 -2.85247449e-04 1.71833273e-03 -2.72526597e+01] [ 2.87453699e-04 9.99999135e-01 -1.28383765e-03 1.50657894e+01] [-1.71796503e-03 1.28432964e-03 9.99997700e-01 1.69547262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07925976399997 meters Centerline goodness [0,1] 0.5609326364010101 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.96 [[ 9.99993635e-01 -3.38351106e-03 1.13224551e-03 -2.72505166e+01] [ 3.38963893e-03 9.99979378e-01 -5.45470848e-03 1.50695354e+01] [-1.11376609e-03 5.45851166e-03 9.99984482e-01 1.69552335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10925976399997 meters Centerline goodness [0,1] 0.5647487296971834 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99994703e-01 -3.08193338e-03 1.04685339e-03 -2.72499583e+01] [ 3.08727872e-03 9.99982007e-01 -5.14344766e-03 1.50691092e+01] [-1.03098279e-03 5.14665235e-03 9.99986224e-01 1.69547670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13925976399997 meters Centerline goodness [0,1] 0.5626261149290832 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99995916e-01 -2.71284552e-03 8.99393554e-04 -2.72492265e+01] [ 2.71711463e-03 9.99984885e-01 -4.77990568e-03 1.50683578e+01] [-8.86412814e-04 4.78232991e-03 9.99988172e-01 1.69542861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16925976399997 meters Centerline goodness [0,1] 0.5728953372725677 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99996783e-01 -2.36266280e-03 9.23459891e-04 -2.72488464e+01] [ 2.36665910e-03 9.99987735e-01 -4.35066718e-03 1.50672689e+01] [-9.13169406e-04 4.35283870e-03 9.99990109e-01 1.69536426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19925976399998 meters Centerline goodness [0,1] 0.5659219177285157 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99997774e-01 -1.99414052e-03 6.89834115e-04 -2.72481843e+01] [ 1.99697269e-03 9.99989479e-01 -4.12954856e-03 1.50668979e+01] [-6.81591957e-04 4.13091695e-03 9.99991235e-01 1.69537321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22925976399998 meters Centerline goodness [0,1] 0.5700159953468082 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99998213e-01 -1.82802526e-03 4.83004336e-04 -2.72476358e+01] [ 1.83000675e-03 9.99989779e-01 -4.13434151e-03 1.50675502e+01] [-4.75441719e-04 4.13521802e-03 9.99991337e-01 1.69538177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25925976399998 meters Centerline goodness [0,1] 0.5855947469347434 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99998539e-01 -1.65542257e-03 4.26418162e-04 -2.72473764e+01] [ 1.65713197e-03 9.99990466e-01 -4.04007510e-03 1.50676407e+01] [-4.19726065e-04 4.04077583e-03 9.99991748e-01 1.69536967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28925976399998 meters Centerline goodness [0,1] 0.5827457125446156 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99998976e-01 -1.38448443e-03 3.61925397e-04 -2.72469132e+01] [ 1.38585809e-03 9.99991732e-01 -3.82312746e-03 1.50673756e+01] [-3.56629344e-04 3.82362512e-03 9.99992626e-01 1.69533136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31925976399998 meters Centerline goodness [0,1] 0.5805630298295865 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99999619e-01 -8.60208908e-04 1.46907158e-04 -2.72459622e+01] [ 8.60729184e-04 9.99993225e-01 -3.57896524e-03 1.50668617e+01] [-1.43827505e-04 3.57909032e-03 9.99993585e-01 1.69531271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34925976399998 meters Centerline goodness [0,1] 0.5902018624558968 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99999848e-01 -5.51825691e-04 4.41945513e-07 -2.72453075e+01] [ 5.51824182e-04 9.99994490e-01 -3.27331283e-03 1.50663600e+01] [ 1.36435504e-06 3.27331257e-03 9.99994643e-01 1.69527505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37925976399998 meters Centerline goodness [0,1] 0.584893684544589 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.95 [[ 9.99999904e-01 -4.30561239e-04 -7.56894286e-05 -2.72452073e+01] [ 4.30322093e-04 9.99995004e-01 -3.13169041e-03 1.50661340e+01] [ 7.70374349e-05 3.13165754e-03 9.99995093e-01 1.69527834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40925976399998 meters Centerline goodness [0,1] 0.5850220518290046 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.06, Z:16.95 [[ 9.99999976e-01 -1.82963149e-04 -1.23178515e-04 -2.72454201e+01] [ 1.82605951e-04 9.99995797e-01 -2.89363745e-03 1.50645330e+01] [ 1.23707427e-04 2.89361489e-03 9.99995806e-01 1.69533924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43925976399998 meters Centerline goodness [0,1] 0.5861989516732907 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.06, Z:16.95 [[ 9.99999980e-01 1.94616445e-04 -3.41305550e-05 -2.72454205e+01] [-1.94691522e-04 9.99997531e-01 -2.21366801e-03 1.50619254e+01] [ 3.36996545e-05 2.21367461e-03 9.99997549e-01 1.69528854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.469259764 meters Centerline goodness [0,1] 0.5861989516732907 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.06, Z:16.95 [[ 9.99999980e-01 1.94616445e-04 -3.41305550e-05 -2.72454205e+01] [-1.94691522e-04 9.99997531e-01 -2.21366801e-03 1.50619254e+01] [ 3.36996545e-05 2.21367461e-03 9.99997549e-01 1.69528854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.499259764 meters Centerline goodness [0,1] 0.5816211854882863 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.06, Z:16.95 [[ 9.99999922e-01 3.41412016e-04 1.99504145e-04 -2.72459836e+01] [-3.41069563e-04 9.99998473e-01 -1.71404211e-03 1.50593620e+01] [-2.00089035e-04 1.71397393e-03 9.99998511e-01 1.69526109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.529259764 meters Centerline goodness [0,1] 0.5656878785269381 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.06, Z:16.95 [[ 9.99993882e-01 -3.47249917e-03 -4.21977017e-04 -2.72446429e+01] [ 3.46988556e-03 9.99975714e-01 -6.04416886e-03 1.50611002e+01] [ 4.42955141e-04 6.04266767e-03 9.99981645e-01 1.69534525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.559259764 meters Centerline goodness [0,1] 0.5633268146784769 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.06, Z:16.95 [[ 9.99993336e-01 -3.65051610e-03 3.94827652e-05 -2.72464951e+01] [ 3.65066904e-03 9.99980559e-01 -5.05511771e-03 1.50560409e+01] [-2.10282090e-05 5.05522816e-03 9.99987222e-01 1.69532056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.589259764 meters Centerline goodness [0,1] 0.5586311743445586 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.05, Z:16.95 [[ 9.99993749e-01 -3.53294062e-03 1.43544186e-04 -2.72469622e+01] [ 3.53354504e-03 9.99983835e-01 -4.45473786e-03 1.50538017e+01] [-1.27803541e-04 4.45521723e-03 9.99990067e-01 1.69530468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.619259764 meters Centerline goodness [0,1] 0.5480282823637618 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.05, Z:16.95 [[ 9.99993521e-01 -3.58189901e-03 3.56988169e-04 -2.72478254e+01] [ 3.58329099e-03 9.99985668e-01 -3.97801482e-03 1.50518117e+01] [-3.42734205e-04 3.97926824e-03 9.99992024e-01 1.69530140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.649259764 meters Centerline goodness [0,1] 0.5542337498927621 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.05, Z:16.95 [[ 9.99991981e-01 -3.93730998e-03 7.31594967e-04 -2.72495922e+01] [ 3.93954784e-03 9.99987487e-01 -3.08304271e-03 1.50466704e+01] [-7.19446918e-04 3.08590014e-03 9.99994980e-01 1.69528166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.679259764 meters Centerline goodness [0,1] 0.5393200842776606 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.04, Z:16.95 [[ 9.99992287e-01 -3.80115915e-03 9.88665455e-04 -2.72501532e+01] [ 3.80355922e-03 9.99989797e-01 -2.43713806e-03 1.50438270e+01] [-9.79391418e-04 2.44087971e-03 9.99996541e-01 1.69523204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.709259764 meters Centerline goodness [0,1] 0.5426354385765448 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.04, Z:16.95 [[ 9.99992847e-01 -3.59139292e-03 1.18642647e-03 -2.72503291e+01] [ 3.59352225e-03 9.99991928e-01 -1.79751397e-03 1.50416003e+01] [-1.17996131e-03 1.80176456e-03 9.99997681e-01 1.69515494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.739259764 meters Centerline goodness [0,1] 0.5355692499929003 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.04, Z:16.95 [[ 9.99993123e-01 -3.51301498e-03 1.18869746e-03 -2.72504948e+01] [ 3.51472753e-03 9.99992784e-01 -1.44168901e-03 1.50403747e+01] [-1.18362420e-03 1.44585704e-03 9.99998254e-01 1.69514937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76925976399997 meters Centerline goodness [0,1] 0.534567831215971 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.04, Z:16.95 [[ 9.99990559e-01 -4.11117378e-03 1.40693730e-03 -2.72524988e+01] [ 4.11325078e-03 9.99990450e-01 -1.47656550e-03 1.50394881e+01] [-1.40085345e-03 1.48233865e-03 9.99997920e-01 1.69527857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79925976399997 meters Centerline goodness [0,1] 0.5308011128143985 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.04, Z:16.95 [[ 9.99989941e-01 -4.17197922e-03 1.64707464e-03 -2.72534812e+01] [ 4.17378729e-03 9.99990689e-01 -1.09584094e-03 1.50376966e+01] [-1.64248748e-03 1.10270446e-03 9.99998043e-01 1.69529097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82925976399997 meters Centerline goodness [0,1] 0.5286001643199139 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.03, Z:16.95 [[ 9.99989534e-01 -4.13055725e-03 1.96715892e-03 -2.72543690e+01] [ 4.13140608e-03 9.99991374e-01 -4.27631225e-04 1.50348537e+01] [-1.96537559e-03 4.35753882e-04 9.99997974e-01 1.69524561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85925976399997 meters Centerline goodness [0,1] 0.5285293784671119 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.03, Z:16.95 [[ 9.99988492e-01 -4.16904519e-03 2.37363774e-03 -2.72554517e+01] [ 4.16864070e-03 9.99991296e-01 1.75332113e-04 1.50321159e+01] [-2.37434804e-03 -1.65435252e-04 9.99997168e-01 1.69519938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88925976399997 meters Centerline goodness [0,1] 0.526723163841808 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.03, Z:16.95 [[ 9.99987643e-01 -4.20928373e-03 2.64511028e-03 -2.72563205e+01] [ 4.20745034e-03 9.99990905e-01 6.98306522e-04 1.50297733e+01] [-2.64802560e-03 -6.87168723e-04 9.99996258e-01 1.69517548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91925976399997 meters Centerline goodness [0,1] 0.5214082363221242 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.03, Z:16.95 [[ 9.99985961e-01 -4.37931348e-03 2.98311409e-03 -2.72574066e+01] [ 4.37598300e-03 9.99989796e-01 1.12205555e-03 1.50278763e+01] [-2.98799748e-03 -1.10898574e-03 9.99994921e-01 1.69515206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94925976399998 meters Centerline goodness [0,1] 0.5259026687598116 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.03, Z:16.95 [[ 9.99959372e-01 -8.60531168e-03 2.68393752e-03 -2.72571633e+01] [ 8.61289760e-03 9.99958910e-01 -2.82778075e-03 1.50273717e+01] [-2.65949330e-03 2.85078234e-03 9.99992400e-01 1.69520174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97925976399998 meters Centerline goodness [0,1] 0.5207206702345261 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.02, Z:16.95 [[ 9.99955477e-01 -8.86367626e-03 3.23707103e-03 -2.72589295e+01] [ 8.87148193e-03 9.99957756e-01 -2.40499397e-03 1.50247889e+01] [-3.21561720e-03 2.43360451e-03 9.99991869e-01 1.69519224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00925976399998 meters Centerline goodness [0,1] 0.519496855345912 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.02, Z:16.95 [[ 9.99951105e-01 -9.13992356e-03 3.77491980e-03 -2.72607426e+01] [ 9.14791635e-03 9.99955940e-01 -2.10552841e-03 1.50224310e+01] [-3.75550911e-03 2.13995811e-03 9.99990658e-01 1.69521129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03925976399998 meters Centerline goodness [0,1] 0.5158512720156556 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.02, Z:16.95 [[ 9.99939502e-01 -1.01044798e-02 4.34640670e-03 -2.72636880e+01] [ 1.01128401e-02 9.99947048e-01 -1.90584919e-03 1.50193985e+01] [-4.32691893e-03 1.94968841e-03 9.99988738e-01 1.69528467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06925976399998 meters Centerline goodness [0,1] 0.5180924259728683 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99934883e-01 -1.04042248e-02 4.68854032e-03 -2.72650347e+01] [ 1.04125498e-02 9.99944248e-01 -1.75470552e-03 1.50183374e+01] [-4.67002258e-03 1.80341092e-03 9.99987469e-01 1.69530626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09925976399998 meters Centerline goodness [0,1] 0.5213886649804041 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99930511e-01 -1.06774827e-02 4.99640955e-03 -2.72662156e+01] [ 1.06855441e-02 9.99941645e-01 -1.58952977e-03 1.50172851e+01] [-4.97914580e-03 1.64280867e-03 9.99986255e-01 1.69531669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12925976399998 meters Centerline goodness [0,1] 0.5195436122369663 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99927570e-01 -1.07997632e-02 5.31231391e-03 -2.72670170e+01] [ 1.08065429e-02 9.99940827e-01 -1.24917252e-03 1.50159477e+01] [-5.29850880e-03 1.30648979e-03 9.99985109e-01 1.69527611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15925976399998 meters Centerline goodness [0,1] 0.5184763912778116 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99925338e-01 -1.08328872e-02 5.65395880e-03 -2.72676836e+01] [ 1.08376823e-02 9.99940936e-01 -8.18144101e-04 1.50143879e+01] [-5.64476199e-03 8.79358826e-04 9.99983682e-01 1.69520974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18925976399998 meters Centerline goodness [0,1] 0.5211991553678595 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99919600e-01 -1.11694863e-02 6.00300265e-03 -2.72687940e+01] [ 1.11727794e-02 9.99937450e-01 -5.15312824e-04 1.50130254e+01] [-5.99687138e-03 5.82341617e-04 9.99981849e-01 1.69516884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.219259764 meters Centerline goodness [0,1] 0.5213950517868547 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99917319e-01 -1.12983777e-02 6.14015612e-03 -2.72693473e+01] [ 1.13013176e-02 9.99936039e-01 -4.44315775e-04 1.50129419e+01] [-6.13474334e-03 5.13670893e-04 9.99981050e-01 1.69517168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.249259764 meters Centerline goodness [0,1] 0.5193731559316372 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99913336e-01 -1.15395520e-02 6.33708491e-03 -2.72701160e+01] [ 1.15425935e-02 9.99933284e-01 -4.43594056e-04 1.50130823e+01] [-6.33154325e-03 5.16702008e-04 9.99979822e-01 1.69517845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.279259764 meters Centerline goodness [0,1] 0.517729311161249 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99909692e-01 -1.17477757e-02 6.52664422e-03 -2.72709285e+01] [ 1.17502063e-02 9.99930908e-01 -3.34193958e-04 1.50125602e+01] [-6.52226724e-03 4.10853194e-04 9.99978645e-01 1.69518788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.309259764 meters Centerline goodness [0,1] 0.5218237961443236 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99912727e-01 -1.15903032e-02 6.34054977e-03 -2.72702199e+01] [ 1.15905725e-02 9.99932827e-01 -5.72542293e-06 1.50124246e+01] [-6.34005750e-03 7.92155248e-05 9.99979898e-01 1.69513258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.339259764 meters Centerline goodness [0,1] 0.5235494119614291 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99949065e-01 -7.43728125e-03 6.82313041e-03 -2.72711382e+01] [ 7.40602717e-03 9.99962020e-01 4.59449454e-03 1.50104498e+01] [-6.85704181e-03 -4.54372823e-03 9.99966167e-01 1.69503772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.369259764 meters Centerline goodness [0,1] 0.5208803454520128 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99951003e-01 -7.40532134e-03 6.56913586e-03 -2.72706565e+01] [ 7.37798443e-03 9.99964063e-01 4.17593607e-03 1.50123825e+01] [-6.59982393e-03 -4.12726448e-03 9.99969704e-01 1.69509423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.399259764 meters Centerline goodness [0,1] 0.5257123682223652 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99951898e-01 -7.41910253e-03 6.41551280e-03 -2.72703899e+01] [ 7.39478112e-03 9.99965413e-01 3.80647946e-03 1.50138232e+01] [-6.44353157e-03 -3.75885504e-03 9.99972176e-01 1.69513506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.429259764 meters Centerline goodness [0,1] 0.5173804655331784 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99961597e-01 -6.45277920e-03 5.93016996e-03 -2.72673547e+01] [ 6.42723126e-03 9.99970026e-01 4.31713672e-03 1.50144207e+01] [-5.95784974e-03 -4.27885635e-03 9.99973097e-01 1.69493063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.459259764 meters Centerline goodness [0,1] 0.5328275051096116 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99963310e-01 -6.32842911e-03 5.77322438e-03 -2.72667926e+01] [ 6.30444983e-03 9.99971464e-01 4.16231961e-03 1.50152086e+01] [-5.79940058e-03 -4.12576989e-03 9.99974672e-01 1.69492944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.489259764 meters Centerline goodness [0,1] 0.5289094218115638 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99963917e-01 -6.28120310e-03 5.71930767e-03 -2.72667328e+01] [ 6.25828214e-03 9.99972349e-01 4.01676156e-03 1.50158276e+01] [-5.74437962e-03 -3.98082358e-03 9.99975577e-01 1.69495243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51925976399997 meters Centerline goodness [0,1] 0.5343856009419945 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99964265e-01 -6.28051003e-03 5.65893481e-03 -2.72667655e+01] [ 6.25931255e-03 9.99973357e-01 3.75579959e-03 1.50166290e+01] [-5.68237237e-03 -3.72024434e-03 9.99976935e-01 1.69500062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54925976399997 meters Centerline goodness [0,1] 0.5352988985734705 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99964635e-01 -6.41784812e-03 5.43511745e-03 -2.72667533e+01] [ 6.40040191e-03 9.99974329e-01 3.22123820e-03 1.50188453e+01] [-5.45565134e-03 -3.18633735e-03 9.99980041e-01 1.69510841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57925976399997 meters Centerline goodness [0,1] 0.5408981330941302 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99964593e-01 -6.47076250e-03 5.37984683e-03 -2.72668932e+01] [ 6.45416407e-03 9.99974376e-01 3.09695561e-03 1.50194367e+01] [-5.39974864e-03 -3.06212354e-03 9.99980733e-01 1.69514922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60925976399997 meters Centerline goodness [0,1] 0.5398485698261357 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99964908e-01 -6.39557740e-03 5.41098286e-03 -2.72669871e+01] [ 6.37796977e-03 9.99974330e-01 3.26507557e-03 1.50188712e+01] [-5.43172600e-03 -3.23044991e-03 9.99980030e-01 1.69514271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63925976399997 meters Centerline goodness [0,1] 0.5370064638889667 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99964821e-01 -6.27183228e-03 5.56968645e-03 -2.72672604e+01] [ 6.25106835e-03 9.99973477e-01 3.73764019e-03 1.50171536e+01] [-5.59298057e-03 -3.70269222e-03 9.99977504e-01 1.69509320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66925976399997 meters Centerline goodness [0,1] 0.538088700865716 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99960227e-01 -6.56673628e-03 6.03510859e-03 -2.72689361e+01] [ 6.54316404e-03 9.99970920e-01 3.91733204e-03 1.50149905e+01] [-6.06065717e-03 -3.87768753e-03 9.99974116e-01 1.69511960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69925976399998 meters Centerline goodness [0,1] 0.5305667734298845 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99927296e-01 -1.05553529e-02 5.82990991e-03 -2.72687165e+01] [ 1.05537799e-02 9.99944262e-01 3.00518590e-04 1.50128894e+01] [-5.83275704e-03 -2.38969155e-04 9.99982961e-01 1.69514100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72925976399998 meters Centerline goodness [0,1] 0.5350181513543704 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99930781e-01 -1.02432911e-02 5.78869560e-03 -2.72684417e+01] [ 1.02382960e-02 9.99947190e-01 8.91870887e-04 1.50110582e+01] [-5.79752559e-03 -8.32542773e-04 9.99982848e-01 1.69509699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75925976399998 meters Centerline goodness [0,1] 0.5334354973530231 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99933158e-01 -9.98535623e-03 5.82855886e-03 -2.72686109e+01] [ 9.97705031e-03 9.99949173e-01 1.45237955e-03 1.50087921e+01] [-5.84276514e-03 -1.39413064e-03 9.99981959e-01 1.69508733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78925976399998 meters Centerline goodness [0,1] 0.5311859524732732 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99930959e-01 -9.96577794e-03 6.22585170e-03 -2.72698666e+01] [ 9.95288558e-03 9.99948267e-01 2.09834072e-03 1.50053328e+01] [-6.24644122e-03 -2.03623065e-03 9.99978418e-01 1.69507038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81925976399998 meters Centerline goodness [0,1] 0.5235130444364858 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.00, Z:16.95 [[ 9.99884027e-01 -1.37955586e-02 6.45095132e-03 -2.72706388e+01] [ 1.38035208e-02 9.99904017e-01 -1.19136677e-03 1.50008652e+01] [-6.43389656e-03 1.28027445e-03 9.99978483e-01 1.69508253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84925976399998 meters Centerline goodness [0,1] 0.5222463151538441 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.00, Z:16.95 [[ 9.99880671e-01 -1.38174710e-02 6.90809121e-03 -2.72720307e+01] [ 1.38209330e-02 9.99904383e-01 -4.53669587e-04 1.49971694e+01] [-6.90116211e-03 5.49091717e-04 9.99976036e-01 1.69505345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87925976399998 meters Centerline goodness [0,1] 0.5176547873213992 Centerline is valid? [False, False] Translation: X:-27.27, Y:14.99, Z:16.95 [[ 9.99877103e-01 -1.38653966e-02 7.31634015e-03 -2.72734974e+01] [ 1.38650676e-02 9.99903871e-01 9.56970548e-05 1.49940808e+01] [-7.31696371e-03 5.75625670e-06 9.99973231e-01 1.69506821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90925976399998 meters Centerline goodness [0,1] 0.5133378839590443 Centerline is valid? [False, False] Translation: X:-27.27, Y:14.99, Z:16.95 [[ 9.99876604e-01 -1.37799184e-02 7.54260856e-03 -2.72743331e+01] [ 1.37740707e-02 9.99904791e-01 8.26690393e-04 1.49909586e+01] [-7.55328217e-03 -7.22695959e-04 9.99971212e-01 1.69505161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93925976399998 meters Centerline goodness [0,1] 0.5080737236992334 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.98, Z:16.95 [[ 9.99872092e-01 -1.39638396e-02 7.79813152e-03 -2.72753623e+01] [ 1.39472122e-02 9.99900351e-01 2.18255334e-03 1.49848421e+01] [-7.82783126e-03 -2.07351198e-03 9.99967212e-01 1.69494220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.969259764 meters Centerline goodness [0,1] 0.506372362926406 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.98, Z:16.95 [[ 9.99871276e-01 -1.38643901e-02 8.07523139e-03 -2.72759830e+01] [ 1.38406573e-02 9.99899751e-01 2.98746984e-03 1.49816476e+01] [-8.11584130e-03 -2.87531877e-03 9.99962932e-01 1.69487408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.999259764 meters Centerline goodness [0,1] 0.5095992645070575 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.98, Z:16.95 [[ 9.99872260e-01 -1.36671945e-02 8.28678513e-03 -2.72763624e+01] [ 1.36361669e-02 9.99899843e-01 3.78923570e-03 1.49784399e+01] [-8.33774337e-03 -3.67575168e-03 9.99958485e-01 1.69480717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.029259764 meters Centerline goodness [0,1] 0.5001079214331967 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.97, Z:16.95 [[ 9.99860629e-01 -1.41237180e-02 8.90190794e-03 -2.72787918e+01] [ 1.40872823e-02 9.99892188e-01 4.14253280e-03 1.49743314e+01] [-8.95945618e-03 -4.01655176e-03 9.99951797e-01 1.69485709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.059259764 meters Centerline goodness [0,1] 0.4849931235336947 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.97, Z:16.95 [[ 9.99855533e-01 -1.42816523e-02 9.21674530e-03 -2.72800052e+01] [ 1.42435543e-02 9.99889793e-01 4.18605067e-03 1.49731975e+01] [-9.27551327e-03 -4.05416671e-03 9.99948763e-01 1.69489903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.089259764 meters Centerline goodness [0,1] 0.4673146303376232 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.97, Z:16.95 [[ 9.99854856e-01 -1.42485458e-02 9.34057190e-03 -2.72804418e+01] [ 1.42075364e-02 9.99889200e-01 4.44221411e-03 1.49720105e+01] [-9.40283205e-03 -4.30886284e-03 9.99946509e-01 1.69489671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.119259764 meters Centerline goodness [0,1] 0.4730579133985172 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.97, Z:16.95 [[ 9.99857412e-01 -1.40172020e-02 9.41668167e-03 -2.72802026e+01] [ 1.39705091e-02 9.99889876e-01 5.00614615e-03 1.49703496e+01] [-9.48581682e-03 -4.87387650e-03 9.99943131e-01 1.69481071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.149259764 meters Centerline goodness [0,1] 0.4711807047700902 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.97, Z:16.95 [[ 9.99852499e-01 -1.41488361e-02 9.73600485e-03 -2.72811393e+01] [ 1.40998308e-02 9.99887669e-01 5.08376976e-03 1.49692028e+01] [-9.80684062e-03 -4.94574388e-03 9.99939681e-01 1.69481456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.179259764 meters Centerline goodness [0,1] 0.46884034693221976 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.97, Z:16.95 [[ 9.99851673e-01 -1.40824041e-02 9.91553627e-03 -2.72815799e+01] [ 1.40296706e-02 9.99887171e-01 5.36789666e-03 1.49678543e+01] [-9.99001039e-03 -5.22798874e-03 9.99936432e-01 1.69479826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.209259764 meters Centerline goodness [0,1] 0.4698575376277735 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.97, Z:16.95 [[ 9.99844371e-01 -1.45016388e-02 1.00467052e-02 -2.72829393e+01] [ 1.44542677e-02 9.99884146e-01 4.77176025e-03 1.49690478e+01] [-1.01147396e-02 -4.62579986e-03 9.99938145e-01 1.69495148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.239259764 meters Centerline goodness [0,1] 0.47599002600745366 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.97, Z:16.95 [[ 9.99845845e-01 -1.45218532e-02 9.86928042e-03 -2.72826769e+01] [ 1.44784662e-02 9.99885264e-01 4.45348887e-03 1.49706111e+01] [-9.93282096e-03 -4.30991030e-03 9.99941380e-01 1.69499478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26925976399997 meters Centerline goodness [0,1] 0.4785693171741058 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.97, Z:16.95 [[ 9.99845965e-01 -1.45681240e-02 9.78860259e-03 -2.72825048e+01] [ 1.45284695e-02 9.99886009e-01 4.11006156e-03 1.49722521e+01] [-9.84736267e-03 -3.96721505e-03 9.99943644e-01 1.69501221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29925976399997 meters Centerline goodness [0,1] 0.48886145257394387 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.98, Z:16.96 [[ 9.99915572e-01 -1.24378744e-02 3.76149921e-03 -2.72995337e+01] [ 1.24554342e-02 9.99911469e-01 -4.68146490e-03 1.49786922e+01] [-3.70293873e-03 4.72792075e-03 9.99981967e-01 1.69579570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32925976399997 meters Centerline goodness [0,1] 0.49122571643232804 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.98, Z:16.96 [[ 9.99953331e-01 -8.54988011e-03 4.49839535e-03 -2.73010302e+01] [ 8.54972292e-03 9.99963449e-01 5.41721617e-05 1.49758350e+01] [-4.49869410e-03 -1.57095996e-05 9.99989881e-01 1.69564584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35925976399997 meters Centerline goodness [0,1] 0.49122571643232804 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.98, Z:16.96 [[ 9.99953331e-01 -8.54988011e-03 4.49839535e-03 -2.73010302e+01] [ 8.54972292e-03 9.99963449e-01 5.41721617e-05 1.49758350e+01] [-4.49869410e-03 -1.57095996e-05 9.99989881e-01 1.69564584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38925976399997 meters Centerline goodness [0,1] 0.4973244776681277 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.98, Z:16.96 [[ 9.99959687e-01 -8.05146807e-03 3.97472684e-03 -2.72990802e+01] [ 8.05110860e-03 9.99967584e-01 1.06431636e-04 1.49774839e+01] [-3.97545492e-03 -7.44263880e-05 9.99992095e-01 1.69559160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41925976399997 meters Centerline goodness [0,1] 0.5078007316548311 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.98, Z:16.95 [[ 9.99969423e-01 -7.04140356e-03 3.40168823e-03 -2.72962723e+01] [ 7.04066416e-03 9.99975188e-01 2.29291134e-04 1.49799389e+01] [-3.40321836e-03 -2.05333978e-04 9.99994188e-01 1.69549684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44925976399998 meters Centerline goodness [0,1] 0.5170112147007161 Centerline is valid? [False, False] Translation: X:-27.29, Y:14.98, Z:16.95 [[ 9.99983127e-01 -4.63280870e-03 3.50465160e-03 -2.72942192e+01] [ 4.62768841e-03 9.99988215e-01 1.46770172e-03 1.49827403e+01] [-3.51140988e-03 -1.45145852e-03 9.99992782e-01 1.69535102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47925976399998 meters Centerline goodness [0,1] 0.5308300823580407 Centerline is valid? [False, False] Translation: X:-27.29, Y:14.99, Z:16.95 [[ 9.99990171e-01 -3.05586168e-03 3.21234073e-03 -2.72918810e+01] [ 3.05116973e-03 9.99994273e-01 1.46449151e-03 1.49872730e+01] [-3.21679761e-03 -1.45467572e-03 9.99993768e-01 1.69532121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50925976399998 meters Centerline goodness [0,1] 0.5340738516961874 Centerline is valid? [False, False] Translation: X:-27.29, Y:14.99, Z:16.95 [[ 9.99970962e-01 6.92601870e-03 3.17879987e-03 -2.72887990e+01] [-6.95830243e-03 9.99923156e-01 1.02598169e-02 1.49889223e+01] [-3.10749592e-03 -1.02816380e-02 9.99942314e-01 1.69504689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53925976399998 meters Centerline goodness [0,1] 0.5351503707960485 Centerline is valid? [False, False] Translation: X:-27.29, Y:14.99, Z:16.95 [[ 9.99959328e-01 8.44883664e-03 3.15592348e-03 -2.72864108e+01] [-8.48039497e-03 9.99912791e-01 1.01238922e-02 1.49928290e+01] [-3.07011315e-03 -1.01502439e-02 9.99943772e-01 1.69492783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56925976399998 meters Centerline goodness [0,1] 0.5310591471801926 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.00, Z:16.95 [[ 9.99950540e-01 9.48871358e-03 2.98034848e-03 -2.72844508e+01] [-9.51726644e-03 9.99907497e-01 9.71693718e-03 1.49965581e+01] [-2.88787156e-03 -9.74482135e-03 9.99948348e-01 1.69487491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59925976399998 meters Centerline goodness [0,1] 0.5304982580324061 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.00, Z:16.95 [[ 9.99943477e-01 1.02626363e-02 2.77880713e-03 -2.72827234e+01] [-1.02876817e-02 9.99905180e-01 9.15393678e-03 1.50002555e+01] [-2.68460012e-03 -9.18200685e-03 9.99954241e-01 1.69484845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62925976399998 meters Centerline goodness [0,1] 0.5345938142040091 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.00, Z:16.95 [[ 9.99927424e-01 1.17401775e-02 2.70473285e-03 -2.72807743e+01] [-1.17625453e-02 9.99895469e-01 8.40797884e-03 1.50049687e+01] [-2.60573895e-03 -8.43918316e-03 9.99960994e-01 1.69488834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65925976399998 meters Centerline goodness [0,1] 0.5338514920194309 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.01, Z:16.95 [[ 9.99959808e-01 8.57799978e-03 2.60780919e-03 -2.72800866e+01] [-8.58760892e-03 9.99956295e-01 3.69616146e-03 1.50102597e+01] [-2.57598954e-03 -3.71840775e-03 9.99989769e-01 1.69501129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68925976399998 meters Centerline goodness [0,1] 0.537344571476258 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.01, Z:16.95 [[ 9.99986805e-01 4.77000792e-03 1.90680597e-03 -2.72788364e+01] [-4.76769756e-03 9.99987897e-01 -1.21435649e-03 1.50149730e+01] [-1.91257538e-03 1.20524939e-03 9.99997445e-01 1.69518088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.719259764 meters Centerline goodness [0,1] 0.5366978851124142 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.95 [[ 9.99998732e-01 1.14178742e-03 1.10994331e-03 -2.72770225e+01] [-1.13574577e-03 9.99984620e-01 -5.42868118e-03 1.50185644e+01] [-1.11612464e-03 5.42741369e-03 9.99984649e-01 1.69525909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.749259764 meters Centerline goodness [0,1] 0.5330592288032003 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.95 [[ 9.99998815e-01 8.71125730e-04 1.26920827e-03 -2.72780196e+01] [-8.64534595e-04 9.99986187e-01 -5.18443395e-03 1.50175594e+01] [-1.27370704e-03 5.18333053e-03 9.99985755e-01 1.69528829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.779259764 meters Centerline goodness [0,1] 0.5335979349968081 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.95 [[ 9.99998667e-01 1.11239093e-03 1.19522760e-03 -2.72775973e+01] [-1.10646705e-03 9.99987159e-01 -4.94555874e-03 1.50171950e+01] [-1.20071364e-03 4.94422967e-03 9.99987056e-01 1.69525614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.809259764 meters Centerline goodness [0,1] 0.5383206106870229 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.95 [[ 9.99998358e-01 1.43049600e-03 1.11246950e-03 -2.72770047e+01] [-1.42525347e-03 9.99987943e-01 -4.69911211e-03 1.50171657e+01] [-1.11917815e-03 4.69751884e-03 9.99988340e-01 1.69520726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.839259764 meters Centerline goodness [0,1] 0.5445475767007559 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.95 [[ 9.99997820e-01 1.92612352e-03 8.06758116e-04 -2.72758174e+01] [-1.92241585e-03 9.99987702e-01 -4.57159862e-03 1.50179381e+01] [-8.15553658e-04 4.57003773e-03 9.99989225e-01 1.69518420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.869259764 meters Centerline goodness [0,1] 0.5409690406774954 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99997240e-01 2.26978069e-03 6.06778687e-04 -2.72747956e+01] [-2.26706469e-03 9.99987574e-01 -4.43993449e-03 1.50185030e+01] [-6.16848824e-04 4.43854663e-03 9.99989959e-01 1.69512971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.899259764 meters Centerline goodness [0,1] 0.5446014603403759 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99996251e-01 2.69909589e-03 4.60789420e-04 -2.72736870e+01] [-2.69715369e-03 9.99987690e-01 -4.16477786e-03 1.50184694e+01] [-4.72024882e-04 4.16351943e-03 9.99991221e-01 1.69504133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.929259764 meters Centerline goodness [0,1] 0.5470116314576798 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99995235e-01 3.06055970e-03 4.03779374e-04 -2.72728702e+01] [-3.05900272e-03 9.99988094e-01 -3.80187357e-03 1.50177964e+01] [-4.15410428e-04 3.80062029e-03 9.99992691e-01 1.69494495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.959259764 meters Centerline goodness [0,1] 0.5484354610322904 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99994263e-01 3.35963735e-03 4.32322687e-04 -2.72722659e+01] [-3.35819925e-03 9.99988965e-01 -3.28526985e-03 1.50164759e+01] [-4.43355231e-04 3.28379917e-03 9.99994510e-01 1.69483232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.989259764 meters Centerline goodness [0,1] 0.5425429021471799 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99999863e-01 -5.20757934e-04 -4.94233136e-05 -2.72712009e+01] [ 5.20370301e-04 9.99971413e-01 -7.54335644e-03 1.50178041e+01] [ 5.33501634e-05 7.54332969e-03 9.99971547e-01 1.69488742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01925976399997 meters Centerline goodness [0,1] 0.5467983012519994 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.95 [[ 9.99999890e-01 -4.44892974e-04 1.47283221e-04 -2.72715553e+01] [ 4.45928311e-04 9.99974654e-01 -7.10579098e-03 1.50163592e+01] [-1.44118171e-04 7.10585588e-03 9.99974743e-01 1.69483832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04925976399997 meters Centerline goodness [0,1] 0.5461360379230515 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99999923e-01 -3.04515755e-04 2.47520472e-04 -2.72717464e+01] [ 3.06155872e-04 9.99977819e-01 -6.65338178e-03 1.50148069e+01] [-2.45488922e-04 6.65345704e-03 9.99977835e-01 1.69479992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07925976399997 meters Centerline goodness [0,1] 0.5442025399967013 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99999895e-01 -2.19887237e-04 4.02657697e-04 -2.72719687e+01] [ 2.22412787e-04 9.99980237e-01 -6.28293490e-03 1.50136081e+01] [-4.01268203e-04 6.28302380e-03 9.99980181e-01 1.69475242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10925976399997 meters Centerline goodness [0,1] 0.5440261955863739 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99999764e-01 -1.78958320e-04 6.62716580e-04 -2.72726280e+01] [ 1.82683286e-04 9.99984163e-01 -5.62496479e-03 1.50111047e+01] [-6.61699451e-04 5.62508453e-03 9.99983960e-01 1.69469966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13925976399997 meters Centerline goodness [0,1] 0.5408255746889676 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99999483e-01 -5.64579986e-05 1.01540142e-03 -2.72731809e+01] [ 6.14771316e-05 9.99987778e-01 -4.94365190e-03 1.50085951e+01] [-1.01510990e-03 4.94371177e-03 9.99987265e-01 1.69460713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16925976399997 meters Centerline goodness [0,1] 0.5387053583627073 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.01, Z:16.95 [[ 9.99999148e-01 1.34530782e-04 1.29816194e-03 -2.72735257e+01] [-1.29169791e-04 9.99991468e-01 -4.12887870e-03 1.50056884e+01] [-1.29870633e-03 4.12870750e-03 9.99990634e-01 1.69450226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19925976399998 meters Centerline goodness [0,1] 0.5369552173675884 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.00, Z:16.94 [[ 9.99998808e-01 1.50539991e-04 1.53676576e-03 -2.72741751e+01] [-1.44933980e-04 9.99993338e-01 -3.64738776e-03 1.50034334e+01] [-1.53730460e-03 3.64716068e-03 9.99992167e-01 1.69447356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22925976399998 meters Centerline goodness [0,1] 0.5384447892000762 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.00, Z:16.95 [[ 9.99998079e-01 -2.97163640e-04 1.93738840e-03 -2.72761616e+01] [ 3.03900757e-04 9.99993905e-01 -3.47805578e-03 1.50014138e+01] [-1.93634304e-03 3.47863788e-03 9.99992075e-01 1.69454838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25925976399998 meters Centerline goodness [0,1] 0.5301506171496928 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.00, Z:16.95 [[ 9.99997707e-01 -2.82974046e-04 2.12283138e-03 -2.72768420e+01] [ 2.89775763e-04 9.99994824e-01 -3.20445499e-03 1.50002690e+01] [-2.12191361e-03 3.20506279e-03 9.99992613e-01 1.69455797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28925976399998 meters Centerline goodness [0,1] 0.5336736910710407 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.00, Z:16.95 [[ 9.99997204e-01 -3.54959395e-04 2.33779263e-03 -2.72776214e+01] [ 3.61884367e-04 9.99995547e-01 -2.96242750e-03 1.49991222e+01] [-2.33673067e-03 2.96326523e-03 9.99992879e-01 1.69456473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31925976399998 meters Centerline goodness [0,1] 0.535050652798093 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.00, Z:16.94 [[ 9.99996171e-01 -6.25368460e-04 2.69562311e-03 -2.72784188e+01] [ 6.31940694e-04 9.99996829e-01 -2.43795153e-03 1.49971831e+01] [-2.69408994e-03 2.43964567e-03 9.99993395e-01 1.69446787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34925976399998 meters Centerline goodness [0,1] 0.5358507956301337 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.00, Z:16.94 [[ 9.99995371e-01 -5.97392606e-04 2.98356481e-03 -2.72787699e+01] [ 6.03250692e-04 9.99997891e-01 -1.96293824e-03 1.49957197e+01] [-2.98238588e-03 1.96472899e-03 9.99993623e-01 1.69437705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37925976399998 meters Centerline goodness [0,1] 0.5391668920746551 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.99, Z:16.94 [[ 9.99994479e-01 -6.29944963e-04 3.26279163e-03 -2.72793462e+01] [ 6.34912505e-04 9.99998641e-01 -1.52167000e-03 1.49939375e+01] [-3.26182862e-03 1.52373318e-03 9.99993519e-01 1.69431856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40925976399998 meters Centerline goodness [0,1] 0.5364052057685543 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.99, Z:16.94 [[ 9.99993112e-01 -7.56932875e-04 3.63368243e-03 -2.72802539e+01] [ 7.61255503e-04 9.99999004e-01 -1.18836418e-03 1.49922756e+01] [-3.63277930e-03 1.19112215e-03 9.99992692e-01 1.69427315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43925976399998 meters Centerline goodness [0,1] 0.5335891477057775 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.99, Z:16.94 [[ 9.99989370e-01 -1.61606572e-03 4.31834392e-03 -2.72829154e+01] [ 1.62144674e-03 9.99997913e-01 -1.24287491e-03 1.49903461e+01] [-4.31632635e-03 1.24986367e-03 9.99989904e-01 1.69431864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.469259764 meters Centerline goodness [0,1] 0.5336322869955157 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.99, Z:16.94 [[ 9.99987947e-01 -1.93842964e-03 4.51099943e-03 -2.72838480e+01] [ 1.94444967e-03 9.99997224e-01 -1.33052082e-03 1.49904807e+01] [-4.50840779e-03 1.33927619e-03 9.99988940e-01 1.69435288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.499259764 meters Centerline goodness [0,1] 0.532155342963224 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.99, Z:16.94 [[ 9.99986591e-01 -2.20260834e-03 4.68677491e-03 -2.72845435e+01] [ 2.20944032e-03 9.99996504e-01 -1.45303660e-03 1.49910800e+01] [-4.68355805e-03 1.46337227e-03 9.99987961e-01 1.69436763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.529259764 meters Centerline goodness [0,1] 0.5300475220638153 Centerline is valid? [False, False] Translation: X:-27.29, Y:14.99, Z:16.94 [[ 9.99985031e-01 -2.42754267e-03 4.90350368e-03 -2.72851814e+01] [ 2.43523933e-03 9.99995811e-01 -1.56426440e-03 1.49916017e+01] [-4.89968582e-03 1.57618219e-03 9.99986754e-01 1.69436364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.559259764 meters Centerline goodness [0,1] 0.5311247155704844 Centerline is valid? [False, False] Translation: X:-27.29, Y:14.99, Z:16.94 [[ 9.99983729e-01 -2.62313451e-03 5.06566766e-03 -2.72851492e+01] [ 2.63120484e-03 9.99995279e-01 -1.58713525e-03 1.49925624e+01] [-5.06148047e-03 1.60043824e-03 9.99985910e-01 1.69427302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.589259764 meters Centerline goodness [0,1] 0.5315128910184858 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.99, Z:16.94 [[ 9.99983211e-01 -2.57630713e-03 5.19042638e-03 -2.72847811e+01] [ 2.58389909e-03 9.99995601e-01 -1.45651134e-03 1.49931400e+01] [-5.18665112e-03 1.46989843e-03 9.99985469e-01 1.69416342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.619259764 meters Centerline goodness [0,1] 0.5341569172870817 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.99, Z:16.94 [[ 9.99982777e-01 -2.61176345e-03 5.25596351e-03 -2.72846235e+01] [ 2.61922676e-03 9.99995571e-01 -1.41358797e-03 1.49937224e+01] [-5.25224828e-03 1.42733019e-03 9.99985188e-01 1.69410327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.649259764 meters Centerline goodness [0,1] 0.5280690763489773 Centerline is valid? [False, False] Translation: X:-27.28, Y:14.99, Z:16.94 [[ 9.99981920e-01 -2.71673321e-03 5.36464432e-03 -2.72847813e+01] [ 2.72453162e-03 9.99995242e-01 -1.44689615e-03 1.49943664e+01] [-5.36068796e-03 1.46148613e-03 9.99984563e-01 1.69407240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.679259764 meters Centerline goodness [0,1] 0.5326318666302268 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99980632e-01 -2.98596354e-03 5.46072877e-03 -2.72853395e+01] [ 2.99550594e-03 9.99993999e-01 -1.74011562e-03 1.49954918e+01] [-5.45550008e-03 1.75643956e-03 9.99983576e-01 1.69411375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.709259764 meters Centerline goodness [0,1] 0.5281089822657128 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99978055e-01 -3.45832675e-03 5.65053093e-03 -2.72864653e+01] [ 3.47053672e-03 9.99991661e-01 -2.15247839e-03 1.49968176e+01] [-5.64303983e-03 2.17204153e-03 9.99981719e-01 1.69418575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.739259764 meters Centerline goodness [0,1] 0.5331964969896004 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99973341e-01 -4.16921573e-03 5.99465705e-03 -2.72881521e+01] [ 4.18503544e-03 9.99987787e-01 -2.62885160e-03 1.49982200e+01] [-5.98362359e-03 2.65386937e-03 9.99978576e-01 1.69426259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76925976399997 meters Centerline goodness [0,1] 0.5183461117196058 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99970590e-01 -4.46628159e-03 6.23462524e-03 -2.72890221e+01] [ 4.48338821e-03 9.99986216e-01 -2.73253527e-03 1.49983404e+01] [-6.22233503e-03 2.76040716e-03 9.99976831e-01 1.69427396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79925976399997 meters Centerline goodness [0,1] 0.5041810132808657 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99960479e-01 -5.58866765e-03 6.91434432e-03 -2.72918174e+01] [ 5.60940547e-03 9.99979816e-01 -2.98349708e-03 1.49980544e+01] [-6.89753099e-03 3.02216453e-03 9.99971645e-01 1.69431325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82925976399997 meters Centerline goodness [0,1] 0.5162346521145975 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99954408e-01 -5.93257557e-03 7.48240265e-03 -2.72934199e+01] [ 5.95326135e-03 9.99978511e-01 -2.74535518e-03 1.49964462e+01] [-7.46595483e-03 2.78977472e-03 9.99968238e-01 1.69427877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85925976399997 meters Centerline goodness [0,1] 0.4974121492781258 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99947449e-01 -6.30798386e-03 8.08131345e-03 -2.72951366e+01] [ 6.32763917e-03 9.99977079e-01 -2.40893749e-03 1.49942328e+01] [-8.06593268e-03 2.45994653e-03 9.99964444e-01 1.69423784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88925976399997 meters Centerline goodness [0,1] 0.5111050551846301 Centerline is valid? [False, False] Translation: X:-27.29, Y:14.99, Z:16.94 [[ 9.99948406e-01 -6.15642719e-03 8.07987854e-03 -2.72947085e+01] [ 6.17407064e-03 9.99978606e-01 -2.16050439e-03 1.49938649e+01] [-8.06640470e-03 2.21027866e-03 9.99965023e-01 1.69416925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91925976399997 meters Centerline goodness [0,1] 0.5032118743678757 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99965761e-01 -1.81639638e-03 8.07328224e-03 -2.72941353e+01] [ 1.80089841e-03 9.99996523e-01 1.92651795e-03 1.49957893e+01] [-8.07675349e-03 -1.91191282e-03 9.99965555e-01 1.69410299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94925976399998 meters Centerline goodness [0,1] 0.5262162532547623 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99966195e-01 -1.94108277e-03 7.99000644e-03 -2.72941974e+01] [ 1.92896485e-03 9.99996978e-01 1.52406137e-03 1.49972394e+01] [-7.99294062e-03 -1.50859741e-03 9.99966918e-01 1.69415891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97925976399998 meters Centerline goodness [0,1] 0.5152987020114705 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99966450e-01 -1.66603010e-03 8.02013639e-03 -2.72935439e+01] [ 1.64985225e-03 9.99996592e-01 2.02334751e-03 1.49963356e+01] [-8.02348002e-03 -2.01004759e-03 9.99965791e-01 1.69403900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00925976399998 meters Centerline goodness [0,1] 0.5080704831328273 Centerline is valid? [False, False] Translation: X:-27.29, Y:14.99, Z:16.94 [[ 9.99966114e-01 -1.44128615e-03 8.10519347e-03 -2.72931454e+01] [ 1.42052992e-03 9.99995699e-01 2.56602922e-03 1.49945901e+01] [-8.10885699e-03 -2.55442860e-03 9.99963860e-01 1.69392815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03925976399998 meters Centerline goodness [0,1] 0.5033744855967078 Centerline is valid? [False, False] Translation: X:-27.29, Y:14.99, Z:16.94 [[ 9.99962761e-01 -1.76792012e-03 8.44692256e-03 -2.72944861e+01] [ 1.74498026e-03 9.99994772e-01 2.72236383e-03 1.49927587e+01] [-8.45169132e-03 -2.70752274e-03 9.99960618e-01 1.69393822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06925976399998 meters Centerline goodness [0,1] 0.4989070441007706 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99961661e-01 -1.94611544e-03 8.53755450e-03 -2.72952789e+01] [ 1.92547437e-03 9.99995205e-01 2.42523346e-03 1.49932735e+01] [-8.54223335e-03 -2.40870164e-03 9.99960613e-01 1.69402598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09925976399998 meters Centerline goodness [0,1] 0.5055737704918033 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99961399e-01 -2.16185988e-03 8.51621334e-03 -2.72958555e+01] [ 2.14538468e-03 9.99995811e-01 1.94322903e-03 1.49945629e+01] [-8.52037866e-03 -1.92488346e-03 9.99961848e-01 1.69413447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12925976399998 meters Centerline goodness [0,1] 0.5018977145509652 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99960458e-01 -2.30952842e-03 8.58769387e-03 -2.72964084e+01] [ 2.29479227e-03 9.99995878e-01 1.72541929e-03 1.49952747e+01] [-8.59164338e-03 -1.70564409e-03 9.99961636e-01 1.69419163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15925976399998 meters Centerline goodness [0,1] 0.5016794560200988 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99959725e-01 -2.44166425e-03 8.63630244e-03 -2.72968315e+01] [ 2.42791903e-03 9.99995770e-01 1.60168972e-03 1.49953805e+01] [-8.64017670e-03 -1.58065697e-03 9.99961424e-01 1.69422914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18925976399998 meters Centerline goodness [0,1] 0.4969761359921543 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99959132e-01 -2.30903714e-03 8.74084008e-03 -2.72967081e+01] [ 2.29168165e-03 9.99995384e-01 1.99505802e-03 1.49941648e+01] [-8.74540640e-03 -1.97494526e-03 9.99959808e-01 1.69415048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.219259764 meters Centerline goodness [0,1] 0.4954549176971583 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99957855e-01 -2.40480022e-03 8.86034789e-03 -2.72972592e+01] [ 2.38840019e-03 9.99995416e-01 1.86106337e-03 1.49940525e+01] [-8.86478276e-03 -1.83982288e-03 9.99959014e-01 1.69418646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.249259764 meters Centerline goodness [0,1] 0.4945090968693657 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99957035e-01 -2.48013814e-03 8.93185631e-03 -2.72977378e+01] [ 2.46491190e-03 9.99995491e-01 1.71531621e-03 1.49940150e+01] [-8.93607026e-03 -1.69322627e-03 9.99958639e-01 1.69423045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.279259764 meters Centerline goodness [0,1] 0.4945090968693657 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99957035e-01 -2.48013814e-03 8.93185631e-03 -2.72977378e+01] [ 2.46491190e-03 9.99995491e-01 1.71531621e-03 1.49940150e+01] [-8.93607026e-03 -1.69322627e-03 9.99958639e-01 1.69423045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.309259764 meters Centerline goodness [0,1] 0.4966827750020477 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99956782e-01 -2.38543995e-03 8.98574393e-03 -2.72976978e+01] [ 2.36884587e-03 9.99995470e-01 1.85690295e-03 1.49937376e+01] [-8.99013276e-03 -1.83553685e-03 9.99957903e-01 1.69420432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.339259764 meters Centerline goodness [0,1] 0.5030857454942654 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99955906e-01 -2.32657221e-03 9.09797976e-03 -2.72979072e+01] [ 2.30648334e-03 9.99994880e-01 2.21792713e-03 1.49924182e+01] [-9.10309335e-03 -2.19684500e-03 9.99956153e-01 1.69416055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.369259764 meters Centerline goodness [0,1] 0.4963324516674392 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99955930e-01 -2.32836255e-03 9.09487724e-03 -2.72980697e+01] [ 2.30762155e-03 9.99994715e-01 2.29034326e-03 1.49920438e+01] [-9.10016191e-03 -2.26925479e-03 9.99956018e-01 1.69417660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.399259764 meters Centerline goodness [0,1] 0.49512494879147895 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99959348e-01 -2.11340840e-03 8.76563235e-03 -2.72971875e+01] [ 2.09527364e-03 9.99995647e-01 2.07751514e-03 1.49935870e+01] [-8.76998483e-03 -2.05906429e-03 9.99959423e-01 1.69421271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.429259764 meters Centerline goodness [0,1] 0.5120417703179245 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99962608e-01 -1.88143276e-03 8.44057266e-03 -2.72966009e+01] [ 1.86781105e-03 9.99996941e-01 1.62142999e-03 1.49954326e+01] [-8.44359745e-03 -1.60560397e-03 9.99963063e-01 1.69432030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.459259764 meters Centerline goodness [0,1] 0.49994528043775655 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99962356e-01 -1.77652115e-03 8.49301094e-03 -2.72966528e+01] [ 1.76212520e-03 9.99996999e-01 1.70221750e-03 1.49950961e+01] [-8.49600947e-03 -1.68718767e-03 9.99962485e-01 1.69430934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.489259764 meters Centerline goodness [0,1] 0.5101075033509315 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99961917e-01 -1.62930284e-03 8.57376976e-03 -2.72967095e+01] [ 1.61333594e-03 9.99996952e-01 1.86888236e-03 1.49941358e+01] [-8.57678861e-03 -1.85497881e-03 9.99961498e-01 1.69428852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51925976399997 meters Centerline goodness [0,1] 0.5085718973012878 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99961206e-01 -1.57000742e-03 8.66723134e-03 -2.72969689e+01] [ 1.55183217e-03 9.99996584e-01 2.10333531e-03 1.49930578e+01] [-8.67050399e-03 -2.08980363e-03 9.99960227e-01 1.69427429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54925976399997 meters Centerline goodness [0,1] 0.5039267015706806 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99949267e-01 -5.65649088e-03 8.33468039e-03 -2.72965968e+01] [ 5.67734093e-03 9.99980808e-01 -2.48006860e-03 1.49951666e+01] [-8.32049195e-03 2.52726160e-03 9.99962190e-01 1.69440135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57925976399997 meters Centerline goodness [0,1] 0.504256944823446 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99949927e-01 -5.63150566e-03 8.27221703e-03 -2.72965142e+01] [ 5.65075006e-03 9.99981378e-01 -2.30486105e-03 1.49948196e+01] [-8.25908315e-03 2.35148987e-03 9.99963128e-01 1.69439689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60925976399997 meters Centerline goodness [0,1] 0.5091058020477816 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99951612e-01 -5.51420870e-03 8.14666132e-03 -2.72960820e+01] [ 5.53126700e-03 9.99982554e-01 -2.07285583e-03 1.49948906e+01] [-8.13508903e-03 2.11781688e-03 9.99964667e-01 1.69436696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63925976399997 meters Centerline goodness [0,1] 0.4850958126330731 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99951731e-01 -5.47862922e-03 8.15599860e-03 -2.72961521e+01] [ 5.49454773e-03 9.99983041e-01 -1.93062890e-03 1.49946550e+01] [-8.14528308e-03 1.97534924e-03 9.99964876e-01 1.69436443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66925976399997 meters Centerline goodness [0,1] 0.5137727161267471 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99948201e-01 -5.63693956e-03 8.47464625e-03 -2.72970805e+01] [ 5.65057515e-03 9.99982778e-01 -1.58590412e-03 1.49929863e+01] [-8.46556065e-03 1.63370859e-03 9.99962832e-01 1.69432949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69925976399998 meters Centerline goodness [0,1] 0.5020435967302452 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99946091e-01 -5.66055231e-03 8.70475394e-03 -2.72976432e+01] [ 5.67217196e-03 9.99983054e-01 -1.31075396e-03 1.49918559e+01] [-8.69718683e-03 1.36005816e-03 9.99961254e-01 1.69429583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72925976399998 meters Centerline goodness [0,1] 0.4801001115373106 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99945617e-01 -5.62661573e-03 8.78094211e-03 -2.72977740e+01] [ 5.63676899e-03 9.99983473e-01 -1.13196388e-03 1.49913088e+01] [-8.77442786e-03 1.18139846e-03 9.99960806e-01 1.69427335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75925976399998 meters Centerline goodness [0,1] 0.48208557603436086 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99942910e-01 -5.70534405e-03 9.03465773e-03 -2.72981651e+01] [ 5.71515931e-03 9.99983106e-01 -1.06095590e-03 1.49912168e+01] [-9.02845197e-03 1.11252984e-03 9.99958624e-01 1.69422123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78925976399998 meters Centerline goodness [0,1] 0.4835764936017606 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99944662e-01 -5.52498789e-03 8.95253583e-03 -2.72975060e+01] [ 5.53323134e-03 9.99984290e-01 -8.96288127e-04 1.49914788e+01] [-8.94744320e-03 9.45774980e-04 9.99959524e-01 1.69415773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81925976399998 meters Centerline goodness [0,1] 0.484086646916533 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99950063e-01 -5.07610671e-03 8.60845667e-03 -2.72959483e+01] [ 5.08369354e-03 9.99986708e-01 -8.59670912e-04 1.49930456e+01] [-8.60397847e-03 9.03390738e-04 9.99962577e-01 1.69410291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84925976399998 meters Centerline goodness [0,1] 0.4866675745608062 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99951184e-01 -5.06268331e-03 8.48516949e-03 -2.72955994e+01] [ 5.07285012e-03 9.99986440e-01 -1.17709266e-03 1.49951566e+01] [-8.47909518e-03 1.22007920e-03 9.99963308e-01 1.69412386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87925976399998 meters Centerline goodness [0,1] 0.4871528820686454 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99956842e-01 -4.69684429e-03 8.01578486e-03 -2.72939622e+01] [ 4.70908915e-03 9.99987773e-01 -1.50940404e-03 1.49979536e+01] [-8.00859741e-03 1.54708594e-03 9.99966734e-01 1.69413016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90925976399998 meters Centerline goodness [0,1] 0.5131794815706004 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99959388e-01 -4.31444582e-03 7.91257030e-03 -2.72931213e+01] [ 4.32618667e-03 9.99989566e-01 -1.46730684e-03 1.49988532e+01] [-7.90615712e-03 1.50147851e-03 9.99967619e-01 1.69408125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93925976399998 meters Centerline goodness [0,1] 0.5143373098391157 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99961570e-01 -4.00011512e-03 7.80109697e-03 -2.72923049e+01] [ 4.01087041e-03 9.99991027e-01 -1.36353226e-03 1.49994581e+01] [-7.79557268e-03 1.39476905e-03 9.99968641e-01 1.69402665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.969259764 meters Centerline goodness [0,1] 0.5143350509812521 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99961560e-01 -3.98119226e-03 7.81211013e-03 -2.72921317e+01] [ 3.99331777e-03 9.99990845e-01 -1.53715910e-03 1.50006625e+01] [-7.80591888e-03 1.56829625e-03 9.99968304e-01 1.69401332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.999259764 meters Centerline goodness [0,1] 0.5136388583973654 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99963212e-01 -3.76487956e-03 7.70715867e-03 -2.72914230e+01] [ 3.77603451e-03 9.99991844e-01 -1.43330996e-03 1.50013595e+01] [-7.70169957e-03 1.46235973e-03 9.99969272e-01 1.69396037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.029259764 meters Centerline goodness [0,1] 0.4950345660046088 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99964092e-01 -3.50678150e-03 7.71478171e-03 -2.72908492e+01] [ 3.51630206e-03 9.99993073e-01 -1.22084983e-03 1.50012732e+01] [-7.71044701e-03 1.24793350e-03 9.99969495e-01 1.69388297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.059259764 meters Centerline goodness [0,1] 0.4939236825501331 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99962635e-01 -3.49498753e-03 7.90651333e-03 -2.72915151e+01] [ 3.50422300e-03 9.99993194e-01 -1.15453120e-03 1.50006655e+01] [-7.90242445e-03 1.18219425e-03 9.99968077e-01 1.69390581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.089259764 meters Centerline goodness [0,1] 0.5002195992314027 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99959606e-01 -3.68266071e-03 8.19900846e-03 -2.72928614e+01] [ 3.69178771e-03 9.99992582e-01 -1.09832688e-03 1.49995843e+01] [-8.19490288e-03 1.12855151e-03 9.99965784e-01 1.69396251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.119259764 meters Centerline goodness [0,1] 0.5099217785096748 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99954587e-01 -3.98936405e-03 8.65498278e-03 -2.72946598e+01] [ 3.99781192e-03 9.99991549e-01 -9.58988493e-04 1.49981181e+01] [-8.65108388e-03 9.93545936e-04 9.99962085e-01 1.69400685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.149259764 meters Centerline goodness [0,1] 0.5012501717268856 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99951330e-01 -4.12499009e-03 8.96220940e-03 -2.72957974e+01] [ 4.13063171e-03 9.99991282e-01 -6.11070874e-04 1.49963611e+01] [-8.95961060e-03 6.48060720e-04 9.99959652e-01 1.69400775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.179259764 meters Centerline goodness [0,1] 0.4937763886604156 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99953375e-01 -3.85397154e-03 8.85411800e-03 -2.72951867e+01] [ 3.85572057e-03 9.99992550e-01 -1.80477514e-04 1.49954032e+01] [-8.85335648e-03 2.14608104e-04 9.99960785e-01 1.69394968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.209259764 meters Centerline goodness [0,1] 0.4838709677419355 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99952855e-01 -3.79805250e-03 8.93654402e-03 -2.72953544e+01] [ 3.79797723e-03 9.99992787e-01 2.53929622e-05 1.49949446e+01] [-8.93657600e-03 8.54902563e-06 9.99960068e-01 1.69392932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.239259764 meters Centerline goodness [0,1] 0.48470253407038477 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99950794e-01 -3.68692502e-03 9.20961876e-03 -2.72956200e+01] [ 3.68079198e-03 9.99992993e-01 6.82799333e-04 1.49921815e+01] [-9.21207166e-03 -6.48867044e-04 9.99957357e-01 1.69382143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26925976399997 meters Centerline goodness [0,1] 0.49706580778993914 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99949254e-01 -3.51148159e-03 9.44243403e-03 -2.72958568e+01] [ 3.49973036e-03 9.99993081e-01 1.26074868e-03 1.49898405e+01] [-9.44679579e-03 -1.22763873e-03 9.99954624e-01 1.69373996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29925976399997 meters Centerline goodness [0,1] 0.4602737485003817 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99947667e-01 -3.37100701e-03 9.65914800e-03 -2.72960744e+01] [ 3.35463512e-03 9.99992910e-01 1.71066299e-03 1.49881961e+01] [-9.66484617e-03 -1.67817055e-03 9.99951886e-01 1.69367383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32925976399997 meters Centerline goodness [0,1] 0.4848203813316604 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99948006e-01 -3.30169678e-03 9.64797119e-03 -2.72961917e+01] [ 3.28405088e-03 9.99992907e-01 1.84424518e-03 1.49875341e+01] [-9.65399189e-03 -1.81246486e-03 9.99951757e-01 1.69369152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35925976399997 meters Centerline goodness [0,1] 0.48417066259808195 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99949033e-01 -3.46015573e-03 9.48465044e-03 -2.72967124e+01] [ 3.44763936e-03 9.99993165e-01 1.33567738e-03 1.49887128e+01] [-9.48920726e-03 -1.30290965e-03 9.99954128e-01 1.69385630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38925976399997 meters Centerline goodness [0,1] 0.4788087056128293 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99948997e-01 -3.39694566e-03 9.51131049e-03 -2.72970340e+01] [ 3.38488750e-03 9.99993447e-01 1.28358226e-03 1.49888280e+01] [-9.51560843e-03 -1.25132208e-03 9.99953943e-01 1.69390262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41925976399997 meters Centerline goodness [0,1] 0.4768560141670072 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99949208e-01 -3.28601604e-03 9.52802072e-03 -2.72972283e+01] [ 3.27443649e-03 9.99993882e-01 1.23066151e-03 1.49886458e+01] [-9.53200640e-03 -1.19940010e-03 9.99953850e-01 1.69394074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44925976399998 meters Centerline goodness [0,1] 0.4785813365246009 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99948526e-01 -3.12338203e-03 9.65350603e-03 -2.72974287e+01] [ 3.11002278e-03 9.99994186e-01 1.39857740e-03 1.49879644e+01] [-9.65781819e-03 -1.36848279e-03 9.99952426e-01 1.69392366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47925976399998 meters Centerline goodness [0,1] 0.48637761628698184 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99947537e-01 -2.83379858e-03 9.84345228e-03 -2.72972971e+01] [ 2.81395880e-03 9.99993983e-01 2.02879588e-03 1.49857844e+01] [-9.84914225e-03 -2.00099038e-03 9.99949494e-01 1.69380919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50925976399998 meters Centerline goodness [0,1] 0.4865269054028333 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.98, Z:16.94 [[ 9.99945551e-01 -2.84592686e-03 1.00397288e-02 -2.72975953e+01] [ 2.82232373e-03 9.99993222e-01 2.36435810e-03 1.49846712e+01] [-1.00463896e-02 -2.33589400e-03 9.99946805e-01 1.69374613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53925976399998 meters Centerline goodness [0,1] 0.4824461136512084 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.98, Z:16.94 [[ 9.99942443e-01 -2.99654065e-03 1.03019705e-02 -2.72984076e+01] [ 2.97120027e-03 9.99992525e-01 2.47418546e-03 1.49838114e+01] [-1.03093075e-02 -2.44343384e-03 9.99943872e-01 1.69374414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56925976399998 meters Centerline goodness [0,1] 0.47590721425467186 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.98, Z:16.94 [[ 9.99940603e-01 -3.07370291e-03 1.04566803e-02 -2.72988415e+01] [ 3.04672088e-03 9.99991991e-01 2.59531452e-03 1.49833622e+01] [-1.04645738e-02 -2.56330178e-03 9.99941959e-01 1.69373382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59925976399998 meters Centerline goodness [0,1] 0.48960060901008673 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.98, Z:16.94 [[ 9.99941978e-01 -3.05777580e-03 1.03290983e-02 -2.72987960e+01] [ 3.03260442e-03 9.99992396e-01 2.45172291e-03 1.49838954e+01] [-1.03365166e-02 -2.42025658e-03 9.99943648e-01 1.69378415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62925976399998 meters Centerline goodness [0,1] 0.48547808114870006 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.98, Z:16.94 [[ 9.99941140e-01 -3.20872772e-03 1.03643810e-02 -2.72994190e+01] [ 3.18786012e-03 9.99992860e-01 2.02928953e-03 1.49848681e+01] [-1.03708185e-02 -1.99612989e-03 9.99944229e-01 1.69388148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65925976399998 meters Centerline goodness [0,1] 0.4919918422841605 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99944055e-01 -2.77497721e-03 1.02072063e-02 -2.72986779e+01] [ 2.76051620e-03 9.99995167e-01 1.43056195e-03 1.49874679e+01] [-1.02111268e-02 -1.40230476e-03 9.99946882e-01 1.69394868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68925976399998 meters Centerline goodness [0,1] 0.4837033409511372 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99944280e-01 -2.66919738e-03 1.02133193e-02 -2.72986191e+01] [ 2.65671478e-03 9.99995708e-01 1.23556050e-03 1.49883493e+01] [-1.02165735e-02 -1.20835778e-03 9.99947079e-01 1.69396381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.719259764 meters Centerline goodness [0,1] 0.49761677788369874 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99944011e-01 -2.55413478e-03 1.02689867e-02 -2.72984445e+01] [ 2.54146743e-03 9.99995994e-01 1.24641431e-03 1.49887241e+01] [-1.02721291e-02 -1.22024623e-03 9.99946496e-01 1.69392478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.749259764 meters Centerline goodness [0,1] 0.49829649213660765 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99942614e-01 -2.31603360e-03 1.04597133e-02 -2.72982174e+01] [ 2.29796727e-03 9.99995848e-01 1.73891821e-03 1.49872912e+01] [-1.04636973e-02 -1.71478234e-03 9.99943784e-01 1.69379579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.779259764 meters Centerline goodness [0,1] 0.4863101226243237 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99941647e-01 -2.26558705e-03 1.05626820e-02 -2.72985427e+01] [ 2.24557831e-03 9.99995663e-01 1.90576138e-03 1.49865652e+01] [-1.05669539e-02 -1.88193085e-03 9.99942397e-01 1.69379359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.809259764 meters Centerline goodness [0,1] 0.4961586661581213 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99940455e-01 -2.47776355e-03 1.06277021e-02 -2.72991787e+01] [ 2.46128945e-03 9.99995750e-01 1.56290804e-03 1.49873294e+01] [-1.06315295e-02 -1.53665712e-03 9.99942303e-01 1.69386641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.839259764 meters Centerline goodness [0,1] 0.4935072006098059 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99940552e-01 -2.55844056e-03 1.05994004e-02 -2.72994067e+01] [ 2.54516835e-03 9.99995960e-01 1.26546555e-03 1.49885598e+01] [-1.06025952e-02 -1.23841306e-03 9.99943024e-01 1.69392455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.869259764 meters Centerline goodness [0,1] 0.49919576892669226 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99947418e-01 -1.82737111e-03 1.00907208e-02 -2.72973555e+01] [ 1.82012869e-03 9.99998079e-01 7.26867763e-04 1.49920780e+01] [-1.00920297e-02 -7.08463132e-04 9.99948823e-01 1.69396991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.899259764 meters Centerline goodness [0,1] 0.4990607900253178 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99947962e-01 -1.77876961e-03 1.00453862e-02 -2.72971751e+01] [ 1.77498832e-03 9.99998350e-01 3.85323807e-04 1.49933732e+01] [-1.00460550e-02 -3.67473312e-04 9.99949470e-01 1.69399591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.929259764 meters Centerline goodness [0,1] 0.495057593333878 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99948512e-01 -1.60865860e-03 1.00192959e-02 -2.72969508e+01] [ 1.60582644e-03 9.99998668e-01 2.90708230e-04 1.49939146e+01] [-1.00197502e-02 -2.74604011e-04 9.99949763e-01 1.69399948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.959259764 meters Centerline goodness [0,1] 0.49862685917829075 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99949054e-01 -1.37315961e-03 1.00001873e-02 -2.72965408e+01] [ 1.36894091e-03 9.99998971e-01 4.28695570e-04 1.49939383e+01] [-1.00007657e-02 -4.14984065e-04 9.99949905e-01 1.69395313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.989259764 meters Centerline goodness [0,1] 0.5022752663560315 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99947752e-01 -1.28015462e-03 1.01417439e-02 -2.72966349e+01] [ 1.27705038e-03 9.99999136e-01 3.12555115e-04 1.49937794e+01] [-1.01421353e-02 -2.99587266e-04 9.99948522e-01 1.69393895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01925976399997 meters Centerline goodness [0,1] 0.490319247294284 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99950331e-01 -7.00167115e-04 9.94212784e-03 -2.72952151e+01] [ 6.92574044e-04 9.99999466e-01 7.67149345e-04 1.49931796e+01] [-9.94265966e-03 -7.60225581e-04 9.99950282e-01 1.69382934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04925976399997 meters Centerline goodness [0,1] 0.49823475096409753 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99951747e-01 -6.36009443e-04 9.80305655e-03 -2.72950639e+01] [ 6.30696470e-04 9.99999653e-01 5.45052963e-04 1.49942106e+01] [-9.80339980e-03 -5.38843909e-04 9.99951800e-01 1.69388386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07925976399997 meters Centerline goodness [0,1] 0.5002446982055465 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99952663e-01 -5.99453266e-04 9.71142663e-03 -2.72951807e+01] [ 5.96553391e-04 9.99999777e-01 3.01498425e-04 1.49951826e+01] [-9.71160519e-03 -2.95690769e-04 9.99952798e-01 1.69395745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10925976399997 meters Centerline goodness [0,1] 0.5042016806722689 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99954470e-01 -4.34707984e-04 9.53254477e-03 -2.72948826e+01] [ 4.32481944e-04 9.99999879e-01 2.35580128e-04 1.49955435e+01] [-9.53264602e-03 -2.31446748e-04 9.99954537e-01 1.69400318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13925976399997 meters Centerline goodness [0,1] 0.5018093761053519 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99953872e-01 -3.28179461e-04 9.59924830e-03 -2.72950826e+01] [ 3.24453242e-04 9.99999871e-01 3.89732893e-04 1.49950576e+01] [-9.59937497e-03 -3.86600408e-04 9.99953850e-01 1.69399974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16925976399997 meters Centerline goodness [0,1] 0.5018093761053519 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99953872e-01 -3.28179461e-04 9.59924830e-03 -2.72950826e+01] [ 3.24453242e-04 9.99999871e-01 3.89732893e-04 1.49950576e+01] [-9.59937497e-03 -3.86600408e-04 9.99953850e-01 1.69399974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19925976399998 meters Centerline goodness [0,1] 0.5015895443306253 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99948683e-01 -5.27887444e-04 1.01169793e-02 -2.72967005e+01] [ 5.20913946e-04 9.99999625e-01 6.91909294e-04 1.49922922e+01] [-1.01173407e-02 -6.86603711e-04 9.99948583e-01 1.69399390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22925976399998 meters Centerline goodness [0,1] 0.4910716705053516 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99944415e-01 -7.10202119e-04 1.05196462e-02 -2.72980487e+01] [ 6.99060341e-04 9.99999191e-01 1.06277910e-03 1.49901458e+01] [-1.05203924e-02 -1.05536616e-03 9.99944102e-01 1.69398164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25925976399998 meters Centerline goodness [0,1] 0.4989311903022432 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99940149e-01 -9.03074269e-04 1.09033102e-02 -2.72992446e+01] [ 8.88846459e-04 9.99998747e-01 1.30968273e-03 1.49882735e+01] [-1.09044792e-02 -1.29991298e-03 9.99939699e-01 1.69397611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28925976399998 meters Centerline goodness [0,1] 0.4904520444492394 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99933210e-01 -2.07200256e-03 1.13702134e-02 -2.73022246e+01] [ 2.05885967e-03 9.99997199e-01 1.16748866e-03 1.49855605e+01] [-1.13726006e-02 -1.14400101e-03 9.99934675e-01 1.69410348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31925976399998 meters Centerline goodness [0,1] 0.48672209217854545 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.98, Z:16.94 [[ 9.99927595e-01 -2.48894456e-03 1.17733024e-02 -2.73039919e+01] [ 2.47394804e-03 9.99996110e-01 1.28816583e-03 1.49840737e+01] [-1.17764627e-02 -1.25894602e-03 9.99929863e-01 1.69415120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34925976399998 meters Centerline goodness [0,1] 0.47933973169879296 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.98, Z:16.94 [[ 9.99921887e-01 -2.81670614e-03 1.21772414e-02 -2.73056184e+01] [ 2.79893438e-03 9.99994993e-01 1.47621977e-03 1.49826029e+01] [-1.21813385e-02 -1.44202116e-03 9.99924765e-01 1.69418400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37925976399998 meters Centerline goodness [0,1] 0.4700898380762817 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.98, Z:16.94 [[ 9.99914126e-01 -3.31729873e-03 1.26781711e-02 -2.73075160e+01] [ 3.29865943e-03 9.99993448e-01 1.49081689e-03 1.49815629e+01] [-1.26830335e-02 -1.44886790e-03 9.99918517e-01 1.69421988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40925976399998 meters Centerline goodness [0,1] 0.4844216242372107 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.98, Z:16.94 [[ 9.99913776e-01 -3.28355373e-03 1.27144978e-02 -2.73074587e+01] [ 3.26300992e-03 9.99993338e-01 1.63618578e-03 1.49813056e+01] [-1.27197856e-02 -1.59455716e-03 9.99917829e-01 1.69419179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43925976399998 meters Centerline goodness [0,1] 0.46994255508508864 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.98, Z:16.94 [[ 9.99918320e-01 -3.10618530e-03 1.23978122e-02 -2.73064847e+01] [ 3.08924382e-03 9.99994269e-01 1.38540617e-03 1.49829251e+01] [-1.24020445e-02 -1.34699314e-03 9.99922184e-01 1.69420458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.469259764 meters Centerline goodness [0,1] 0.4939501971587533 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99926372e-01 -2.60898542e-03 1.18509305e-02 -2.73046178e+01] [ 2.60101015e-03 9.99996380e-01 6.88328789e-04 1.49870755e+01] [-1.18526834e-02 -6.57453718e-04 9.99929538e-01 1.69427184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.499259764 meters Centerline goodness [0,1] 0.4853203568532035 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99930374e-01 -2.36225049e-03 1.15614559e-02 -2.73036839e+01] [ 2.35660447e-03 9.99997097e-01 5.01947893e-04 1.49884861e+01] [-1.15626081e-02 -4.74667166e-04 9.99933038e-01 1.69427978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.529259764 meters Centerline goodness [0,1] 0.4883242130357046 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99932148e-01 -2.17386138e-03 1.14443875e-02 -2.73029844e+01] [ 2.17052408e-03 9.99997598e-01 3.04022436e-04 1.49898042e+01] [-1.14450209e-02 -2.79161489e-04 9.99934465e-01 1.69425570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.559259764 meters Centerline goodness [0,1] 0.48873017597219204 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99935350e-01 -1.76290479e-03 1.12333138e-02 -2.73015624e+01] [ 1.75936206e-03 9.99998399e-01 3.25252007e-04 1.49908589e+01] [-1.12338692e-02 -3.05467514e-04 9.99936851e-01 1.69417185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.589259764 meters Centerline goodness [0,1] 0.4796672828096118 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99935143e-01 -1.79910882e-03 1.12460306e-02 -2.73016563e+01] [ 1.79629886e-03 9.99998353e-01 2.59958723e-04 1.49910874e+01] [-1.12464798e-02 -2.39740631e-04 9.99936728e-01 1.69417773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.619259764 meters Centerline goodness [0,1] 0.4863175629772548 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99934930e-01 -1.74967315e-03 1.12727132e-02 -2.73016802e+01] [ 1.74443374e-03 9.99998366e-01 4.74602057e-04 1.49908131e+01] [-1.12735252e-02 -4.54906674e-04 9.99936348e-01 1.69415297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.649259764 meters Centerline goodness [0,1] 0.4784821841739936 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99934657e-01 -1.95084032e-03 1.12638966e-02 -2.73020464e+01] [ 1.94804804e-03 9.99998069e-01 2.58862961e-04 1.49914430e+01] [-1.12643798e-02 -2.36903435e-04 9.99936527e-01 1.69420328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.679259764 meters Centerline goodness [0,1] 0.48345054169268786 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99934440e-01 -2.10373200e-03 1.12556363e-02 -2.73021294e+01] [ 2.10143332e-03 9.99997769e-01 2.16047717e-04 1.49921856e+01] [-1.12560657e-02 -1.92380583e-04 9.99936630e-01 1.69419765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.709259764 meters Centerline goodness [0,1] 0.4687483000598379 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99935982e-01 -2.07591862e-03 1.11231035e-02 -2.73017872e+01] [ 2.07362048e-03 9.99997826e-01 2.18138690e-04 1.49926224e+01] [-1.11235322e-02 -1.95059629e-04 9.99938113e-01 1.69419709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.739259764 meters Centerline goodness [0,1] 0.489382028605743 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99943925e-01 -1.35538459e-03 1.05028353e-02 -2.72997952e+01] [ 1.36581519e-03 9.99998581e-01 -9.86013159e-04 1.49979176e+01] [-1.05014840e-02 1.00030280e-03 9.99944358e-01 1.69437218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76925976399997 meters Centerline goodness [0,1] 0.49835787399419784 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99946951e-01 -1.22683324e-03 1.02269355e-02 -2.72991552e+01] [ 1.24113288e-03 9.99998261e-01 -1.39200419e-03 1.50000900e+01] [-1.02252099e-02 1.40462333e-03 9.99946735e-01 1.69442400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79925976399997 meters Centerline goodness [0,1] 0.4835682035846217 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99948796e-01 -9.99284450e-04 1.00700977e-02 -2.72985436e+01] [ 1.01640925e-03 9.99998046e-01 -1.69558538e-03 1.50019355e+01] [-1.00683837e-02 1.70573390e-03 9.99947858e-01 1.69444729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82925976399997 meters Centerline goodness [0,1] 0.5103883628379305 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99952857e-01 -4.21982316e-04 9.70085066e-03 -2.72969714e+01] [ 4.41157889e-04 9.99997953e-01 -1.97463489e-03 1.50038874e+01] [-9.69999755e-03 1.97882141e-03 9.99950996e-01 1.69445000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85925976399997 meters Centerline goodness [0,1] 0.5022807210375907 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99953565e-01 -2.84018412e-04 9.63265641e-03 -2.72966434e+01] [ 3.02281192e-04 9.99998160e-01 -1.89452065e-03 1.50039949e+01] [-9.63210061e-03 1.89734444e-03 9.99951810e-01 1.69443311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88925976399997 meters Centerline goodness [0,1] 0.5157070221245019 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99953688e-01 -1.98782312e-04 9.62195832e-03 -2.72966021e+01] [ 2.15098906e-04 9.99998541e-01 -1.69476131e-03 1.50036509e+01] [-9.62160739e-03 1.69675249e-03 9.99952272e-01 1.69441659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91925976399997 meters Centerline goodness [0,1] 0.4974726663370145 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99954195e-01 -1.69076372e-04 9.56966427e-03 -2.72967177e+01] [ 1.84246472e-04 9.99998728e-01 -1.58436862e-03 1.50031791e+01] [-9.56938421e-03 1.58605922e-03 9.99952955e-01 1.69443909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94925976399998 meters Centerline goodness [0,1] 0.4974378647959883 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99954190e-01 -2.05585036e-04 9.56946963e-03 -2.72969570e+01] [ 2.19324238e-04 9.99998947e-01 -1.43470559e-03 1.50027125e+01] [-9.56916460e-03 1.43673869e-03 9.99953182e-01 1.69445245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97925976399998 meters Centerline goodness [0,1] 0.49765490002468526 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99951344e-01 -5.15861653e-04 9.85104177e-03 -2.72979957e+01] [ 5.24584784e-04 9.99999473e-01 -8.82940065e-04 1.50006154e+01] [-9.85058110e-03 8.88064811e-04 9.99951088e-01 1.69440375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00925976399998 meters Centerline goodness [0,1] 0.5060604398617891 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99948713e-01 -5.62671469e-04 1.01121356e-02 -2.72987357e+01] [ 5.66979021e-04 9.99999750e-01 -4.23116761e-04 1.49984914e+01] [-1.01118950e-02 4.28828429e-04 9.99948782e-01 1.69436891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03925976399998 meters Centerline goodness [0,1] 0.48616210883980926 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99945276e-01 -5.92561415e-04 1.04448174e-02 -2.72994527e+01] [ 5.90924223e-04 9.99999813e-01 1.59832330e-04 1.49960322e+01] [-1.04449101e-02 -1.53651488e-04 9.99945439e-01 1.69429298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06925976399998 meters Centerline goodness [0,1] 0.4986330581223687 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99944596e-01 -6.02328831e-04 1.05091871e-02 -2.72999490e+01] [ 5.96366054e-04 9.99999659e-01 5.70511531e-04 1.49941010e+01] [-1.05095272e-02 -5.64212600e-04 9.99944614e-01 1.69429457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09925976399998 meters Centerline goodness [0,1] 0.4927516448715499 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99942860e-01 -7.19847404e-04 1.06657887e-02 -2.73007512e+01] [ 7.13162414e-04 9.99999547e-01 6.30559449e-04 1.49931558e+01] [-1.06662377e-02 -6.22916980e-04 9.99942920e-01 1.69433358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12925976399998 meters Centerline goodness [0,1] 0.49353448275862066 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99943854e-01 -7.38159952e-04 1.05709393e-02 -2.73013068e+01] [ 7.33765217e-04 9.99999643e-01 4.19609800e-04 1.49931646e+01] [-1.05712453e-02 -4.11829653e-04 9.99944038e-01 1.69446588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15925976399998 meters Centerline goodness [0,1] 0.49468635892964197 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99943576e-01 -6.93681367e-04 1.06001257e-02 -2.73016208e+01] [ 6.89128273e-04 9.99999669e-01 4.33178564e-04 1.49927066e+01] [-1.06004226e-02 -4.25849276e-04 9.99943723e-01 1.69450455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18925976399998 meters Centerline goodness [0,1] 0.48215546743440707 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99942267e-01 -5.31681941e-04 1.07322046e-02 -2.73019523e+01] [ 5.22624211e-04 9.99999505e-01 8.46763501e-04 1.49909165e+01] [-1.07326495e-02 -8.41105705e-04 9.99942050e-01 1.69448379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.219259764 meters Centerline goodness [0,1] 0.49864263220762295 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99939880e-01 -6.65537737e-04 1.09450042e-02 -2.73026066e+01] [ 6.46561790e-04 9.99998282e-01 1.73720117e-03 1.49864998e+01] [-1.09461416e-02 -1.73002011e-03 9.99938593e-01 1.69438977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.249259764 meters Centerline goodness [0,1] 0.49864248479582973 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.98, Z:16.94 [[ 9.99936843e-01 -8.67103984e-04 1.12052403e-02 -2.73036763e+01] [ 8.46011775e-04 9.99997862e-01 1.88695516e-03 1.49848740e+01] [-1.12068526e-02 -1.87735623e-03 9.99935439e-01 1.69441725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.279259764 meters Centerline goodness [0,1] 0.44492247747382097 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.98, Z:16.94 [[ 9.99933735e-01 -9.90845863e-04 1.14692821e-02 -2.73046476e+01] [ 9.66486829e-04 9.99997266e-01 2.12919774e-03 1.49833556e+01] [-1.14713605e-02 -2.11797174e-03 9.99931959e-01 1.69442488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.309259764 meters Centerline goodness [0,1] 0.472918132135707 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.98, Z:16.94 [[ 9.99934112e-01 -1.02178754e-03 1.14336271e-02 -2.73050079e+01] [ 9.97775766e-04 9.99997285e-01 2.10560817e-03 1.49827974e+01] [-1.14357476e-02 -2.09406123e-03 9.99932417e-01 1.69448680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.339259764 meters Centerline goodness [0,1] 0.4530388234021845 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.98, Z:16.95 [[ 9.99934299e-01 -1.09739105e-03 1.14102232e-02 -2.73054115e+01] [ 1.07555675e-03 9.99997579e-01 1.91953340e-03 1.49833040e+01] [-1.14123020e-02 -1.90713494e-03 9.99933059e-01 1.69455758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.369259764 meters Centerline goodness [0,1] 0.4757573296515878 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.98, Z:16.95 [[ 9.99934440e-01 -1.14470746e-03 1.13931792e-02 -2.73056836e+01] [ 1.12495764e-03 9.99997854e-01 1.73973554e-03 1.49839726e+01] [-1.13951462e-02 -1.72680464e-03 9.99933582e-01 1.69461166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.399259764 meters Centerline goodness [0,1] 0.4817448899264366 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.99, Z:16.95 [[ 9.99936012e-01 -1.17135473e-03 1.12516709e-02 -2.73055621e+01] [ 1.15472590e-03 9.99998232e-01 1.48428141e-03 1.49852975e+01] [-1.12533896e-02 -1.47119384e-03 9.99935596e-01 1.69466035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.429259764 meters Centerline goodness [0,1] 0.5016694264230842 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99938384e-01 -1.02524392e-03 1.10534165e-02 -2.73048054e+01] [ 1.01035776e-03 9.99998575e-01 1.35224721e-03 1.49863053e+01] [-1.10547872e-02 -1.34099598e-03 9.99937995e-01 1.69464821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.459259764 meters Centerline goodness [0,1] 0.49733478379113405 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99941188e-01 -6.71735789e-04 1.08245085e-02 -2.73036166e+01] [ 6.56807358e-04 9.99998828e-01 1.38262841e-03 1.49872667e+01] [-1.08254245e-02 -1.37543748e-03 9.99940457e-01 1.69459117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.489259764 meters Centerline goodness [0,1] 0.4852797126686983 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99942238e-01 -4.70860834e-04 1.07377509e-02 -2.73029366e+01] [ 4.55890996e-04 9.99998921e-01 1.39653669e-03 1.49877659e+01] [-1.07383969e-02 -1.39156078e-03 9.99941373e-01 1.69454027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51925976399997 meters Centerline goodness [0,1] 0.49110446137105546 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99944235e-01 -4.47161473e-05 1.05605328e-02 -2.73014813e+01] [ 2.77570311e-05 9.99998710e-01 1.60603700e-03 1.49881463e+01] [-1.05605909e-02 -1.60565432e-03 9.99942946e-01 1.69442145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54925976399997 meters Centerline goodness [0,1] 0.4882151216591367 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99946320e-01 -1.08314356e-04 1.03607201e-02 -2.73011540e+01] [ 9.53660518e-05 9.99999214e-01 1.25023536e-03 1.49897328e+01] [-1.03608474e-02 -1.24918019e-03 9.99945545e-01 1.69446489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57925976399997 meters Centerline goodness [0,1] 0.49015335167379404 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99948327e-01 -2.81811667e-04 1.01619154e-02 -2.73012057e+01] [ 2.76101969e-04 9.99999803e-01 5.63270807e-04 1.49921516e+01] [-1.01620721e-02 -5.60435976e-04 9.99948208e-01 1.69458495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60925976399997 meters Centerline goodness [0,1] 0.5098435409442154 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99950746e-01 -3.73461177e-04 9.91795787e-03 -2.73011077e+01] [ 3.73927205e-04 9.99999929e-01 -4.51340036e-05 1.49946467e+01] [-9.91794031e-03 4.88403748e-05 9.99950815e-01 1.69470016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63925976399997 meters Centerline goodness [0,1] 0.5017385352498289 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99956301e-01 -2.78093509e-04 9.34445242e-03 -2.72999533e+01] [ 2.87141961e-04 9.99999491e-01 -9.66995741e-04 1.49993610e+01] [-9.34417875e-03 9.69636668e-04 9.99955872e-01 1.69483997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66925976399997 meters Centerline goodness [0,1] 0.5017385352498289 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99956301e-01 -2.78093509e-04 9.34445242e-03 -2.72999533e+01] [ 2.87141961e-04 9.99999491e-01 -9.66995741e-04 1.49993610e+01] [-9.34417875e-03 9.69636668e-04 9.99955872e-01 1.69483997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69925976399998 meters Centerline goodness [0,1] 0.5013903802208088 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99960315e-01 1.62084896e-04 8.90739634e-03 -2.72979625e+01] [-1.51033729e-04 9.99999218e-01 -1.24133181e-03 1.50020490e+01] [-8.90759058e-03 1.23993723e-03 9.99959558e-01 1.69478410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72925976399998 meters Centerline goodness [0,1] 0.5101703323962296 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99961350e-01 5.31941897e-04 8.77587296e-03 -2.72966428e+01] [-5.22255899e-04 9.99999252e-01 -1.10596233e-03 1.50027539e+01] [-8.77645470e-03 1.10133634e-03 9.99960880e-01 1.69467115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75925976399998 meters Centerline goodness [0,1] 0.5140672022971369 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.95 [[ 9.99963933e-01 9.64644014e-04 8.43814284e-03 -2.72949897e+01] [-9.55647658e-04 9.99998971e-01 -1.07012058e-03 1.50039958e+01] [-8.43916645e-03 1.06201809e-03 9.99963826e-01 1.69459688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78925976399998 meters Centerline goodness [0,1] 0.5260376314333148 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99967400e-01 1.57650120e-03 7.91915621e-03 -2.72928357e+01] [-1.56460677e-03 9.99997639e-01 -1.50795259e-03 1.50073935e+01] [-7.92151480e-03 1.49551306e-03 9.99967506e-01 1.69459054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81925976399998 meters Centerline goodness [0,1] 0.5288647810925997 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99967735e-01 1.58588255e-03 7.87493875e-03 -2.72928732e+01] [-1.57201865e-03 9.99997204e-01 -1.76638686e-03 1.50085827e+01] [-7.87771802e-03 1.75395032e-03 9.99967432e-01 1.69463131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84925976399998 meters Centerline goodness [0,1] 0.5163961668420761 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99968286e-01 1.56974072e-03 7.80787693e-03 -2.72930348e+01] [-1.55436077e-03 9.99996841e-01 -1.97547729e-03 1.50091562e+01] [-7.81095325e-03 1.96327838e-03 9.99967567e-01 1.69469293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87925976399998 meters Centerline goodness [0,1] 0.5060107473270179 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99968978e-01 1.59917768e-03 7.71267263e-03 -2.72929987e+01] [-1.58376739e-03 9.99996738e-01 -2.00374140e-03 1.50094765e+01] [-7.71585181e-03 1.99146416e-03 9.99968249e-01 1.69472402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90925976399998 meters Centerline goodness [0,1] 0.5146071142312263 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99968179e-01 1.47325638e-03 7.84026108e-03 -2.72937009e+01] [-1.45707756e-03 9.99996798e-01 -2.06886832e-03 1.50095767e+01] [-7.84328395e-03 2.05737861e-03 9.99967125e-01 1.69476767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93925976399998 meters Centerline goodness [0,1] 0.5187691627765655 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99967223e-01 1.27598951e-03 7.99528526e-03 -2.72947335e+01] [-1.25855756e-03 9.99996821e-01 -2.18493164e-03 1.50089126e+01] [-7.99804779e-03 2.17479750e-03 9.99965650e-01 1.69484685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.969259764 meters Centerline goodness [0,1] 0.506887431814425 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99967614e-01 1.38468172e-03 7.92807894e-03 -2.72945991e+01] [-1.36751555e-03 9.99996710e-01 -2.17024830e-03 1.50092226e+01] [-7.93105796e-03 2.15933624e-03 9.99966217e-01 1.69486219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.999259764 meters Centerline goodness [0,1] 0.5063008410312975 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99968563e-01 1.31669781e-03 7.81920472e-03 -2.72946893e+01] [-1.29845577e-03 9.99996425e-01 -2.33759744e-03 1.50099606e+01] [-7.82225467e-03 2.32737106e-03 9.99966697e-01 1.69491614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.029259764 meters Centerline goodness [0,1] 0.510817008813859 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99968917e-01 1.23414970e-03 7.78727073e-03 -2.72949327e+01] [-1.21457406e-03 9.99996092e-01 -2.51802849e-03 1.50107397e+01] [-7.79034792e-03 2.50849200e-03 9.99966508e-01 1.69496747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.059259764 meters Centerline goodness [0,1] 0.516499599591307 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99970169e-01 1.47014108e-03 7.58291347e-03 -2.72943031e+01] [-1.45011620e-03 9.99995449e-01 -2.64561132e-03 1.50116306e+01] [-7.58676838e-03 2.63453629e-03 9.99967750e-01 1.69498780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.089259764 meters Centerline goodness [0,1] 0.516499599591307 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99970169e-01 1.47014108e-03 7.58291347e-03 -2.72943031e+01] [-1.45011620e-03 9.99995449e-01 -2.64561132e-03 1.50116306e+01] [-7.58676838e-03 2.63453629e-03 9.99967750e-01 1.69498780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.119259764 meters Centerline goodness [0,1] 0.523294623893195 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99971788e-01 2.45393085e-03 7.09945077e-03 -2.72919065e+01] [-2.43747066e-03 9.99994324e-01 -2.32624065e-03 1.50122088e+01] [-7.10511891e-03 2.30887032e-03 9.99972093e-01 1.69490478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.149259764 meters Centerline goodness [0,1] 0.5257848772938316 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99971556e-01 2.79959018e-03 7.00348496e-03 -2.72911569e+01] [-2.78442642e-03 9.99993760e-01 -2.17398761e-03 1.50122690e+01] [-7.00952754e-03 2.15442509e-03 9.99973112e-01 1.69485712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.179259764 meters Centerline goodness [0,1] 0.5231628730259701 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99971203e-01 3.11040423e-03 6.92237158e-03 -2.72905189e+01] [-3.09650562e-03 9.99993170e-01 -2.01759506e-03 1.50121071e+01] [-6.92859984e-03 1.99610179e-03 9.99974005e-01 1.69481495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.209259764 meters Centerline goodness [0,1] 0.5241257681391055 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99969536e-01 3.66131337e-03 6.89356402e-03 -2.72898218e+01] [-3.65139073e-03 9.99992280e-01 -1.45144198e-03 1.50102574e+01] [-6.89882499e-03 1.42622667e-03 9.99975186e-01 1.69474093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.239259764 meters Centerline goodness [0,1] 0.5263114438267188 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99969123e-01 3.69809163e-03 6.93372045e-03 -2.72901944e+01] [-3.68881525e-03 9.99992285e-01 -1.35017704e-03 1.50094456e+01] [-6.93866003e-03 1.32455813e-03 9.99975050e-01 1.69477201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26925976399997 meters Centerline goodness [0,1] 0.5251600846456153 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99968564e-01 3.67023909e-03 7.02847106e-03 -2.72907804e+01] [-3.66157244e-03 9.99992521e-01 -1.24554896e-03 1.50084515e+01] [-7.03298995e-03 1.21977455e-03 9.99974524e-01 1.69481052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29925976399997 meters Centerline goodness [0,1] 0.5222085217153034 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99976754e-01 -4.09852473e-04 6.80619837e-03 -2.72910671e+01] [ 4.46823088e-04 9.99985151e-01 -5.43127193e-03 1.50081064e+01] [-6.80387128e-03 5.43418684e-03 9.99962088e-01 1.69494662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32925976399997 meters Centerline goodness [0,1] 0.5190668706293706 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99973005e-01 -6.07395518e-04 7.32258764e-03 -2.72927627e+01] [ 6.42913323e-04 9.99988037e-01 -4.84906676e-03 1.50050467e+01] [-7.31955473e-03 4.85364365e-03 9.99961432e-01 1.69492433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35925976399997 meters Centerline goodness [0,1] 0.5176165803108808 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.95 [[ 9.99968524e-01 -9.85827236e-04 7.87272772e-03 -2.72947859e+01] [ 1.02042021e-03 9.99989838e-01 -4.39121973e-03 1.50020274e+01] [-7.86831874e-03 4.39911500e-03 9.99959368e-01 1.69493276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38925976399997 meters Centerline goodness [0,1] 0.5171972092009157 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99963294e-01 -1.54097225e-03 8.42825653e-03 -2.72970158e+01] [ 1.57440375e-03 9.99990914e-01 -3.96140288e-03 1.49986917e+01] [-8.42207554e-03 3.97452695e-03 9.99956635e-01 1.69494509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41925976399997 meters Centerline goodness [0,1] 0.514334582179508 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99957297e-01 -2.10760457e-03 8.99787383e-03 -2.72993030e+01] [ 2.13909772e-03 9.99991615e-01 -3.49187739e-03 1.49949791e+01] [-8.99043889e-03 3.51097561e-03 9.99953421e-01 1.69495552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44925976399998 meters Centerline goodness [0,1] 0.4840050751828956 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99930656e-01 -7.15976056e-03 9.34988840e-03 -2.73018355e+01] [ 7.22909689e-03 9.99946466e-01 -7.40311924e-03 1.49918471e+01] [-9.29638330e-03 7.47019713e-03 9.99928884e-01 1.69506372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47925976399998 meters Centerline goodness [0,1] 0.48265903754284634 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99923935e-01 -7.37189392e-03 9.88829637e-03 -2.73033627e+01] [ 7.43987817e-03 9.99948819e-01 -6.85614975e-03 1.49890562e+01] [-9.83724747e-03 6.92919596e-03 9.99927605e-01 1.69502046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50925976399998 meters Centerline goodness [0,1] 0.4843200865098676 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.98, Z:16.95 [[ 9.99939383e-01 -3.28650635e-03 1.05085322e-02 -2.73045468e+01] [ 3.30474630e-03 9.99993062e-01 -1.71883426e-03 1.49848631e+01] [-1.05028103e-02 1.75345811e-03 9.99943307e-01 1.69485774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53925976399998 meters Centerline goodness [0,1] 0.4716674784867674 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.98, Z:16.95 [[ 9.99942935e-01 -2.92313732e-03 1.02752946e-02 -2.73038195e+01] [ 2.93752815e-03 9.99994725e-01 -1.38571344e-03 1.49847270e+01] [-1.02711898e-02 1.41581833e-03 9.99946248e-01 1.69484138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56925976399998 meters Centerline goodness [0,1] 0.47540406638330135 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.98, Z:16.95 [[ 9.99943336e-01 -2.83360602e-03 1.02613656e-02 -2.73039719e+01] [ 2.84592394e-03 9.99995247e-01 -1.18601411e-03 1.49840384e+01] [-1.02579561e-02 1.21514998e-03 9.99946647e-01 1.69485808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59925976399998 meters Centerline goodness [0,1] 0.5030832476875642 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.98, Z:16.95 [[ 9.99941003e-01 -2.78705815e-03 1.04987058e-02 -2.73047771e+01] [ 2.79584653e-03 9.99995753e-01 -8.22508188e-04 1.49822400e+01] [-1.04963689e-02 8.51812433e-04 9.99944549e-01 1.69485965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62925976399998 meters Centerline goodness [0,1] 0.49045564842275546 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.98, Z:16.95 [[ 9.99938545e-01 -2.65772613e-03 1.07630367e-02 -2.73054192e+01] [ 2.66191874e-03 9.99996387e-01 -3.75231041e-04 1.49798637e+01] [-1.07620005e-02 4.03858310e-04 9.99942006e-01 1.69483176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65925976399998 meters Centerline goodness [0,1] 0.4849483983380244 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.98, Z:16.95 [[ 9.99931855e-01 -3.31388495e-03 1.11939125e-02 -2.73075204e+01] [ 3.31494364e-03 9.99994503e-01 -7.60239654e-05 1.49760996e+01] [-1.11935990e-02 1.13125974e-04 9.99937343e-01 1.69486062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68925976399998 meters Centerline goodness [0,1] 0.4820547210300429 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99925643e-01 -3.64233708e-03 1.16379562e-02 -2.73091201e+01] [ 3.64190713e-03 9.99993367e-01 5.81367877e-05 1.49745649e+01] [-1.16380907e-02 -1.57481093e-05 9.99932275e-01 1.69488848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.719259764 meters Centerline goodness [0,1] 0.4655597214783075 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99927824e-01 -3.47317239e-03 1.15014538e-02 -2.73087546e+01] [ 3.46961543e-03 9.99993927e-01 3.29200713e-04 1.49737951e+01] [-1.15025273e-02 -2.89271331e-04 9.99933802e-01 1.69488223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.749259764 meters Centerline goodness [0,1] 0.4660633484162896 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99928949e-01 -3.30431858e-03 1.14533395e-02 -2.73084149e+01] [ 3.29823095e-03 9.99994409e-01 5.50363502e-04 1.49737000e+01] [-1.14550941e-02 -5.12548639e-04 9.99934257e-01 1.69484721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.779259764 meters Centerline goodness [0,1] 0.4849872773536895 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99931119e-01 -3.19062559e-03 1.12949684e-02 -2.73081601e+01] [ 3.18453889e-03 9.99994774e-01 5.56830145e-04 1.49737348e+01] [-1.12966860e-02 -5.20822524e-04 9.99936055e-01 1.69488161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.809259764 meters Centerline goodness [0,1] 0.4854781771501926 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99934283e-01 -2.83938273e-03 1.11071242e-02 -2.73075518e+01] [ 2.83243946e-03 9.99995783e-01 6.40798906e-04 1.49738053e+01] [-1.11088969e-02 -6.09296537e-04 9.99938109e-01 1.69489528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.839259764 meters Centerline goodness [0,1] 0.4845010046885465 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99935312e-01 -2.47556796e-03 1.11015276e-02 -2.73069803e+01] [ 2.46617185e-03 9.99996589e-01 8.59989614e-04 1.49732407e+01] [-1.11036187e-02 -8.32555708e-04 9.99938006e-01 1.69483887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.869259764 meters Centerline goodness [0,1] 0.4919980731145962 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99937696e-01 -2.10210794e-03 1.09629164e-02 -2.73062668e+01] [ 2.09084393e-03 9.99997275e-01 1.03882480e-03 1.49728294e+01] [-1.09650702e-02 -1.01583832e-03 9.99939366e-01 1.69480818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.899259764 meters Centerline goodness [0,1] 0.4838433554461802 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99939584e-01 -1.75292252e-03 1.08515631e-02 -2.73055758e+01] [ 1.73993835e-03 9.99997759e-01 1.20585009e-03 1.49728924e+01] [-1.08536525e-02 -1.18689618e-03 9.99940393e-01 1.69476986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.929259764 meters Centerline goodness [0,1] 0.4801177415038801 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.97, Z:16.95 [[ 9.99943926e-01 -1.47826518e-03 1.04861881e-02 -2.73046263e+01] [ 1.46946824e-03 9.99998562e-01 8.46561676e-04 1.49746141e+01] [-1.04874245e-02 -8.31105085e-04 9.99944660e-01 1.69482760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.959259764 meters Centerline goodness [0,1] 0.4921950176413985 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.97, Z:16.95 [[ 9.99945240e-01 -1.31946610e-03 1.03815327e-02 -2.73043232e+01] [ 1.31003880e-03 9.99998723e-01 9.14831531e-04 1.49747687e+01] [-1.03827266e-02 -9.01181224e-04 9.99945692e-01 1.69483047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.989259764 meters Centerline goodness [0,1] 0.47746158984635934 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.97, Z:16.95 [[ 9.99943355e-01 -1.37782635e-03 1.05540528e-02 -2.73049698e+01] [ 1.36788202e-03 9.99998614e-01 9.49388962e-04 1.49743117e+01] [-1.05553462e-02 -9.34898485e-04 9.99943854e-01 1.69485157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01925976399997 meters Centerline goodness [0,1] 0.46939701173959447 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99939669e-01 -1.50297563e-03 1.08811832e-02 -2.73059955e+01] [ 1.49146253e-03 9.99998319e-01 1.06611189e-03 1.49733632e+01] [-1.08827672e-02 -1.04981869e-03 9.99940230e-01 1.69486006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04925976399997 meters Centerline goodness [0,1] 0.4867053871156818 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99931638e-01 -2.52147923e-03 1.14175681e-02 -2.73088572e+01] [ 2.51112419e-03 9.99996423e-01 9.21184147e-04 1.49708873e+01] [-1.14198500e-02 -8.92450242e-04 9.99934393e-01 1.69495815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07925976399997 meters Centerline goodness [0,1] 0.47816379149942856 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99925609e-01 -2.74611080e-03 1.18842284e-02 -2.73101860e+01] [ 2.73094079e-03 9.99995436e-01 1.29252296e-03 1.49689735e+01] [-1.18877235e-02 -1.25997169e-03 9.99928545e-01 1.69492591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10925976399997 meters Centerline goodness [0,1] 0.4732735283189129 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99919096e-01 -3.06357878e-03 1.23456621e-02 -2.73115736e+01] [ 3.04373703e-03 9.99994046e-01 1.62565290e-03 1.49670542e+01] [-1.23505689e-02 -1.58794443e-03 9.99922468e-01 1.69489790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13925976399997 meters Centerline goodness [0,1] 0.47117960688612426 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99911698e-01 -3.52001753e-03 1.28142980e-02 -2.73131757e+01] [ 3.49687599e-03 9.99992215e-01 1.82787341e-03 1.49653452e+01] [-1.28206324e-02 -1.78290199e-03 9.99916223e-01 1.69489319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16925976399997 meters Centerline goodness [0,1] 0.4689916322423472 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.96, Z:16.95 [[ 9.99907995e-01 -3.65332070e-03 1.30634619e-02 -2.73139134e+01] [ 3.62551953e-03 9.99991114e-01 2.15121168e-03 1.49637997e+01] [-1.30712048e-02 -2.10365192e-03 9.99912355e-01 1.69486945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19925976399998 meters Centerline goodness [0,1] 0.4688029661016949 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99914986e-01 -3.26956085e-03 1.26226030e-02 -2.73127249e+01] [ 3.24733014e-03 9.99993141e-01 1.78127682e-03 1.49661359e+01] [-1.26283404e-02 -1.74013562e-03 9.99918745e-01 1.69493530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22925976399998 meters Centerline goodness [0,1] 0.47340510155379967 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99915405e-01 -3.42674764e-03 1.25475014e-02 -2.73131113e+01] [ 3.41008131e-03 9.99993275e-01 1.34941277e-03 1.49676061e+01] [-1.25520411e-02 -1.30651062e-03 9.99920366e-01 1.69503659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25925976399998 meters Centerline goodness [0,1] 0.44535787212601763 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99914528e-01 -3.53292271e-03 1.25879091e-02 -2.73134038e+01] [ 3.51893073e-03 9.99993166e-01 1.13351698e-03 1.49685146e+01] [-1.25918277e-02 -1.08912412e-03 9.99920127e-01 1.69506855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28925976399998 meters Centerline goodness [0,1] 0.48114534405434817 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99912053e-01 -3.48371581e-03 1.27964945e-02 -2.73135113e+01] [ 3.46831879e-03 9.99993235e-01 1.22521642e-03 1.49680716e+01] [-1.28006763e-02 -1.18072634e-03 9.99917371e-01 1.69500614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31925976399998 meters Centerline goodness [0,1] 0.4554344937549827 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99912310e-01 -3.41707015e-03 1.27943335e-02 -2.73131723e+01] [ 3.40150820e-03 9.99993449e-01 1.23787972e-03 1.49685420e+01] [-1.27984796e-02 -1.19425114e-03 9.99917383e-01 1.69496275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34925976399998 meters Centerline goodness [0,1] 0.45736247898150373 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99921204e-01 -2.92409938e-03 1.22079737e-02 -2.73108732e+01] [ 2.91216412e-03 9.99995264e-01 9.95323105e-04 1.49717471e+01] [-1.22108263e-02 -9.59693055e-04 9.99924985e-01 1.69491860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37925976399998 meters Centerline goodness [0,1] 0.454423843540145 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99920827e-01 -2.98130502e-03 1.22250291e-02 -2.73107851e+01] [ 2.97048913e-03 9.99995181e-01 9.02795481e-04 1.49725661e+01] [-1.22276617e-02 -8.66409688e-04 9.99924864e-01 1.69489653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40925976399998 meters Centerline goodness [0,1] 0.4611577764699588 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99921815e-01 -2.81622057e-03 1.21832860e-02 -2.73104179e+01] [ 2.80369949e-03 9.99995524e-01 1.04468328e-03 1.49726773e+01] [-1.21861735e-02 -1.01044333e-03 9.99925235e-01 1.69486010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43925976399998 meters Centerline goodness [0,1] 0.4662325132657984 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99923636e-01 -2.76859406e-03 1.20439438e-02 -2.73101271e+01] [ 2.75873023e-03 9.99995846e-01 8.35523522e-04 1.49737398e+01] [-1.20462070e-02 -8.02233727e-04 9.99927120e-01 1.69488494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.469259764 meters Centerline goodness [0,1] 0.46102712554948 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.97, Z:16.95 [[ 9.99924033e-01 -2.80091012e-03 1.20034304e-02 -2.73102203e+01] [ 2.79342204e-03 9.99995893e-01 6.40549495e-04 1.49746975e+01] [-1.20051752e-02 -6.06970188e-04 9.99927751e-01 1.69492081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.499259764 meters Centerline goodness [0,1] 0.4831191871404763 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.98, Z:16.95 [[ 9.99923207e-01 -2.96131877e-03 1.20337190e-02 -2.73106938e+01] [ 2.95793360e-03 9.99995581e-01 2.99095848e-04 1.49757087e+01] [-1.20345515e-02 -2.63477938e-04 9.99927547e-01 1.69498618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.529259764 meters Centerline goodness [0,1] 0.47277068354973706 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.98, Z:16.95 [[ 9.99921481e-01 -3.19622652e-03 1.21167518e-02 -2.73113469e+01] [ 3.19633953e-03 9.99994892e-01 1.00388193e-05 1.49766986e+01] [-1.21167220e-02 2.86912219e-05 9.99926589e-01 1.69504141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.559259764 meters Centerline goodness [0,1] 0.46594247823391466 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.98, Z:16.95 [[ 9.99929350e-01 -2.62223681e-03 1.15939310e-02 -2.73092281e+01] [ 2.62274321e-03 9.99996560e-01 -2.84741143e-05 1.49793674e+01] [-1.15938165e-02 5.88800065e-05 9.99932788e-01 1.69499520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.589259764 meters Centerline goodness [0,1] 0.47256641956604084 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.98, Z:16.95 [[ 9.99932482e-01 -2.41138766e-03 1.13673256e-02 -2.73083809e+01] [ 2.41367703e-03 9.99997069e-01 -1.87684256e-04 1.49807344e+01] [-1.13668397e-02 2.15108636e-04 9.99935372e-01 1.69498572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.619259764 meters Centerline goodness [0,1] 0.48619217466493736 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.98, Z:16.95 [[ 9.99934849e-01 -2.15921588e-03 1.12087313e-02 -2.73075879e+01] [ 2.16172250e-03 9.99997641e-01 -2.11520590e-04 1.49815174e+01] [-1.12082482e-02 2.35736976e-04 9.99937158e-01 1.69495390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.649259764 meters Centerline goodness [0,1] 0.48914562063406775 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.98, Z:16.95 [[ 9.99936842e-01 -1.91059583e-03 1.10752755e-02 -2.73066482e+01] [ 1.91268006e-03 9.99998155e-01 -1.77598390e-04 1.49824548e+01] [-1.10749157e-02 1.98770632e-04 9.99938651e-01 1.69488906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.679259764 meters Centerline goodness [0,1] 0.48064864864864865 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.98, Z:16.95 [[ 9.99935408e-01 -2.11337800e-03 1.11674994e-02 -2.73070616e+01] [ 2.12135647e-03 9.99997503e-01 -7.02639826e-04 1.49841221e+01] [-1.11659866e-02 7.26284689e-04 9.99937395e-01 1.69493413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.709259764 meters Centerline goodness [0,1] 0.4816396011780918 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.99, Z:16.95 [[ 9.99937856e-01 -1.99256435e-03 1.09687834e-02 -2.73065507e+01] [ 2.00171371e-03 9.99997658e-01 -8.23211698e-04 1.49851803e+01] [-1.09671174e-02 8.45116904e-04 9.99939502e-01 1.69494669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.739259764 meters Centerline goodness [0,1] 0.49267989067193463 Centerline is valid? [False, False] Translation: X:-27.31, Y:14.99, Z:16.95 [[ 9.99943532e-01 -1.49322768e-03 1.05215082e-02 -2.73050745e+01] [ 1.50815661e-03 9.99997867e-01 -1.41110488e-03 1.49886617e+01] [-1.05193787e-02 1.42689328e-03 9.99943652e-01 1.69501436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76925976399997 meters Centerline goodness [0,1] 0.502317261565981 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99947731e-01 -1.21089254e-03 1.01523210e-02 -2.73039954e+01] [ 1.22825600e-03 9.99997793e-01 -1.70423464e-03 1.49907717e+01] [-1.01502350e-02 1.71661521e-03 9.99947012e-01 1.69504717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79925976399997 meters Centerline goodness [0,1] 0.510362623930463 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99952714e-01 -7.92372174e-04 9.69233767e-03 -2.73023939e+01] [ 8.10574682e-04 9.99997915e-01 -1.87424669e-03 1.49929242e+01] [-9.69083236e-03 1.88201443e-03 9.99951272e-01 1.69503992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82925976399997 meters Centerline goodness [0,1] 0.5178488767869298 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99956979e-01 -3.67258990e-04 9.26847931e-03 -2.73007692e+01] [ 3.85993227e-04 9.99997886e-01 -2.01957704e-03 1.49948753e+01] [-9.26771801e-03 2.02306772e-03 9.99955007e-01 1.69501768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85925976399997 meters Centerline goodness [0,1] 0.5184862035118334 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99960429e-01 -2.87434130e-05 8.89609786e-03 -2.72993496e+01] [ 4.75903720e-05 9.99997755e-01 -2.11836028e-03 1.49965581e+01] [-8.89601700e-03 2.11869983e-03 9.99958185e-01 1.69498861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88925976399997 meters Centerline goodness [0,1] 0.5198261962670456 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99963379e-01 7.38679225e-04 8.52617109e-03 -2.72972822e+01] [-7.22778605e-04 9.99997994e-01 -1.86784992e-03 1.49972142e+01] [-8.52753373e-03 1.86161898e-03 9.99961907e-01 1.69488557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91925976399997 meters Centerline goodness [0,1] 0.5214030103532111 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99962552e-01 1.05996712e-03 8.58900980e-03 -2.72969208e+01] [-1.04630969e-03 9.99998181e-01 -1.59444346e-03 1.49964769e+01] [-8.59068424e-03 1.58539698e-03 9.99961843e-01 1.69481746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94925976399998 meters Centerline goodness [0,1] 0.5230492098583477 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99961892e-01 1.27814957e-03 8.63601964e-03 -2.72967454e+01] [-1.26618304e-03 9.99998231e-01 -1.39097839e-03 1.49958409e+01] [-8.63778224e-03 1.37999060e-03 9.99961741e-01 1.69477840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97925976399998 meters Centerline goodness [0,1] 0.5230492098583477 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99961892e-01 1.27814957e-03 8.63601964e-03 -2.72967454e+01] [-1.26618304e-03 9.99998231e-01 -1.39097839e-03 1.49958409e+01] [-8.63778224e-03 1.37999060e-03 9.99961741e-01 1.69477840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00925976399998 meters Centerline goodness [0,1] 0.5205636572177618 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99961305e-01 1.29450711e-03 8.70129977e-03 -2.72969559e+01] [-1.28258054e-03 9.99998231e-01 -1.37610483e-03 1.49956918e+01] [-8.70306575e-03 1.36489146e-03 9.99961196e-01 1.69478428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03925976399998 meters Centerline goodness [0,1] 0.5027705745871434 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99962159e-01 1.01763061e-03 8.63979016e-03 -2.72974780e+01] [-1.00557498e-03 9.99998515e-01 -1.39959130e-03 1.49958677e+01] [-8.64120160e-03 1.39085038e-03 9.99961697e-01 1.69484645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06925976399998 meters Centerline goodness [0,1] 0.4954841878359574 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99961267e-01 7.94135510e-04 8.76544299e-03 -2.72984093e+01] [-7.81590377e-04 9.99998666e-01 -1.43453627e-03 1.49957379e+01] [-8.76657051e-03 1.42762972e-03 9.99960554e-01 1.69490852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09925976399998 meters Centerline goodness [0,1] 0.5038009863491457 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99960657e-01 7.87692015e-04 8.83535823e-03 -2.72988475e+01] [-7.76385495e-04 9.99998876e-01 -1.28304694e-03 1.49951242e+01] [-8.83635894e-03 1.27613681e-03 9.99960144e-01 1.69492994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12925976399998 meters Centerline goodness [0,1] 0.5054000380859109 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99959515e-01 6.77780366e-04 8.97269933e-03 -2.72996186e+01] [-6.66817923e-04 9.99999028e-01 -1.22469050e-03 1.49946034e+01] [-8.97352068e-03 1.21865777e-03 9.99958995e-01 1.69497151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15925976399998 meters Centerline goodness [0,1] 0.521557832770086 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99959057e-01 6.24187567e-04 9.02748686e-03 -2.72999529e+01] [-6.12344258e-04 9.99998948e-01 -1.31462105e-03 1.49946912e+01] [-9.02829794e-03 1.30903929e-03 9.99958387e-01 1.69499944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18925976399998 meters Centerline goodness [0,1] 0.5169646512897502 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99958955e-01 7.29412311e-04 9.03080828e-03 -2.72997053e+01] [-7.19542187e-04 9.99999140e-01 -1.09614005e-03 1.49946920e+01] [-9.03160006e-03 1.08959702e-03 9.99958621e-01 1.69494852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.219259764 meters Centerline goodness [0,1] 0.4997135608478599 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99956586e-01 7.02523251e-04 9.29152296e-03 -2.72999913e+01] [-6.95055611e-04 9.99999433e-01 -8.06909321e-04 1.49940535e+01] [-9.29208456e-03 8.00416165e-04 9.99956507e-01 1.69486767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.249259764 meters Centerline goodness [0,1] 0.4708884946089805 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99954547e-01 8.01035553e-04 9.50060525e-03 -2.73001329e+01] [-7.97930025e-04 9.99999627e-01 -3.30662898e-04 1.49924315e+01] [-9.50086658e-03 3.23067050e-04 9.99954814e-01 1.69478183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.279259764 meters Centerline goodness [0,1] 0.500341539386322 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.95 [[ 9.99958535e-01 1.27532543e-03 9.01679990e-03 -2.72985994e+01] [-1.26928282e-03 9.99998966e-01 -6.75841512e-04 1.49943659e+01] [-9.01765249e-03 6.64368619e-04 9.99959119e-01 1.69482636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.309259764 meters Centerline goodness [0,1] 0.480766598220397 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99960864e-01 1.41015760e-03 8.73390043e-03 -2.72981385e+01] [-1.40181363e-03 9.99998555e-01 -9.61402901e-04 1.49957674e+01] [-8.73524354e-03 9.49121976e-04 9.99961397e-01 1.69489681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.339259764 meters Centerline goodness [0,1] 0.4839382790621053 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99962288e-01 1.31388575e-03 8.58466542e-03 -2.72981183e+01] [-1.30258654e-03 9.99998278e-01 -1.32166731e-03 1.49972333e+01] [-8.58638716e-03 1.31043520e-03 9.99962278e-01 1.69496098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.369259764 meters Centerline goodness [0,1] 0.4883026517641902 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99963103e-01 1.39512393e-03 8.47624797e-03 -2.72977883e+01] [-1.38339399e-03 9.99998078e-01 -1.38956616e-03 1.49980796e+01] [-8.47817029e-03 1.37778890e-03 9.99963110e-01 1.69496739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.399259764 meters Centerline goodness [0,1] 0.5168551663555507 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99964149e-01 1.64329128e-03 8.30661448e-03 -2.72967289e+01] [-1.63309425e-03 9.99997905e-01 -1.23421376e-03 1.49984928e+01] [-8.30862525e-03 1.22060403e-03 9.99964738e-01 1.69488728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.429259764 meters Centerline goodness [0,1] 0.492742488681575 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99964077e-01 1.81288159e-03 8.27996436e-03 -2.72962086e+01] [-1.80383238e-03 9.99997768e-01 -1.10024085e-03 1.49984644e+01] [-8.28194048e-03 1.08526566e-03 9.99965115e-01 1.69482859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.459259764 meters Centerline goodness [0,1] 0.49371293652536785 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99964078e-01 1.84637095e-03 8.27247120e-03 -2.72961185e+01] [-1.83754031e-03 9.99997734e-01 -1.07494618e-03 1.49985789e+01] [-8.27443721e-03 1.05970656e-03 9.99965205e-01 1.69481861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.489259764 meters Centerline goodness [0,1] 0.4976203501094092 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99962708e-01 1.25158550e-03 8.54489862e-03 -2.72976689e+01] [-1.23774762e-03 9.99997914e-01 -1.62452791e-03 1.49996680e+01] [-8.54691403e-03 1.61389090e-03 9.99962172e-01 1.69491857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51925976399997 meters Centerline goodness [0,1] 0.49917871222076216 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99962479e-01 1.09039741e-03 8.59364020e-03 -2.72980522e+01] [-1.07557922e-03 9.99997927e-01 -1.72875366e-03 1.50001696e+01] [-8.59550742e-03 1.71944566e-03 9.99961580e-01 1.69494120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54925976399997 meters Centerline goodness [0,1] 0.496932347302109 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99962635e-01 9.67298558e-04 8.59027723e-03 -2.72982330e+01] [-9.51328703e-04 9.99997812e-01 -1.86295333e-03 1.50009074e+01] [-8.59206046e-03 1.85471154e-03 9.99961368e-01 1.69496347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57925976399997 meters Centerline goodness [0,1] 0.5018546503640611 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.95 [[ 9.99964955e-01 1.02371785e-03 8.30910878e-03 -2.72974678e+01] [-1.00551799e-03 9.99997087e-01 -2.19423305e-03 1.50030741e+01] [-8.31133085e-03 2.18580120e-03 9.99963071e-01 1.69498678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60925976399997 meters Centerline goodness [0,1] 0.5071664829106945 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.01, Z:16.95 [[ 9.99968171e-01 1.27826156e-03 7.87547747e-03 -2.72961636e+01] [-1.25838753e-03 9.99996013e-01 -2.52797138e-03 1.50057604e+01] [-7.87867748e-03 2.51798051e-03 9.99965793e-01 1.69500649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63925976399997 meters Centerline goodness [0,1] 0.5109920459566947 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99970867e-01 1.50044373e-03 7.48421314e-03 -2.72949625e+01] [-1.47887017e-03 9.99994738e-01 -2.88724312e-03 1.50083842e+01] [-7.48850590e-03 2.87609082e-03 9.99967825e-01 1.69502595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66925976399997 meters Centerline goodness [0,1] 0.5345383759733037 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99972673e-01 2.40716049e-03 6.98986796e-03 -2.72923065e+01] [-2.38497794e-03 9.99992099e-01 -3.18013237e-03 1.50127232e+01] [-6.99746783e-03 3.16337479e-03 9.99970514e-01 1.69496751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69925976399998 meters Centerline goodness [0,1] 0.5338218086588288 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.95 [[ 9.99974138e-01 2.85183862e-03 6.60223122e-03 -2.72905900e+01] [-2.83018101e-03 9.99990592e-01 -3.28736890e-03 1.50146257e+01] [-6.61154414e-03 3.26859837e-03 9.99972802e-01 1.69491889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72925976399998 meters Centerline goodness [0,1] 0.5229542031572488 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.02, Z:16.95 [[ 9.99974316e-01 3.07034050e-03 6.47621356e-03 -2.72897525e+01] [-3.04836579e-03 9.99989573e-01 -3.40028904e-03 1.50160958e+01] [-6.48658608e-03 3.38045983e-03 9.99973248e-01 1.69487219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75925976399998 meters Centerline goodness [0,1] 0.5328927101128631 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.02, Z:16.95 [[ 9.99973520e-01 3.86828443e-03 6.16409001e-03 -2.72879251e+01] [-3.84602414e-03 9.99986055e-01 -3.61905766e-03 1.50184228e+01] [-6.17800359e-03 3.59525459e-03 9.99974453e-01 1.69484685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78925976399998 meters Centerline goodness [0,1] 0.534656522837652 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.02, Z:16.95 [[ 9.99974170e-01 4.21541177e-03 5.82147941e-03 -2.72867507e+01] [-4.19258153e-03 9.99983495e-01 -3.92837686e-03 1.50207416e+01] [-5.83794305e-03 3.90386836e-03 9.99975339e-01 1.69486818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81925976399998 meters Centerline goodness [0,1] 0.5348699597058244 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.02, Z:16.95 [[ 9.99975338e-01 4.54795958e-03 5.35165976e-03 -2.72852799e+01] [-4.52553825e-03 9.99980964e-01 -4.19428021e-03 1.50233105e+01] [-5.37063330e-03 4.16995763e-03 9.99976884e-01 1.69488835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84925976399998 meters Centerline goodness [0,1] 0.5366521714576156 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99976663e-01 4.76993122e-03 4.89088711e-03 -2.72840441e+01] [-4.74789038e-03 9.99978566e-01 -4.50826269e-03 1.50257788e+01] [-4.91228638e-03 4.48493609e-03 9.99977877e-01 1.69492936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87925976399998 meters Centerline goodness [0,1] 0.5374084236132719 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99978092e-01 5.01518195e-03 4.32005135e-03 -2.72825295e+01] [-4.99366928e-03 9.99975150e-01 -4.97620140e-03 1.50284970e+01] [-4.34490055e-03 4.95451947e-03 9.99978287e-01 1.69498587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90925976399998 meters Centerline goodness [0,1] 0.5374370864672284 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99976607e-01 5.26983124e-03 4.36045221e-03 -2.72819898e+01] [-5.24958749e-03 9.99975451e-01 -4.64107240e-03 1.50281203e+01] [-4.38480284e-03 4.61807326e-03 9.99979723e-01 1.69489233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93925976399998 meters Centerline goodness [0,1] 0.5392754359234806 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99975796e-01 5.43435369e-03 4.34447034e-03 -2.72816049e+01] [-5.41531616e-03 9.99975737e-01 -4.38183252e-03 1.50275222e+01] [-4.36817736e-03 4.35819978e-03 9.99980962e-01 1.69483811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.969259764 meters Centerline goodness [0,1] 0.537689713322091 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99975472e-01 5.48326767e-03 4.35776488e-03 -2.72813760e+01] [-5.46471014e-03 9.99975998e-01 -4.25905430e-03 1.50274792e+01] [-4.38101382e-03 4.23513591e-03 9.99981435e-01 1.69479316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.999259764 meters Centerline goodness [0,1] 0.534466769706337 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99977029e-01 5.11301668e-03 4.44966575e-03 -2.72822061e+01] [-5.09200362e-03 9.99975892e-01 -4.72097601e-03 1.50290222e+01] [-4.47369690e-03 4.69820984e-03 9.99978956e-01 1.69487369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.029259764 meters Centerline goodness [0,1] 0.5381162120955447 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99977252e-01 4.92092868e-03 4.61304804e-03 -2.72830428e+01] [-4.89817315e-03 9.99975845e-01 -4.93124905e-03 1.50293390e+01] [-4.63720293e-03 4.90854137e-03 9.99977201e-01 1.69492766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.059259764 meters Centerline goodness [0,1] 0.5394365401987353 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99977334e-01 4.83869831e-03 4.68162997e-03 -2.72835363e+01] [-4.81542191e-03 9.99976053e-01 -4.97042234e-03 1.50292553e+01] [-4.70556824e-03 4.94776566e-03 9.99976688e-01 1.69496319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.089259764 meters Centerline goodness [0,1] 0.5389253613592178 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99977359e-01 4.74792991e-03 4.76848864e-03 -2.72839456e+01] [-4.72391297e-03 9.99976165e-01 -5.03529064e-03 1.50294491e+01] [-4.79228219e-03 5.01265071e-03 9.99975953e-01 1.69498046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.119259764 meters Centerline goodness [0,1] 0.5383724870115203 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99978596e-01 4.60026354e-03 4.65237638e-03 -2.72839927e+01] [-4.57588372e-03 9.99975815e-01 -5.23743209e-03 1.50307422e+01] [-4.67635743e-03 5.21603125e-03 9.99975462e-01 1.69502653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.149259764 meters Centerline goodness [0,1] 0.5383724870115203 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99978596e-01 4.60026354e-03 4.65237638e-03 -2.72839927e+01] [-4.57588372e-03 9.99975815e-01 -5.23743209e-03 1.50307422e+01] [-4.67635743e-03 5.21603125e-03 9.99975462e-01 1.69502653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.179259764 meters Centerline goodness [0,1] 0.5399988740640658 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99979076e-01 4.68479912e-03 4.46087353e-03 -2.72834182e+01] [-4.66179411e-03 9.99975854e-01 -5.15357171e-03 1.50312691e+01] [-4.48490926e-03 5.13266821e-03 9.99976770e-01 1.69501443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.209259764 meters Centerline goodness [0,1] 0.5421591804570528 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99978553e-01 4.80602603e-03 4.44923050e-03 -2.72831466e+01] [-4.78398951e-03 9.99976303e-01 -4.95034764e-03 1.50308969e+01] [-4.47291657e-03 4.92895640e-03 9.99977849e-01 1.69497315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.239259764 meters Centerline goodness [0,1] 0.5444466330866421 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99978017e-01 5.06996903e-03 4.27336815e-03 -2.72821326e+01] [-5.04953487e-03 9.99975831e-01 -4.77904776e-03 1.50311769e+01] [-4.29749449e-03 4.75736418e-03 9.99979449e-01 1.69490844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26925976399997 meters Centerline goodness [0,1] 0.5487089863569737 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99976487e-01 5.86022221e-03 3.56147738e-03 -2.72791958e+01] [-5.84331782e-03 9.99971701e-01 -4.73846689e-03 1.50337311e+01] [-3.58914506e-03 4.71754463e-03 9.99982431e-01 1.69484552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29925976399997 meters Centerline goodness [0,1] 0.5465362765326023 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99976370e-01 5.97295755e-03 3.40342705e-03 -2.72785111e+01] [-5.95644487e-03 9.99970540e-01 -4.84143445e-03 1.50348476e+01] [-3.43224447e-03 4.82104773e-03 9.99982488e-01 1.69482227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32925976399997 meters Centerline goodness [0,1] 0.550521171718313 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99975486e-01 6.13659867e-03 3.37201016e-03 -2.72782083e+01] [-6.12043872e-03 9.99969836e-01 -4.78198048e-03 1.50348598e+01] [-3.40125354e-03 4.76122507e-03 9.99982881e-01 1.69479936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35925976399997 meters Centerline goodness [0,1] 0.548205012418153 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99973384e-01 6.41600410e-03 3.47376778e-03 -2.72779255e+01] [-6.40006114e-03 9.99969025e-01 -4.58135750e-03 1.50341644e+01] [-3.50305419e-03 4.55900324e-03 9.99983472e-01 1.69473743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38925976399997 meters Centerline goodness [0,1] 0.535766711833785 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99973946e-01 6.29022857e-03 3.54120930e-03 -2.72784481e+01] [-6.27366847e-03 9.99969424e-01 -4.66824296e-03 1.50342644e+01] [-3.57046533e-03 4.64590496e-03 9.99982834e-01 1.69477733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41925976399997 meters Centerline goodness [0,1] 0.543952935852472 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99974829e-01 6.09682170e-03 3.62903227e-03 -2.72791473e+01] [-6.07955351e-03 9.99970235e-01 -4.75050944e-03 1.50344181e+01] [-3.65788726e-03 4.72832697e-03 9.99982131e-01 1.69482731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44925976399998 meters Centerline goodness [0,1] 0.5456245219411315 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99975837e-01 5.90513038e-03 3.66812142e-03 -2.72797388e+01] [-5.88754375e-03 9.99971211e-01 -4.78688797e-03 1.50343881e+01] [-3.69628301e-03 4.76517608e-03 9.99981815e-01 1.69487249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47925976399998 meters Centerline goodness [0,1] 0.5351172460611546 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99977160e-01 5.54661213e-03 3.86184536e-03 -2.72807999e+01] [-5.52810509e-03 9.99973264e-01 -4.78657322e-03 1.50338224e+01] [-3.88829138e-03 4.76511521e-03 9.99981087e-01 1.69490422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50925976399998 meters Centerline goodness [0,1] 0.5360373092142454 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99976680e-01 5.59570108e-03 3.91502546e-03 -2.72808910e+01] [-5.57709140e-03 9.99973175e-01 -4.74827740e-03 1.50335566e+01] [-3.94149038e-03 4.72633222e-03 9.99981063e-01 1.69489788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53925976399998 meters Centerline goodness [0,1] 0.5455393750883641 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.95 [[ 9.99975993e-01 5.84007946e-03 3.72921092e-03 -2.72799966e+01] [-5.82210881e-03 9.99971475e-01 -4.81169923e-03 1.50347937e+01] [-3.75720525e-03 4.78987184e-03 9.99981470e-01 1.69486927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56925976399998 meters Centerline goodness [0,1] 0.5441851243414717 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.95 [[ 9.99975279e-01 6.29419960e-03 3.13447315e-03 -2.72778925e+01] [-6.27782678e-03 9.99966742e-01 -5.20619487e-03 1.50381894e+01] [-3.16713774e-03 5.18638848e-03 9.99981535e-01 1.69487917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59925976399998 meters Centerline goodness [0,1] 0.542408495896868 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.95 [[ 9.99975057e-01 6.42809083e-03 2.92674150e-03 -2.72771903e+01] [-6.41237667e-03 9.99965144e-01 -5.34725896e-03 1.50394490e+01] [-2.96101215e-03 5.32835821e-03 9.99981420e-01 1.69487689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62925976399998 meters Centerline goodness [0,1] 0.5429301533219761 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.95 [[ 9.99974125e-01 6.61196570e-03 2.83390275e-03 -2.72766011e+01] [-6.59663322e-03 9.99963737e-01 -5.38599702e-03 1.50399173e+01] [-2.86941201e-03 5.36716344e-03 9.99981480e-01 1.69485165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65925976399998 meters Centerline goodness [0,1] 0.5422976204030514 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.95 [[ 9.99973652e-01 6.65693383e-03 2.89501074e-03 -2.72766352e+01] [-6.64116195e-03 9.99963238e-01 -5.42385993e-03 1.50399070e+01] [-2.93101059e-03 5.40449079e-03 9.99981100e-01 1.69484029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68925976399998 meters Centerline goodness [0,1] 0.5425568278926679 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.95 [[ 9.99973959e-01 6.61516925e-03 2.88456222e-03 -2.72769037e+01] [-6.59920365e-03 9.99963046e-01 -5.50967455e-03 1.50401051e+01] [-2.92090305e-03 5.49049526e-03 9.99980661e-01 1.69487814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.719259764 meters Centerline goodness [0,1] 0.5446527639477652 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.95 [[ 9.99974555e-01 6.56263697e-03 2.79650413e-03 -2.72770308e+01] [-6.54644693e-03 9.99961984e-01 -5.75973553e-03 1.50410305e+01] [-2.83419687e-03 5.74128181e-03 9.99979502e-01 1.69494263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.749259764 meters Centerline goodness [0,1] 0.5465585893060296 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.95 [[ 9.99975954e-01 6.40117414e-03 2.66773242e-03 -2.72771796e+01] [-6.38426882e-03 9.99959787e-01 -6.29802142e-03 1.50428677e+01] [-2.70793987e-03 6.28083845e-03 9.99976609e-01 1.69504198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.779259764 meters Centerline goodness [0,1] 0.5464426313687454 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.95 [[ 9.99977009e-01 6.29761599e-03 2.51427768e-03 -2.72770028e+01] [-6.28076574e-03 9.99958135e-01 -6.65439468e-03 1.50447179e+01] [-2.55607924e-03 6.63845010e-03 9.99974698e-01 1.69508836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.809259764 meters Centerline goodness [0,1] 0.5473795206474963 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.05, Z:16.95 [[ 9.99977663e-01 6.23708186e-03 2.40246840e-03 -2.72767809e+01] [-6.22031021e-03 9.99956666e-01 -6.92634337e-03 1.50463212e+01] [-2.44556446e-03 6.91124456e-03 9.99973127e-01 1.69511337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.839259764 meters Centerline goodness [0,1] 0.5484838101764605 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.05, Z:16.95 [[ 9.99977761e-01 6.24141734e-03 2.34991977e-03 -2.72765260e+01] [-6.22476570e-03 9.99955929e-01 -7.02790432e-03 1.50472934e+01] [-2.39368029e-03 7.01312033e-03 9.99972543e-01 1.69510158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.869259764 meters Centerline goodness [0,1] 0.5487627365356623 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.05, Z:16.95 [[ 9.99977378e-01 6.33602991e-03 2.25797991e-03 -2.72758594e+01] [-6.32007490e-03 9.99955496e-01 -7.00449269e-03 1.50481103e+01] [-2.30226010e-03 6.99006363e-03 9.99972919e-01 1.69504773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.899259764 meters Centerline goodness [0,1] 0.5487627365356623 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.05, Z:16.95 [[ 9.99977378e-01 6.33602991e-03 2.25797991e-03 -2.72758594e+01] [-6.32007490e-03 9.99955496e-01 -7.00449269e-03 1.50481103e+01] [-2.30226010e-03 6.99006363e-03 9.99972919e-01 1.69504773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.929259764 meters Centerline goodness [0,1] 0.5594040968342644 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99972680e-01 7.20036778e-03 1.67156923e-03 -2.72728935e+01] [-7.18843916e-03 9.99949411e-01 -7.03575232e-03 1.50513015e+01] [-1.72214467e-03 7.02354413e-03 9.99973852e-01 1.69495525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.959259764 meters Centerline goodness [0,1] 0.5536374845869297 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99972048e-01 7.33013804e-03 1.47394531e-03 -2.72722412e+01] [-7.31925323e-03 9.99946864e-01 -7.25935812e-03 1.50527344e+01] [-1.52707908e-03 7.24836703e-03 9.99972564e-01 1.69496701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98925976399997 meters Centerline goodness [0,1] 0.5500846946685424 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99971727e-01 7.37553980e-03 1.46514548e-03 -2.72721669e+01] [-7.36430214e-03 9.99944511e-01 -7.53277357e-03 1.50539663e+01] [-1.52062245e-03 7.52177082e-03 9.99970555e-01 1.69499065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01925976399997 meters Centerline goodness [0,1] 0.5484528974056943 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99971040e-01 7.47635781e-03 1.42267867e-03 -2.72721091e+01] [-7.46516285e-03 9.99942351e-01 -7.71794151e-03 1.50547273e+01] [-1.48029875e-03 7.70709747e-03 9.99969204e-01 1.69502572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04925976399997 meters Centerline goodness [0,1] 0.5479078054948845 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99970729e-01 7.53165779e-03 1.34739555e-03 -2.72719336e+01] [-7.52085449e-03 9.99940898e-01 -7.85093615e-03 1.50554822e+01] [-1.40644648e-03 7.84057278e-03 9.99968273e-01 1.69504191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07925976399997 meters Centerline goodness [0,1] 0.5446279564942165 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99970581e-01 7.53931286e-03 1.41294169e-03 -2.72720421e+01] [-7.52805163e-03 9.99941143e-01 -7.81275040e-03 1.50556547e+01] [-1.47176130e-03 7.80188385e-03 9.99968482e-01 1.69502953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10925976399997 meters Centerline goodness [0,1] 0.548546620281188 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99970345e-01 7.56960097e-03 1.41802944e-03 -2.72720641e+01] [-7.55852904e-03 9.99942117e-01 -7.65705829e-03 1.50551571e+01] [-1.47590823e-03 7.64611300e-03 9.99969679e-01 1.69501509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13925976399997 meters Centerline goodness [0,1] 0.5497237569060773 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99969979e-01 7.59649983e-03 1.52800298e-03 -2.72723278e+01] [-7.58481111e-03 9.99942994e-01 -7.51528617e-03 1.50545326e+01] [-1.58500575e-03 7.50347094e-03 9.99970592e-01 1.69500223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16925976399997 meters Centerline goodness [0,1] 0.547185549515345 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99968988e-01 7.72385366e-03 1.53779701e-03 -2.72722546e+01] [-7.71236090e-03 9.99943289e-01 -7.34421424e-03 1.50541074e+01] [-1.59443544e-03 7.33212644e-03 9.99971848e-01 1.69498595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19925976399998 meters Centerline goodness [0,1] 0.5468246663598711 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99969123e-01 7.69969275e-03 1.57099999e-03 -2.72724823e+01] [-7.68788707e-03 9.99943161e-01 -7.38727575e-03 1.50543442e+01] [-1.62779045e-03 7.37496998e-03 9.99971480e-01 1.69500319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22925976399998 meters Centerline goodness [0,1] 0.5490196078431373 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99969478e-01 7.64317420e-03 1.61990821e-03 -2.72728660e+01] [-7.63084012e-03 9.99942847e-01 -7.48817491e-03 1.50546539e+01] [-1.67704905e-03 7.47558510e-03 9.99970651e-01 1.69503820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25925976399998 meters Centerline goodness [0,1] 0.5487875122400783 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99968914e-01 7.76332519e-03 1.37921403e-03 -2.72723726e+01] [-7.75238442e-03 9.99939775e-01 -7.76834625e-03 1.50561467e+01] [-1.43943916e-03 7.75741256e-03 9.99968875e-01 1.69509417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28925976399998 meters Centerline goodness [0,1] 0.5484140474201262 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99967733e-01 7.91812846e-03 1.35478763e-03 -2.72720249e+01] [-7.90754158e-03 9.99939480e-01 -7.64903840e-03 1.50562691e+01] [-1.41527171e-03 7.63807855e-03 9.99969828e-01 1.69505554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31925976399998 meters Centerline goodness [0,1] 0.5547676697797763 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99965978e-01 8.11743329e-03 1.46650844e-03 -2.72718691e+01] [-8.10666395e-03 9.99941176e-01 -7.20599212e-03 1.50550579e+01] [-1.52491634e-03 7.19385847e-03 9.99972961e-01 1.69497058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34925976399998 meters Centerline goodness [0,1] 0.5531670306931831 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99991016e-01 4.08534460e-03 1.13027447e-03 -2.72711777e+01] [-4.07241070e-03 9.99928782e-01 -1.12181057e-02 1.50550702e+01] [-1.17602380e-03 1.12134020e-02 9.99936436e-01 1.69498423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37925976399998 meters Centerline goodness [0,1] 0.5555427848974197 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99990894e-01 3.98012338e-03 1.53980151e-03 -2.72723973e+01] [-3.96333954e-03 9.99934323e-01 -1.07536764e-02 1.50530691e+01] [-1.58250134e-03 1.07474757e-02 9.99940992e-01 1.69495187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40925976399998 meters Centerline goodness [0,1] 0.5531823394495412 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99990838e-01 3.93430650e-03 1.68671529e-03 -2.72730132e+01] [-3.91615001e-03 9.99935769e-01 -1.06358584e-02 1.50524573e+01] [-1.72845168e-03 1.06291556e-02 9.99942015e-01 1.69496681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43925976399998 meters Centerline goodness [0,1] 0.5542147855888029 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99991461e-01 3.84596774e-03 1.51234821e-03 -2.72732417e+01] [-3.82893795e-03 9.99930989e-01 -1.11066170e-02 1.50543370e+01] [-1.55495953e-03 1.11007315e-02 9.99937176e-01 1.69509534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.469259764 meters Centerline goodness [0,1] 0.5517907050450918 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99991479e-01 3.83207663e-03 1.53534081e-03 -2.72734219e+01] [-3.81457255e-03 9.99929486e-01 -1.12459542e-02 1.50550445e+01] [-1.57832790e-03 1.12400017e-02 9.99935584e-01 1.69512247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.499259764 meters Centerline goodness [0,1] 0.5515868436237739 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99990399e-01 4.06043314e-03 1.64749784e-03 -2.72732257e+01] [-4.04200511e-03 9.99930902e-01 -1.10387242e-02 1.50546847e+01] [-1.69220601e-03 1.10319591e-02 9.99937714e-01 1.69506107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.529259764 meters Centerline goodness [0,1] 0.5506882520993853 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99988640e-01 4.42323390e-03 1.77620805e-03 -2.72727880e+01] [-4.40431406e-03 9.99934984e-01 -1.05180769e-02 1.50533733e+01] [-1.82261648e-03 1.05101344e-02 9.99943106e-01 1.69494194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.559259764 meters Centerline goodness [0,1] 0.5494920928084959 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99987093e-01 4.69916046e-03 1.93178385e-03 -2.72725506e+01] [-4.67960178e-03 9.99938974e-01 -1.00074948e-02 1.50521028e+01] [-1.97869279e-03 9.99832570e-03 9.99948058e-01 1.69482844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.589259764 meters Centerline goodness [0,1] 0.5446338438464422 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99986921e-01 4.72299002e-03 1.96255268e-03 -2.72726863e+01] [-4.70338112e-03 9.99940142e-01 -9.87882007e-03 1.50519517e+01] [-2.00909277e-03 9.86946023e-03 9.99949277e-01 1.69482145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.619259764 meters Centerline goodness [0,1] 0.5485600622675777 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99987610e-01 4.57527473e-03 1.96142702e-03 -2.72733099e+01] [-4.55532598e-03 9.99939050e-01 -1.00571277e-02 1.50523975e+01] [-2.00732159e-03 1.00480681e-02 9.99947502e-01 1.69490453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.649259764 meters Centerline goodness [0,1] 0.5508586906408484 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99987856e-01 4.52394725e-03 1.95469040e-03 -2.72736725e+01] [-4.50371268e-03 9.99937478e-01 -1.02350823e-02 1.50530589e+01] [-2.00087116e-03 1.02261547e-02 9.99945710e-01 1.69496909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.679259764 meters Centerline goodness [0,1] 0.5471448688105296 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99987695e-01 4.51126476e-03 2.06378803e-03 -2.72740731e+01] [-4.48984395e-03 9.99937194e-01 -1.02688466e-02 1.50533674e+01] [-2.10998390e-03 1.02594542e-02 9.99945144e-01 1.69498733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.709259764 meters Centerline goodness [0,1] 0.5432869305108146 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99987363e-01 4.53315422e-03 2.17338056e-03 -2.72743791e+01] [-4.51093600e-03 9.99938606e-01 -1.01210594e-02 1.50531427e+01] [-2.21912745e-03 1.01111275e-02 9.99946419e-01 1.69497295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73925976399997 meters Centerline goodness [0,1] 0.5424171909563619 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99986489e-01 4.69020876e-03 2.24127248e-03 -2.72743821e+01] [-4.66807019e-03 9.99941250e-01 -9.78288050e-03 1.50523114e+01] [-2.28702456e-03 9.77228591e-03 9.99949635e-01 1.69492744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76925976399997 meters Centerline goodness [0,1] 0.5469023501391719 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99985396e-01 4.86094814e-03 2.36215950e-03 -2.72742447e+01] [-4.83892466e-03 9.99945589e-01 -9.24140150e-03 1.50508893e+01] [-2.40695295e-03 9.22983622e-03 9.99954507e-01 1.69482255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79925976399997 meters Centerline goodness [0,1] 0.5481811646297627 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99984397e-01 5.01259499e-03 2.46565182e-03 -2.72743205e+01] [-4.99057002e-03 9.99948303e-01 -8.85919751e-03 1.50498880e+01] [-2.50993192e-03 8.84675427e-03 9.99957717e-01 1.69477206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82925976399997 meters Centerline goodness [0,1] 0.5453085570084881 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99984375e-01 5.01798619e-03 2.46355869e-03 -2.72745096e+01] [-4.99526138e-03 9.99945702e-01 -9.14546572e-03 1.50509998e+01] [-2.50931675e-03 9.13301671e-03 9.99955145e-01 1.69482887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85925976399997 meters Centerline goodness [0,1] 0.5490692522369595 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.05, Z:16.95 [[ 9.99985155e-01 4.83110555e-03 2.51995838e-03 -2.72751888e+01] [-4.80709233e-03 9.99943795e-01 -9.44978002e-03 1.50520074e+01] [-2.56546963e-03 9.43752607e-03 9.99952175e-01 1.69490778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88925976399997 meters Centerline goodness [0,1] 0.5514553612517257 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.05, Z:16.95 [[ 9.99984626e-01 4.94051204e-03 2.51783531e-03 -2.72750640e+01] [-4.91643169e-03 9.99942959e-01 -9.48200585e-03 1.50525516e+01] [-2.56453765e-03 9.46948130e-03 9.99951875e-01 1.69490226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91925976399997 meters Centerline goodness [0,1] 0.5525475416438907 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99983892e-01 5.12453880e-03 2.44008817e-03 -2.72744756e+01] [-5.10132798e-03 9.99942568e-01 -9.42534711e-03 1.50531944e+01] [-2.48824859e-03 9.41274760e-03 9.99952603e-01 1.69485687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94925976399998 meters Centerline goodness [0,1] 0.5551783659378596 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99982623e-01 5.43345490e-03 2.28726134e-03 -2.72734254e+01] [-5.41199579e-03 9.99942239e-01 -9.28591430e-03 1.50538178e+01] [-2.33758382e-03 9.27337429e-03 9.99954269e-01 1.69478186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97925976399998 meters Centerline goodness [0,1] 0.5556643719215371 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99981328e-01 5.70304047e-03 2.19508733e-03 -2.72723997e+01] [-5.68277374e-03 9.99942165e-01 -9.13084596e-03 1.50545471e+01] [-2.24703396e-03 9.11820128e-03 9.99955904e-01 1.69468151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00925976399998 meters Centerline goodness [0,1] 0.5592584036040198 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.95 [[ 9.99977836e-01 6.37552008e-03 1.91827587e-03 -2.72703303e+01] [-6.35864595e-03 9.99942131e-01 -8.67764472e-03 1.50548675e+01] [-1.97348936e-03 8.66525475e-03 9.99960509e-01 1.69451404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03925976399998 meters Centerline goodness [0,1] 0.5611832611832612 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99976628e-01 6.57525421e-03 1.87344253e-03 -2.72698677e+01] [-6.55875101e-03 9.99940792e-01 -8.68304187e-03 1.50554425e+01] [-1.93042482e-03 8.67055148e-03 9.99960547e-01 1.69448851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06925976399998 meters Centerline goodness [0,1] 0.5600069472587275 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99977124e-01 6.53050324e-03 1.76201023e-03 -2.72697512e+01] [-6.51456123e-03 9.99939115e-01 -8.90654830e-03 1.50568457e+01] [-1.82006720e-03 8.89486583e-03 9.99958784e-01 1.69451917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09925976399998 meters Centerline goodness [0,1] 0.5589724303526484 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99977933e-01 6.44504233e-03 1.61094673e-03 -2.72697585e+01] [-6.42978730e-03 9.99936064e-01 -9.30189105e-03 1.50586072e+01] [-1.67079481e-03 9.29132774e-03 9.99955439e-01 1.69459908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12925976399998 meters Centerline goodness [0,1] 0.5586408050167712 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99977880e-01 6.50446243e-03 1.38958472e-03 -2.72694433e+01] [-6.49046758e-03 9.99930434e-01 -9.84893000e-03 1.50618290e+01] [-1.45355004e-03 9.83969309e-03 9.99950533e-01 1.69469421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15925976399998 meters Centerline goodness [0,1] 0.5576406724258698 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99976996e-01 6.63500120e-03 1.40881631e-03 -2.72692880e+01] [-6.62069516e-03 9.99928804e-01 -9.92744963e-03 1.50626116e+01] [-1.47458465e-03 9.91789392e-03 9.99949729e-01 1.69468583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18925976399998 meters Centerline goodness [0,1] 0.5535729930204714 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99976033e-01 6.77407779e-03 1.43025840e-03 -2.72690610e+01] [-6.75943480e-03 9.99927093e-01 -1.00059640e-02 1.50631514e+01] [-1.49793530e-03 9.99605640e-03 9.99948916e-01 1.69466895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.219259764 meters Centerline goodness [0,1] 0.5569365426695843 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99975278e-01 6.87314825e-03 1.48399955e-03 -2.72688043e+01] [-6.85808930e-03 9.99927230e-01 -9.92475812e-03 1.50636556e+01] [-1.55210589e-03 9.91433536e-03 9.99949647e-01 1.69460843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.249259764 meters Centerline goodness [0,1] 0.5561988304093568 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99975271e-01 6.87404186e-03 1.48518060e-03 -2.72686772e+01] [-6.85873286e-03 9.99925692e-01 -1.00781122e-02 1.50649165e+01] [-1.55434761e-03 1.00676765e-02 9.99948112e-01 1.69460229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.279259764 meters Centerline goodness [0,1] 0.5561853561619821 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99976017e-01 6.75756317e-03 1.51699413e-03 -2.72690225e+01] [-6.74164395e-03 9.99924591e-01 -1.02645903e-02 1.50656452e+01] [-1.58624335e-03 1.02541171e-02 9.99946167e-01 1.69463899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.309259764 meters Centerline goodness [0,1] 0.5503351775416411 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99975871e-01 6.76847376e-03 1.56394647e-03 -2.72691728e+01] [-6.75207822e-03 9.99924557e-01 -1.02611053e-02 1.50658820e+01] [-1.63328050e-03 1.02502978e-02 9.99946130e-01 1.69464212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.339259764 meters Centerline goodness [0,1] 0.5523829027822474 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99976101e-01 6.73049606e-03 1.58027067e-03 -2.72692598e+01] [-6.71391850e-03 9.99924710e-01 -1.02711958e-02 1.50663334e+01] [-1.64928194e-03 1.02603405e-02 9.99946001e-01 1.69463790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.369259764 meters Centerline goodness [0,1] 0.5585195162659952 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99974678e-01 6.98722579e-03 1.34962118e-03 -2.72681838e+01] [-6.97298050e-03 9.99922784e-01 -1.02860995e-02 1.50678321e+01] [-1.42138827e-03 1.02764281e-02 9.99946186e-01 1.69459959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.399259764 meters Centerline goodness [0,1] 0.5592932282357078 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99973917e-01 7.10461435e-03 1.29953824e-03 -2.72677976e+01] [-7.09086515e-03 9.99921861e-01 -1.02952003e-02 1.50684804e+01] [-1.37258012e-03 1.02857169e-02 9.99946159e-01 1.69457603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.429259764 meters Centerline goodness [0,1] 0.5617740232312566 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99972857e-01 7.26184825e-03 1.24557128e-03 -2.72673549e+01] [-7.24866951e-03 9.99920913e-01 -1.02773507e-02 1.50690842e+01] [-1.32010534e-03 1.02680430e-02 9.99946411e-01 1.69454458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.459259764 meters Centerline goodness [0,1] 0.5635132361994665 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99971357e-01 7.49998985e-03 1.01702177e-03 -2.72665820e+01] [-7.48893389e-03 9.99917136e-01 -1.04707597e-02 1.50706255e+01] [-1.09546809e-03 1.04628434e-02 9.99944663e-01 1.69456573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48925976399997 meters Centerline goodness [0,1] 0.5635132361994665 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99971357e-01 7.49998985e-03 1.01702177e-03 -2.72665820e+01] [-7.48893389e-03 9.99917136e-01 -1.04707597e-02 1.50706255e+01] [-1.09546809e-03 1.04628434e-02 9.99944663e-01 1.69456573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51925976399997 meters Centerline goodness [0,1] 0.5592603463457587 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99972167e-01 7.37447292e-03 1.13253008e-03 -2.72675810e+01] [-7.36151120e-03 9.99911830e-01 -1.10517223e-02 1.50720577e+01] [-1.21393085e-03 1.10430776e-02 9.99938287e-01 1.69471480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54925976399997 meters Centerline goodness [0,1] 0.5595465358747687 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99972615e-01 7.30944401e-03 1.15773372e-03 -2.72679394e+01] [-7.29593144e-03 9.99909820e-01 -1.12747929e-02 1.50727651e+01] [-1.24004178e-03 1.12660374e-02 9.99935767e-01 1.69476603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57925976399997 meters Centerline goodness [0,1] 0.5622316334333275 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99972133e-01 7.37212025e-03 1.17709862e-03 -2.72680204e+01] [-7.35842591e-03 9.99909723e-01 -1.12427848e-02 1.50729872e+01] [-1.25987552e-03 1.12338099e-02 9.99936105e-01 1.69477096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60925976399997 meters Centerline goodness [0,1] 0.5646587292231522 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99970891e-01 7.53903811e-03 1.17474890e-03 -2.72677191e+01] [-7.52566960e-03 9.99911216e-01 -1.09965802e-02 1.50728626e+01] [-1.25754824e-03 1.09874193e-02 9.99938846e-01 1.69472202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63925976399997 meters Centerline goodness [0,1] 0.5613327048842278 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99968532e-01 7.84547907e-03 1.17653926e-03 -2.72671102e+01] [-7.83283960e-03 9.99915364e-01 -1.03880411e-02 1.50714950e+01] [-1.25793885e-03 1.03784986e-02 9.99945351e-01 1.69460512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66925976399997 meters Centerline goodness [0,1] 0.5687029633113829 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99967130e-01 8.02573861e-03 1.15150866e-03 -2.72668102e+01] [-8.01378806e-03 9.99917562e-01 -1.00323452e-02 1.50707129e+01] [-1.23193071e-03 1.00227875e-02 9.99949012e-01 1.69455209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69925976399998 meters Centerline goodness [0,1] 0.5658454943183486 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99966484e-01 8.09177118e-03 1.24646376e-03 -2.72669999e+01] [-8.07917490e-03 9.99919347e-01 -9.79927031e-03 1.50700667e+01] [-1.32565668e-03 9.78887148e-03 9.99951209e-01 1.69452669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72925976399998 meters Centerline goodness [0,1] 0.5651919132727805 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99965934e-01 8.14661608e-03 1.32791665e-03 -2.72672998e+01] [-8.13342391e-03 9.99920318e-01 -9.65429905e-03 1.50693080e+01] [-1.40646070e-03 9.64316966e-03 9.99952514e-01 1.69453056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75925976399998 meters Centerline goodness [0,1] 0.5618372488136387 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99966200e-01 8.08599629e-03 1.48878392e-03 -2.72679721e+01] [-8.07137018e-03 9.99921524e-01 -9.58121523e-03 1.50686804e+01] [-1.56614075e-03 9.56887485e-03 9.99952991e-01 1.69454968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78925976399998 meters Centerline goodness [0,1] 0.5618372488136387 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99966200e-01 8.08599629e-03 1.48878392e-03 -2.72679721e+01] [-8.07137018e-03 9.99921524e-01 -9.58121523e-03 1.50686804e+01] [-1.56614075e-03 9.56887485e-03 9.99952991e-01 1.69454968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81925976399998 meters Centerline goodness [0,1] 0.5572541354260875 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99967113e-01 7.95059011e-03 1.60058438e-03 -2.72690766e+01] [-7.93460216e-03 9.99920899e-01 -9.75894002e-03 1.50680836e+01] [-1.67804711e-03 9.74591908e-03 9.99951099e-01 1.69467164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84925976399998 meters Centerline goodness [0,1] 0.5554421669533778 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99966029e-01 8.10159633e-03 1.51844481e-03 -2.72690044e+01] [-8.08654567e-03 9.99920557e-01 -9.66894009e-03 1.50676084e+01] [-1.59665803e-03 9.65633265e-03 9.99952102e-01 1.69469958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87925976399998 meters Centerline goodness [0,1] 0.5538318246645516 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99964964e-01 8.22750884e-03 1.54234537e-03 -2.72690036e+01] [-8.21266895e-03 9.99922159e-01 -9.39296210e-03 1.50667246e+01] [-1.61950599e-03 9.37996624e-03 9.99954696e-01 1.69467547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90925976399998 meters Centerline goodness [0,1] 0.5545760352627305 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99963539e-01 8.37841430e-03 1.64989516e-03 -2.72690656e+01] [-8.36349492e-03 9.99925854e-01 -8.85092140e-03 1.50650958e+01] [-1.72392952e-03 8.83679980e-03 9.99959469e-01 1.69460365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93925976399998 meters Centerline goodness [0,1] 0.5513372849501229 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.95 [[ 9.99989434e-01 4.42419888e-03 1.24853981e-03 -2.72684373e+01] [-4.40775649e-03 9.99907356e-01 -1.28783127e-02 1.50652024e+01] [-1.30540036e-03 1.28726734e-02 9.99916292e-01 1.69466324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.969259764 meters Centerline goodness [0,1] 0.5488758694334612 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99988847e-01 4.48397168e-03 1.48350836e-03 -2.72690885e+01] [-4.46548492e-03 9.99915135e-01 -1.22385754e-02 1.50627902e+01] [-1.53825989e-03 1.22318143e-02 9.99924005e-01 1.69460671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.999259764 meters Centerline goodness [0,1] 0.5478606850420944 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99988219e-01 4.53288675e-03 1.73658761e-03 -2.72697366e+01] [-4.51224994e-03 9.99921270e-01 -1.17086486e-02 1.50608367e+01] [-1.78952487e-03 1.17006748e-02 9.99929943e-01 1.69456131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.029259764 meters Centerline goodness [0,1] 0.5478955841766329 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99987939e-01 4.53903508e-03 1.87601554e-03 -2.72703104e+01] [-4.51740169e-03 9.99925050e-01 -1.13792618e-02 1.50595447e+01] [-1.92752580e-03 1.13706498e-02 9.99933494e-01 1.69455733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.059259764 meters Centerline goodness [0,1] 0.5462313003452244 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99988307e-01 4.39948056e-03 2.00776047e-03 -2.72711405e+01] [-4.37642954e-03 9.99926072e-01 -1.13444568e-02 1.50590624e+01] [-2.05752176e-03 1.13355373e-02 9.99933634e-01 1.69460655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.089259764 meters Centerline goodness [0,1] 0.5497774587221824 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99989152e-01 4.18199999e-03 2.05106024e-03 -2.72720259e+01] [-4.15842715e-03 9.99926762e-01 -1.13656648e-02 1.50585643e+01] [-2.09844123e-03 1.13570123e-02 9.99933305e-01 1.69468370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.119259764 meters Centerline goodness [0,1] 0.5486143054277829 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99989250e-01 4.15533399e-03 2.05741660e-03 -2.72722251e+01] [-4.13190644e-03 9.99928032e-01 -1.12631142e-02 1.50583896e+01] [-2.10407053e-03 1.12544921e-02 9.99934452e-01 1.69469054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.149259764 meters Centerline goodness [0,1] 0.5496345744374749 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99988847e-01 4.20744211e-03 2.14534259e-03 -2.72723959e+01] [-4.18369784e-03 9.99931243e-01 -1.09547244e-02 1.50576395e+01] [-2.19128645e-03 1.09456268e-02 9.99937694e-01 1.69465149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.179259764 meters Centerline goodness [0,1] 0.5461078881288424 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99987931e-01 4.38299033e-03 2.21963455e-03 -2.72722428e+01] [-4.35965199e-03 9.99936286e-01 -1.04123905e-02 1.50563745e+01] [-2.26513054e-03 1.04025880e-02 9.99943326e-01 1.69456355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.209259764 meters Centerline goodness [0,1] 0.5500388567481219 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.95 [[ 9.99987174e-01 4.59004596e-03 2.14079738e-03 -2.72716568e+01] [-4.56808098e-03 9.99938006e-01 -1.01546348e-02 1.50561186e+01] [-2.18727490e-03 1.01447252e-02 9.99946149e-01 1.69450416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23925976399997 meters Centerline goodness [0,1] 0.5494026663588618 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99986241e-01 4.88883079e-03 1.90169438e-03 -2.72708119e+01] [-4.86939966e-03 9.99937222e-01 -1.00916394e-02 1.50568869e+01] [-1.95091132e-03 1.00822404e-02 9.99947270e-01 1.69449577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26925976399997 meters Centerline goodness [0,1] 0.5515387949718249 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99985871e-01 5.02209873e-03 1.74271881e-03 -2.72703557e+01] [-5.00440510e-03 9.99937347e-01 -1.00129126e-02 1.50573291e+01] [-1.79289546e-03 1.00040499e-02 9.99948351e-01 1.69448748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29925976399997 meters Centerline goodness [0,1] 0.5566609623807176 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99983780e-01 5.50430669e-03 1.46365450e-03 -2.72689712e+01] [-5.48978830e-03 9.99937448e-01 -9.74487345e-03 1.50577481e+01] [-1.51720171e-03 9.73668024e-03 9.99951446e-01 1.69441812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32925976399997 meters Centerline goodness [0,1] 0.5540701215091495 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99982485e-01 5.78689359e-03 1.24179581e-03 -2.72680479e+01] [-5.77457825e-03 9.99936263e-01 -9.70178533e-03 1.50584327e+01] [-1.29785986e-03 9.69444455e-03 9.99952166e-01 1.69439423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35925976399997 meters Centerline goodness [0,1] 0.5567771960442118 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99981165e-01 6.05139008e-03 1.02528340e-03 -2.72672095e+01] [-6.04113906e-03 9.99934486e-01 -9.72254186e-03 1.50594479e+01] [-1.08405112e-03 9.71616485e-03 9.99952209e-01 1.69438045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38925976399997 meters Centerline goodness [0,1] 0.5571457660645198 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99979694e-01 6.32393865e-03 7.87043976e-04 -2.72662709e+01] [-6.31596595e-03 9.99932515e-01 -9.75062752e-03 1.50605908e+01] [-8.48653233e-04 9.74545859e-03 9.99952152e-01 1.69436394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41925976399997 meters Centerline goodness [0,1] 0.5581902822228688 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99978341e-01 6.54546540e-03 6.89228473e-04 -2.72657718e+01] [-6.53839184e-03 9.99930518e-01 -9.80862058e-03 1.50613874e+01] [-7.53382570e-04 9.80390168e-03 9.99951657e-01 1.69435806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44925976399998 meters Centerline goodness [0,1] 0.5580839719122404 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99976843e-01 6.78182988e-03 5.66556407e-04 -2.72652515e+01] [-6.77599860e-03 9.99929722e-01 -9.72819974e-03 1.50616128e+01] [-6.32491586e-04 9.72413547e-03 9.99952519e-01 1.69434447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47925976399998 meters Centerline goodness [0,1] 0.5577611549320372 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.94 [[ 9.99975392e-01 7.01201753e-03 2.18852046e-04 -2.72644102e+01] [-7.00956139e-03 9.99928264e-01 -9.71255523e-03 1.50626201e+01] [-2.86940954e-04 9.71078216e-03 9.99952808e-01 1.69436677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50925976399998 meters Centerline goodness [0,1] 0.5591980650989306 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.94 [[ 9.99975627e-01 6.98075539e-03 1.19252331e-04 -2.72645299e+01] [-6.97922706e-03 9.99926337e-01 -9.93026249e-03 1.50634732e+01] [-1.88564280e-04 9.92918817e-03 9.99950687e-01 1.69443280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53925976399998 meters Centerline goodness [0,1] 0.5624454148471616 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.94 [[ 9.99975515e-01 6.99598478e-03 1.58773102e-04 -2.72646769e+01] [-6.99402966e-03 9.99924763e-01 -1.00773130e-02 1.50642587e+01] [-2.29261885e-04 1.00759558e-02 9.99949210e-01 1.69445202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56925976399998 meters Centerline goodness [0,1] 0.5555944566010211 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.94 [[ 9.99974155e-01 7.18891644e-03 9.47122869e-05 -2.72644060e+01] [-7.18759518e-03 9.99923279e-01 -1.00883185e-02 1.50645898e+01] [-1.67229099e-04 1.00873770e-02 9.99949107e-01 1.69445624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59925976399998 meters Centerline goodness [0,1] 0.5635491606714629 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.94 [[ 9.99969634e-01 7.79249337e-03 -8.49661002e-05 -2.72628012e+01] [-7.79295239e-03 9.99920956e-01 -9.86673755e-03 1.50653990e+01] [ 8.07289720e-06 9.86710007e-03 9.99951319e-01 1.69434114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62925976399998 meters Centerline goodness [0,1] 0.5643503649635037 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.94 [[ 9.99967971e-01 8.00206611e-03 -1.56677249e-04 -2.72620634e+01] [-8.00321118e-03 9.99920715e-01 -9.72176954e-03 1.50659228e+01] [ 7.88705847e-05 9.72271208e-03 9.99952730e-01 1.69426781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65925976399998 meters Centerline goodness [0,1] 0.563879481490132 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.94 [[ 9.99966124e-01 8.22500441e-03 -3.16076021e-04 -2.72612016e+01] [-8.22766367e-03 9.99919922e-01 -9.61539013e-03 1.50664007e+01] [ 2.36964084e-04 9.61766497e-03 9.99953721e-01 1.69421343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68925976399998 meters Centerline goodness [0,1] 0.5658264124459 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.94 [[ 9.99964997e-01 8.35759976e-03 -3.94943071e-04 -2.72609295e+01] [-8.36100522e-03 9.99919006e-01 -9.59560317e-03 1.50667043e+01] [ 3.14714872e-04 9.59856941e-03 9.99953883e-01 1.69421350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.719259764 meters Centerline goodness [0,1] 0.5652744943525085 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.94 [[ 9.99963797e-01 8.49887539e-03 -4.17118484e-04 -2.72607878e+01] [-8.50244849e-03 9.99918912e-01 -9.48037984e-03 1.50666548e+01] [ 3.36512094e-04 9.48358315e-03 9.99954973e-01 1.69420378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.749259764 meters Centerline goodness [0,1] 0.5648129246741127 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.94 [[ 9.99962478e-01 8.65163171e-03 -4.37897295e-04 -2.72609792e+01] [-8.65531671e-03 9.99919657e-01 -9.26092654e-03 1.50654445e+01] [ 3.57739987e-04 9.26436919e-03 9.99957021e-01 1.69422713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.779259764 meters Centerline goodness [0,1] 0.5629784880505342 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.94 [[ 9.99962194e-01 8.68280570e-03 -4.68589010e-04 -2.72611223e+01] [-8.68676807e-03 9.99919519e-01 -9.24638364e-03 1.50654741e+01] [ 3.88266745e-04 9.25010460e-03 9.99957141e-01 1.69425799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.809259764 meters Centerline goodness [0,1] 0.5658070900518075 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.94 [[ 9.99962334e-01 8.65959385e-03 -5.84217076e-04 -2.72612062e+01] [-8.66468548e-03 9.99918627e-01 -9.36283995e-03 1.50659790e+01] [ 5.03091145e-04 9.36754935e-03 9.99955997e-01 1.69431850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.839259764 meters Centerline goodness [0,1] 0.5688680345068781 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.94 [[ 9.99961872e-01 8.70575157e-03 -6.81068615e-04 -2.72610760e+01] [-8.71176725e-03 9.99917924e-01 -9.39414289e-03 1.50664374e+01] [ 5.99229641e-04 9.39971803e-03 9.99955642e-01 1.69433793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.869259764 meters Centerline goodness [0,1] 0.5678156230879053 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.94 [[ 9.99959552e-01 8.96248314e-03 -7.53610818e-04 -2.72605995e+01] [-8.96899757e-03 9.99918025e-01 -9.13780266e-03 1.50659278e+01] [ 6.71651639e-04 9.14419219e-03 9.99957965e-01 1.69429849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.899259764 meters Centerline goodness [0,1] 0.5700950885457559 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.94 [[ 9.99981452e-01 5.92415712e-03 -1.41413803e-03 -2.72576701e+01] [-5.94173331e-03 9.99900853e-01 -1.27663249e-02 1.50661052e+01] [ 1.33836811e-03 1.27744905e-02 9.99917507e-01 1.69419817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.929259764 meters Centerline goodness [0,1] 0.566053633167727 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.94 [[ 9.99979902e-01 6.19471460e-03 -1.34952667e-03 -2.72575264e+01] [-6.21060572e-03 9.99907410e-01 -1.21078508e-02 1.50638886e+01] [ 1.27439704e-03 1.21159888e-02 9.99925787e-01 1.69411327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.959259764 meters Centerline goodness [0,1] 0.5670318205529473 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.94 [[ 9.99979473e-01 6.28021174e-03 -1.27004303e-03 -2.72578731e+01] [-6.29465034e-03 9.99911699e-01 -1.17034935e-02 1.50622149e+01] [ 1.19643046e-03 1.17112478e-02 9.99930705e-01 1.69409659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98925976399997 meters Centerline goodness [0,1] 0.5629286644479814 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.94 [[ 9.99981307e-01 6.01203518e-03 -1.11362473e-03 -2.72594269e+01] [-6.02441541e-03 9.99916081e-01 -1.14689872e-02 1.50600574e+01] [ 1.04457932e-03 1.14754818e-02 9.99933609e-01 1.69419539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01925976399997 meters Centerline goodness [0,1] 0.5637614944190619 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.94 [[ 9.99981710e-01 5.95983553e-03 -1.02986633e-03 -2.72601706e+01] [-5.97106378e-03 9.99918696e-01 -1.12670912e-02 1.50587642e+01] [ 9.62632584e-04 1.12730345e-02 9.99935994e-01 1.69424138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04925976399997 meters Centerline goodness [0,1] 0.5572096243725118 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.94 [[ 9.99981023e-01 6.08895268e-03 -9.37198013e-04 -2.72604917e+01] [-6.09881239e-03 9.99921951e-01 -1.09040008e-02 1.50571699e+01] [ 8.70730920e-04 1.09095096e-02 9.99940110e-01 1.69423135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07925976399997 meters Centerline goodness [0,1] 0.5578480246664553 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.05, Z:16.94 [[ 9.99979395e-01 6.36504157e-03 -8.34359989e-04 -2.72605539e+01] [-6.37327633e-03 9.99926958e-01 -1.02693795e-02 1.50549099e+01] [ 7.68934019e-04 1.02744855e-02 9.99946920e-01 1.69416874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10925976399997 meters Centerline goodness [0,1] 0.5586593785960874 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.05, Z:16.94 [[ 9.99977733e-01 6.62967057e-03 -7.62616992e-04 -2.72604019e+01] [-6.63666973e-03 9.99932145e-01 -9.57391467e-03 1.50525213e+01] [ 6.99093344e-04 9.57876272e-03 9.99953878e-01 1.69407765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13925976399997 meters Centerline goodness [0,1] 0.5583991755410511 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.05, Z:16.94 [[ 9.99994626e-01 3.02901236e-03 -1.25421737e-03 -2.72589398e+01] [-3.04553383e-03 9.99905748e-01 -1.33873030e-02 1.50524175e+01] [ 1.21354885e-03 1.33910508e-02 9.99909599e-01 1.69407426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16925976399997 meters Centerline goodness [0,1] 0.5539103590212668 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.05, Z:16.94 [[ 9.99994942e-01 3.03605221e-03 -9.47857991e-04 -2.72598501e+01] [-3.04811407e-03 9.99910923e-01 -1.29944494e-02 1.50505492e+01] [ 9.08321732e-04 1.29972728e-02 9.99915119e-01 1.69405231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19925976399998 meters Centerline goodness [0,1] 0.5519824541415062 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.05, Z:16.94 [[ 9.99994956e-01 3.10876527e-03 -6.51198811e-04 -2.72607700e+01] [-3.11665184e-03 9.99917242e-01 -1.24817954e-02 1.50480701e+01] [ 6.12341947e-04 1.24837620e-02 9.99921887e-01 1.69403191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22925976399998 meters Centerline goodness [0,1] 0.5493576836911209 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.05, Z:16.94 [[ 9.99994797e-01 3.21026656e-03 -3.15100933e-04 -2.72617091e+01] [-3.21375253e-03 9.99925589e-01 -1.17680694e-02 1.50450209e+01] [ 2.77298846e-04 1.17690208e-02 9.99930704e-01 1.69398298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25925976399998 meters Centerline goodness [0,1] 0.5507246376811594 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.04, Z:16.94 [[ 9.99996103e-01 2.79172106e-03 -8.81342706e-06 -2.72635533e+01] [-2.79165047e-03 9.99936285e-01 -1.09376510e-02 1.50407457e+01] [-2.17220052e-05 1.09376330e-02 9.99940182e-01 1.69397784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28925976399998 meters Centerline goodness [0,1] 0.5500973448830451 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.04, Z:16.94 [[ 9.99996048e-01 2.80495827e-03 1.88888458e-04 -2.72642868e+01] [-2.80281960e-03 9.99940908e-01 -1.05035307e-02 1.50391860e+01] [-2.18339261e-04 1.05029597e-02 9.99944819e-01 1.69396892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31925976399998 meters Centerline goodness [0,1] 0.5506236655804022 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.04, Z:16.94 [[ 9.99996017e-01 2.79937208e-03 3.59322359e-04 -2.72648549e+01] [-2.79559392e-03 9.99944918e-01 -1.01165623e-02 1.50378540e+01] [-3.87622590e-04 1.01155175e-02 9.99948762e-01 1.69394649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34925976399998 meters Centerline goodness [0,1] 0.5482976817112779 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.94 [[ 9.99995554e-01 2.87791033e-03 7.80401357e-04 -2.72657438e+01] [-2.87064618e-03 9.99953973e-01 -9.15483984e-03 1.50338885e+01] [-8.06712245e-04 9.15255888e-03 9.99957789e-01 1.69382379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37925976399998 meters Centerline goodness [0,1] 0.5486500823631237 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.94 [[ 9.99994924e-01 2.98496935e-03 1.11449678e-03 -2.72663428e+01] [-2.97543659e-03 9.99959793e-01 -8.45928141e-03 1.50313088e+01] [-1.13970267e-03 8.45592235e-03 9.99963599e-01 1.69372657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40925976399998 meters Centerline goodness [0,1] 0.5432442206581912 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.94 [[ 9.99994536e-01 2.94075975e-03 1.50978546e-03 -2.72674005e+01] [-2.92861136e-03 9.99963818e-01 -7.98656013e-03 1.50290060e+01] [-1.53321739e-03 7.98209492e-03 9.99966967e-01 1.69367800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43925976399998 meters Centerline goodness [0,1] 0.5435513914759933 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.94 [[ 9.99994205e-01 2.82535841e-03 1.89909065e-03 -2.72684530e+01] [-2.81100870e-03 9.99967798e-01 -7.51676486e-03 1.50270319e+01] [-1.92026705e-03 7.51138295e-03 9.99969945e-01 1.69362313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.469259764 meters Centerline goodness [0,1] 0.5429585667535637 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.94 [[ 9.99995174e-01 2.06875303e-03 2.31776450e-03 -2.72706328e+01] [-2.05203105e-03 9.99972017e-01 -7.19399916e-03 1.50246065e+01] [-2.33258225e-03 7.18920831e-03 9.99971437e-01 1.69364231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.499259764 meters Centerline goodness [0,1] 0.537145230513637 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.94 [[ 9.99994653e-01 1.87448810e-03 2.67968551e-03 -2.72718498e+01] [-1.85589295e-03 9.99974299e-01 -6.92502977e-03 1.50231343e+01] [-2.69259753e-03 6.92001953e-03 9.99972431e-01 1.69363604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.529259764 meters Centerline goodness [0,1] 0.5265353482332791 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.94 [[ 9.99993767e-01 1.58596950e-03 3.15461727e-03 -2.72734705e+01] [-1.56507363e-03 9.99976893e-01 -6.61537492e-03 1.50212130e+01] [-3.16503616e-03 6.61039647e-03 9.99973142e-01 1.69363294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.559259764 meters Centerline goodness [0,1] 0.5314853123707075 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.94 [[ 9.99992430e-01 1.24458021e-03 3.68661448e-03 -2.72751784e+01] [-1.22159872e-03 9.99979850e-01 -6.22947073e-03 1.50187320e+01] [-3.69429327e-03 6.22492001e-03 9.99973801e-01 1.69360431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.589259764 meters Centerline goodness [0,1] 0.47970986619776357 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.94 [[ 9.99986894e-01 -3.20343846e-03 3.99375077e-03 -2.72762543e+01] [ 3.24285888e-03 9.99945701e-01 -9.90343829e-03 1.50167900e+01] [-3.96180886e-03 9.91625967e-03 9.99942984e-01 1.69355948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.619259764 meters Centerline goodness [0,1] 0.5183159746077111 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.01, Z:16.94 [[ 9.99983207e-01 -3.56159371e-03 4.57181613e-03 -2.72780091e+01] [ 3.60487867e-03 9.99948426e-01 -9.49471907e-03 1.50148173e+01] [-4.53776401e-03 9.51104046e-03 9.99944473e-01 1.69351839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.649259764 meters Centerline goodness [0,1] 0.48021079211725315 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.94 [[ 9.99985065e-01 -3.33663484e-03 4.32868937e-03 -2.72771984e+01] [ 3.37780531e-03 9.99948799e-01 -9.53888319e-03 1.50160711e+01] [-4.29663997e-03 9.55336219e-03 9.99945135e-01 1.69351069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.679259764 meters Centerline goodness [0,1] 0.48785313839727384 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99987213e-01 8.17554769e-04 4.99045939e-03 -2.72786394e+01] [-7.91906242e-04 9.99986480e-01 -5.13932638e-03 1.50153246e+01] [-4.99459360e-03 5.13530869e-03 9.99974341e-01 1.69344378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.709259764 meters Centerline goodness [0,1] 0.48785313839727384 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99987213e-01 8.17554769e-04 4.99045939e-03 -2.72786394e+01] [-7.91906242e-04 9.99986480e-01 -5.13932638e-03 1.50153246e+01] [-4.99459360e-03 5.13530869e-03 9.99974341e-01 1.69344378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73925976399997 meters Centerline goodness [0,1] 0.4909005937981087 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99986518e-01 8.53195117e-04 5.12218305e-03 -2.72788374e+01] [-8.26221049e-04 9.99985794e-01 -5.26593574e-03 1.50162510e+01] [-5.12660315e-03 5.26163269e-03 9.99973016e-01 1.69343479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76925976399997 meters Centerline goodness [0,1] 0.4909005937981087 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99986518e-01 8.53195117e-04 5.12218305e-03 -2.72788374e+01] [-8.26221049e-04 9.99985794e-01 -5.26593574e-03 1.50162510e+01] [-5.12660315e-03 5.26163269e-03 9.99973016e-01 1.69343479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79925976399997 meters Centerline goodness [0,1] 0.4939580358123695 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99985348e-01 1.27456058e-03 5.26108200e-03 -2.72782196e+01] [-1.24874451e-03 9.99987179e-01 -4.90736076e-03 1.50157920e+01] [-5.26726927e-03 4.90071911e-03 9.99974119e-01 1.69331055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82925976399997 meters Centerline goodness [0,1] 0.49755171654929575 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99984273e-01 1.40411715e-03 5.42981312e-03 -2.72781872e+01] [-1.37890240e-03 9.99988263e-01 -4.64471934e-03 1.50155220e+01] [-5.43627112e-03 4.63715911e-03 9.99974472e-01 1.69323142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85925976399997 meters Centerline goodness [0,1] 0.49752161700721487 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99983276e-01 1.47724881e-03 5.59150345e-03 -2.72783011e+01] [-1.45246679e-03 9.99989117e-01 -4.43355246e-03 1.50153180e+01] [-5.59799206e-03 4.42535684e-03 9.99974539e-01 1.69317755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88925976399997 meters Centerline goodness [0,1] 0.49772078207381376 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.01, Z:16.93 [[ 9.99982152e-01 1.43522031e-03 5.79960783e-03 -2.72786748e+01] [-1.41081232e-03 9.99990141e-01 -4.21045976e-03 1.50149463e+01] [-5.80559359e-03 4.20220245e-03 9.99974318e-01 1.69312536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91925976399997 meters Centerline goodness [0,1] 0.49452178927424006 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.01, Z:16.93 [[ 9.99980605e-01 1.40395933e-03 6.06786262e-03 -2.72791496e+01] [-1.38039334e-03 9.99991496e-01 -3.88618315e-03 1.50142051e+01] [-6.07326706e-03 3.87773174e-03 9.99974039e-01 1.69306050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94925976399998 meters Centerline goodness [0,1] 0.4925778570448621 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.01, Z:16.93 [[ 9.99978274e-01 9.18790928e-04 6.52741399e-03 -2.72806089e+01] [-8.93919447e-04 9.99992334e-01 -3.81220782e-03 1.50139329e+01] [-6.53086658e-03 3.80629001e-03 9.99971430e-01 1.69303400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97925976399998 meters Centerline goodness [0,1] 0.49485158845657484 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.01, Z:16.93 [[ 9.99977774e-01 8.48704966e-04 6.61289907e-03 -2.72807875e+01] [-8.23755720e-04 9.99992537e-01 -3.77462582e-03 1.50142268e+01] [-6.61605326e-03 3.76909452e-03 9.99971010e-01 1.69301375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00925976399998 meters Centerline goodness [0,1] 0.4951915150849041 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.01, Z:16.93 [[ 9.99977115e-01 8.58120964e-04 6.71067800e-03 -2.72808297e+01] [-8.32689000e-04 9.99992465e-01 -3.79165168e-03 1.50147765e+01] [-6.71388113e-03 3.78597700e-03 9.99970295e-01 1.69298372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03925976399998 meters Centerline goodness [0,1] 0.49660031803476445 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99976543e-01 8.49993570e-04 6.79639795e-03 -2.72810046e+01] [-8.23492793e-04 9.99992052e-01 -3.90108665e-03 1.50154688e+01] [-6.79965983e-03 3.89539836e-03 9.99969295e-01 1.69298634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06925976399998 meters Centerline goodness [0,1] 0.49731693222158013 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99978553e-01 8.87290364e-04 6.48895321e-03 -2.72804600e+01] [-8.56748325e-04 9.99988550e-01 -4.70804044e-03 1.50199474e+01] [-6.49305631e-03 4.70238007e-03 9.99967863e-01 1.69310145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09925976399998 meters Centerline goodness [0,1] 0.5017948859557078 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99979205e-01 8.86940176e-04 6.38771817e-03 -2.72802513e+01] [-8.54744728e-04 9.99986928e-01 -5.04117849e-03 1.50216757e+01] [-6.39210589e-03 5.03561379e-03 9.99966891e-01 1.69313246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12925976399998 meters Centerline goodness [0,1] 0.5002478656017626 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99977928e-01 9.92521358e-04 6.56950813e-03 -2.72803264e+01] [-9.60177003e-04 9.99987412e-01 -4.92473014e-03 1.50216411e+01] [-6.57431334e-03 4.91831355e-03 9.99966294e-01 1.69307823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15925976399998 meters Centerline goodness [0,1] 0.5007438836235398 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99976824e-01 1.28378788e-03 6.68598611e-03 -2.72799146e+01] [-1.25312691e-03 9.99988690e-01 -4.58802736e-03 1.50211345e+01] [-6.69180054e-03 4.57954264e-03 9.99967123e-01 1.69297709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18925976399998 meters Centerline goodness [0,1] 0.49966843501326264 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99975142e-01 1.21655881e-03 6.94514298e-03 -2.72805346e+01] [-1.18435446e-03 9.99988538e-01 -4.63919163e-03 1.50216343e+01] [-6.95070723e-03 4.63085080e-03 9.99965121e-01 1.69296499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.219259764 meters Centerline goodness [0,1] 0.4990727670292563 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99974890e-01 1.14728443e-03 6.99307675e-03 -2.72808465e+01] [-1.11451619e-03 9.99988391e-01 -4.68791015e-03 1.50221178e+01] [-6.99837393e-03 4.67999854e-03 9.99964560e-01 1.69298515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.249259764 meters Centerline goodness [0,1] 0.5004698209153217 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99974666e-01 1.17233200e-03 7.02091845e-03 -2.72809616e+01] [-1.14053658e-03 9.99989085e-01 -4.53096285e-03 1.50220292e+01] [-7.02615361e-03 4.52284045e-03 9.99965088e-01 1.69297372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.279259764 meters Centerline goodness [0,1] 0.501092276636341 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99975072e-01 1.23107362e-03 6.95269990e-03 -2.72807821e+01] [-1.20005085e-03 9.99989315e-01 -4.46438624e-03 1.50223401e+01] [-6.95812159e-03 4.45593136e-03 9.99965864e-01 1.69296873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.309259764 meters Centerline goodness [0,1] 0.49296788482834997 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99975429e-01 1.24474898e-03 6.89875078e-03 -2.72807802e+01] [-1.21291465e-03 9.99988607e-01 -4.61677139e-03 1.50233530e+01] [-6.90441890e-03 4.60829035e-03 9.99965546e-01 1.69300015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.339259764 meters Centerline goodness [0,1] 0.49980591138468367 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99974613e-01 1.14285700e-03 7.03327222e-03 -2.72813857e+01] [-1.10972691e-03 9.99988280e-01 -4.71258156e-03 1.50237667e+01] [-7.03857560e-03 4.70465691e-03 9.99964162e-01 1.69303180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.369259764 meters Centerline goodness [0,1] 0.49256853462512384 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99970135e-01 7.51064177e-04 7.69194024e-03 -2.72835554e+01] [-7.17213832e-04 9.99990051e-01 -4.40256840e-03 1.50211402e+01] [-7.69517033e-03 4.39692015e-03 9.99960725e-01 1.69302255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.399259764 meters Centerline goodness [0,1] 0.4967658473479948 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99969431e-01 9.42232755e-04 7.76207837e-03 -2.72835261e+01] [-9.09687979e-04 9.99990786e-01 -4.19525560e-03 1.50203979e+01] [-7.76595976e-03 4.18806629e-03 9.99961074e-01 1.69299602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.429259764 meters Centerline goodness [0,1] 0.492923229430554 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99969989e-01 1.02250373e-03 7.67958056e-03 -2.72833149e+01] [-9.89789437e-04 9.99990426e-01 -4.26249964e-03 1.50211599e+01] [-7.68386546e-03 4.25477055e-03 9.99961427e-01 1.69300421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.459259764 meters Centerline goodness [0,1] 0.4971672167216722 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99973587e-01 1.12287718e-03 7.18085712e-03 -2.72823838e+01] [-1.08841086e-03 9.99987879e-01 -4.80185864e-03 1.50240262e+01] [-7.18616198e-03 4.79391608e-03 9.99962688e-01 1.69310946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48925976399997 meters Centerline goodness [0,1] 0.4987744085488447 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99974324e-01 1.22596357e-03 7.06037843e-03 -2.72820311e+01] [-1.19169892e-03 9.99987503e-01 -4.85525359e-03 1.50248088e+01] [-7.06624256e-03 4.84671508e-03 9.99963288e-01 1.69311322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51925976399997 meters Centerline goodness [0,1] 0.49903623747108716 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99973943e-01 1.33682117e-03 7.09406969e-03 -2.72818204e+01] [-1.30341601e-03 9.99988052e-01 -4.71142065e-03 1.50248384e+01] [-7.10028326e-03 4.70205137e-03 9.99963738e-01 1.69306623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54925976399997 meters Centerline goodness [0,1] 0.4977552538078056 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99973140e-01 1.45158235e-03 7.18411984e-03 -2.72815955e+01] [-1.41969822e-03 9.99989130e-01 -4.44125125e-03 1.50245212e+01] [-7.19048859e-03 4.43093267e-03 9.99964331e-01 1.69298678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57925976399997 meters Centerline goodness [0,1] 0.49855256265335945 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99973242e-01 1.57414779e-03 7.14398192e-03 -2.72813114e+01] [-1.54390760e-03 9.99989834e-01 -4.23650200e-03 1.50243560e+01] [-7.15057817e-03 4.22535899e-03 9.99965507e-01 1.69295278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60925976399997 meters Centerline goodness [0,1] 0.5039480949751518 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.93 [[ 9.99974292e-01 1.66321538e-03 6.97495278e-03 -2.72807010e+01] [-1.63234197e-03 9.99988857e-01 -4.42968407e-03 1.50258920e+01] [-6.98224258e-03 4.41818468e-03 9.99965863e-01 1.69295330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63925976399997 meters Centerline goodness [0,1] 0.5023441617887758 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.93 [[ 9.99977570e-01 1.86947081e-03 6.43156484e-03 -2.72794234e+01] [-1.83581276e-03 9.99984611e-01 -5.23518918e-03 1.50310371e+01] [-6.44125290e-03 5.22326460e-03 9.99965613e-01 1.69306859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66925976399997 meters Centerline goodness [0,1] 0.5032577824803698 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.93 [[ 9.99978199e-01 1.71511934e-03 6.37650720e-03 -2.72794305e+01] [-1.67904272e-03 9.99982579e-01 -5.65879502e-03 1.50330146e+01] [-6.38610163e-03 5.64796522e-03 9.99963658e-01 1.69310856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69925976399998 meters Centerline goodness [0,1] 0.5021461619934222 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.93 [[ 9.99978004e-01 1.76697083e-03 6.39295195e-03 -2.72792579e+01] [-1.73036277e-03 9.99982102e-01 -5.72732277e-03 1.50337921e+01] [-6.40295754e-03 5.71613466e-03 9.99963163e-01 1.69308616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72925976399998 meters Centerline goodness [0,1] 0.5022111509180475 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.93 [[ 9.99977713e-01 1.89809133e-03 6.40084306e-03 -2.72788050e+01] [-1.86167270e-03 9.99982074e-01 -5.69082751e-03 1.50343660e+01] [-6.41153003e-03 5.67878441e-03 9.99963321e-01 1.69302779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75925976399998 meters Centerline goodness [0,1] 0.5035447081570319 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99979771e-01 2.54069423e-03 5.83117854e-03 -2.72761755e+01] [-2.50605116e-03 9.99979214e-01 -5.94064398e-03 1.50381411e+01] [-5.84615069e-03 5.92591057e-03 9.99965352e-01 1.69296119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78925976399998 meters Centerline goodness [0,1] 0.5074945864619365 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.93 [[ 9.99982271e-01 2.63029740e-03 5.34217589e-03 -2.72749574e+01] [-2.59565255e-03 9.99975624e-01 -6.48176947e-03 1.50412156e+01] [-5.35909465e-03 6.46778813e-03 9.99964723e-01 1.69301970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81925976399998 meters Centerline goodness [0,1] 0.5059591052869408 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.93 [[ 9.99983569e-01 2.81038502e-03 4.99636587e-03 -2.72739258e+01] [-2.77636529e-03 9.99973006e-01 -6.80284063e-03 1.50435421e+01] [-5.01534960e-03 6.78885711e-03 9.99964378e-01 1.69304190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84925976399998 meters Centerline goodness [0,1] 0.5036852955296377 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99984556e-01 3.04570098e-03 4.64882853e-03 -2.72726878e+01] [-3.01293726e-03 9.99970690e-01 -7.03854407e-03 1.50456152e+01] [-4.67012957e-03 7.02442873e-03 9.99964423e-01 1.69303471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87925976399998 meters Centerline goodness [0,1] 0.5068228885925842 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99984828e-01 3.42247142e-03 4.31626285e-03 -2.72711274e+01] [-3.39146600e-03 9.99968541e-01 -7.17037178e-03 1.50476182e+01] [-4.34066746e-03 7.15562453e-03 9.99964977e-01 1.69298500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90925976399998 meters Centerline goodness [0,1] 0.5070786900159199 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99978783e-01 5.08010941e-03 4.07741393e-03 -2.72680298e+01] [-5.05132791e-03 9.99962473e-01 -7.03829116e-03 1.50515643e+01] [-4.11301621e-03 7.01754548e-03 9.99966918e-01 1.69285590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93925976399998 meters Centerline goodness [0,1] 0.5104327005301864 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99978758e-01 5.48371538e-03 3.52307344e-03 -2.72660872e+01] [-5.45776613e-03 9.99958216e-01 -7.33338327e-03 1.50544556e+01] [-3.56314042e-03 7.31399938e-03 9.99966904e-01 1.69284842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.969259764 meters Centerline goodness [0,1] 0.5086784670905654 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99979262e-01 5.66559413e-03 3.06210796e-03 -2.72648986e+01] [-5.64160659e-03 9.99953771e-01 -7.78634322e-03 1.50574505e+01] [-3.10608067e-03 7.76890654e-03 9.99964998e-01 1.69289920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.999259764 meters Centerline goodness [0,1] 0.5181461430494687 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99979327e-01 5.83787953e-03 2.69533345e-03 -2.72638763e+01] [-5.81551834e-03 9.99949215e-01 -8.23086984e-03 1.50601426e+01] [-2.74324740e-03 8.21502492e-03 9.99962493e-01 1.69294156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.029259764 meters Centerline goodness [0,1] 0.5234801079281244 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99976453e-01 6.45740612e-03 2.32298463e-03 -2.72622680e+01] [-6.43796539e-03 9.99944986e-01 -8.28119068e-03 1.50615127e+01] [-2.37633185e-03 8.26604038e-03 9.99963012e-01 1.69292264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.059259764 meters Centerline goodness [0,1] 0.5125157882650132 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99975659e-01 6.58196634e-03 2.31511120e-03 -2.72620612e+01] [-6.56267643e-03 9.99944488e-01 -8.24334805e-03 1.50617094e+01] [-2.36924012e-03 8.22795407e-03 9.99963343e-01 1.69290218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.089259764 meters Centerline goodness [0,1] 0.5114949135007759 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99974878e-01 6.73821816e-03 2.19996027e-03 -2.72615712e+01] [-6.72017764e-03 9.99944554e-01 -8.10730029e-03 1.50618873e+01] [-2.25446705e-03 8.09231249e-03 9.99964715e-01 1.69287586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.119259764 meters Centerline goodness [0,1] 0.5152901239895284 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99975418e-01 6.66770141e-03 2.16933195e-03 -2.72616557e+01] [-6.64996103e-03 9.99945206e-01 -8.08474767e-03 1.50622115e+01] [-2.22311977e-03 8.07012295e-03 9.99964965e-01 1.69288702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.149259764 meters Centerline goodness [0,1] 0.5186174797448716 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99974572e-01 6.76864753e-03 2.24536735e-03 -2.72617630e+01] [-6.75088860e-03 9.99946599e-01 -7.82461980e-03 1.50611485e+01] [-2.29820953e-03 7.80926261e-03 9.99966866e-01 1.69286038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.179259764 meters Centerline goodness [0,1] 0.5177333525097081 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99973279e-01 6.85772400e-03 2.53219296e-03 -2.72624213e+01] [-6.83871860e-03 9.99948942e-01 -7.43939931e-03 1.50593937e+01] [-2.58308102e-03 7.42188357e-03 9.99969121e-01 1.69282667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.209259764 meters Centerline goodness [0,1] 0.5153427014625753 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99973227e-01 6.76337510e-03 2.79312779e-03 -2.72634842e+01] [-6.74302202e-03 9.99951106e-01 -7.23308150e-03 1.50579307e+01] [-2.84191127e-03 7.21405372e-03 9.99969940e-01 1.69285180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23925976399997 meters Centerline goodness [0,1] 0.5152740727992428 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99973445e-01 6.60744407e-03 3.07413732e-03 -2.72647930e+01] [-6.58548006e-03 9.99953104e-01 -7.10085894e-03 1.50566991e+01] [-3.12091169e-03 7.08042571e-03 9.99970063e-01 1.69290107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26925976399997 meters Centerline goodness [0,1] 0.5146953405017921 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.93 [[ 9.99973750e-01 6.42449041e-03 3.35026173e-03 -2.72660323e+01] [-6.40119478e-03 9.99955580e-01 -6.91834885e-03 1.50553956e+01] [-3.39455977e-03 6.89672157e-03 9.99970456e-01 1.69293789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29925976399997 meters Centerline goodness [0,1] 0.5101073549566012 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.93 [[ 9.99992979e-01 2.25095718e-03 2.99591190e-03 -2.72661734e+01] [-2.21667104e-03 9.99932574e-01 -1.13988418e-02 1.50559688e+01] [-3.02136821e-03 1.13921208e-02 9.99930543e-01 1.69311328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32925976399997 meters Centerline goodness [0,1] 0.5074958672974976 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99991652e-01 2.34128851e-03 3.34880385e-03 -2.72671024e+01] [-2.30499495e-03 9.99939012e-01 -1.08008741e-02 1.50534134e+01] [-3.37388757e-03 1.07930650e-02 9.99936061e-01 1.69307086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35925976399997 meters Centerline goodness [0,1] 0.5090131203650885 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99990192e-01 2.52985305e-03 3.63536860e-03 -2.72675284e+01] [-2.49305920e-03 9.99945985e-01 -1.00902138e-02 1.50508584e+01] [-3.66069899e-03 1.00810516e-02 9.99942484e-01 1.69298294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38925976399997 meters Centerline goodness [0,1] 0.5085712663904183 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99989068e-01 2.60497977e-03 3.88313203e-03 -2.72681177e+01] [-2.56827141e-03 9.99952253e-01 -9.42848433e-03 1.50485274e+01] [-3.90750763e-03 9.41840832e-03 9.99948011e-01 1.69291551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41925976399997 meters Centerline goodness [0,1] 0.5093606399273841 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99987738e-01 2.69791447e-03 4.15263053e-03 -2.72687340e+01] [-2.66127651e-03 9.99957710e-01 -8.80321332e-03 1.50463296e+01] [-4.17620523e-03 8.79205408e-03 9.99952628e-01 1.69285718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44925976399998 meters Centerline goodness [0,1] 0.5093778331822303 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.93 [[ 9.99986550e-01 2.78879327e-03 4.37300507e-03 -2.72692956e+01] [-2.75287725e-03 9.99962609e-01 -8.19774294e-03 1.50442942e+01] [-4.39570336e-03 8.18559433e-03 9.99956836e-01 1.69280932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47925976399998 meters Centerline goodness [0,1] 0.5083425086812907 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.93 [[ 9.99984861e-01 2.41696779e-03 4.94328015e-03 -2.72716346e+01] [-2.38021643e-03 9.99969586e-01 -7.42702978e-03 1.50397874e+01] [-4.96108069e-03 7.41515126e-03 9.99960201e-01 1.69280453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50925976399998 meters Centerline goodness [0,1] 0.5066479269149684 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.93 [[ 9.99982519e-01 2.12574996e-03 5.51752326e-03 -2.72737180e+01] [-2.08720609e-03 9.99973447e-01 -6.98210106e-03 1.50368623e+01] [-5.53221895e-03 6.97046280e-03 9.99960403e-01 1.69281409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53925976399998 meters Centerline goodness [0,1] 0.5044885821691074 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.93 [[ 9.99979257e-01 1.76463776e-03 6.19442976e-03 -2.72761645e+01] [-1.72420951e-03 9.99977220e-01 -6.52583433e-03 1.50337422e+01] [-6.20580439e-03 6.51501847e-03 9.99959520e-01 1.69283490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56925976399998 meters Centerline goodness [0,1] 0.5031214131743232 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.93 [[ 9.99975926e-01 1.41687139e-03 6.79264775e-03 -2.72784526e+01] [-1.37484370e-03 9.99979910e-01 -6.18791300e-03 1.50311799e+01] [-6.80127876e-03 6.17842520e-03 9.99957784e-01 1.69287731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59925976399998 meters Centerline goodness [0,1] 0.5031214131743232 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.93 [[ 9.99975926e-01 1.41687139e-03 6.79264775e-03 -2.72784526e+01] [-1.37484370e-03 9.99979910e-01 -6.18791300e-03 1.50311799e+01] [-6.80127876e-03 6.17842520e-03 9.99957784e-01 1.69287731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62925976399998 meters Centerline goodness [0,1] 0.4988441721208745 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.93 [[ 9.99975830e-01 -1.35244826e-04 6.95134359e-03 -2.72815110e+01] [ 1.77711841e-04 9.99981325e-01 -6.10892629e-03 1.50265482e+01] [-6.95038757e-03 6.11001397e-03 9.99957179e-01 1.69301712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65925976399998 meters Centerline goodness [0,1] 0.5013020833333333 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99971891e-01 -3.65112696e-04 7.48898350e-03 -2.72832145e+01] [ 4.06111386e-04 9.99984936e-01 -5.47374335e-03 1.50233811e+01] [-7.48687216e-03 5.47663085e-03 9.99956976e-01 1.69297977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68925976399998 meters Centerline goodness [0,1] 0.4955884386668511 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99967801e-01 -6.21738745e-04 8.00064300e-03 -2.72849669e+01] [ 6.61392178e-04 9.99987507e-01 -4.95458974e-03 1.50204204e+01] [-7.99746259e-03 4.95972177e-03 9.99955720e-01 1.69297250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.719259764 meters Centerline goodness [0,1] 0.4904376102292769 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.02, Z:16.93 [[ 9.99963123e-01 -8.75368804e-04 8.54318668e-03 -2.72868483e+01] [ 9.14236969e-04 9.99989245e-01 -4.54676541e-03 1.50179102e+01] [-8.53911471e-03 4.55440824e-03 9.99953169e-01 1.69298271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.749259764 meters Centerline goodness [0,1] 0.49258730507357784 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.02, Z:16.93 [[ 9.99960350e-01 -1.03456021e-03 8.84469747e-03 -2.72880390e+01] [ 1.07227506e-03 9.99990349e-01 -4.26044160e-03 1.50164003e+01] [-8.84020443e-03 4.26975663e-03 9.99951809e-01 1.69299906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.779259764 meters Centerline goodness [0,1] 0.492720243481122 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.02, Z:16.93 [[ 9.99959881e-01 -1.22227020e-03 8.87371230e-03 -2.72891796e+01] [ 1.26190375e-03 9.99989248e-01 -4.46217581e-03 1.50158961e+01] [-8.86816291e-03 4.47319456e-03 9.99950672e-01 1.69315135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.809259764 meters Centerline goodness [0,1] 0.4923628599583927 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.02, Z:16.93 [[ 9.99958529e-01 -1.24917011e-03 9.02113013e-03 -2.72898746e+01] [ 1.28833359e-03 9.99989766e-01 -4.33680008e-03 1.50151194e+01] [-9.01562041e-03 4.34824245e-03 9.99949904e-01 1.69318552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.839259764 meters Centerline goodness [0,1] 0.49068713130871755 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.93 [[ 9.99956083e-01 -1.25182707e-03 9.28787307e-03 -2.72906365e+01] [ 1.28985872e-03 9.99990804e-01 -4.08990407e-03 1.50139784e+01] [-9.28266781e-03 4.10170450e-03 9.99948503e-01 1.69317525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.869259764 meters Centerline goodness [0,1] 0.4937503411385842 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.93 [[ 9.99958904e-01 -7.80158759e-04 9.03222191e-03 -2.72894440e+01] [ 8.13559079e-04 9.99992843e-01 -3.69482388e-03 1.50130369e+01] [-9.02927472e-03 3.70202029e-03 9.99952382e-01 1.69310869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.899259764 meters Centerline goodness [0,1] 0.49433478035329126 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.93 [[ 9.99960051e-01 -6.29886948e-04 8.91622855e-03 -2.72890538e+01] [ 6.62646678e-04 9.99993040e-01 -3.67169165e-03 1.50134798e+01] [-8.91385374e-03 3.67745328e-03 9.99953509e-01 1.69310365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.929259764 meters Centerline goodness [0,1] 0.4931152715794057 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.93 [[ 9.99959968e-01 -6.32070174e-04 8.92542779e-03 -2.72891963e+01] [ 6.64544829e-04 9.99993169e-01 -3.63594558e-03 1.50137143e+01] [-8.92306865e-03 3.64173137e-03 9.99953557e-01 1.69311211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.959259764 meters Centerline goodness [0,1] 0.4965746881738039 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.93 [[ 9.99960166e-01 -6.87874578e-04 8.89908855e-03 -2.72894609e+01] [ 7.21257602e-04 9.99992714e-01 -3.74862045e-03 1.50139325e+01] [-8.89644513e-03 3.75488966e-03 9.99953376e-01 1.69316303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98925976399997 meters Centerline goodness [0,1] 0.4948281979203625 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.93 [[ 9.99960339e-01 -6.24239592e-04 8.88428183e-03 -2.72894112e+01] [ 6.56673481e-04 9.99993129e-01 -3.64825592e-03 1.50138645e+01] [-8.88194340e-03 3.65394530e-03 9.99953879e-01 1.69315456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01925976399997 meters Centerline goodness [0,1] 0.49402911827253393 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.93 [[ 9.99959840e-01 -5.43314348e-04 8.94555496e-03 -2.72894520e+01] [ 5.75254055e-04 9.99993468e-01 -3.56826973e-03 1.50138555e+01] [-8.94355784e-03 3.57327239e-03 9.99953621e-01 1.69313808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04925976399997 meters Centerline goodness [0,1] 0.4959663084201602 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.02, Z:16.93 [[ 9.99961544e-01 -5.28231207e-04 8.75399023e-03 -2.72889719e+01] [ 5.62108128e-04 9.99992362e-01 -3.86787484e-03 1.50154984e+01] [-8.75188024e-03 3.87264679e-03 9.99954203e-01 1.69315788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07925976399997 meters Centerline goodness [0,1] 0.4957335083688874 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.02, Z:16.93 [[ 9.99965028e-01 -2.28444688e-04 8.36010279e-03 -2.72875541e+01] [ 2.61601369e-04 9.99992104e-01 -3.96518287e-03 1.50171997e+01] [-8.35913096e-03 3.96723121e-03 9.99957192e-01 1.69313068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10925976399997 meters Centerline goodness [0,1] 0.49131125973029277 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.02, Z:16.93 [[ 9.99967750e-01 5.62909179e-05 8.03094349e-03 -2.72864428e+01] [-2.38209133e-05 9.99991826e-01 -4.04315044e-03 1.50186774e+01] [-8.03110544e-03 4.04282874e-03 9.99959578e-01 1.69311835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13925976399997 meters Centerline goodness [0,1] 0.5015498559868331 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.02, Z:16.93 [[ 9.99968943e-01 1.64084545e-04 7.87948483e-03 -2.72858949e+01] [-1.30716853e-04 9.99991023e-01 -4.23508376e-03 1.50201498e+01] [-7.88010902e-03 4.23392225e-03 9.99959988e-01 1.69311811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16925976399997 meters Centerline goodness [0,1] 0.498572918381909 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.02, Z:16.93 [[ 9.99970361e-01 2.09886445e-04 7.69628936e-03 -2.72854807e+01] [-1.75366620e-04 9.99989924e-01 -4.48565622e-03 1.50215774e+01] [-7.69715329e-03 4.48417360e-03 9.99960322e-01 1.69314525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19925976399998 meters Centerline goodness [0,1] 0.5042775140744011 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.93 [[ 9.99974351e-01 5.98458317e-04 7.13718124e-03 -2.72837429e+01] [-5.64443035e-04 9.99988479e-01 -4.76698895e-03 1.50245184e+01] [-7.13995186e-03 4.76283815e-03 9.99963168e-01 1.69316027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22925976399998 meters Centerline goodness [0,1] 0.5025541902526578 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.93 [[ 9.99975241e-01 5.08029647e-04 7.01856492e-03 -2.72836088e+01] [-4.71311624e-04 9.99986201e-01 -5.23222088e-03 1.50266928e+01] [-7.02112619e-03 5.22878340e-03 9.99961681e-01 1.69320818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25925976399998 meters Centerline goodness [0,1] 0.507656586876002 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.93 [[ 9.99977137e-01 7.23133293e-04 6.72322312e-03 -2.72826203e+01] [-6.86149741e-04 9.99984631e-01 -5.50154662e-03 1.50288014e+01] [-6.72709814e-03 5.49680770e-03 9.99962265e-01 1.69321412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28925976399998 meters Centerline goodness [0,1] 0.5099120169283884 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.93 [[ 9.99978984e-01 1.82069095e-03 6.22228441e-03 -2.72793238e+01] [-1.78747768e-03 9.99984149e-01 -5.33919259e-03 1.50330385e+01] [-6.23190680e-03 5.32795818e-03 9.99966388e-01 1.69304188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31925976399998 meters Centerline goodness [0,1] 0.5134666964684846 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.93 [[ 9.99980643e-01 2.13605400e-03 5.84381866e-03 -2.72777003e+01] [-2.10483898e-03 9.99983514e-01 -5.34248992e-03 1.50349042e+01] [-5.85513416e-03 5.33008621e-03 9.99968653e-01 1.69296979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34925976399998 meters Centerline goodness [0,1] 0.5186990503403648 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99981598e-01 2.38199889e-03 5.57947254e-03 -2.72765258e+01] [-2.35217443e-03 9.99982944e-01 -5.34586825e-03 1.50360907e+01] [-5.59211123e-03 5.33264598e-03 9.99970145e-01 1.69291720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37925976399998 meters Centerline goodness [0,1] 0.5230063494727419 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99981638e-01 2.50205343e-03 5.51928087e-03 -2.72760555e+01] [-2.47237742e-03 9.99982487e-01 -5.37707470e-03 1.50369815e+01] [-5.53263794e-03 5.36333022e-03 9.99970312e-01 1.69288336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40925976399998 meters Centerline goodness [0,1] 0.5161998592540464 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99982964e-01 2.37144232e-03 5.33358807e-03 -2.72760369e+01] [-2.33972305e-03 9.99979588e-01 -5.94547564e-03 1.50392747e+01] [-5.34757855e-03 5.93289524e-03 9.99968102e-01 1.69297967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43925976399998 meters Centerline goodness [0,1] 0.5166460465639411 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99983892e-01 2.22214410e-03 5.22277910e-03 -2.72761888e+01] [-2.18892087e-03 9.99977390e-01 -6.35834850e-03 1.50409960e+01] [-5.23679018e-03 6.34681383e-03 9.99966146e-01 1.69305716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.469259764 meters Centerline goodness [0,1] 0.523071722350555 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99984588e-01 1.99171174e-03 5.18232385e-03 -2.72765770e+01] [-1.95654547e-03 9.99975088e-01 -6.78205514e-03 1.50424628e+01] [-5.19570265e-03 6.77181116e-03 9.99963573e-01 1.69313449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.499259764 meters Centerline goodness [0,1] 0.5213422364973375 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99984436e-01 1.99887566e-03 5.20886286e-03 -2.72765455e+01] [-1.96333659e-03 9.99974823e-01 -6.81901265e-03 1.50428341e+01] [-5.22236208e-03 6.80867977e-03 9.99963184e-01 1.69312362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.529259764 meters Centerline goodness [0,1] 0.5181543330225198 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99983397e-01 2.19857474e-03 5.32651466e-03 -2.72762806e+01] [-2.16441144e-03 9.99977106e-01 -6.41111512e-03 1.50420258e+01] [-5.34048803e-03 6.39947991e-03 9.99965262e-01 1.69302531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.559259764 meters Centerline goodness [0,1] 0.5220421577515866 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.93 [[ 9.99983528e-01 3.04357658e-03 4.86617176e-03 -2.72736283e+01] [-3.01560133e-03 9.99978945e-01 -5.74596392e-03 1.50419334e+01] [-4.88355758e-03 5.73119484e-03 9.99971652e-01 1.69283937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.589259764 meters Centerline goodness [0,1] 0.524503011622317 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.93 [[ 9.99984318e-01 3.09725624e-03 4.66584152e-03 -2.72731600e+01] [-3.06970128e-03 9.99977875e-01 -5.90130897e-03 1.50430418e+01] [-4.68401616e-03 5.88689369e-03 9.99971702e-01 1.69286275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.619259764 meters Centerline goodness [0,1] 0.5246777476255089 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.93 [[ 9.99984841e-01 3.05045574e-03 4.58395687e-03 -2.72731262e+01] [-3.02248350e-03 9.99976847e-01 -6.09679151e-03 1.50442333e+01] [-4.60244873e-03 6.08284415e-03 9.99970908e-01 1.69289594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.649259764 meters Centerline goodness [0,1] 0.5314193766937669 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99985519e-01 2.94491686e-03 4.50443099e-03 -2.72734325e+01] [-2.91605878e-03 9.99975269e-01 -6.39980370e-03 1.50452730e+01] [-4.52316648e-03 6.38657584e-03 9.99969376e-01 1.69297962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.679259764 meters Centerline goodness [0,1] 0.522354609929078 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99985597e-01 2.89012602e-03 4.52238529e-03 -2.72737354e+01] [-2.86036402e-03 9.99974302e-01 -6.57372701e-03 1.50458950e+01] [-4.54126797e-03 6.56069666e-03 9.99968167e-01 1.69301904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.709259764 meters Centerline goodness [0,1] 0.5216811018032088 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99985259e-01 3.06516113e-03 4.48176282e-03 -2.72736037e+01] [-3.03565938e-03 9.99973779e-01 -6.57467413e-03 1.50461378e+01] [-4.50179774e-03 6.56097211e-03 9.99968343e-01 1.69303110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73925976399997 meters Centerline goodness [0,1] 0.5216738440616501 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99984314e-01 3.31121586e-03 4.51743332e-03 -2.72731851e+01] [-3.28308904e-03 9.99975269e-01 -6.21955432e-03 1.50457027e+01] [-4.53791589e-03 6.20462563e-03 9.99970455e-01 1.69295012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76925976399997 meters Centerline goodness [0,1] 0.5226627286152448 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.93 [[ 9.99983284e-01 3.65734440e-03 4.47837972e-03 -2.72726245e+01] [-3.63159651e-03 9.99976908e-01 -5.74407261e-03 1.50447399e+01] [-4.49928436e-03 5.72771292e-03 9.99973475e-01 1.69287428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79925976399997 meters Centerline goodness [0,1] 0.5228342883077097 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.93 [[ 9.99982896e-01 3.75648746e-03 4.48288819e-03 -2.72725408e+01] [-3.73202440e-03 9.99978169e-01 -5.45293257e-03 1.50440083e+01] [-4.50327420e-03 5.43610906e-03 9.99975084e-01 1.69283960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82925976399997 meters Centerline goodness [0,1] 0.5230050933786078 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.93 [[ 9.99982060e-01 3.55199077e-03 4.82310394e-03 -2.72739422e+01] [-3.52857869e-03 9.99981994e-01 -4.85401513e-03 1.50410366e+01] [-4.84025851e-03 4.83690935e-03 9.99976588e-01 1.69281960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85925976399997 meters Centerline goodness [0,1] 0.5194092349479402 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99980190e-01 3.49147468e-03 5.23732094e-03 -2.72752670e+01] [-3.46835250e-03 9.99984228e-01 -4.41749019e-03 1.50386952e+01] [-5.25266189e-03 4.39923780e-03 9.99976528e-01 1.69281228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88925976399997 meters Centerline goodness [0,1] 0.5203424309204949 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99978297e-01 3.22757886e-03 5.74359426e-03 -2.72770508e+01] [-3.20382414e-03 9.99986297e-01 -4.14027046e-03 1.50367170e+01] [-5.75687861e-03 4.12177914e-03 9.99974934e-01 1.69282743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91925976399997 meters Centerline goodness [0,1] 0.5186689227298364 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99977578e-01 3.22890426e-03 5.86672042e-03 -2.72774721e+01] [-3.20634714e-03 9.99987447e-01 -3.85027354e-03 1.50356331e+01] [-5.87907895e-03 3.83137646e-03 9.99975378e-01 1.69281630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94925976399998 meters Centerline goodness [0,1] 0.5216297928851967 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99978888e-01 3.62607735e-03 5.39216101e-03 -2.72760777e+01] [-3.60520256e-03 9.99985989e-01 -3.87601675e-03 1.50373687e+01] [-5.40614020e-03 3.85649509e-03 9.99977950e-01 1.69283410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97925976399998 meters Centerline goodness [0,1] 0.5265794836956521 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99978256e-01 3.82679210e-03 5.37056913e-03 -2.72756998e+01] [-3.80695471e-03 9.99985912e-01 -3.69909570e-03 1.50372701e+01] [-5.38464914e-03 3.67856976e-03 9.99978737e-01 1.69279096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00925976399998 meters Centerline goodness [0,1] 0.5232304951502984 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99977479e-01 3.93366500e-03 5.43754829e-03 -2.72756641e+01] [-3.91409819e-03 9.99985844e-01 -3.60443196e-03 1.50370117e+01] [-5.45164994e-03 3.58306769e-03 9.99978720e-01 1.69276341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03925976399998 meters Centerline goodness [0,1] 0.5257988735105148 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99976714e-01 4.09462727e-03 5.45948546e-03 -2.72754935e+01] [-4.07614118e-03 9.99985937e-01 -3.39288685e-03 1.50366033e+01] [-5.47330129e-03 3.37055421e-03 9.99979341e-01 1.69272190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06925976399998 meters Centerline goodness [0,1] 0.5199006379495286 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99976891e-01 4.13213235e-03 5.39837200e-03 -2.72754214e+01] [-4.11353775e-03 9.99985584e-01 -3.45105601e-03 1.50367892e+01] [-5.41255440e-03 3.42876985e-03 9.99979474e-01 1.69273672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09925976399998 meters Centerline goodness [0,1] 0.5200473359443238 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99977135e-01 4.17070231e-03 5.32296240e-03 -2.72753507e+01] [-4.15199839e-03 9.99985185e-01 -3.52004605e-03 1.50370657e+01] [-5.33756461e-03 3.49786463e-03 9.99979637e-01 1.69275885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12925976399998 meters Centerline goodness [0,1] 0.5191178131706766 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99977680e-01 4.22839861e-03 5.17307638e-03 -2.72750560e+01] [-4.20984493e-03 9.99984686e-01 -3.59223250e-03 1.50378439e+01] [-5.18818656e-03 3.57037448e-03 9.99980167e-01 1.69278174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15925976399998 meters Centerline goodness [0,1] 0.5174507257016998 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99978741e-01 4.10146035e-03 5.06899895e-03 -2.72750391e+01] [-4.08199402e-03 9.99984278e-01 -3.84466767e-03 1.50391749e+01] [-5.08468800e-03 3.82389431e-03 9.99979762e-01 1.69282161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18925976399998 meters Centerline goodness [0,1] 0.5176434056007226 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.93 [[ 9.99979519e-01 4.16283865e-03 4.86138040e-03 -2.72745713e+01] [-4.14408074e-03 9.99983955e-01 -3.86227700e-03 1.50399392e+01] [-4.87738043e-03 3.84205194e-03 9.99980725e-01 1.69283224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.219259764 meters Centerline goodness [0,1] 0.5142575095191086 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.93 [[ 9.99979749e-01 4.14906394e-03 4.82554865e-03 -2.72745779e+01] [-4.12999985e-03 9.99983655e-01 -3.95393379e-03 1.50402686e+01] [-4.84187490e-03 3.93392421e-03 9.99980540e-01 1.69284861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.249259764 meters Centerline goodness [0,1] 0.5116024272390156 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.93 [[ 9.99979733e-01 4.04835754e-03 4.91377562e-03 -2.72749477e+01] [-4.02713998e-03 9.99982559e-01 -4.32021568e-03 1.50406092e+01] [-4.93117970e-03 4.30033965e-03 9.99978595e-01 1.69289425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.279259764 meters Centerline goodness [0,1] 0.5107272064391284 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.93 [[ 9.99979706e-01 4.10524792e-03 4.87175581e-03 -2.72748564e+01] [-4.08403372e-03 9.99982171e-01 -4.35651711e-03 1.50407493e+01] [-4.88955353e-03 4.33653229e-03 9.99978643e-01 1.69290349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.309259764 meters Centerline goodness [0,1] 0.5110992768652951 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99979875e-01 4.03283411e-03 4.89763567e-03 -2.72750978e+01] [-4.01070781e-03 9.99981745e-01 -4.51920110e-03 1.50412814e+01] [-4.91577146e-03 4.49946717e-03 9.99977795e-01 1.69293339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.339259764 meters Centerline goodness [0,1] 0.5101147554782414 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.93 [[ 9.99980085e-01 4.03680166e-03 4.85118987e-03 -2.72751299e+01] [-4.01412373e-03 9.99981014e-01 -4.67539472e-03 1.50419354e+01] [-4.86997140e-03 4.65582833e-03 9.99977303e-01 1.69296430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.369259764 meters Centerline goodness [0,1] 0.5090903981791104 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.93 [[ 9.99981999e-01 3.98245423e-03 4.48793853e-03 -2.72746866e+01] [-3.95855268e-03 9.99978002e-01 -5.32208752e-03 1.50447657e+01] [-4.50903478e-03 5.30422598e-03 9.99975767e-01 1.69308532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.399259764 meters Centerline goodness [0,1] 0.5085289647019084 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99982940e-01 3.96440390e-03 4.28989497e-03 -2.72742815e+01] [-3.94094705e-03 9.99977314e-01 -5.46263825e-03 1.50459134e+01] [-4.31145376e-03 5.44563880e-03 9.99975878e-01 1.69310505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.429259764 meters Centerline goodness [0,1] 0.5102063800433595 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99982842e-01 4.03789385e-03 4.24397691e-03 -2.72737935e+01] [-4.01521671e-03 9.99977690e-01 -5.33837742e-03 1.50463477e+01] [-4.26543803e-03 5.32124533e-03 9.99976745e-01 1.69304395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.459259764 meters Centerline goodness [0,1] 0.5157227364071213 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99982939e-01 4.48695314e-03 3.74014268e-03 -2.72715979e+01] [-4.46759328e-03 9.99976663e-01 -5.16861628e-03 1.50479293e+01] [-3.76324673e-03 5.15181867e-03 9.99979648e-01 1.69294024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48925976399997 meters Centerline goodness [0,1] 0.515861561536067 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99983504e-01 4.61595491e-03 3.41822418e-03 -2.72707770e+01] [-4.59758605e-03 9.99975054e-01 -5.36230051e-03 1.50492555e+01] [-3.44289104e-03 5.34649648e-03 9.99979781e-01 1.69296452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51925976399997 meters Centerline goodness [0,1] 0.515861561536067 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99983504e-01 4.61595491e-03 3.41822418e-03 -2.72707770e+01] [-4.59758605e-03 9.99975054e-01 -5.36230051e-03 1.50492555e+01] [-3.44289104e-03 5.34649648e-03 9.99979781e-01 1.69296452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54925976399997 meters Centerline goodness [0,1] 0.5157030895047705 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99984076e-01 4.53854413e-03 3.35398278e-03 -2.72706655e+01] [-4.51926304e-03 9.99973348e-01 -5.73410580e-03 1.50509696e+01] [-3.37991788e-03 5.71885696e-03 9.99977935e-01 1.69299606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57925976399997 meters Centerline goodness [0,1] 0.5196109193598997 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99984833e-01 4.53322745e-03 3.12798081e-03 -2.72703345e+01] [-4.51411958e-03 9.99971273e-01 -6.08894750e-03 1.50525443e+01] [-3.15549354e-03 6.07473507e-03 9.99976570e-01 1.69305487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60925976399997 meters Centerline goodness [0,1] 0.52169191197485 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99985140e-01 4.52762508e-03 3.03650376e-03 -2.72701206e+01] [-4.50796949e-03 9.99969044e-01 -6.44900016e-03 1.50541332e+01] [-3.06560842e-03 6.43521586e-03 9.99974595e-01 1.69308829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63925976399997 meters Centerline goodness [0,1] 0.5222002465101614 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.93 [[ 9.99984695e-01 4.74769650e-03 2.84070655e-03 -2.72692032e+01] [-4.72911102e-03 9.99967602e-01 -6.51388673e-03 1.50552132e+01] [-2.87154047e-03 6.50035302e-03 9.99974750e-01 1.69305784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66925976399997 meters Centerline goodness [0,1] 0.5283996086781377 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.93 [[ 9.99982709e-01 5.36737832e-03 2.40276091e-03 -2.72669287e+01] [-5.35208511e-03 9.99965664e-01 -6.32665977e-03 1.50568830e+01] [-2.43663599e-03 6.31369059e-03 9.99977100e-01 1.69294488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69925976399998 meters Centerline goodness [0,1] 0.5239153652974626 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.93 [[ 9.99982768e-01 5.42372441e-03 2.24657826e-03 -2.72664304e+01] [-5.40922563e-03 9.99964824e-01 -6.41028505e-03 1.50581074e+01] [-2.28126685e-03 6.39802234e-03 9.99976930e-01 1.69293750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72925976399998 meters Centerline goodness [0,1] 0.5294338967353553 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.93 [[ 9.99983221e-01 5.37319495e-03 2.16487666e-03 -2.72661786e+01] [-5.35881487e-03 9.99963898e-01 -6.59437945e-03 1.50594580e+01] [-2.20023139e-03 6.58266763e-03 9.99975913e-01 1.69293867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75925976399998 meters Centerline goodness [0,1] 0.5329894816145577 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.93 [[ 9.99983623e-01 5.39893433e-03 1.89878927e-03 -2.72656269e+01] [-5.38571467e-03 9.99961693e-01 -6.89968297e-03 1.50610874e+01] [-1.93596747e-03 6.88934364e-03 9.99974394e-01 1.69298494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78925976399998 meters Centerline goodness [0,1] 0.5348513415518492 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.93 [[ 9.99983318e-01 5.48289348e-03 1.81701070e-03 -2.72651285e+01] [-5.47044283e-03 9.99961999e-01 -6.78782968e-03 1.50615112e+01] [-1.85415860e-03 6.77777659e-03 9.99975312e-01 1.69293909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81925976399998 meters Centerline goodness [0,1] 0.5384414149928785 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99982916e-01 5.59153533e-03 1.70368480e-03 -2.72645742e+01] [-5.57991982e-03 9.99961664e-01 -6.74800530e-03 1.50622159e+01] [-1.74135120e-03 6.73838360e-03 9.99975781e-01 1.69290725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84925976399998 meters Centerline goodness [0,1] 0.5423600384693847 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99983097e-01 5.64088935e-03 1.40917320e-03 -2.72638993e+01] [-5.63086673e-03 9.99959520e-01 -7.01791065e-03 1.50642393e+01] [-1.44870342e-03 7.00985716e-03 9.99974381e-01 1.69294230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87925976399998 meters Centerline goodness [0,1] 0.5423040990307135 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99982893e-01 5.71208627e-03 1.25888940e-03 -2.72635626e+01] [-5.70293683e-03 9.99958137e-01 -7.15541270e-03 1.50650179e+01] [-1.29970904e-03 7.14811093e-03 9.99973607e-01 1.69296444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90925976399998 meters Centerline goodness [0,1] 0.5393530682548023 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99982110e-01 5.85093153e-03 1.24373567e-03 -2.72633159e+01] [-5.84203664e-03 9.99958161e-01 -7.03896186e-03 1.50650881e+01] [-1.28486812e-03 7.03156998e-03 9.99974453e-01 1.69293472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93925976399998 meters Centerline goodness [0,1] 0.5443629670747028 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99981653e-01 5.94009324e-03 1.18731828e-03 -2.72630801e+01] [-5.93175556e-03 9.99958556e-01 -6.90660095e-03 1.50650657e+01] [-1.22829493e-03 6.89943135e-03 9.99975444e-01 1.69291318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.969259764 meters Centerline goodness [0,1] 0.5451496237531355 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99981768e-01 5.92086098e-03 1.18653129e-03 -2.72631312e+01] [-5.91247442e-03 9.99958361e-01 -6.95119825e-03 1.50654112e+01] [-1.22763897e-03 6.94405617e-03 9.99975136e-01 1.69291892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.999259764 meters Centerline goodness [0,1] 0.5455978054688184 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99982034e-01 5.89207839e-03 1.10211656e-03 -2.72629933e+01] [-5.88411769e-03 9.99957539e-01 -7.09201624e-03 1.50663063e+01] [-1.14385648e-03 7.08540384e-03 9.99974244e-01 1.69293759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.029259764 meters Centerline goodness [0,1] 0.5488026231043972 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99981565e-01 6.02088748e-03 7.85890505e-04 -2.72622364e+01] [-6.01493564e-03 9.99954766e-01 -7.36791891e-03 1.50682128e+01] [-8.30216367e-04 7.36305600e-03 9.99972548e-01 1.69298426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.059259764 meters Centerline goodness [0,1] 0.5482121922626026 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99981370e-01 6.06077208e-03 7.26034187e-04 -2.72620647e+01] [-6.05525645e-03 9.99954490e-01 -7.37239493e-03 1.50686373e+01] [-7.70683550e-04 7.36786126e-03 9.99972560e-01 1.69298166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.089259764 meters Centerline goodness [0,1] 0.5491217798594847 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99980661e-01 6.17860086e-03 7.09385932e-04 -2.72618728e+01] [-6.17330209e-03 9.99954711e-01 -7.24335549e-03 1.50686438e+01] [-7.54107607e-04 7.23883615e-03 9.99973515e-01 1.69295717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.119259764 meters Centerline goodness [0,1] 0.5499663673851374 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99980413e-01 6.22140379e-03 6.84620774e-04 -2.72617083e+01] [-6.21631822e-03 9.99954791e-01 -7.19532116e-03 1.50688658e+01] [-7.29354822e-04 7.19092440e-03 9.99973879e-01 1.69294095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.149259764 meters Centerline goodness [0,1] 0.5550543366823868 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99978267e-01 6.57605130e-03 4.70296501e-04 -2.72605143e+01] [-6.57265082e-03 9.99954598e-01 -6.89939419e-03 1.50689680e+01] [-5.15645919e-04 6.89615315e-03 9.99976088e-01 1.69285600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.179259764 meters Centerline goodness [0,1] 0.5549368424137628 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99977792e-01 6.65449509e-03 3.64523915e-04 -2.72600832e+01] [-6.65181675e-03 9.99953983e-01 -6.91270637e-03 1.50696228e+01] [-4.10507711e-04 6.91012811e-03 9.99976041e-01 1.69283594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.209259764 meters Centerline goodness [0,1] 0.5548699867783164 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99977145e-01 6.75342797e-03 3.17103942e-04 -2.72597189e+01] [-6.75111327e-03 9.99954041e-01 -6.80727326e-03 1.50699418e+01] [-3.63061798e-04 6.80497688e-03 9.99976780e-01 1.69279526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23925976399997 meters Centerline goodness [0,1] 0.5561530324400564 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99976224e-01 6.88944023e-03 2.94280790e-04 -2.72593763e+01] [-6.88732497e-03 9.99954047e-01 -6.66850887e-03 1.50699566e+01] [-3.40209560e-04 6.66632351e-03 9.99977722e-01 1.69275360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26925976399997 meters Centerline goodness [0,1] 0.5561746678788234 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99974444e-01 7.14570326e-03 2.26291806e-04 -2.72586582e+01] [-7.14417546e-03 9.99955541e-01 -6.15442241e-03 1.50691068e+01] [-2.70259422e-04 6.15264846e-03 9.99981036e-01 1.69264666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29925976399997 meters Centerline goodness [0,1] 0.557337563153566 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99974372e-01 7.15181840e-03 3.27053396e-04 -2.72589551e+01] [-7.14973619e-03 9.99956576e-01 -5.97726153e-03 1.50682980e+01] [-3.69787483e-04 5.97477000e-03 9.99982083e-01 1.69263636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32925976399997 meters Centerline goodness [0,1] 0.5557250564731422 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99974639e-01 7.10456411e-03 4.96109228e-04 -2.72595945e+01] [-7.10159626e-03 9.99958265e-01 -5.74762660e-03 1.50672025e+01] [-5.36922905e-04 5.74395767e-03 9.99983359e-01 1.69263273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35925976399997 meters Centerline goodness [0,1] 0.5566600397614314 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99975113e-01 7.03340499e-03 5.51814467e-04 -2.72601845e+01] [-7.03012889e-03 9.99958873e-01 -5.72979581e-03 1.50666734e+01] [-5.92091747e-04 5.72577389e-03 9.99983432e-01 1.69268340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38925976399997 meters Centerline goodness [0,1] 0.5582691409897292 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.93 [[ 9.99975729e-01 6.94353578e-03 5.73005643e-04 -2.72606863e+01] [-6.94009670e-03 9.99959096e-01 -5.80010812e-03 1.50663654e+01] [-6.13255463e-04 5.79599063e-03 9.99983015e-01 1.69273906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41925976399997 meters Centerline goodness [0,1] 0.5574495316772354 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99976056e-01 6.88089248e-03 7.34854728e-04 -2.72617250e+01] [-6.87663952e-03 9.99960444e-01 -5.64115479e-03 1.50645622e+01] [-7.73641840e-04 5.63596639e-03 9.99983819e-01 1.69279758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44925976399998 meters Centerline goodness [0,1] 0.5552741879147747 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99975718e-01 6.88558314e-03 1.07293874e-03 -2.72625625e+01] [-6.87989159e-03 9.99962704e-01 -5.22098175e-03 1.50625098e+01] [-1.10884822e-03 5.21347327e-03 9.99985795e-01 1.69275368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47925976399998 meters Centerline goodness [0,1] 0.5553780926936926 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99994781e-01 3.21287588e-03 3.38274676e-04 -2.72606973e+01] [-3.20954313e-03 9.99950382e-01 -9.43042703e-03 1.50648926e+01] [-3.68556683e-04 9.42929211e-03 9.99955475e-01 1.69280346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50925976399998 meters Centerline goodness [0,1] 0.5565696074170651 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99994078e-01 3.42558541e-03 3.30782535e-04 -2.72605899e+01] [-3.42252215e-03 9.99954935e-01 -8.85521914e-03 1.50632954e+01] [-3.61101938e-04 8.85403459e-03 9.99960737e-01 1.69275375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53925976399998 meters Centerline goodness [0,1] 0.5551963981644492 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99993661e-01 3.50871218e-03 6.05833569e-04 -2.72614291e+01] [-3.50367501e-03 9.99960858e-01 -8.12441590e-03 1.50600236e+01] [-6.34316093e-04 8.12224176e-03 9.99966813e-01 1.69269743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56925976399998 meters Centerline goodness [0,1] 0.5527868097718183 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99992786e-01 3.70791837e-03 8.24352915e-04 -2.72618213e+01] [-3.70167974e-03 9.99965435e-01 -7.44484001e-03 1.50575011e+01] [-8.51929280e-04 7.44173482e-03 9.99971947e-01 1.69262488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59925976399998 meters Centerline goodness [0,1] 0.5525521207764199 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99992048e-01 3.84660474e-03 1.05259897e-03 -2.72622998e+01] [-3.83933139e-03 9.99969327e-01 -6.82680987e-03 1.50552164e+01] [-1.07882672e-03 6.82271431e-03 9.99976143e-01 1.69256061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62925976399998 meters Centerline goodness [0,1] 0.5544801122533719 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.06, Z:16.93 [[ 9.99999793e-01 -6.09003679e-05 6.40880459e-04 -2.72616465e+01] [ 6.78888626e-05 9.99940480e-01 -1.09101554e-02 1.50551878e+01] [-6.40177882e-04 1.09101967e-02 9.99940277e-01 1.69263768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65925976399998 meters Centerline goodness [0,1] 0.5484183528070675 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.05, Z:16.93 [[ 9.99999500e-01 -1.28471213e-04 9.91772384e-04 -2.72627230e+01] [ 1.38875070e-04 9.99944893e-01 -1.04972343e-02 1.50532750e+01] [-9.90369138e-04 1.04973668e-02 9.99944411e-01 1.69261374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68925976399998 meters Centerline goodness [0,1] 0.5498544603618515 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.05, Z:16.93 [[ 9.99999228e-01 -1.84015340e-04 1.22860381e-03 -2.72635886e+01] [ 1.96357550e-04 9.99949446e-01 -1.00531683e-02 1.50514911e+01] [-1.22669176e-03 1.00534018e-02 9.99948711e-01 1.69259285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.719259764 meters Centerline goodness [0,1] 0.5513467293715263 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.05, Z:16.93 [[ 9.99998961e-01 -3.20049307e-04 1.40523849e-03 -2.72645567e+01] [ 3.33704412e-04 9.99952628e-01 -9.72782924e-03 1.50499470e+01] [-1.40205854e-03 9.72828807e-03 9.99951696e-01 1.69261209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.749259764 meters Centerline goodness [0,1] 0.5420079635949944 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99998335e-01 -4.50623210e-04 1.76804911e-03 -2.72657222e+01] [ 4.67149401e-04 9.99956105e-01 -9.35788100e-03 1.50482841e+01] [-1.76375462e-03 9.35869137e-03 9.99954651e-01 1.69259516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.779259764 meters Centerline goodness [0,1] 0.5483578708946772 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.93 [[ 9.99997956e-01 -3.85520975e-04 1.98459345e-03 -2.72663634e+01] [ 4.02354658e-04 9.99963889e-01 -8.48878270e-03 1.50450218e+01] [-1.98124918e-03 8.48956387e-03 9.99962000e-01 1.69251768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.809259764 meters Centerline goodness [0,1] 0.5489868215955789 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.92 [[ 9.99997878e-01 -1.54299708e-04 2.05416766e-03 -2.72661844e+01] [ 1.70671440e-04 9.99968207e-01 -7.97221948e-03 1.50437464e+01] [-2.05287224e-03 7.97255316e-03 9.99966111e-01 1.69244319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.839259764 meters Centerline goodness [0,1] 0.5486605629026788 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.92 [[ 9.99997742e-01 1.10447646e-04 2.12226239e-03 -2.72658716e+01] [-9.44335961e-05 9.99971536e-01 -7.54436353e-03 1.50428900e+01] [-2.12303524e-03 7.54414608e-03 9.99969289e-01 1.69235855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.869259764 meters Centerline goodness [0,1] 0.547483354023248 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.92 [[ 9.99997356e-01 3.66249385e-04 2.27038493e-03 -2.72658022e+01] [-3.50521430e-04 9.99975968e-01 -6.92397112e-03 1.50410939e+01] [-2.27286627e-03 6.92315699e-03 9.99973452e-01 1.69225993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.899259764 meters Centerline goodness [0,1] 0.5470651194231636 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.92 [[ 9.99996744e-01 5.99814825e-04 2.48019948e-03 -2.72658478e+01] [-5.84456368e-04 9.99980680e-01 -6.18852291e-03 1.50388769e+01] [-2.48386353e-03 6.18705320e-03 9.99977775e-01 1.69214391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.929259764 meters Centerline goodness [0,1] 0.5429221308022802 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.92 [[ 9.99995598e-01 4.72282885e-04 2.92931273e-03 -2.72673065e+01] [-4.56520259e-04 9.99985427e-01 -5.37933440e-03 1.50348574e+01] [-2.93181061e-03 5.37797343e-03 9.99981241e-01 1.69208135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.959259764 meters Centerline goodness [0,1] 0.5423515246548876 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.92 [[ 9.99994853e-01 4.20903939e-04 3.18078108e-03 -2.72681895e+01] [-4.04775046e-04 9.99987067e-01 -5.06967724e-03 1.50333555e+01] [-3.18287379e-03 5.06836364e-03 9.99982090e-01 1.69207654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98925976399997 meters Centerline goodness [0,1] 0.5433185667021814 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.92 [[ 9.99994613e-01 5.13891696e-04 3.24197279e-03 -2.72683829e+01] [-4.98419168e-04 9.99988492e-01 -4.77156976e-03 1.50324111e+01] [-3.24438755e-03 4.76992819e-03 9.99983361e-01 1.69206174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01925976399997 meters Centerline goodness [0,1] 0.54212299915754 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.92 [[ 9.99994355e-01 5.65045899e-04 3.31229951e-03 -2.72684869e+01] [-5.50159165e-04 9.99989753e-01 -4.49357003e-03 1.50319544e+01] [-3.31480464e-03 4.49172237e-03 9.99984418e-01 1.69202560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04925976399997 meters Centerline goodness [0,1] 0.5417016277898976 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.92 [[ 9.99994065e-01 7.58809340e-04 3.36076971e-03 -2.72681353e+01] [-7.45860546e-04 9.99992301e-01 -3.85250392e-03 1.50307480e+01] [-3.36366715e-03 3.84997439e-03 9.99986932e-01 1.69190663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07925976399997 meters Centerline goodness [0,1] 0.5419362065585707 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.92 [[ 9.99993310e-01 9.52030747e-04 3.53188454e-03 -2.72679933e+01] [-9.40310118e-04 9.99994051e-01 -3.31869729e-03 1.50293551e+01] [-3.53502303e-03 3.31535402e-03 9.99988256e-01 1.69179290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10925976399997 meters Centerline goodness [0,1] 0.5391472001788309 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.92 [[ 9.99991961e-01 8.47226917e-04 3.91914599e-03 -2.72689169e+01] [-8.36842505e-04 9.99996137e-01 -2.65054336e-03 1.50261447e+01] [-3.92137646e-03 2.64724235e-03 9.99988807e-01 1.69170141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13925976399997 meters Centerline goodness [0,1] 0.5256030824212643 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.92 [[ 9.99991659e-01 7.05837426e-04 4.02279507e-03 -2.72694844e+01] [-6.95165186e-04 9.99996237e-01 -2.65372270e-03 1.50260214e+01] [-4.02465303e-03 2.65090406e-03 9.99988387e-01 1.69172456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16925976399997 meters Centerline goodness [0,1] 0.5278978334216323 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.92 [[ 9.99991753e-01 6.92076288e-04 4.00178376e-03 -2.72696104e+01] [-6.81128856e-04 9.99996024e-01 -2.73635433e-03 1.50267373e+01] [-4.00366161e-03 2.73360604e-03 9.99988249e-01 1.69175113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19925976399998 meters Centerline goodness [0,1] 0.4756937665597546 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.92 [[ 9.99991684e-01 6.23779379e-04 4.03033449e-03 -2.72698974e+01] [-6.12249187e-04 9.99995719e-01 -2.86145305e-03 1.50274406e+01] [-4.03210215e-03 2.85896169e-03 9.99987784e-01 1.69178039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22925976399998 meters Centerline goodness [0,1] 0.48023952095808387 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.92 [[ 9.99991425e-01 6.94591399e-04 4.08265229e-03 -2.72700740e+01] [-6.83499202e-04 9.99996074e-01 -2.71767717e-03 1.50271714e+01] [-4.08452393e-03 2.71486338e-03 9.99987973e-01 1.69177695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25925976399998 meters Centerline goodness [0,1] 0.5332980825425097 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.92 [[ 9.99989725e-01 8.01789067e-04 4.46182292e-03 -2.72707096e+01] [-7.92164714e-04 9.99997357e-01 -2.15839441e-03 1.50249243e+01] [-4.46354170e-03 2.15483773e-03 9.99987717e-01 1.69168411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28925976399998 meters Centerline goodness [0,1] 0.4796544732383412 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.92 [[ 9.99988837e-01 8.01722397e-04 4.65641427e-03 -2.72710317e+01] [-7.92937656e-04 9.99997903e-01 -1.88812892e-03 1.50240164e+01] [-4.65791826e-03 1.88441560e-03 9.99987376e-01 1.69163321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31925976399998 meters Centerline goodness [0,1] 0.48050974512743627 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.92 [[ 9.99988472e-01 8.02407686e-04 4.73423434e-03 -2.72712382e+01] [-7.94500283e-04 9.99998287e-01 -1.67190459e-03 1.50234101e+01] [-4.73556778e-03 1.66812397e-03 9.99987396e-01 1.69160815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34925976399998 meters Centerline goodness [0,1] 0.4806214500501169 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.92 [[ 9.99988515e-01 8.64456006e-04 4.71414177e-03 -2.72710363e+01] [-8.56995185e-04 9.99998378e-01 -1.58443708e-03 1.50238340e+01] [-4.71550380e-03 1.58037889e-03 9.99987633e-01 1.69157868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37925976399998 meters Centerline goodness [0,1] 0.5369305493523895 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.92 [[ 9.99988384e-01 9.55678845e-04 4.72435344e-03 -2.72709648e+01] [-9.49021535e-04 9.99998554e-01 -1.41118825e-03 1.50238022e+01] [-4.72569525e-03 1.40668834e-03 9.99987844e-01 1.69155419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40925976399998 meters Centerline goodness [0,1] 0.5369305493523895 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.92 [[ 9.99988384e-01 9.55678845e-04 4.72435344e-03 -2.72709648e+01] [-9.49021535e-04 9.99998554e-01 -1.41118825e-03 1.50238022e+01] [-4.72569525e-03 1.40668834e-03 9.99987844e-01 1.69155419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43925976399998 meters Centerline goodness [0,1] 0.4883156720580033 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.92 [[ 9.99988003e-01 9.60380576e-04 4.80327263e-03 -2.72711617e+01] [-9.54242594e-04 9.99998726e-01 -1.28000353e-03 1.50235536e+01] [-4.80449580e-03 1.27540468e-03 9.99987645e-01 1.69153591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.469259764 meters Centerline goodness [0,1] 0.4896286383405821 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.91 [[ 9.99987708e-01 1.16337411e-03 4.81985918e-03 -2.72707245e+01] [-1.15871200e-03 9.99998858e-01 -9.69951159e-04 1.50230209e+01] [-4.82098210e-03 9.64354407e-04 9.99987914e-01 1.69146222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.499259764 meters Centerline goodness [0,1] 0.49094757952203216 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.91 [[ 9.99987108e-01 1.35375312e-03 4.89397651e-03 -2.72703660e+01] [-1.35034930e-03 9.99998844e-01 -6.98750520e-04 1.50226356e+01] [-4.89491679e-03 6.92132934e-04 9.99987780e-01 1.69138150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.529259764 meters Centerline goodness [0,1] 0.49694790534325617 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.91 [[ 9.99987511e-01 1.53349182e-03 4.75665612e-03 -2.72695975e+01] [-1.53018768e-03 9.99998586e-01 -6.98197018e-04 1.50230212e+01] [-4.75772007e-03 6.90909721e-04 9.99988443e-01 1.69134001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.559259764 meters Centerline goodness [0,1] 0.5003770001954816 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.91 [[ 9.99987563e-01 1.51972863e-03 4.75020797e-03 -2.72694372e+01] [-1.51533883e-03 9.99998422e-01 -9.27590874e-04 1.50240225e+01] [-4.75161015e-03 9.20381162e-04 9.99988287e-01 1.69133698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.589259764 meters Centerline goodness [0,1] 0.5170142087485694 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.02, Z:16.91 [[ 9.99987695e-01 1.70710929e-03 4.65785094e-03 -2.72688856e+01] [-1.70331655e-03 9.99998215e-01 -8.18112549e-04 1.50246299e+01] [-4.65923923e-03 8.10168687e-04 9.99988817e-01 1.69129673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.619259764 meters Centerline goodness [0,1] 0.5137473401276739 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.91 [[ 9.99987876e-01 2.02735925e-03 4.48744964e-03 -2.72676674e+01] [-2.02282705e-03 9.99997440e-01 -1.01427948e-03 1.50269046e+01] [-4.48949446e-03 1.00518985e-03 9.99989417e-01 1.69123774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.649259764 meters Centerline goodness [0,1] 0.5282023953103525 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.91 [[ 9.99987842e-01 2.09117506e-03 4.46569201e-03 -2.72673995e+01] [-2.08566600e-03 9.99997059e-01 -1.23794103e-03 1.50283073e+01] [-4.46826763e-03 1.22861204e-03 9.99989262e-01 1.69123406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.679259764 meters Centerline goodness [0,1] 0.5238562733163166 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.91 [[ 9.99988130e-01 2.12739619e-03 4.38342759e-03 -2.72670164e+01] [-2.12089389e-03 9.99996645e-01 -1.48749865e-03 1.50299392e+01] [-4.38657738e-03 1.47818421e-03 9.99989286e-01 1.69123280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.709259764 meters Centerline goodness [0,1] 0.488785704235261 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.03, Z:16.91 [[ 9.99988286e-01 2.04866804e-03 4.38530273e-03 -2.72670360e+01] [-2.04077895e-03 9.99996293e-01 -1.80270187e-03 1.50316471e+01] [-4.38897961e-03 1.79373132e-03 9.99988760e-01 1.69124751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73925976399997 meters Centerline goodness [0,1] 0.5328720700367128 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.03, Z:16.91 [[ 9.99988004e-01 2.71794415e-03 4.07487888e-03 -2.72648105e+01] [-2.71060937e-03 9.99994698e-01 -1.80444357e-03 1.50342854e+01] [-4.07976165e-03 1.79337652e-03 9.99990070e-01 1.69112673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76925976399997 meters Centerline goodness [0,1] 0.5428895505458671 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.04, Z:16.91 [[ 9.99988256e-01 2.88855110e-03 3.89163355e-03 -2.72638137e+01] [-2.88049109e-03 9.99993698e-01 -2.07512717e-03 1.50365154e+01] [-3.89760313e-03 2.06389298e-03 9.99990274e-01 1.69109293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79925976399997 meters Centerline goodness [0,1] 0.5442833224552343 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.04, Z:16.91 [[ 9.99988972e-01 3.05822179e-03 3.56407288e-03 -2.72626746e+01] [-3.04926781e-03 9.99992188e-01 -2.51501870e-03 1.50393850e+01] [-3.57173652e-03 2.50412315e-03 9.99990486e-01 1.69110890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82925976399997 meters Centerline goodness [0,1] 0.5467607477167326 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.04, Z:16.91 [[ 9.99989516e-01 3.25034440e-03 3.22540525e-03 -2.72615786e+01] [-3.24045386e-03 9.99990047e-01 -3.06695045e-03 1.50423754e+01] [-3.23534180e-03 3.05646652e-03 9.99990095e-01 1.69114852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85925976399997 meters Centerline goodness [0,1] 0.532594133911011 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.05, Z:16.91 [[ 9.99989703e-01 3.49382679e-03 2.89603100e-03 -2.72604508e+01] [-3.48339435e-03 9.99987454e-01 -3.59957134e-03 1.50452915e+01] [-2.90857095e-03 3.58944626e-03 9.99989328e-01 1.69118712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88925976399997 meters Centerline goodness [0,1] 0.5484777249010951 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.05, Z:16.91 [[ 9.99986224e-01 4.56312668e-03 2.59414162e-03 -2.72577144e+01] [-4.55259813e-03 9.99981435e-01 -4.05010644e-03 1.50506016e+01] [-2.61257461e-03 4.03824056e-03 9.99988433e-01 1.69110459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91925976399997 meters Centerline goodness [0,1] 0.5562512565700664 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.05, Z:16.91 [[ 9.99984372e-01 5.13397230e-03 2.21320928e-03 -2.72555536e+01] [-5.12462123e-03 9.99978006e-01 -4.21028071e-03 1.50535656e+01] [-2.23477607e-03 4.19887305e-03 9.99988688e-01 1.69101736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94925976399998 meters Centerline goodness [0,1] 0.5614454362222863 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.06, Z:16.91 [[ 9.99982232e-01 5.66146663e-03 1.86648673e-03 -2.72534702e+01] [-5.65318829e-03 9.99974292e-01 -4.41109360e-03 1.50564815e+01] [-1.89141201e-03 4.40046362e-03 9.99988529e-01 1.69093100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97925976399998 meters Centerline goodness [0,1] 0.5673703414125619 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.06, Z:16.91 [[ 9.99979698e-01 6.22661477e-03 1.35377679e-03 -2.72512228e+01] [-6.22032062e-03 9.99970051e-01 -4.60486157e-03 1.50593637e+01] [-1.38240894e-03 4.59634716e-03 9.99988481e-01 1.69087987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00925976399998 meters Centerline goodness [0,1] 0.5765331463464516 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.91 [[ 9.99971770e-01 7.40371871e-03 1.28233490e-03 -2.72488192e+01] [-7.39720403e-03 9.99960076e-01 -5.01266557e-03 1.50660631e+01] [-1.31939607e-03 5.00303837e-03 9.99986614e-01 1.69077908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03925976399998 meters Centerline goodness [0,1] 0.5778834022826629 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.91 [[ 9.99968921e-01 7.84328546e-03 7.99630954e-04 -2.72469099e+01] [-7.83892490e-03 9.99955135e-01 -5.31782506e-03 1.50692500e+01] [-8.41304299e-04 5.31139154e-03 9.99985541e-01 1.69075952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06925976399998 meters Centerline goodness [0,1] 0.570898161244696 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.07, Z:16.91 [[ 9.99966411e-01 8.18592673e-03 4.09436807e-04 -2.72453317e+01] [-8.18335361e-03 9.99948907e-01 -5.93436593e-03 1.50729638e+01] [-4.57994172e-04 5.93081603e-03 9.99982308e-01 1.69078009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09925976399998 meters Centerline goodness [0,1] 0.5702235592520497 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.08, Z:16.91 [[ 9.99962173e-01 8.69789098e-03 -7.17185440e-06 -2.72435044e+01] [-8.69775078e-03 9.99940643e-01 -6.56190938e-03 1.50771424e+01] [-4.99033437e-05 6.56172354e-03 9.99978470e-01 1.69079998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12925976399998 meters Centerline goodness [0,1] 0.5725748930099857 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.08, Z:16.91 [[ 9.99903004e-01 1.39277339e-02 2.21239461e-05 -2.72405087e+01] [-1.39276294e-02 9.99899628e-01 -2.59899518e-03 1.50815719e+01] [-5.83198389e-05 2.59843496e-03 9.99996622e-01 1.69055340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15925976399998 meters Centerline goodness [0,1] 0.575689783743475 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.09, Z:16.90 [[ 9.99893678e-01 1.45755416e-02 -4.30533885e-04 -2.72378863e+01] [-1.45767959e-02 9.99889039e-01 -3.07016252e-03 1.50858490e+01] [ 3.85736831e-04 3.07611190e-03 9.99995194e-01 1.69048038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18925976399998 meters Centerline goodness [0,1] 0.5853344511647405 Centerline is valid? [False, False] Translation: X:-27.23, Y:15.09, Z:16.90 [[ 9.99880455e-01 1.54337824e-02 -9.35187202e-04 -2.72348635e+01] [-1.54367374e-02 9.99875598e-01 -3.23955863e-03 1.50892560e+01] [ 8.85072220e-04 3.25360760e-03 9.99994315e-01 1.69036751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.219259764 meters Centerline goodness [0,1] 0.592965728164073 Centerline is valid? [False, False] Translation: X:-27.23, Y:15.09, Z:16.90 [[ 9.99865941e-01 1.63095001e-02 -1.44904264e-03 -2.72318774e+01] [-1.63143147e-02 9.99861215e-01 -3.37536682e-03 1.50925007e+01] [ 1.39379099e-03 3.39855446e-03 9.99993254e-01 1.69026329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.249259764 meters Centerline goodness [0,1] 0.6063053595556223 Centerline is valid? [False, False] Translation: X:-27.23, Y:15.10, Z:16.90 [[ 9.99849636e-01 1.72319046e-02 -1.94106105e-03 -2.72288862e+01] [-1.72386827e-02 9.99845168e-01 -3.53108942e-03 1.50962104e+01] [ 1.87991312e-03 3.56401980e-03 9.99991882e-01 1.69016775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.279259764 meters Centerline goodness [0,1] 0.6414505574406204 Centerline is valid? [False, False] Translation: X:-27.22, Y:15.10, Z:16.90 [[ 9.99734365e-01 2.29545453e-02 -2.07091892e-03 -2.72248268e+01] [-2.29534411e-02 9.99736381e-01 5.55389282e-04 1.51017753e+01] [ 2.08312170e-03 -5.07707035e-04 9.99997701e-01 1.68991854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.309259764 meters Centerline goodness [0,1] 0.6599420996495505 Centerline is valid? [False, False] Translation: X:-27.22, Y:15.11, Z:16.90 [[ 9.99710715e-01 2.39263766e-02 -2.45237381e-03 -2.72219835e+01] [-2.39264921e-02 9.99713720e-01 -1.77671340e-05 1.51071330e+01] [ 2.45124664e-03 7.64386969e-05 9.99996993e-01 1.68987925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.339259764 meters Centerline goodness [0,1] 0.6814997563352827 Centerline is valid? [False, False] Translation: X:-27.22, Y:15.11, Z:16.90 [[ 9.99687043e-01 2.48495494e-02 -2.88377702e-03 -2.72190231e+01] [-2.48513369e-02 9.99690986e-01 -5.85664030e-04 1.51117501e+01] [ 2.86833241e-03 6.57146457e-04 9.99995670e-01 1.68982960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.369259764 meters Centerline goodness [0,1] 0.71603770706855 Centerline is valid? [False, False] Translation: X:-27.22, Y:15.12, Z:16.90 [[ 9.99663398e-01 2.57324231e-02 -3.30644421e-03 -2.72160879e+01] [-2.57353882e-02 9.99668422e-01 -8.57371398e-04 1.51152953e+01] [ 3.28328562e-03 9.42175430e-04 9.99994166e-01 1.68973015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.399259764 meters Centerline goodness [0,1] 0.7511705480919301 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.12, Z:16.90 [[ 9.99615995e-01 2.74842211e-02 -3.53264026e-03 -2.72118793e+01] [-2.74884302e-02 9.99621462e-01 -1.14849625e-03 1.51203953e+01] [ 3.49973750e-03 1.24516195e-03 9.99993101e-01 1.68954876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.429259764 meters Centerline goodness [0,1] 0.766571752242736 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.12, Z:16.90 [[ 9.99605332e-01 2.78140793e-02 -3.94429781e-03 -2.72101844e+01] [-2.78212379e-02 9.99611344e-01 -1.77183339e-03 1.51234848e+01] [ 3.89348292e-03 1.88086935e-03 9.99990652e-01 1.68958367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.459259764 meters Centerline goodness [0,1] 0.7734365401154933 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.13, Z:16.90 [[ 9.99602616e-01 2.78685336e-02 -4.23740089e-03 -2.72093122e+01] [-2.78795472e-02 9.99608005e-01 -2.56266904e-03 1.51266870e+01] [ 4.16432202e-03 2.67978750e-03 9.99987739e-01 1.68966552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48925976399997 meters Centerline goodness [0,1] 0.7779417189229066 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.13, Z:16.90 [[ 9.99595530e-01 2.80735744e-02 -4.54422522e-03 -2.72081799e+01] [-2.80878778e-02 9.99600604e-01 -3.11499116e-03 1.51294216e+01] [ 4.45496134e-03 3.24136889e-03 9.99984823e-01 1.68971239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51925976399997 meters Centerline goodness [0,1] 0.7792728843898524 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.13, Z:16.90 [[ 9.99581147e-01 2.84864079e-02 -5.10439009e-03 -2.72059889e+01] [-2.85052277e-02 9.99586969e-01 -3.65294622e-03 1.51330228e+01] [ 4.99822250e-03 3.79691797e-03 9.99980300e-01 1.68973068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54925976399997 meters Centerline goodness [0,1] 0.7908128730539659 Centerline is valid? [False, False] Translation: X:-27.18, Y:15.14, Z:16.90 [[ 9.99679815e-01 2.30853961e-02 -1.03601182e-02 -2.71807252e+01] [-2.31073662e-02 9.99730977e-01 -2.00595380e-03 1.51371703e+01] [ 1.03110229e-02 2.24470656e-03 9.99944320e-01 1.68987869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57925976399997 meters Centerline goodness [0,1] 0.7925034706154558 Centerline is valid? [False, False] Translation: X:-27.18, Y:15.14, Z:16.90 [[ 9.99678660e-01 2.31768955e-02 -1.02668687e-02 -2.71803401e+01] [-2.31969813e-02 9.99729218e-01 -1.84160757e-03 1.51371565e+01] [ 1.02214059e-02 2.07917615e-03 9.99945598e-01 1.68978306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60925976399997 meters Centerline goodness [0,1] 0.7907600320532577 Centerline is valid? [False, False] Translation: X:-27.16, Y:15.14, Z:16.89 [[ 9.99800780e-01 1.89824077e-02 -6.17004415e-03 -2.71581687e+01] [-1.89706298e-02 9.99818117e-01 1.96184212e-03 1.51374335e+01] [ 6.20616241e-03 -1.84440166e-03 9.99979041e-01 1.68922219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63925976399997 meters Centerline goodness [0,1] 0.7784769329936462 Centerline is valid? [False, False] Translation: X:-27.13, Y:15.14, Z:16.89 [[ 9.99876950e-01 1.43042466e-02 -6.44000772e-03 -2.71303972e+01] [-1.42878085e-02 9.99894566e-01 2.59130524e-03 1.51393847e+01] [ 6.47639540e-03 -2.49897278e-03 9.99975905e-01 1.68911426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66925976399997 meters Centerline goodness [0,1] 0.7856089920766538 Centerline is valid? [False, False] Translation: X:-27.13, Y:15.14, Z:16.89 [[ 9.99922764e-01 1.02689565e-02 -7.00108130e-03 -2.71292200e+01] [-1.02841899e-02 9.99944819e-01 -2.14335406e-03 1.51428352e+01] [ 6.97868497e-03 2.21518896e-03 9.99973195e-01 1.68922222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69925976399998 meters Centerline goodness [0,1] 0.7750184638109305 Centerline is valid? [False, False] Translation: X:-27.13, Y:15.15, Z:16.89 [[ 9.99960857e-01 5.39026142e-03 -7.01635182e-03 -2.71308009e+01] [-5.44014423e-03 9.99959926e-01 -7.10994498e-03 1.51452335e+01] [ 6.97774618e-03 7.14783664e-03 9.99950109e-01 1.68943426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72925976399998 meters Centerline goodness [0,1] 0.7595668532623658 Centerline is valid? [False, False] Translation: X:-27.12, Y:15.14, Z:16.89 [[ 9.99999592e-01 6.03541650e-04 -6.72002923e-04 -2.71170085e+01] [-6.03768860e-04 9.99999761e-01 -3.37957287e-04 1.51428646e+01] [ 6.71798790e-04 3.38362884e-04 9.99999717e-01 1.68869478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75925976399998 meters Centerline goodness [0,1] 0.7279469876588243 Centerline is valid? [False, False] Translation: X:-27.12, Y:15.14, Z:16.89 [[ 9.99990584e-01 -4.33055441e-03 -2.80328251e-04 -2.71194434e+01] [ 4.32923295e-03 9.99980257e-01 -4.55442205e-03 1.51414313e+01] [ 3.00045889e-04 4.55316556e-03 9.99989589e-01 1.68880353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78925976399998 meters Centerline goodness [0,1] 0.7001971788260276 Centerline is valid? [False, False] Translation: X:-27.12, Y:15.14, Z:16.89 [[ 9.99987751e-01 -4.94073258e-03 2.95219866e-04 -2.71218672e+01] [ 4.94186332e-03 9.99979945e-01 -3.96075105e-03 1.51380905e+01] [-2.75644934e-04 3.96216147e-03 9.99992113e-01 1.68877820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81925976399998 meters Centerline goodness [0,1] 0.6796957852316456 Centerline is valid? [False, False] Translation: X:-27.12, Y:15.13, Z:16.89 [[ 9.99983953e-01 -5.58779349e-03 9.32391842e-04 -2.71245005e+01] [ 5.59097784e-03 9.99978425e-01 -3.44832895e-03 1.51349965e+01] [-9.13103176e-04 3.45348660e-03 9.99993620e-01 1.68877046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84925976399998 meters Centerline goodness [0,1] 0.6624054899341086 Centerline is valid? [False, False] Translation: X:-27.13, Y:15.13, Z:16.89 [[ 9.99979373e-01 -6.21387149e-03 1.62512097e-03 -2.71271598e+01] [ 6.21864961e-03 9.99976307e-01 -2.95182627e-03 1.51321181e+01] [-1.60674020e-03 2.96187144e-03 9.99994323e-01 1.68875244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87925976399998 meters Centerline goodness [0,1] 0.6360626860232035 Centerline is valid? [False, False] Translation: X:-27.13, Y:15.13, Z:16.89 [[ 9.99929511e-01 -1.16140848e-02 2.46690506e-03 -2.71312039e+01] [ 1.16317344e-02 9.99905957e-01 -7.26494959e-03 1.51305417e+01] [-2.38229733e-03 7.29313188e-03 9.99970567e-01 1.68889011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90925976399998 meters Centerline goodness [0,1] 0.6252618158637646 Centerline is valid? [False, False] Translation: X:-27.13, Y:15.13, Z:16.89 [[ 9.99917720e-01 -1.24193239e-02 3.21141849e-03 -2.71339995e+01] [ 1.24405826e-02 9.99900255e-01 -6.68672098e-03 1.51269354e+01] [-3.12805362e-03 6.72612271e-03 9.99972487e-01 1.68884291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93925976399998 meters Centerline goodness [0,1] 0.6130745782150726 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.12, Z:16.89 [[ 9.99905008e-01 -1.32194919e-02 3.90118579e-03 -2.71367395e+01] [ 1.32430192e-02 9.99893896e-01 -6.06789368e-03 1.51233706e+01] [-3.82055738e-03 6.11898076e-03 9.99973980e-01 1.68879889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.969259764 meters Centerline goodness [0,1] 0.6086207417706979 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.12, Z:16.89 [[ 9.99897067e-01 -1.36260074e-02 4.49301633e-03 -2.71385618e+01] [ 1.36512075e-02 9.99890987e-01 -5.62658492e-03 1.51215679e+01] [-4.41585864e-03 5.68734085e-03 9.99974077e-01 1.68874441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.999259764 meters Centerline goodness [0,1] 0.608173149689723 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.12, Z:16.89 [[ 9.99936024e-01 -1.01021709e-02 5.08865129e-03 -2.71412539e+01] [ 1.01078894e-02 9.99948310e-01 -1.09931217e-03 1.51193330e+01] [-5.07728282e-03 1.15067737e-03 9.99986448e-01 1.68875986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.029259764 meters Centerline goodness [0,1] 0.6110221470223887 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.12, Z:16.89 [[ 9.99933554e-01 -1.02246132e-02 5.32391001e-03 -2.71422898e+01] [ 1.02306294e-02 9.99947056e-01 -1.10402736e-03 1.51188588e+01] [-5.31233989e-03 1.15842096e-03 9.99985218e-01 1.68881289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.059259764 meters Centerline goodness [0,1] 0.6056465478237263 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.12, Z:16.89 [[ 9.99935025e-01 -9.99002272e-03 5.49053730e-03 -2.71420743e+01] [ 9.99374366e-03 9.99949850e-01 -6.50681902e-04 1.51175716e+01] [-5.48376162e-03 7.05510646e-04 9.99984715e-01 1.68870406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.089259764 meters Centerline goodness [0,1] 0.6046182988063382 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.12, Z:16.89 [[ 9.99938389e-01 -9.59244924e-03 5.58595874e-03 -2.71414282e+01] [ 9.59312906e-03 9.99953980e-01 -9.49194090e-05 1.51162920e+01] [-5.58479116e-03 1.48500384e-04 9.99984394e-01 1.68856872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.119259764 meters Centerline goodness [0,1] 0.6046182988063382 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.12, Z:16.89 [[ 9.99938389e-01 -9.59244924e-03 5.58595874e-03 -2.71414282e+01] [ 9.59312906e-03 9.99953980e-01 -9.49194090e-05 1.51162920e+01] [-5.58479116e-03 1.48500384e-04 9.99984394e-01 1.68856872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.149259764 meters Centerline goodness [0,1] 0.6080062464338268 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.12, Z:16.89 [[ 9.99940787e-01 -9.35313095e-03 5.56245652e-03 -2.71409202e+01] [ 9.35231371e-03 9.99956251e-01 1.72913810e-04 1.51160311e+01] [-5.56383045e-03 -1.20881733e-04 9.99984514e-01 1.68850320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.179259764 meters Centerline goodness [0,1] 0.6087925323697682 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.12, Z:16.89 [[ 9.99944617e-01 -9.07606144e-03 5.32811287e-03 -2.71400143e+01] [ 9.07618833e-03 9.99958811e-01 3.64383147e-07 1.51178004e+01] [-5.32789672e-03 4.79945929e-05 9.99985806e-01 1.68850929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.209259764 meters Centerline goodness [0,1] 0.6063333433671473 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.12, Z:16.89 [[ 9.99946266e-01 -8.93244412e-03 5.26092826e-03 -2.71397102e+01] [ 8.93278627e-03 9.99960101e-01 -4.15412512e-05 1.51183212e+01] [-5.26034729e-03 8.85337668e-05 9.99986160e-01 1.68851243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23925976399997 meters Centerline goodness [0,1] 0.6062265002255978 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.12, Z:16.89 [[ 9.99947779e-01 -8.77350489e-03 5.24070114e-03 -2.71396989e+01] [ 8.77379112e-03 9.99961509e-01 -3.16280922e-05 1.51181306e+01] [-5.24022193e-03 7.76072577e-05 9.99986267e-01 1.68853786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26925976399997 meters Centerline goodness [0,1] 0.6091094697652075 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.12, Z:16.89 [[ 9.99948271e-01 -8.66207555e-03 5.33147388e-03 -2.71402038e+01] [ 8.66144792e-03 9.99962479e-01 1.40801418e-04 1.51169965e+01] [-5.33249347e-03 -9.46158507e-05 9.99985778e-01 1.68857736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29925976399997 meters Centerline goodness [0,1] 0.6025202520252025 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.12, Z:16.89 [[ 9.99948406e-01 -8.57040854e-03 5.45284895e-03 -2.71406289e+01] [ 8.56806290e-03 9.99963191e-01 4.53382194e-04 1.51156384e+01] [-5.45653390e-03 -4.06638449e-04 9.99985030e-01 1.68857670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32925976399997 meters Centerline goodness [0,1] 0.6025202520252025 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.12, Z:16.89 [[ 9.99948406e-01 -8.57040854e-03 5.45284895e-03 -2.71406289e+01] [ 8.56806290e-03 9.99963191e-01 4.53382194e-04 1.51156384e+01] [-5.45653390e-03 -4.06638449e-04 9.99985030e-01 1.68857670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35925976399997 meters Centerline goodness [0,1] 0.59999401323076 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.11, Z:16.89 [[ 9.99947780e-01 -8.48396270e-03 5.69729674e-03 -2.71413256e+01] [ 8.47861644e-03 9.99963593e-01 9.61883859e-04 1.51134083e+01] [-5.70524991e-03 -9.13528436e-04 9.99983308e-01 1.68854608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38925976399997 meters Centerline goodness [0,1] 0.5975973290407202 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.11, Z:16.89 [[ 9.99947696e-01 -8.35288354e-03 5.90203624e-03 -2.71419119e+01] [ 8.34399108e-03 9.99964018e-01 1.52969750e-03 1.51108005e+01] [-5.91460126e-03 -1.48037096e-03 9.99981413e-01 1.68851844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41925976399997 meters Centerline goodness [0,1] 0.5911202429873146 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.11, Z:16.89 [[ 9.99947452e-01 -8.23623389e-03 6.10395485e-03 -2.71426350e+01] [ 8.22417589e-03 9.99964185e-01 1.99791632e-03 1.51084424e+01] [-6.12019154e-03 -1.94761133e-03 9.99979375e-01 1.68852220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44925976399998 meters Centerline goodness [0,1] 0.591980991980992 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.11, Z:16.89 [[ 9.99946349e-01 -8.19401790e-03 6.33698373e-03 -2.71435394e+01] [ 8.17907387e-03 9.99963717e-01 2.38055599e-03 1.51064204e+01] [-6.35626013e-03 -2.32859762e-03 9.99977088e-01 1.68853864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47925976399998 meters Centerline goodness [0,1] 0.5854633770695732 Centerline is valid? [False, False] Translation: X:-27.14, Y:15.10, Z:16.89 [[ 9.99943816e-01 -8.23046877e-03 6.68008304e-03 -2.71449936e+01] [ 8.20844354e-03 9.99960806e-01 3.31789611e-03 1.51015407e+01] [-6.70712906e-03 -3.26287662e-03 9.99972184e-01 1.68852367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50925976399998 meters Centerline goodness [0,1] 0.5825950398530326 Centerline is valid? [False, False] Translation: X:-27.15, Y:15.10, Z:16.89 [[ 9.99940372e-01 -8.33597705e-03 7.05437318e-03 -2.71463720e+01] [ 8.31026562e-03 9.99958748e-01 3.66624882e-03 1.50989273e+01] [-7.08464394e-03 -3.60740649e-03 9.99968397e-01 1.68854524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53925976399998 meters Centerline goodness [0,1] 0.5816738944449361 Centerline is valid? [False, False] Translation: X:-27.15, Y:15.10, Z:16.89 [[ 9.99936307e-01 -8.44509144e-03 7.48743429e-03 -2.71478767e+01] [ 8.41532512e-03 9.99956598e-01 3.99813564e-03 1.50962679e+01] [-7.52087394e-03 -3.93487179e-03 9.99963976e-01 1.68857031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56925976399998 meters Centerline goodness [0,1] 0.577703993183087 Centerline is valid? [False, False] Translation: X:-27.15, Y:15.09, Z:16.89 [[ 9.99926281e-01 -9.09823638e-03 8.04084131e-03 -2.71505140e+01] [ 9.06224811e-03 9.99948808e-01 4.50084332e-03 1.50898017e+01] [-8.08137942e-03 -4.42764342e-03 9.99957543e-01 1.68863062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59925976399998 meters Centerline goodness [0,1] 0.5742423354241163 Centerline is valid? [False, False] Translation: X:-27.15, Y:15.09, Z:16.89 [[ 9.99922500e-01 -9.16194306e-03 8.42933832e-03 -2.71517708e+01] [ 9.11786429e-03 9.99944634e-01 5.25286196e-03 1.50858871e+01] [-8.47699805e-03 -5.17559729e-03 9.99950676e-01 1.68859566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62925976399998 meters Centerline goodness [0,1] 0.5743259017158866 Centerline is valid? [False, False] Translation: X:-27.15, Y:15.08, Z:16.89 [[ 9.99915765e-01 -9.40754223e-03 8.94211340e-03 -2.71536212e+01] [ 9.35570405e-03 9.99939290e-01 5.82134549e-03 1.50821124e+01] [-8.99633508e-03 -5.73719536e-03 9.99943074e-01 1.68860351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65925976399998 meters Centerline goodness [0,1] 0.57002821489863 Centerline is valid? [False, False] Translation: X:-27.16, Y:15.08, Z:16.89 [[ 9.99909147e-01 -9.63436546e-03 9.42742910e-03 -2.71553905e+01] [ 9.57381248e-03 9.99933385e-01 6.44725080e-03 1.50784665e+01] [-9.48891627e-03 -6.35640861e-03 9.99934776e-01 1.68860359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68925976399998 meters Centerline goodness [0,1] 0.56798772544365 Centerline is valid? [False, False] Translation: X:-27.16, Y:15.07, Z:16.89 [[ 9.99855991e-01 -1.39985964e-02 9.59357447e-03 -2.71569399e+01] [ 1.39700317e-02 9.99897799e-01 3.03806717e-03 1.50744447e+01] [-9.63512267e-03 -2.90360712e-03 9.99949365e-01 1.68868553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.719259764 meters Centerline goodness [0,1] 0.5690405510562873 Centerline is valid? [False, False] Translation: X:-27.16, Y:15.07, Z:16.89 [[ 9.99841388e-01 -1.46412290e-02 1.01406478e-02 -2.71594549e+01] [ 1.46055602e-02 9.99886915e-01 3.58258044e-03 1.50705730e+01] [-1.01919544e-02 -3.43390236e-03 9.99942165e-01 1.68871428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.749259764 meters Centerline goodness [0,1] 0.5683163221545586 Centerline is valid? [False, False] Translation: X:-27.16, Y:15.07, Z:16.89 [[ 9.99827763e-01 -1.52061555e-02 1.06403115e-02 -2.71619063e+01] [ 1.51651397e-02 9.99877299e-01 3.92488681e-03 1.50669854e+01] [-1.06986884e-02 -3.76284899e-03 9.99935687e-01 1.68879080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.779259764 meters Centerline goodness [0,1] 0.5676822323462414 Centerline is valid? [False, False] Translation: X:-27.16, Y:15.06, Z:16.89 [[ 9.99812256e-01 -1.57816810e-02 1.12423939e-02 -2.71643433e+01] [ 1.57332148e-02 9.99866603e-01 4.38650225e-03 1.50633087e+01] [-1.13101206e-02 -4.20879972e-03 9.99927181e-01 1.68881040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.809259764 meters Centerline goodness [0,1] 0.560552458042057 Centerline is valid? [False, False] Translation: X:-27.17, Y:15.06, Z:16.89 [[ 9.99794460e-01 -1.64552772e-02 1.18432092e-02 -2.71669194e+01] [ 1.64005070e-02 9.99854423e-01 4.70697412e-03 1.50596601e+01] [-1.19189396e-02 -4.51177201e-03 9.99918788e-01 1.68885356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.839259764 meters Centerline goodness [0,1] 0.550359813743474 Centerline is valid? [False, False] Translation: X:-27.17, Y:15.06, Z:16.89 [[ 9.99763199e-01 -1.77653104e-02 1.25674243e-02 -2.71705851e+01] [ 1.77107281e-02 9.99833289e-01 4.44120396e-03 1.50568076e+01] [-1.26442285e-02 -4.21757405e-03 9.99911164e-01 1.68897784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.869259764 meters Centerline goodness [0,1] 0.5562962337918038 Centerline is valid? [False, False] Translation: X:-27.17, Y:15.05, Z:16.89 [[ 9.99736870e-01 -1.88139783e-02 1.31234723e-02 -2.71734439e+01] [ 1.87567457e-02 9.99814082e-01 4.47062887e-03 1.50540973e+01] [-1.32051427e-02 -4.22329888e-03 9.99903889e-01 1.68905090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.899259764 meters Centerline goodness [0,1] 0.5565875763460835 Centerline is valid? [False, False] Translation: X:-27.17, Y:15.06, Z:16.89 [[ 9.99726382e-01 -1.92137097e-02 1.33414404e-02 -2.71747743e+01] [ 1.91619882e-02 9.99808415e-01 3.99383563e-03 1.50553200e+01] [-1.34156208e-02 -3.73709432e-03 9.99903023e-01 1.68914921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.929259764 meters Centerline goodness [0,1] 0.5456744971163314 Centerline is valid? [False, False] Translation: X:-27.18, Y:15.06, Z:16.89 [[ 9.99711772e-01 -1.97121830e-02 1.37041126e-02 -2.71767247e+01] [ 1.96660244e-02 9.99800497e-01 3.49487854e-03 1.50557162e+01] [-1.37702702e-02 -3.22436581e-03 9.99899987e-01 1.68928470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.959259764 meters Centerline goodness [0,1] 0.5448460132189565 Centerline is valid? [False, False] Translation: X:-27.18, Y:15.06, Z:16.89 [[ 9.99704127e-01 -1.99233954e-02 1.39541238e-02 -2.71778725e+01] [ 1.98798167e-02 9.99797079e-01 3.25479124e-03 1.50560797e+01] [-1.40161387e-02 -2.97642281e-03 9.99897339e-01 1.68934940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98925976399997 meters Centerline goodness [0,1] 0.5552903515668876 Centerline is valid? [False, False] Translation: X:-27.18, Y:15.06, Z:16.89 [[ 9.99702005e-01 -1.99216265e-02 1.41078133e-02 -2.71785062e+01] [ 1.98803461e-02 9.99797683e-01 3.06029661e-03 1.50562933e+01] [-1.41659251e-02 -2.77891645e-03 9.99895797e-01 1.68939815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01925976399997 meters Centerline goodness [0,1] 0.5472284434490482 Centerline is valid? [False, False] Translation: X:-27.18, Y:15.06, Z:16.89 [[ 9.99690010e-01 -2.01616519e-02 1.46079409e-02 -2.71803730e+01] [ 2.01217443e-02 9.99793407e-01 2.87377078e-03 1.50552802e+01] [-1.46628630e-02 -2.57894269e-03 9.99889169e-01 1.68947046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04925976399997 meters Centerline goodness [0,1] 0.5455590123041565 Centerline is valid? [False, False] Translation: X:-27.20, Y:15.06, Z:16.90 [[ 9.99767180e-01 -1.95703416e-02 9.08776959e-03 -2.72008463e+01] [ 1.96233012e-02 9.99790763e-01 -5.77542103e-03 1.50590612e+01] [-8.97284113e-03 5.95240844e-03 9.99942027e-01 1.69028140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07925976399997 meters Centerline goodness [0,1] 0.5448506837845382 Centerline is valid? [False, False] Translation: X:-27.20, Y:15.06, Z:16.90 [[ 9.99768179e-01 -1.93879231e-02 9.36460686e-03 -2.72012858e+01] [ 1.94367004e-02 9.99797846e-01 -5.14605168e-03 1.50569216e+01] [-9.26294251e-03 5.32687577e-03 9.99942910e-01 1.69019787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10925976399997 meters Centerline goodness [0,1] 0.5451858461366869 Centerline is valid? [False, False] Translation: X:-27.20, Y:15.05, Z:16.90 [[ 9.99820867e-01 -1.61541441e-02 9.86291111e-03 -2.72034674e+01] [ 1.61595956e-02 9.99869313e-01 -4.73280727e-04 1.50517344e+01] [-9.85397671e-03 6.32576602e-04 9.99951248e-01 1.69012583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13925976399997 meters Centerline goodness [0,1] 0.5442136995478144 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.05, Z:16.90 [[ 9.99864138e-01 -1.27526043e-02 1.04439462e-02 -2.72058091e+01] [ 1.27104023e-02 9.99910825e-01 4.09726641e-03 1.50476382e+01] [-1.04952657e-02 -3.96396299e-03 9.99937066e-01 1.69009208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16925976399997 meters Centerline goodness [0,1] 0.5343869544578784 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.05, Z:16.90 [[ 9.99856151e-01 -1.31046907e-02 1.07677445e-02 -2.72078284e+01] [ 1.30622051e-02 9.99906659e-01 4.00653532e-03 1.50464839e+01] [-1.08192438e-02 -3.86530850e-03 9.99933999e-01 1.69023299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19925976399998 meters Centerline goodness [0,1] 0.5350327343641176 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.04, Z:16.90 [[ 9.99847633e-01 -1.33393484e-02 1.12593370e-02 -2.72097389e+01] [ 1.32909053e-02 9.99902138e-01 4.36640430e-03 1.50437798e+01] [-1.13164801e-02 -4.21609222e-03 9.99927078e-01 1.69027306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22925976399998 meters Centerline goodness [0,1] 0.5360595002646313 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.04, Z:16.90 [[ 9.99835877e-01 -1.37121190e-02 1.18404942e-02 -2.72120244e+01] [ 1.36606493e-02 9.99896933e-01 4.41691232e-03 1.50416846e+01] [-1.18998390e-02 -4.25443856e-03 9.99920144e-01 1.69034913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25925976399998 meters Centerline goodness [0,1] 0.5220541290770299 Centerline is valid? [False, False] Translation: X:-27.21, Y:15.04, Z:16.90 [[ 9.99830413e-01 -1.37753476e-02 1.22223538e-02 -2.72134638e+01] [ 1.37167604e-02 9.99894088e-01 4.86439968e-03 1.50391403e+01] [-1.22880681e-02 -4.69592364e-03 9.99913472e-01 1.69036905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28925976399998 meters Centerline goodness [0,1] 0.5080636222567059 Centerline is valid? [False, False] Translation: X:-27.22, Y:15.03, Z:16.91 [[ 9.99812119e-01 -1.44542580e-02 1.29151222e-02 -2.72168223e+01] [ 1.43898000e-02 9.99883608e-01 5.06996248e-03 1.50345175e+01] [-1.29869015e-02 -4.88316391e-03 9.99903743e-01 1.69050356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31925976399998 meters Centerline goodness [0,1] 0.5039520229935883 Centerline is valid? [False, False] Translation: X:-27.22, Y:15.03, Z:16.91 [[ 9.99792832e-01 -1.50654830e-02 1.36866259e-02 -2.72199649e+01] [ 1.49973978e-02 9.99874711e-01 5.06368079e-03 1.50318138e+01] [-1.37611979e-02 -4.85736798e-03 9.99893512e-01 1.69061560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34925976399998 meters Centerline goodness [0,1] 0.500385568713853 Centerline is valid? [False, False] Translation: X:-27.22, Y:15.03, Z:16.91 [[ 9.99774530e-01 -1.55709486e-02 1.44372696e-02 -2.72228437e+01] [ 1.54969249e-02 9.99866263e-01 5.22504940e-03 1.50288054e+01] [-1.45166978e-02 -5.00013803e-03 9.99882125e-01 1.69069519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37925976399998 meters Centerline goodness [0,1] 0.501596828368482 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.03, Z:16.92 [[ 9.99830594e-01 -1.64400924e-02 8.27690814e-03 -2.72398875e+01] [ 1.64946191e-02 9.99842413e-01 -6.56320921e-03 1.50334167e+01] [-8.16770404e-03 6.69862180e-03 9.99944207e-01 1.69165417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40925976399998 meters Centerline goodness [0,1] 0.496457392969498 Centerline is valid? [False, False] Translation: X:-27.24, Y:15.03, Z:16.92 [[ 9.99809917e-01 -1.74746118e-02 8.64686641e-03 -2.72428157e+01] [ 1.75252314e-02 9.99829521e-01 -5.81336550e-03 1.50273267e+01] [-8.54380599e-03 5.96379881e-03 9.99945717e-01 1.69171958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43925976399998 meters Centerline goodness [0,1] 0.49359340569656407 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.02, Z:16.92 [[ 9.99797091e-01 -1.78813138e-02 9.27553042e-03 -2.72453431e+01] [ 1.79303195e-02 9.99825574e-01 -5.22734341e-03 1.50232343e+01] [-9.18044076e-03 5.39259596e-03 9.99943318e-01 1.69175822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.469259764 meters Centerline goodness [0,1] 0.49170895866692 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.02, Z:16.92 [[ 9.99785270e-01 -1.81601369e-02 9.98110063e-03 -2.72476688e+01] [ 1.82061653e-02 9.99823946e-01 -4.54020632e-03 1.50189737e+01] [-9.89689264e-03 4.72094897e-03 9.99939880e-01 1.69174916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.499259764 meters Centerline goodness [0,1] 0.48907730942672756 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.02, Z:16.92 [[ 9.99785418e-01 -1.79732906e-02 1.02994758e-02 -2.72485176e+01] [ 1.80125486e-02 9.99830797e-01 -3.73164676e-03 1.50156297e+01] [-1.02306631e-02 3.91636582e-03 9.99939996e-01 1.69170222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.529259764 meters Centerline goodness [0,1] 0.48794028080955076 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.01, Z:16.92 [[ 9.99780217e-01 -1.79862446e-02 1.07709280e-02 -2.72500116e+01] [ 1.80216541e-02 9.99832478e-01 -3.19951479e-03 1.50129419e+01] [-1.07115763e-02 3.39292153e-03 9.99936873e-01 1.69169795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.559259764 meters Centerline goodness [0,1] 0.4859697312436042 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.01, Z:16.92 [[ 9.99769945e-01 -1.82750414e-02 1.12284913e-02 -2.72520591e+01] [ 1.83098604e-02 9.99827842e-01 -3.00601262e-03 1.50109843e+01] [-1.11716233e-02 3.21091319e-03 9.99932440e-01 1.69177782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.589259764 meters Centerline goodness [0,1] 0.4554805528768885 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.01, Z:16.92 [[ 9.99746245e-01 -1.91403122e-02 1.18782844e-02 -2.72557183e+01] [ 1.91772390e-02 9.99811591e-01 -3.00268274e-03 1.50083235e+01] [-1.18185742e-02 3.22971349e-03 9.99924942e-01 1.69196608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.619259764 meters Centerline goodness [0,1] 0.47903838946297583 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.01, Z:16.92 [[ 9.99740160e-01 -1.93029587e-02 1.21246749e-02 -2.72571022e+01] [ 1.93416647e-02 9.99808178e-01 -3.08321686e-03 1.50075439e+01] [-1.20628339e-02 3.31692711e-03 9.99921740e-01 1.69206399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.649259764 meters Centerline goodness [0,1] 0.47445702864756834 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.00, Z:16.92 [[ 9.99792666e-01 -1.60518518e-02 1.25285180e-02 -2.72593924e+01] [ 1.60353124e-02 9.99870419e-01 1.41948719e-03 1.50031866e+01] [-1.25496800e-02 -1.21829419e-03 9.99920507e-01 1.69206900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.679259764 meters Centerline goodness [0,1] 0.4569435941118535 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.00, Z:16.92 [[ 9.99781660e-01 -1.63728523e-02 1.29831283e-02 -2.72614247e+01] [ 1.63576498e-02 9.99865390e-01 1.27627822e-03 1.50019654e+01] [-1.30022769e-02 -1.06362609e-03 9.99914901e-01 1.69217786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.709259764 meters Centerline goodness [0,1] 0.4752296978843964 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.00, Z:16.92 [[ 9.99762860e-01 -1.69546809e-02 1.36660933e-02 -2.72644997e+01] [ 1.69371959e-02 9.99855583e-01 1.39417651e-03 1.49983123e+01] [-1.36877575e-02 -1.16238059e-03 9.99905643e-01 1.69230472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73925976399997 meters Centerline goodness [0,1] 0.47438947034570256 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.00, Z:16.92 [[ 9.99747700e-01 -1.73831472e-02 1.42254291e-02 -2.72668070e+01] [ 1.73667265e-02 9.99848371e-01 1.27704861e-03 1.49969090e+01] [-1.42454713e-02 -1.02967727e-03 9.99897998e-01 1.69240499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76925976399997 meters Centerline goodness [0,1] 0.47140518561546174 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.00, Z:16.92 [[ 9.99738203e-01 -1.76091416e-02 1.46096998e-02 -2.72685560e+01] [ 1.75906506e-02 9.99844302e-01 1.39321809e-03 1.49952039e+01] [-1.46319585e-02 -1.13585923e-03 9.99892302e-01 1.69248449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79925976399997 meters Centerline goodness [0,1] 0.4468865435356201 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.93 [[ 9.99814270e-01 -1.71529002e-02 8.78651903e-03 -2.72868741e+01] [ 1.72265371e-02 9.99816539e-01 -8.37467936e-03 1.50003571e+01] [-8.64125700e-03 8.52448523e-03 9.99926328e-01 1.69335899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82925976399997 meters Centerline goodness [0,1] 0.44981578947368417 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.93 [[ 9.99855708e-01 -1.42808518e-02 9.19898584e-03 -2.72895318e+01] [ 1.43194102e-02 9.99888904e-01 -4.13945431e-03 1.49962592e+01] [-9.13884893e-03 4.27058107e-03 9.99949120e-01 1.69340050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85925976399997 meters Centerline goodness [0,1] 0.4592569219846967 Centerline is valid? [False, False] Translation: X:-27.29, Y:14.99, Z:16.93 [[ 9.99888348e-01 -1.15267328e-02 9.50921586e-03 -2.72919573e+01] [ 1.15267749e-02 9.99933563e-01 5.03734624e-05 1.49922658e+01] [-9.50916474e-03 5.92427529e-05 9.99954785e-01 1.69343405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88925976399997 meters Centerline goodness [0,1] 0.4533953682889853 Centerline is valid? [False, False] Translation: X:-27.29, Y:14.99, Z:16.94 [[ 9.99881798e-01 -1.18916845e-02 9.74564676e-03 -2.72935483e+01] [ 1.18915511e-02 9.99929290e-01 7.16368900e-05 1.49912206e+01] [-9.74580953e-03 4.42624342e-05 9.99952507e-01 1.69353857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91925976399997 meters Centerline goodness [0,1] 0.4567807682257643 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99908986e-01 -8.59670905e-03 1.03979409e-02 -2.72963355e+01] [ 8.55470119e-03 9.99955093e-01 4.07777008e-03 1.49884320e+01] [-1.04325293e-02 -3.98844767e-03 9.99937625e-01 1.69361056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94925976399998 meters Centerline goodness [0,1] 0.45880321306156624 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99908254e-01 -8.70563714e-03 1.03776311e-02 -2.72968810e+01] [ 8.66683865e-03 9.99955306e-01 3.77779351e-03 1.49890669e+01] [-1.04100554e-02 -3.68750566e-03 9.99939015e-01 1.69370899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97925976399998 meters Centerline goodness [0,1] 0.45904043578462184 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99908112e-01 -8.82883130e-03 1.02868785e-02 -2.72972532e+01] [ 8.79452510e-03 9.99955630e-01 3.37542473e-03 1.49902170e+01] [-1.03162231e-02 -3.28464636e-03 9.99941392e-01 1.69381284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00925976399998 meters Centerline goodness [0,1] 0.45306485821266795 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99907877e-01 -8.93696841e-03 1.02160823e-02 -2.72979136e+01] [ 8.90798270e-03 9.99956178e-01 2.87925451e-03 1.49912114e+01] [-1.02413664e-02 -2.78798458e-03 9.99943669e-01 1.69396583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03925976399998 meters Centerline goodness [0,1] 0.44199126272006695 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99907161e-01 -8.91907887e-03 1.03014056e-02 -2.72982002e+01] [ 8.88958817e-03 9.99956267e-01 2.90503394e-03 1.49909814e+01] [-1.03268653e-02 -2.81318898e-03 9.99942719e-01 1.69397462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06925976399998 meters Centerline goodness [0,1] 0.4413758802125599 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99904806e-01 -8.98170986e-03 1.04741263e-02 -2.72987923e+01] [ 8.95127394e-03 9.99955588e-01 2.94908828e-03 1.49905144e+01] [-1.05001490e-02 -2.85505077e-03 9.99940796e-01 1.69398646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09925976399998 meters Centerline goodness [0,1] 0.4413659456345257 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99902866e-01 -9.05824956e-03 1.05927838e-02 -2.72993596e+01] [ 9.02745982e-03 9.99954898e-01 2.95088324e-03 1.49901959e+01] [-1.06190359e-02 -2.85497068e-03 9.99939541e-01 1.69401428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12925976399998 meters Centerline goodness [0,1] 0.4501678556441461 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99906497e-01 -8.95228621e-03 1.03369727e-02 -2.72990059e+01] [ 8.92527927e-03 9.99956642e-01 2.65583756e-03 1.49917906e+01] [-1.03603003e-02 -2.56332886e-03 9.99943045e-01 1.69409064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15925976399998 meters Centerline goodness [0,1] 0.45170000262143817 Centerline is valid? [False, False] Translation: X:-27.30, Y:14.99, Z:16.94 [[ 9.99909470e-01 -8.93003454e-03 1.00651130e-02 -2.72987071e+01] [ 8.90756375e-03 9.99957739e-01 2.27516538e-03 1.49935668e+01] [-1.00850049e-02 -2.18530377e-03 9.99946757e-01 1.69417247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18925976399998 meters Centerline goodness [0,1] 0.46540187357317164 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99912897e-01 -8.85599315e-03 9.78620100e-03 -2.72981340e+01] [ 8.83709393e-03 9.99959006e-01 1.97276907e-03 1.49952592e+01] [-9.80327065e-03 -1.88611566e-03 9.99950168e-01 1.69421515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.219259764 meters Centerline goodness [0,1] 0.46540187357317164 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99912897e-01 -8.85599315e-03 9.78620100e-03 -2.72981340e+01] [ 8.83709393e-03 9.99959006e-01 1.97276907e-03 1.49952592e+01] [-9.80327065e-03 -1.88611566e-03 9.99950168e-01 1.69421515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.249259764 meters Centerline goodness [0,1] 0.4637673524220952 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.00, Z:16.94 [[ 9.99917678e-01 -8.70901952e-03 9.42286201e-03 -2.72971849e+01] [ 8.69254247e-03 9.99960620e-01 1.78817074e-03 1.49966819e+01] [-9.43806416e-03 -1.70611490e-03 9.99954005e-01 1.69423229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.279259764 meters Centerline goodness [0,1] 0.46854309003139094 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99930348e-01 -7.89484491e-03 8.77327374e-03 -2.72945078e+01] [ 7.87961502e-03 9.99967390e-01 1.76915421e-03 1.49992187e+01] [-8.78695484e-03 -1.69990096e-03 9.99959949e-01 1.69416979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.309259764 meters Centerline goodness [0,1] 0.46939206118950283 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99934682e-01 -7.65808409e-03 8.48443258e-03 -2.72935359e+01] [ 7.64461556e-03 9.99969469e-01 1.61873525e-03 1.50007704e+01] [-8.49656995e-03 -1.55376929e-03 9.99962696e-01 1.69416261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.339259764 meters Centerline goodness [0,1] 0.4714021164021164 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99936913e-01 -7.58510121e-03 8.28475133e-03 -2.72929793e+01] [ 7.57383935e-03 9.99970352e-01 1.38987829e-03 1.50023393e+01] [-8.29504807e-03 -1.32704323e-03 9.99964715e-01 1.69417343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.369259764 meters Centerline goodness [0,1] 0.45935326288960865 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99939297e-01 -7.46015313e-03 8.10857849e-03 -2.72923746e+01] [ 7.44983674e-03 9.99971402e-01 1.30174193e-03 1.50034447e+01] [-8.11805780e-03 -1.24125532e-03 9.99966278e-01 1.69416187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.399259764 meters Centerline goodness [0,1] 0.4622970919849668 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99943397e-01 -7.09016132e-03 7.93305069e-03 -2.72912053e+01] [ 7.07806959e-03 9.99973747e-01 1.55126044e-03 1.50038797e+01] [-7.94384111e-03 -1.49502195e-03 9.99967330e-01 1.69406844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.429259764 meters Centerline goodness [0,1] 0.47535145765234266 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99944537e-01 -6.92818335e-03 7.93235159e-03 -2.72908885e+01] [ 6.91409786e-03 9.99974474e-01 1.80175051e-03 1.50036009e+01] [-7.94463197e-03 -1.74680552e-03 9.99966915e-01 1.69401429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.459259764 meters Centerline goodness [0,1] 0.47676713790344094 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.00, Z:16.94 [[ 9.99944348e-01 -7.03786978e-03 7.85937623e-03 -2.72909661e+01] [ 7.02530819e-03 9.99974002e-01 1.62475899e-03 1.50042457e+01] [-7.87060674e-03 -1.56945403e-03 9.99967795e-01 1.69405234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48925976399997 meters Centerline goodness [0,1] 0.47538970745248776 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.94 [[ 9.99944001e-01 -7.20589362e-03 7.75044627e-03 -2.72911354e+01] [ 7.19512189e-03 9.99973111e-01 1.41680814e-03 1.50051271e+01] [-7.76044724e-03 -1.36096339e-03 9.99968961e-01 1.69411071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51925976399997 meters Centerline goodness [0,1] 0.4722044216597244 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.94 [[ 9.99945953e-01 -7.27785281e-03 7.42452840e-03 -2.72906499e+01] [ 7.26998526e-03 9.99972983e-01 1.08610928e-03 1.50072184e+01] [-7.43223236e-03 -1.03207437e-03 9.99971848e-01 1.69416909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54925976399997 meters Centerline goodness [0,1] 0.4744772117962467 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.94 [[ 9.99948515e-01 -7.31937834e-03 7.02805686e-03 -2.72900861e+01] [ 7.31545330e-03 9.99973071e-01 5.84026351e-04 1.50093269e+01] [-7.03214231e-03 -5.32582861e-04 9.99975132e-01 1.69426156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57925976399997 meters Centerline goodness [0,1] 0.46157150143620307 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.94 [[ 9.99950867e-01 -7.14264334e-03 6.87359713e-03 -2.72895386e+01] [ 7.14016484e-03 9.99974435e-01 3.85055976e-04 1.50108599e+01] [-6.87617172e-03 -3.35958441e-04 9.99976302e-01 1.69427337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60925976399997 meters Centerline goodness [0,1] 0.4803776528498803 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.94 [[ 9.99954743e-01 -6.84926873e-03 6.60304178e-03 -2.72884449e+01] [ 6.84640782e-03 9.99976459e-01 4.55777331e-04 1.50116753e+01] [-6.60600808e-03 -4.10549587e-04 9.99978096e-01 1.69423272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63925976399997 meters Centerline goodness [0,1] 0.481231332239055 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.94 [[ 9.99958498e-01 -6.53582442e-03 6.34709844e-03 -2.72873195e+01] [ 6.53304372e-03 9.99978554e-01 4.58740496e-04 1.50129072e+01] [-6.34996057e-03 -4.17255585e-04 9.99979752e-01 1.69419203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66925976399997 meters Centerline goodness [0,1] 0.48379354977888034 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.01, Z:16.94 [[ 9.99961407e-01 -6.38001204e-03 6.03984256e-03 -2.72863546e+01] [ 6.37885169e-03 9.99979633e-01 2.11360612e-04 1.50147756e+01] [-6.04106802e-03 -1.72825195e-04 9.99981738e-01 1.69419555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69925976399998 meters Centerline goodness [0,1] 0.47234723201214557 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.94 [[ 9.99966792e-01 -6.06667390e-03 5.44162592e-03 -2.72846296e+01] [ 6.06820954e-03 9.99981553e-01 -2.65736117e-04 1.50184687e+01] [-5.43991341e-03 2.98748219e-04 9.99985159e-01 1.69423511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72925976399998 meters Centerline goodness [0,1] 0.48203349411955987 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.94 [[ 9.99969145e-01 -5.93444876e-03 5.14694363e-03 -2.72837472e+01] [ 5.93712682e-03 9.99982247e-01 -5.05195605e-04 1.50204926e+01] [-5.14385420e-03 5.35738074e-04 9.99986627e-01 1.69424434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75925976399998 meters Centerline goodness [0,1] 0.48672110246046174 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.94 [[ 9.99972933e-01 -5.68136889e-03 4.67491393e-03 -2.72823940e+01] [ 5.68545464e-03 9.99983467e-01 -8.61148247e-04 1.50229692e+01] [-4.66994414e-03 8.87703950e-04 9.99988702e-01 1.69427067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78925976399998 meters Centerline goodness [0,1] 0.48313599826200304 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.02, Z:16.94 [[ 9.99975700e-01 -5.45829124e-03 4.33662068e-03 -2.72813944e+01] [ 5.46298235e-03 9.99984505e-01 -1.07063553e-03 1.50246201e+01] [-4.33070965e-03 1.09430040e-03 9.99990024e-01 1.69428151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81925976399998 meters Centerline goodness [0,1] 0.4802411798256335 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.94 [[ 9.99977512e-01 -5.26701555e-03 4.15132918e-03 -2.72806121e+01] [ 5.27149040e-03 9.99985536e-01 -1.06772643e-03 1.50254088e+01] [-4.14564540e-03 1.08958611e-03 9.99990813e-01 1.69425036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84925976399998 meters Centerline goodness [0,1] 0.48715092904487667 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.94 [[ 9.99979192e-01 -5.17958469e-03 3.84540466e-03 -2.72799230e+01] [ 5.18378536e-03 9.99985977e-01 -1.08322515e-03 1.50265194e+01] [-3.83974008e-03 1.10313636e-03 9.99992020e-01 1.69425787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87925976399998 meters Centerline goodness [0,1] 0.4850111129180896 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.94 [[ 9.99979127e-01 -5.24651806e-03 3.77097245e-03 -2.72800808e+01] [ 5.25082311e-03 9.99985573e-01 -1.13263715e-03 1.50270643e+01] [-3.76497565e-03 1.15241422e-03 9.99992248e-01 1.69429288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90925976399998 meters Centerline goodness [0,1] 0.48211132541903234 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.94 [[ 9.99978655e-01 -5.28182723e-03 3.84613840e-03 -2.72804580e+01] [ 5.28591777e-03 9.99985474e-01 -1.05415820e-03 1.50269131e+01] [-3.84051465e-03 1.07446607e-03 9.99992048e-01 1.69430408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93925976399998 meters Centerline goodness [0,1] 0.4800596852957135 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.94 [[ 9.99980434e-01 -5.11770346e-03 3.59720505e-03 -2.72798433e+01] [ 5.12177962e-03 9.99986251e-01 -1.12485055e-03 1.50278225e+01] [-3.59139894e-03 1.14325263e-03 9.99992897e-01 1.69432128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.969259764 meters Centerline goodness [0,1] 0.48306352877159575 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.94 [[ 9.99982092e-01 -4.93151786e-03 3.39060472e-03 -2.72793135e+01] [ 4.93569078e-03 9.99987071e-01 -1.22346557e-03 1.50287501e+01] [-3.38452734e-03 1.24017863e-03 9.99993503e-01 1.69434270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.999259764 meters Centerline goodness [0,1] 0.48159934720522235 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.94 [[ 9.99982857e-01 -4.85084467e-03 3.27955879e-03 -2.72789713e+01] [ 4.85506622e-03 9.99987394e-01 -1.28049894e-03 1.50297507e+01] [-3.27330594e-03 1.29639946e-03 9.99993802e-01 1.69433977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.029259764 meters Centerline goodness [0,1] 0.4886320266070552 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.94 [[ 9.99985882e-01 -4.44708881e-03 2.90838141e-03 -2.72772251e+01] [ 4.45036934e-03 9.99989467e-01 -1.12246174e-03 1.50312308e+01] [-2.90335909e-03 1.13538926e-03 9.99995141e-01 1.69425265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.059259764 meters Centerline goodness [0,1] 0.47893002097463977 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.94 [[ 9.99987844e-01 -4.13252491e-03 2.68971500e-03 -2.72762572e+01] [ 4.13500215e-03 9.99991031e-01 -9.16094833e-04 1.50312784e+01] [-2.68590509e-03 9.27205674e-04 9.99995963e-01 1.69420305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.089259764 meters Centerline goodness [0,1] 0.489286978301707 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.94 [[ 9.99989061e-01 -3.86579857e-03 2.63321608e-03 -2.72757754e+01] [ 3.86788314e-03 9.99992210e-01 -7.87013661e-04 1.50312450e+01] [-2.63015313e-03 7.97190024e-04 9.99996223e-01 1.69417089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.119259764 meters Centerline goodness [0,1] 0.48051417522263673 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.94 [[ 9.99988887e-01 -3.87834181e-03 2.68040632e-03 -2.72762494e+01] [ 3.88085066e-03 9.99992036e-01 -9.31429630e-04 1.50310830e+01] [-2.67677257e-03 9.41821536e-04 9.99995974e-01 1.69423057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.149259764 meters Centerline goodness [0,1] 0.481052259310645 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.94 [[ 9.99988321e-01 -3.94154189e-03 2.79674854e-03 -2.72768125e+01] [ 3.94429482e-03 9.99991742e-01 -9.79499381e-04 1.50311144e+01] [-2.79286471e-03 9.90519143e-04 9.99995609e-01 1.69426202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.179259764 meters Centerline goodness [0,1] 0.47437331223916424 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.94 [[ 9.99986924e-01 -4.29458959e-03 2.77631125e-03 -2.72776996e+01] [ 4.29866511e-03 9.99989690e-01 -1.46366753e-03 1.50325913e+01] [-2.76999677e-03 1.47558282e-03 9.99995075e-01 1.69439312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.209259764 meters Centerline goodness [0,1] 0.4805403930131005 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.94 [[ 9.99986388e-01 -4.44276359e-03 2.73603607e-03 -2.72779684e+01] [ 4.44730868e-03 9.99988737e-01 -1.65735923e-03 1.50335706e+01] [-2.72864200e-03 1.66950467e-03 9.99994884e-01 1.69444004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23925976399997 meters Centerline goodness [0,1] 0.47557377049180327 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.94 [[ 9.99985660e-01 -4.60112476e-03 2.74028031e-03 -2.72783353e+01] [ 4.60616388e-03 9.99987707e-01 -1.83544419e-03 1.50342866e+01] [-2.73180152e-03 1.84804005e-03 9.99994561e-01 1.69448506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26925976399997 meters Centerline goodness [0,1] 0.48277559055118113 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.03, Z:16.94 [[ 9.99985605e-01 -4.58474203e-03 2.78736527e-03 -2.72783624e+01] [ 4.58948802e-03 9.99988025e-01 -1.69867343e-03 1.50343919e+01] [-2.77954391e-03 1.71144156e-03 9.99994673e-01 1.69445256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29925976399997 meters Centerline goodness [0,1] 0.4845747447373464 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.04, Z:16.94 [[ 9.99989219e-01 -3.98387070e-03 2.38546057e-03 -2.72764775e+01] [ 3.98771876e-03 9.99990752e-01 -1.61055586e-03 1.50356795e+01] [-2.37902227e-03 1.62005104e-03 9.99995858e-01 1.69438750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32925976399997 meters Centerline goodness [0,1] 0.47821314894084077 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.94 [[ 9.99992198e-01 -3.44205838e-03 1.93813040e-03 -2.72747149e+01] [ 3.44525961e-03 9.99992702e-01 -1.65080207e-03 1.50370452e+01] [-1.93243410e-03 1.65746655e-03 9.99996759e-01 1.69435365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35925976399997 meters Centerline goodness [0,1] 0.4836320585886953 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.94 [[ 9.99996210e-01 -2.39028661e-03 1.36588464e-03 -2.72715882e+01] [ 2.39235041e-03 9.99995996e-01 -1.51133423e-03 1.50394997e+01] [-1.36226665e-03 1.51459617e-03 9.99997925e-01 1.69422358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38925976399997 meters Centerline goodness [0,1] 0.4884902014904775 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.94 [[ 9.99997528e-01 -1.95324339e-03 1.06237957e-03 -2.72700954e+01] [ 1.95471093e-03 9.99997134e-01 -1.38209867e-03 1.50404790e+01] [-1.05967695e-03 1.38417190e-03 9.99998481e-01 1.69415132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41925976399997 meters Centerline goodness [0,1] 0.4926815796741232 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.94 [[ 9.99998745e-01 -1.42997995e-03 6.82221013e-04 -2.72681743e+01] [ 1.43082240e-03 9.99998213e-01 -1.23597976e-03 1.50418859e+01] [-6.80452367e-04 1.23695434e-03 9.99999003e-01 1.69405324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44925976399998 meters Centerline goodness [0,1] 0.4908391453559172 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.94 [[ 9.99998640e-01 -1.49880551e-03 6.88601344e-04 -2.72683969e+01] [ 1.49978121e-03 9.99997869e-01 -1.41861096e-03 1.50425942e+01] [-6.86473654e-04 1.41964178e-03 9.99998757e-01 1.69408715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47925976399998 meters Centerline goodness [0,1] 0.4939882535460993 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.94 [[ 9.99998261e-01 -1.64563737e-03 8.77631140e-04 -2.72690524e+01] [ 1.64698292e-03 9.99997466e-01 -1.53464674e-03 1.50430502e+01] [-8.75103444e-04 1.53608952e-03 9.99998437e-01 1.69410540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50925976399998 meters Centerline goodness [0,1] 0.490724332705726 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.94 [[ 9.99997987e-01 -1.73984983e-03 9.99848856e-04 -2.72696875e+01] [ 1.74144859e-03 9.99997203e-01 -1.60035538e-03 1.50431744e+01] [-9.97061681e-04 1.60209335e-03 9.99998220e-01 1.69414243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53925976399998 meters Centerline goodness [0,1] 0.4944833116721511 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.94 [[ 9.99997532e-01 -1.89779636e-03 1.15523923e-03 -2.72703702e+01] [ 1.89981887e-03 9.99996660e-01 -1.75215830e-03 1.50436107e+01] [-1.15191014e-03 1.75434872e-03 9.99997798e-01 1.69417531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56925976399998 meters Centerline goodness [0,1] 0.49474150337650835 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.94 [[ 9.99997336e-01 -1.94876657e-03 1.23671307e-03 -2.72706159e+01] [ 1.95091741e-03 9.99996583e-01 -1.74033853e-03 1.50439068e+01] [-1.23331733e-03 1.74274662e-03 9.99997721e-01 1.69417286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59925976399998 meters Centerline goodness [0,1] 0.49611799081675245 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.94 [[ 9.99996741e-01 -2.12584849e-03 1.41398199e-03 -2.72712775e+01] [ 2.12815546e-03 9.99996404e-01 -1.63203975e-03 1.50438011e+01] [-1.41050743e-03 1.63504360e-03 9.99997669e-01 1.69416278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62925976399998 meters Centerline goodness [0,1] 0.4996791384168968 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.94 [[ 9.99997398e-01 -1.96665481e-03 1.15594050e-03 -2.72705578e+01] [ 1.96860864e-03 9.99996632e-01 -1.69154501e-03 1.50445212e+01] [-1.15260992e-03 1.69381620e-03 9.99997901e-01 1.69417073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65925976399998 meters Centerline goodness [0,1] 0.49722121372915906 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99997779e-01 -1.80761476e-03 1.08358633e-03 -2.72700647e+01] [ 1.80934441e-03 9.99997087e-01 -1.59737726e-03 1.50450709e+01] [-1.08069573e-03 1.59933429e-03 9.99998137e-01 1.69412992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68925976399998 meters Centerline goodness [0,1] 0.5033223518901111 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.94 [[ 9.99998090e-01 -1.62136830e-03 1.09122228e-03 -2.72697010e+01] [ 1.62288793e-03 9.99997713e-01 -1.39315712e-03 1.50448985e+01] [-1.08896096e-03 1.39492539e-03 9.99998434e-01 1.69407357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.719259764 meters Centerline goodness [0,1] 0.5013441612993559 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.94 [[ 9.99998457e-01 -1.31860891e-03 1.16092962e-03 -2.72692133e+01] [ 1.31964767e-03 9.99998729e-01 -8.94450839e-04 1.50439573e+01] [-1.15974871e-03 8.95981477e-04 9.99998926e-01 1.69396327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.749259764 meters Centerline goodness [0,1] 0.4998880680546228 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.04, Z:16.94 [[ 9.99998413e-01 -1.31925625e-03 1.19765849e-03 -2.72692391e+01] [ 1.32034299e-03 9.99998717e-01 -9.07043452e-04 1.50444166e+01] [-1.19646033e-03 9.08623332e-04 9.99998871e-01 1.69395235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.779259764 meters Centerline goodness [0,1] 0.5012339446968422 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99998741e-01 -1.26699050e-03 9.55405337e-04 -2.72687169e+01] [ 1.26812737e-03 9.99998488e-01 -1.19027129e-03 1.50460022e+01] [-9.53895829e-04 1.19148136e-03 9.99998835e-01 1.69399023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.809259764 meters Centerline goodness [0,1] 0.5007700277209979 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99998850e-01 -1.32825267e-03 7.32235938e-04 -2.72684568e+01] [ 1.32945927e-03 9.99997755e-01 -1.64982081e-03 1.50479981e+01] [-7.30042915e-04 1.65079239e-03 9.99998371e-01 1.69406117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.839259764 meters Centerline goodness [0,1] 0.49921264270850907 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99998959e-01 -1.32288805e-03 5.75776704e-04 -2.72682466e+01] [ 1.32401073e-03 9.99997215e-01 -1.95386773e-03 1.50496201e+01] [-5.73190352e-04 1.95462803e-03 9.99997925e-01 1.69410664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.869259764 meters Centerline goodness [0,1] 0.4986902515280399 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99998977e-01 -1.32222730e-03 5.46390190e-04 -2.72682179e+01] [ 1.32339997e-03 9.99996810e-01 -2.15145882e-03 1.50507249e+01] [-5.43543730e-04 2.15217971e-03 9.99997536e-01 1.69412461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.899259764 meters Centerline goodness [0,1] 0.49696952611845624 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999486e-01 -9.39761631e-04 3.81285399e-04 -2.72672146e+01] [ 9.40557584e-04 9.99997368e-01 -2.09276868e-03 1.50509667e+01] [-3.79317691e-04 2.09312622e-03 9.99997737e-01 1.69408149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.929259764 meters Centerline goodness [0,1] 0.4960189066764201 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999582e-01 -8.41796875e-04 3.56378417e-04 -2.72669252e+01] [ 8.42504490e-04 9.99997665e-01 -1.99009917e-03 1.50509315e+01] [-3.54702325e-04 1.99039859e-03 9.99997956e-01 1.69404663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.959259764 meters Centerline goodness [0,1] 0.49900047864402963 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999608e-01 -7.69339022e-04 4.38676699e-04 -2.72668430e+01] [ 7.70097498e-04 9.99998204e-01 -1.73146945e-03 1.50507582e+01] [-4.37343825e-04 1.73180660e-03 9.99998405e-01 1.69398308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98925976399997 meters Centerline goodness [0,1] 0.5014484601321896 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999531e-01 -8.39067040e-04 4.84483381e-04 -2.72670735e+01] [ 8.39902788e-04 9.99998155e-01 -1.72741142e-03 1.50509570e+01] [-4.83033073e-04 1.72781753e-03 9.99998391e-01 1.69399162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01925976399997 meters Centerline goodness [0,1] 0.5008879993234291 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999505e-01 -8.80510944e-04 4.63042601e-04 -2.72671362e+01] [ 8.81392096e-04 9.99997795e-01 -1.90621285e-03 1.50518238e+01] [-4.61363139e-04 1.90662003e-03 9.99998076e-01 1.69401507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04925976399997 meters Centerline goodness [0,1] 0.5006193344969314 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999518e-01 -8.86700420e-04 4.22710072e-04 -2.72671500e+01] [ 8.87565615e-04 9.99997503e-01 -2.05100760e-03 1.50526322e+01] [-4.20890387e-04 2.05138179e-03 9.99997807e-01 1.69404186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07925976399997 meters Centerline goodness [0,1] 0.4994084840290688 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999543e-01 -8.79523522e-04 3.75966096e-04 -2.72672255e+01] [ 8.80330431e-04 9.99997298e-01 -2.15147745e-03 1.50530955e+01] [-3.74072805e-04 2.15180744e-03 9.99997615e-01 1.69407340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10925976399997 meters Centerline goodness [0,1] 0.5034296637805016 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999508e-01 -8.63609540e-04 4.88505729e-04 -2.72674809e+01] [ 8.64644981e-04 9.99997372e-01 -2.12338373e-03 1.50531832e+01] [-4.86670671e-04 2.12380506e-03 9.99997626e-01 1.69406821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13925976399997 meters Centerline goodness [0,1] 0.5034296637805016 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999508e-01 -8.63609540e-04 4.88505729e-04 -2.72674809e+01] [ 8.64644981e-04 9.99997372e-01 -2.12338373e-03 1.50531832e+01] [-4.86670671e-04 2.12380506e-03 9.99997626e-01 1.69406821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16925976399997 meters Centerline goodness [0,1] 0.4994241087732112 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999563e-01 -7.02177523e-04 6.17203687e-04 -2.72673173e+01] [ 7.03284242e-04 9.99998142e-01 -1.79473365e-03 1.50525596e+01] [-6.15942318e-04 1.79516693e-03 9.99998199e-01 1.69398836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19925976399998 meters Centerline goodness [0,1] 0.5037220146633332 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999521e-01 -6.52471463e-04 7.30231826e-04 -2.72675145e+01] [ 6.53638401e-04 9.99998508e-01 -1.59894245e-03 1.50519477e+01] [-7.29187472e-04 1.59941899e-03 9.99998455e-01 1.69395889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22925976399998 meters Centerline goodness [0,1] 0.5022377346806655 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999411e-01 -6.78461999e-04 8.47082184e-04 -2.72678920e+01] [ 6.79759360e-04 9.99998595e-01 -1.53221615e-03 1.50513764e+01] [-8.46041444e-04 1.53279106e-03 9.99998467e-01 1.69396218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25925976399998 meters Centerline goodness [0,1] 0.5002103019936629 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999189e-01 -7.28486877e-04 1.04510690e-03 -2.72684826e+01] [ 7.30006357e-04 9.99998676e-01 -1.45425509e-03 1.50507653e+01] [-1.04404611e-03 1.45501685e-03 9.99998396e-01 1.69396228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28925976399998 meters Centerline goodness [0,1] 0.5016661532861023 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999326e-01 -7.52447992e-04 8.84172098e-04 -2.72682553e+01] [ 7.54047474e-04 9.99998078e-01 -1.81007746e-03 1.50517870e+01] [-8.82808409e-04 1.81074295e-03 9.99997971e-01 1.69401585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31925976399998 meters Centerline goodness [0,1] 0.5019582610641751 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999507e-01 -7.53704573e-04 6.47140508e-04 -2.72677755e+01] [ 7.55070719e-04 9.99997482e-01 -2.11340708e-03 1.50535774e+01] [-6.45545993e-04 2.11389468e-03 9.99997557e-01 1.69405235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34925976399998 meters Centerline goodness [0,1] 0.5060112956439076 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99999641e-01 -7.50318796e-04 3.92788146e-04 -2.72674893e+01] [ 7.51295465e-04 9.99996612e-01 -2.49228758e-03 1.50556505e+01] [-3.90916805e-04 2.49258178e-03 9.99996817e-01 1.69413609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37925976399998 meters Centerline goodness [0,1] 0.5048212638698678 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99999657e-01 -7.03303705e-04 4.37729360e-04 -2.72675186e+01] [ 7.04374364e-04 9.99996749e-01 -2.45060898e-03 1.50555419e+01] [-4.36004415e-04 2.45091646e-03 9.99996901e-01 1.69412269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40925976399998 meters Centerline goodness [0,1] 0.5046087468131006 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999664e-01 -5.04294022e-04 6.46742006e-04 -2.72675300e+01] [ 5.05635727e-04 9.99997717e-01 -2.07607767e-03 1.50545765e+01] [-6.45693576e-04 2.07640399e-03 9.99997636e-01 1.69403756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43925976399998 meters Centerline goodness [0,1] 0.5056245802552048 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999566e-01 -4.87534094e-04 7.94119283e-04 -2.72678134e+01] [ 4.88996730e-04 9.99998183e-01 -1.84268257e-03 1.50539068e+01] [-7.93219469e-04 1.84307009e-03 9.99997987e-01 1.69399768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.469259764 meters Centerline goodness [0,1] 0.5064851388071827 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999493e-01 -4.66125428e-04 8.92432411e-04 -2.72681253e+01] [ 4.67612617e-04 9.99998501e-01 -1.66696126e-03 1.50533071e+01] [-8.91654061e-04 1.66737773e-03 9.99998212e-01 1.69398636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.499259764 meters Centerline goodness [0,1] 0.5087110937106742 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.05, Z:16.94 [[ 9.99999625e-01 -4.14795205e-04 7.59836268e-04 -2.72678154e+01] [ 4.16228377e-04 9.99998133e-01 -1.88697276e-03 1.50544980e+01] [-7.59052142e-04 1.88728832e-03 9.99997931e-01 1.69401052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.529259764 meters Centerline goodness [0,1] 0.5083612975391498 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99999587e-01 -5.39044953e-04 7.31084027e-04 -2.72678724e+01] [ 5.40629320e-04 9.99997502e-01 -2.16868513e-03 1.50560581e+01] [-7.29913182e-04 2.16907948e-03 9.99997381e-01 1.69403282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.559259764 meters Centerline goodness [0,1] 0.5106776008284587 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99999543e-01 -6.73461691e-04 6.78628309e-04 -2.72679556e+01] [ 6.75085712e-04 9.99996902e-01 -2.39571224e-03 1.50573256e+01] [-6.77012786e-04 2.39616927e-03 9.99996900e-01 1.69406034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.589259764 meters Centerline goodness [0,1] 0.5107593163351078 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99999425e-01 -8.13640718e-04 6.98075256e-04 -2.72681622e+01] [ 8.15421652e-04 9.99996404e-01 -2.55472597e-03 1.50582063e+01] [-6.95994117e-04 2.55529373e-03 9.99996493e-01 1.69407239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.619259764 meters Centerline goodness [0,1] 0.5114928012124274 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99999460e-01 -8.35295828e-04 6.18161215e-04 -2.72678893e+01] [ 8.36965067e-04 9.99995991e-01 -2.70501629e-03 1.50592271e+01] [-6.15899248e-04 2.70553221e-03 9.99996150e-01 1.69406617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.649259764 meters Centerline goodness [0,1] 0.5097747735113455 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99999566e-01 -7.20466358e-04 5.89890415e-04 -2.72673860e+01] [ 7.22192205e-04 9.99995445e-01 -2.93073981e-03 1.50608901e+01] [-5.87776228e-04 2.93116456e-03 9.99995531e-01 1.69403333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.679259764 meters Centerline goodness [0,1] 0.5112583525183896 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99999645e-01 -6.67539574e-04 5.14925637e-04 -2.72668316e+01] [ 6.69155200e-04 9.99994834e-01 -3.14382480e-03 1.50627035e+01] [-5.12824349e-04 3.14416824e-03 9.99994926e-01 1.69399814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.709259764 meters Centerline goodness [0,1] 0.5144599645878418 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99999859e-01 -4.90164652e-04 2.05367987e-04 -2.72656474e+01] [ 4.90864255e-04 9.99994030e-01 -3.42049066e-03 1.50651385e+01] [-2.03690157e-04 3.42059099e-03 9.99994129e-01 1.69397845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73925976399997 meters Centerline goodness [0,1] 0.5158517683528252 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99999855e-01 -5.37217912e-04 -2.01306514e-05 -2.72650835e+01] [ 5.37136149e-04 9.99992396e-01 -3.86257284e-03 1.50676216e+01] [ 2.22055417e-05 3.86256147e-03 9.99992540e-01 1.69400547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76925976399997 meters Centerline goodness [0,1] 0.5144018976618095 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.94 [[ 9.99999880e-01 -3.68059104e-04 -3.21871067e-04 -2.72639859e+01] [ 3.66687425e-04 9.99990896e-01 -4.25130435e-03 1.50701108e+01] [ 3.23432868e-04 4.25118582e-03 9.99990911e-01 1.69401062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79925976399997 meters Centerline goodness [0,1] 0.5159143682392253 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.94 [[ 9.99999897e-01 -3.78675014e-04 -2.50082711e-04 -2.72640507e+01] [ 3.77596158e-04 9.99990683e-01 -4.30004844e-03 1.50706854e+01] [ 2.51708702e-04 4.29995356e-03 9.99990723e-01 1.69398898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82925976399997 meters Centerline goodness [0,1] 0.5205568787569468 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.94 [[ 9.99999859e-01 -4.58508878e-04 -2.68093888e-04 -2.72640168e+01] [ 4.57281977e-04 9.99989505e-01 -4.55867627e-03 1.50720726e+01] [ 2.70181268e-04 4.55855304e-03 9.99989573e-01 1.69399973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85925976399997 meters Centerline goodness [0,1] 0.51816214985197 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.07, Z:16.94 [[ 9.99999757e-01 -5.66280700e-04 -4.06017329e-04 -2.72638578e+01] [ 5.64261315e-04 9.99987557e-01 -4.95662641e-03 1.50740040e+01] [ 4.08819118e-04 4.95639611e-03 9.99987633e-01 1.69404104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88925976399997 meters Centerline goodness [0,1] 0.5197087765201069 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.94 [[ 9.99999557e-01 -8.07804931e-04 -4.84034814e-04 -2.72640536e+01] [ 8.05102251e-04 9.99984230e-01 -5.55806590e-03 1.50765562e+01] [ 4.88517013e-04 5.55767374e-03 9.99984437e-01 1.69411513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91925976399997 meters Centerline goodness [0,1] 0.5193260089941367 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.94 [[ 9.99999345e-01 -7.07694366e-04 -8.99544217e-04 -2.72631211e+01] [ 7.02178131e-04 9.99981039e-01 -6.11784983e-03 1.50796778e+01] [ 9.03856729e-04 6.11721418e-03 9.99980881e-01 1.69419097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94925976399998 meters Centerline goodness [0,1] 0.5174937114109307 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.94 [[ 9.99999285e-01 -7.50387829e-04 -9.31381729e-04 -2.72629262e+01] [ 7.44576803e-04 9.99980354e-01 -6.22388861e-03 1.50806040e+01] [ 9.36033762e-04 6.22319067e-03 9.99980198e-01 1.69417519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97925976399998 meters Centerline goodness [0,1] 0.5200969904435886 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.94 [[ 9.99999348e-01 -6.22319242e-04 -9.57486534e-04 -2.72624883e+01] [ 6.16596407e-04 9.99982015e-01 -5.96566573e-03 1.50805110e+01] [ 9.61181862e-04 5.96507146e-03 9.99981747e-01 1.69410522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00925976399998 meters Centerline goodness [0,1] 0.524148173535544 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.94 [[ 9.99999365e-01 -5.90709821e-04 -9.59427080e-04 -2.72624009e+01] [ 5.85132944e-04 9.99982993e-01 -5.80263315e-03 1.50803007e+01] [ 9.62838436e-04 5.80206807e-03 9.99982704e-01 1.69407093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03925976399998 meters Centerline goodness [0,1] 0.5238721106317323 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.94 [[ 9.99999511e-01 -5.65803909e-04 -8.10924803e-04 -2.72627721e+01] [ 5.61197974e-04 9.99983774e-01 -5.66887245e-03 1.50798637e+01] [ 8.14119115e-04 5.66841459e-03 9.99983603e-01 1.69405437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06925976399998 meters Centerline goodness [0,1] 0.5219009447466361 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.94 [[ 9.99999426e-01 -7.88474568e-04 -7.25969708e-04 -2.72634550e+01] [ 7.84192995e-04 9.99982410e-01 -5.87924540e-03 1.50804968e+01] [ 7.30592574e-04 5.87867272e-03 9.99982454e-01 1.69410893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09925976399998 meters Centerline goodness [0,1] 0.521698140159415 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.94 [[ 9.99999112e-01 -1.20559788e-03 -5.67044995e-04 -2.72646779e+01] [ 1.20203815e-03 9.99979829e-01 -6.23669012e-03 1.50814318e+01] [ 5.74552497e-04 6.23600297e-03 9.99980391e-01 1.69419993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12925976399998 meters Centerline goodness [0,1] 0.5177570627930916 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99998885e-01 -1.41794654e-03 -4.69185748e-04 -2.72653955e+01] [ 1.41493319e-03 9.99978763e-01 -6.36170867e-03 1.50817779e+01] [ 4.78196347e-04 6.36103771e-03 9.99979654e-01 1.69425073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15925976399998 meters Centerline goodness [0,1] 0.5185342991052407 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99998604e-01 -1.64204098e-03 -3.09751703e-04 -2.72662428e+01] [ 1.64000953e-03 9.99977864e-01 -6.44837594e-03 1.50816554e+01] [ 3.20333343e-04 6.44785894e-03 9.99979161e-01 1.69429014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18925976399998 meters Centerline goodness [0,1] 0.5210744392056008 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99998691e-01 -1.54901052e-03 -4.66781504e-04 -2.72657360e+01] [ 1.54595665e-03 9.99977853e-01 -6.47324479e-03 1.50822848e+01] [ 4.76798291e-04 6.47251470e-03 9.99978939e-01 1.69428267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.219259764 meters Centerline goodness [0,1] 0.5192450672004576 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.94 [[ 9.99998957e-01 -1.15189147e-03 -8.70830334e-04 -2.72641912e+01] [ 1.14628474e-03 9.99978788e-01 -6.41168470e-03 1.50835358e+01] [ 8.78197426e-04 6.41067979e-03 9.99979066e-01 1.69424493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.249259764 meters Centerline goodness [0,1] 0.5188990615044629 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.94 [[ 9.99998959e-01 -1.11081864e-03 -9.20954533e-04 -2.72639400e+01] [ 1.10482837e-03 9.99978397e-01 -6.47960796e-03 1.50844701e+01] [ 9.28132306e-04 6.47858371e-03 9.99978583e-01 1.69423180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.279259764 meters Centerline goodness [0,1] 0.5192672686489906 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.94 [[ 9.99998794e-01 -1.14936880e-03 -1.04429843e-03 -2.72638360e+01] [ 1.14237821e-03 9.99977102e-01 -6.67017590e-03 1.50854698e+01] [ 1.05194101e-03 6.66897487e-03 9.99977209e-01 1.69426356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.309259764 meters Centerline goodness [0,1] 0.5184385525520339 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.94 [[ 9.99999043e-01 -1.01448377e-03 -9.40831084e-04 -2.72641032e+01] [ 1.00821121e-03 9.99977422e-01 -6.64372759e-03 1.50852400e+01] [ 9.47549796e-04 6.64277267e-03 9.99977488e-01 1.69427067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.339259764 meters Centerline goodness [0,1] 0.5152297367062468 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.94 [[ 9.99999105e-01 -1.06810502e-03 -8.05797229e-04 -2.72645448e+01] [ 1.06269326e-03 9.99977078e-01 -6.68682668e-03 1.50852628e+01] [ 8.12920991e-04 6.68596438e-03 9.99977318e-01 1.69428053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.369259764 meters Centerline goodness [0,1] 0.5171386844592079 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.94 [[ 9.99999140e-01 -1.06899988e-03 -7.59946655e-04 -2.72647337e+01] [ 1.06391330e-03 9.99977239e-01 -6.66252649e-03 1.50853047e+01] [ 7.67051598e-04 6.66171225e-03 9.99977516e-01 1.69428293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.399259764 meters Centerline goodness [0,1] 0.5171763360960274 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.94 [[ 9.99999218e-01 -9.68853134e-04 -7.91383980e-04 -2.72645605e+01] [ 9.63724323e-04 9.99978697e-01 -6.45568521e-03 1.50850426e+01] [ 7.97621732e-04 6.45491749e-03 9.99978849e-01 1.69425515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.429259764 meters Centerline goodness [0,1] 0.5183592742282226 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.94 [[ 9.99999286e-01 -9.36186108e-04 -7.42209301e-04 -2.72645864e+01] [ 9.31540409e-04 9.99980128e-01 -6.23511458e-03 1.50847561e+01] [ 7.48031780e-04 6.23441873e-03 9.99980286e-01 1.69421799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.459259764 meters Centerline goodness [0,1] 0.5178153371780962 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.94 [[ 9.99999385e-01 -8.13966160e-04 -7.53580539e-04 -2.72643625e+01] [ 8.09522742e-04 9.99982396e-01 -5.87805442e-03 1.50839704e+01] [ 7.58351811e-04 5.87744076e-03 9.99982440e-01 1.69416479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48925976399997 meters Centerline goodness [0,1] 0.516744358967026 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99999641e-01 -7.52906704e-04 -3.88625915e-04 -2.72652184e+01] [ 7.50876936e-04 9.99986214e-01 -5.19691878e-03 1.50810529e+01] [ 3.92533352e-04 5.19662510e-03 9.99986420e-01 1.69408844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51925976399997 meters Centerline goodness [0,1] 0.5155488413191573 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99999719e-01 -7.07539197e-04 -2.48276119e-04 -2.72657295e+01] [ 7.06315951e-04 9.99987780e-01 -4.89293382e-03 1.50797005e+01] [ 2.51735028e-04 4.89275708e-03 9.99987999e-01 1.69408164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54925976399997 meters Centerline goodness [0,1] 0.513610376311972 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99999661e-01 -8.21234044e-04 -6.21301973e-05 -2.72666136e+01] [ 8.20928680e-04 9.99988311e-01 -4.76488632e-03 1.50790451e+01] [ 6.60425579e-05 4.76483370e-03 9.99988646e-01 1.69410525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57925976399997 meters Centerline goodness [0,1] 0.5120401242483827 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99999584e-01 -9.05659589e-04 -1.07178460e-04 -2.72669281e+01] [ 9.05117468e-04 9.99987317e-01 -4.95444939e-03 1.50798455e+01] [ 1.11664145e-04 4.95435032e-03 9.99987721e-01 1.69416875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60925976399997 meters Centerline goodness [0,1] 0.5070430567436556 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99999490e-01 -9.79747545e-04 -2.46847421e-04 -2.72671244e+01] [ 9.78437917e-04 9.99985736e-01 -5.25082567e-03 1.50809186e+01] [ 2.51988383e-04 5.25058146e-03 9.99986184e-01 1.69425845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63925976399997 meters Centerline goodness [0,1] 0.5166728470776165 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99999598e-01 -8.66845254e-04 -2.29615155e-04 -2.72672125e+01] [ 8.65630013e-04 9.99985892e-01 -5.24077041e-03 1.50809573e+01] [ 2.34154852e-04 5.24056954e-03 9.99986241e-01 1.69427335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66925976399997 meters Centerline goodness [0,1] 0.5048463659361587 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99999961e-01 -2.78198696e-04 -8.48296120e-07 -2.72666066e+01] [ 2.78192028e-04 9.99989763e-01 -4.51615591e-03 1.50789287e+01] [ 2.10467612e-06 4.51615550e-03 9.99989802e-01 1.69410598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69925976399998 meters Centerline goodness [0,1] 0.5050962304976654 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99999997e-01 -6.20077892e-05 5.11044407e-05 -2.72662604e+01] [ 6.22183517e-05 9.99991467e-01 -4.13058802e-03 1.50779528e+01] [-5.08478760e-05 4.13059118e-03 9.99991468e-01 1.69402148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72925976399998 meters Centerline goodness [0,1] 0.5081654717195858 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99999977e-01 1.82801504e-04 1.09268489e-04 -2.72658106e+01] [-1.82400134e-04 9.99993278e-01 -3.66203421e-03 1.50770497e+01] [-1.09937180e-04 3.66201420e-03 9.99993289e-01 1.69392124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75925976399998 meters Centerline goodness [0,1] 0.5125742377312381 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99999896e-01 4.09133925e-04 2.00555442e-04 -2.72656785e+01] [-4.08536214e-04 9.99995502e-01 -2.97131456e-03 1.50751788e+01] [-2.01770205e-04 2.97123232e-03 9.99995566e-01 1.69382422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78925976399998 meters Centerline goodness [0,1] 0.5115525620257482 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99999854e-01 3.86434735e-04 3.77901638e-04 -2.72663197e+01] [-3.85370242e-04 9.99995970e-01 -2.81288130e-03 1.50745444e+01] [-3.78987110e-04 2.81273526e-03 9.99995972e-01 1.69383305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81925976399998 meters Centerline goodness [0,1] 0.5114124101077286 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99999835e-01 2.40666665e-04 5.21995079e-04 -2.72671885e+01] [-2.39189138e-04 9.99995970e-01 -2.82875422e-03 1.50741530e+01] [-5.22673763e-04 2.82862890e-03 9.99995863e-01 1.69388583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84925976399998 meters Centerline goodness [0,1] 0.5108217740334156 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99999708e-01 1.31594537e-04 7.52746380e-04 -2.72682259e+01] [-1.29479417e-04 9.99996046e-01 -2.80923043e-03 1.50735366e+01] [-7.53113083e-04 2.80913215e-03 9.99995771e-01 1.69393331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87925976399998 meters Centerline goodness [0,1] 0.5086667424414639 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99999230e-01 -4.37316003e-05 1.24039497e-03 -2.72700059e+01] [ 4.68563313e-05 9.99996826e-01 -2.51922476e-03 1.50712893e+01] [-1.24028086e-03 2.51928094e-03 9.99996057e-01 1.69396042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90925976399998 meters Centerline goodness [0,1] 0.5086774047186933 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99999181e-01 1.27018568e-04 1.27364279e-03 -2.72698828e+01] [-1.24049559e-04 9.99997276e-01 -2.33092399e-03 1.50709409e+01] [-1.27393539e-03 2.33076408e-03 9.99996472e-01 1.69393090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93925976399998 meters Centerline goodness [0,1] 0.5083136742176619 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99999055e-01 2.53761641e-04 1.35136678e-03 -2.72700880e+01] [-2.50904636e-04 9.99997734e-01 -2.11391003e-03 1.50702377e+01] [-1.35190015e-03 2.11356897e-03 9.99996853e-01 1.69392483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.969259764 meters Centerline goodness [0,1] 0.5067144645499033 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99998734e-01 3.03977631e-04 1.56176088e-03 -2.72706833e+01] [-3.01174721e-04 9.99998344e-01 -1.79463313e-03 1.50691204e+01] [-1.56230383e-03 1.79416049e-03 9.99997170e-01 1.69390701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.999259764 meters Centerline goodness [0,1] 0.5034600113442995 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99994050e-01 -3.32481881e-03 9.19060462e-04 -2.72687801e+01] [ 3.33022444e-03 9.99976788e-01 -5.94409959e-03 1.50712614e+01] [-8.99276075e-04 5.94712491e-03 9.99981911e-01 1.69392620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.029259764 meters Centerline goodness [0,1] 0.5034600113442995 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99994050e-01 -3.32481881e-03 9.19060462e-04 -2.72687801e+01] [ 3.33022444e-03 9.99976788e-01 -5.94409959e-03 1.50712614e+01] [-8.99276075e-04 5.94712491e-03 9.99981911e-01 1.69392620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.059259764 meters Centerline goodness [0,1] 0.5053158400723858 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99994012e-01 -3.25205061e-03 1.18343168e-03 -2.72693552e+01] [ 3.25828781e-03 9.99980608e-01 -5.30723335e-03 1.50689282e+01] [-1.16614934e-03 5.31105753e-03 9.99985216e-01 1.69385861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.089259764 meters Centerline goodness [0,1] 0.5058018363093562 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99991922e-01 -3.69618864e-03 1.57935869e-03 -2.72708123e+01] [ 3.70290366e-03 9.99984027e-01 -4.27018092e-03 1.50640533e+01] [-1.56355007e-03 4.27599464e-03 9.99989636e-01 1.69374378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.119259764 meters Centerline goodness [0,1] 0.5107168004506408 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99994306e-01 -3.21790319e-03 1.01627577e-03 -2.72689262e+01] [ 3.22213428e-03 9.99986033e-01 -4.18950854e-03 1.50656232e+01] [-1.00278014e-03 4.19275926e-03 9.99990708e-01 1.69371681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.149259764 meters Centerline goodness [0,1] 0.5059192495691238 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99994779e-01 -3.16083547e-03 6.71020917e-04 -2.72684406e+01] [ 3.16386886e-03 9.99984558e-01 -4.56869060e-03 1.50676836e+01] [-6.56569676e-04 4.57078977e-03 9.99989338e-01 1.69380196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.179259764 meters Centerline goodness [0,1] 0.5043608343447459 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99995128e-01 -3.07004432e-03 5.63868078e-04 -2.72686726e+01] [ 3.07283519e-03 9.99982693e-01 -5.01717982e-03 1.50694387e+01] [-5.48455355e-04 5.01888805e-03 9.99987255e-01 1.69392246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.209259764 meters Centerline goodness [0,1] 0.5045009453396168 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99996043e-01 -2.75368319e-03 5.75181392e-04 -2.72682387e+01] [ 2.75636876e-03 9.99985054e-01 -4.72167273e-03 1.50687017e+01] [-5.62170805e-04 4.72323946e-03 9.99988687e-01 1.69386133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23925976399997 meters Centerline goodness [0,1] 0.5076697908750598 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99996982e-01 -2.38620859e-03 5.84863756e-04 -2.72677104e+01] [ 2.38869256e-03 9.99987971e-01 -4.28382845e-03 1.50675458e+01] [-5.74634613e-04 4.28521258e-03 9.99990653e-01 1.69378152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26925976399997 meters Centerline goodness [0,1] 0.5059049014910229 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99997255e-01 -2.22409409e-03 7.36515502e-04 -2.72677610e+01] [ 2.22698264e-03 9.99989740e-01 -3.94459114e-03 1.50666268e+01] [-7.27734803e-04 3.94622052e-03 9.99991949e-01 1.69371873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29925976399997 meters Centerline goodness [0,1] 0.5034943357943977 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99997393e-01 -2.10789153e-03 8.77916060e-04 -2.72679158e+01] [ 2.11102300e-03 9.99991358e-01 -3.58141799e-03 1.50655310e+01] [-8.70359233e-04 3.58326195e-03 9.99993201e-01 1.69366769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32925976399997 meters Centerline goodness [0,1] 0.4999013556551394 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99995525e-01 -2.58629036e-03 1.50390248e-03 -2.72702287e+01] [ 2.59111489e-03 9.99991475e-01 -3.21495291e-03 1.50629866e+01] [-1.49557486e-03 3.21883531e-03 9.99993701e-01 1.69367592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35925976399997 meters Centerline goodness [0,1] 0.49971859522737505 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99994375e-01 -2.80267560e-03 1.84279493e-03 -2.72715262e+01] [ 2.80818150e-03 9.99991581e-01 -2.99202882e-03 1.50616737e+01] [-1.83439373e-03 2.99718689e-03 9.99993826e-01 1.69369444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38925976399997 meters Centerline goodness [0,1] 0.4984414927971694 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99992358e-01 -3.14529325e-03 2.32203442e-03 -2.72733185e+01] [ 3.15173312e-03 9.99991183e-01 -2.77494393e-03 1.50601238e+01] [-2.31328593e-03 2.78224116e-03 9.99993454e-01 1.69371570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41925976399997 meters Centerline goodness [0,1] 0.4909238840726089 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99990398e-01 -3.34187586e-03 2.83484231e-03 -2.72748813e+01] [ 3.34879095e-03 9.99991421e-01 -2.43809424e-03 1.50580727e+01] [-2.82667018e-03 2.44756412e-03 9.99993010e-01 1.69370457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44925976399998 meters Centerline goodness [0,1] 0.4863027114755015 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99989291e-01 -3.40268850e-03 3.13687408e-03 -2.72757127e+01] [ 3.40950908e-03 9.99991830e-01 -2.17154531e-03 1.50567929e+01] [-3.12945936e-03 2.18221725e-03 9.99992722e-01 1.69368058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47925976399998 meters Centerline goodness [0,1] 0.4942998795551945 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99988988e-01 -3.51661890e-03 3.10756470e-03 -2.72758893e+01] [ 3.52438002e-03 9.99990675e-01 -2.49555765e-03 1.50582510e+01] [-3.09875980e-03 2.50648241e-03 9.99992058e-01 1.69373105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50925976399998 meters Centerline goodness [0,1] 0.49310344827586206 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99988017e-01 -3.67826855e-03 3.23053611e-03 -2.72764212e+01] [ 3.68673977e-03 9.99989771e-01 -2.62020574e-03 1.50588659e+01] [-3.22086524e-03 2.63208449e-03 9.99991349e-01 1.69375032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53925976399998 meters Centerline goodness [0,1] 0.4889343343792022 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99987527e-01 -3.61646310e-03 3.44472529e-03 -2.72766576e+01] [ 3.62464649e-03 9.99990617e-01 -2.37235537e-03 1.50581866e+01] [-3.43611343e-03 2.38481169e-03 9.99991253e-01 1.69369059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56925976399998 meters Centerline goodness [0,1] 0.4880321014675758 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99988635e-01 -3.29207874e-03 3.44856709e-03 -2.72761860e+01] [ 3.29903171e-03 9.99992533e-01 -2.01244786e-03 1.50572969e+01] [-3.44191621e-03 2.02380192e-03 9.99992029e-01 1.69362272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59925976399998 meters Centerline goodness [0,1] 0.4905909078161371 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99989627e-01 -3.04790586e-03 3.38473764e-03 -2.72757364e+01] [ 3.05428477e-03 9.99993566e-01 -1.88104456e-03 1.50571975e+01] [-3.37898262e-03 1.89136300e-03 9.99992503e-01 1.69359083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62925976399998 meters Centerline goodness [0,1] 0.4921973850695909 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99991006e-01 -2.75598273e-03 3.22380422e-03 -2.72749536e+01] [ 2.76194317e-03 9.99994482e-01 -1.84589662e-03 1.50583828e+01] [-3.21869918e-03 1.85478398e-03 9.99993100e-01 1.69356291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65925976399998 meters Centerline goodness [0,1] 0.49291888391474503 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99991345e-01 -2.71751689e-03 3.15026164e-03 -2.72746853e+01] [ 2.72386792e-03 9.99994263e-01 -2.01349927e-03 1.50595573e+01] [-3.14477185e-03 2.02206274e-03 9.99993011e-01 1.69356653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68925976399998 meters Centerline goodness [0,1] 0.49507257770165936 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99992155e-01 -2.55897205e-03 3.02361407e-03 -2.72742142e+01] [ 2.56519042e-03 9.99994599e-01 -2.05451662e-03 1.50601784e+01] [-3.01834029e-03 2.06225664e-03 9.99993318e-01 1.69356506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.719259764 meters Centerline goodness [0,1] 0.4928314404587878 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99992146e-01 -2.50193536e-03 3.07382261e-03 -2.72741281e+01] [ 2.50826139e-03 9.99994741e-01 -2.05590515e-03 1.50606760e+01] [-3.06866271e-03 2.06359895e-03 9.99993162e-01 1.69353793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.749259764 meters Centerline goodness [0,1] 0.49695746053111245 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99991662e-01 -2.45700011e-03 3.26167426e-03 -2.72744230e+01] [ 2.46351074e-03 9.99994978e-01 -1.99358685e-03 1.50604596e+01] [-3.25675963e-03 2.00160540e-03 9.99992694e-01 1.69351384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.779259764 meters Centerline goodness [0,1] 0.49224120997839327 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.94 [[ 9.99990869e-01 -2.51664943e-03 3.45373090e-03 -2.72749592e+01] [ 2.52334126e-03 9.99994945e-01 -1.93457667e-03 1.50601898e+01] [-3.44884479e-03 1.94327395e-03 9.99992165e-01 1.69350633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.809259764 meters Centerline goodness [0,1] 0.497112419400056 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99990171e-01 -2.59522498e-03 3.59480379e-03 -2.72754924e+01] [ 2.60216583e-03 9.99994757e-01 -1.92746882e-03 1.50600938e+01] [-3.58978272e-03 1.93680415e-03 9.99991681e-01 1.69352191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.839259764 meters Centerline goodness [0,1] 0.4976701100381765 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99988902e-01 -2.83977626e-03 3.75928225e-03 -2.72763496e+01] [ 2.84756638e-03 9.99993806e-01 -2.06850891e-03 1.50604188e+01] [-3.75338486e-03 2.07919075e-03 9.99990794e-01 1.69356755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.869259764 meters Centerline goodness [0,1] 0.49479923945867355 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99986137e-01 -3.31495930e-03 4.09110791e-03 -2.72780702e+01] [ 3.32412447e-03 9.99991976e-01 -2.23550424e-03 1.50602337e+01] [-4.08366447e-03 2.24907260e-03 9.99989133e-01 1.69365245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.899259764 meters Centerline goodness [0,1] 0.4925435774041017 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99985233e-01 -3.34642607e-03 4.28200793e-03 -2.72786379e+01] [ 3.35528334e-03 9.99992243e-01 -2.06297551e-03 1.50595566e+01] [-4.27507112e-03 2.07731239e-03 9.99988704e-01 1.69364473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.929259764 meters Centerline goodness [0,1] 0.4897919120533961 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99984555e-01 -3.39253924e-03 4.40224726e-03 -2.72789209e+01] [ 3.40145849e-03 9.99992174e-01 -2.02016396e-03 1.50596161e+01] [-4.39535932e-03 2.03510682e-03 9.99988270e-01 1.69362683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.959259764 meters Centerline goodness [0,1] 0.500055969105054 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99985493e-01 -3.26167676e-03 4.28660688e-03 -2.72783347e+01] [ 3.27043131e-03 9.99992578e-01 -2.03688256e-03 1.50604386e+01] [-4.27993141e-03 2.05087207e-03 9.99988738e-01 1.69359897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98925976399997 meters Centerline goodness [0,1] 0.5015591201505745 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99987051e-01 -3.07642185e-03 4.05377241e-03 -2.72773623e+01] [ 3.08499246e-03 9.99993016e-01 -2.10967729e-03 1.50619567e+01] [-4.04725385e-03 2.12215583e-03 9.99989558e-01 1.69356455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01925976399997 meters Centerline goodness [0,1] 0.5013791162397974 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99989569e-01 -2.62170548e-03 3.74012228e-03 -2.72759812e+01] [ 2.62982762e-03 9.99994191e-01 -2.16836243e-03 1.50636992e+01] [-3.73441574e-03 2.17817569e-03 9.99990655e-01 1.69353698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04925976399997 meters Centerline goodness [0,1] 0.4998592421597883 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99989331e-01 -2.63039886e-03 3.79720575e-03 -2.72763072e+01] [ 2.63912247e-03 9.99993886e-01 -2.29419747e-03 1.50639200e+01] [-3.79114788e-03 2.30419429e-03 9.99990159e-01 1.69357203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07925976399997 meters Centerline goodness [0,1] 0.49628127112914133 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99988676e-01 -2.68001615e-03 3.93266983e-03 -2.72768413e+01] [ 2.68953103e-03 9.99993464e-01 -2.41615465e-03 1.50640599e+01] [-3.92616880e-03 2.42670433e-03 9.99989348e-01 1.69360504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10925976399997 meters Centerline goodness [0,1] 0.49753528069631836 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99987958e-01 -2.92321255e-03 3.94189235e-03 -2.72776693e+01] [ 2.93414057e-03 9.99991861e-01 -2.76934812e-03 1.50646620e+01] [-3.93376487e-03 2.78088084e-03 9.99988396e-01 1.69372130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13925976399997 meters Centerline goodness [0,1] 0.5010829512531293 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99987151e-01 -3.06825792e-03 4.03530251e-03 -2.72781653e+01] [ 3.07933961e-03 9.99991497e-01 -2.74284561e-03 1.50648534e+01] [-4.02685244e-03 2.75523643e-03 9.99988096e-01 1.69373221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16925976399997 meters Centerline goodness [0,1] 0.5029109829841092 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99986554e-01 -3.17892871e-03 4.09713505e-03 -2.72785840e+01] [ 3.19018024e-03 9.99991150e-01 -2.74259183e-03 1.50648517e+01] [-4.08838028e-03 2.75562555e-03 9.99987846e-01 1.69375349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19925976399998 meters Centerline goodness [0,1] 0.5032323345887908 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99985542e-01 -3.27957451e-03 4.26152900e-03 -2.72791179e+01] [ 3.29042832e-03 9.99991355e-01 -2.54241913e-03 1.50642965e+01] [-4.25315410e-03 2.55640462e-03 9.99987688e-01 1.69373644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22925976399998 meters Centerline goodness [0,1] 0.5061870746386186 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99984555e-01 -3.28739871e-03 4.48146851e-03 -2.72796565e+01] [ 3.29743033e-03 9.99992070e-01 -2.23291943e-03 1.50630030e+01] [-4.47409247e-03 2.24766227e-03 9.99987465e-01 1.69370198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25925976399998 meters Centerline goodness [0,1] 0.5056555053467681 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99985353e-01 -3.05565290e-03 4.46725872e-03 -2.72793878e+01] [ 3.06475246e-03 9.99993240e-01 -2.03151930e-03 1.50623835e+01] [-4.46102090e-03 2.04518059e-03 9.99987958e-01 1.69367571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28925976399998 meters Centerline goodness [0,1] 0.48656314060262273 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99985381e-01 -3.12819214e-03 4.41052313e-03 -2.72795243e+01] [ 3.13850106e-03 9.99992355e-01 -2.33236463e-03 1.50635044e+01] [-4.40319332e-03 2.34617297e-03 9.99987554e-01 1.69373090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31925976399998 meters Centerline goodness [0,1] 0.5036760579189583 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99985456e-01 -3.21505876e-03 4.33025395e-03 -2.72795666e+01] [ 3.22633984e-03 9.99991413e-01 -2.60071555e-03 1.50647326e+01] [-4.32185531e-03 2.61464859e-03 9.99987243e-01 1.69377242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34925976399998 meters Centerline goodness [0,1] 0.503028254317023 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.94 [[ 9.99985826e-01 -3.17678963e-03 4.27259209e-03 -2.72794963e+01] [ 3.18842314e-03 9.99991221e-01 -2.71877263e-03 1.50654365e+01] [-4.26391761e-03 2.73235693e-03 9.99987177e-01 1.69379165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37925976399998 meters Centerline goodness [0,1] 0.5099427410938426 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.94 [[ 9.99986151e-01 -3.06693757e-03 4.27680348e-03 -2.72795132e+01] [ 3.07835885e-03 9.99991707e-01 -2.66649696e-03 1.50652670e+01] [-4.26859004e-03 2.67962557e-03 9.99987299e-01 1.69379546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40925976399998 meters Centerline goodness [0,1] 0.5121545403271291 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99985819e-01 -3.01518839e-03 4.38972253e-03 -2.72797337e+01] [ 3.02592275e-03 9.99992443e-01 -2.44075425e-03 1.50646226e+01] [-4.38233002e-03 2.45400260e-03 9.99987386e-01 1.69376725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43925976399998 meters Centerline goodness [0,1] 0.49430536761389265 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99985487e-01 -2.99442810e-03 4.47885850e-03 -2.72799708e+01] [ 3.00443544e-03 9.99993002e-01 -2.22929375e-03 1.50638869e+01] [-4.47215169e-03 2.24271783e-03 9.99987485e-01 1.69375140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.469259764 meters Centerline goodness [0,1] 0.4938902778167926 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99983995e-01 -3.28125588e-03 4.60896583e-03 -2.72808290e+01] [ 3.29031784e-03 9.99992666e-01 -1.95995486e-03 1.50625900e+01] [-4.60250091e-03 1.97508845e-03 9.99987458e-01 1.69375533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.499259764 meters Centerline goodness [0,1] 0.4938902778167926 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99983995e-01 -3.28125588e-03 4.60896583e-03 -2.72808290e+01] [ 3.29031784e-03 9.99992666e-01 -1.95995486e-03 1.50625900e+01] [-4.60250091e-03 1.97508845e-03 9.99987458e-01 1.69375533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.529259764 meters Centerline goodness [0,1] 0.49578864619012863 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99981372e-01 -3.66399412e-03 4.88171930e-03 -2.72824209e+01] [ 3.67327361e-03 9.99991461e-01 -1.89325746e-03 1.50612944e+01] [-4.87474073e-03 1.91115409e-03 9.99986292e-01 1.69382703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.559259764 meters Centerline goodness [0,1] 0.4970944106004884 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99981295e-01 -3.69884642e-03 4.87119504e-03 -2.72826553e+01] [ 3.70844491e-03 9.99991197e-01 -1.96290152e-03 1.50615483e+01] [-4.86389168e-03 1.98092936e-03 9.99986209e-01 1.69386299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.589259764 meters Centerline goodness [0,1] 0.4971651510048276 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99981385e-01 -3.69699036e-03 4.85396280e-03 -2.72827991e+01] [ 3.70642348e-03 9.99991257e-01 -1.93583054e-03 1.50616781e+01] [-4.84676362e-03 1.95378534e-03 9.99986346e-01 1.69388180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.619259764 meters Centerline goodness [0,1] 0.49918603345683166 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99981671e-01 -3.69488096e-03 4.79650476e-03 -2.72829315e+01] [ 3.70370173e-03 9.99991464e-01 -1.83142248e-03 1.50613742e+01] [-4.78969693e-03 1.84915373e-03 9.99986820e-01 1.69390202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.649259764 meters Centerline goodness [0,1] 0.5011063496064756 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99981198e-01 -3.74924972e-03 4.85246978e-03 -2.72836160e+01] [ 3.75674437e-03 9.99991763e-01 -1.53630904e-03 1.50596645e+01] [-4.84666981e-03 1.55450964e-03 9.99987047e-01 1.69393770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.679259764 meters Centerline goodness [0,1] 0.49774073138559116 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99980528e-01 -3.75307878e-03 4.98580373e-03 -2.72841005e+01] [ 3.75966951e-03 9.99992070e-01 -1.31318386e-03 1.50586751e+01] [-4.98083571e-03 1.33190326e-03 9.99986709e-01 1.69393465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.709259764 meters Centerline goodness [0,1] 0.4985563311187733 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99980369e-01 -3.69375995e-03 5.06140735e-03 -2.72843546e+01] [ 3.69965318e-03 9.99992489e-01 -1.15547832e-03 1.50580000e+01] [-5.05710127e-03 1.17418109e-03 9.99986523e-01 1.69393379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73925976399997 meters Centerline goodness [0,1] 0.5151481180460189 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99980514e-01 -3.68336281e-03 5.04021741e-03 -2.72844087e+01] [ 3.68946274e-03 9.99992472e-01 -1.20148834e-03 1.50583324e+01] [-5.03575395e-03 1.22006063e-03 9.99986576e-01 1.69394725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76925976399997 meters Centerline goodness [0,1] 0.5088730896266025 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99981102e-01 -3.69089768e-03 4.91656011e-03 -2.72843366e+01] [ 3.69774399e-03 9.99992205e-01 -1.38413962e-03 1.50592323e+01] [-4.91141307e-03 1.40229364e-03 9.99986956e-01 1.69399125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79925976399997 meters Centerline goodness [0,1] 0.5109732824427481 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99983759e-01 -3.44176081e-03 4.54276278e-03 -2.72832828e+01] [ 3.44823787e-03 9.99993048e-01 -1.41873428e-03 1.50603417e+01] [-4.53784825e-03 1.43437577e-03 9.99988675e-01 1.69399667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82925976399997 meters Centerline goodness [0,1] 0.510129171453389 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99984821e-01 -3.20074380e-03 4.48471131e-03 -2.72827371e+01] [ 3.20577882e-03 9.99994239e-01 -1.11596885e-03 1.50600142e+01] [-4.48111354e-03 1.13032890e-03 9.99989321e-01 1.69393573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85925976399997 meters Centerline goodness [0,1] 0.511679955238495 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99984804e-01 -3.16881530e-03 4.51107781e-03 -2.72826920e+01] [ 3.17333852e-03 9.99994469e-01 -9.95888044e-04 1.50599602e+01] [-4.50789707e-03 1.01018809e-03 9.99989329e-01 1.69390833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88925976399997 meters Centerline goodness [0,1] 0.5102560514901358 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99984385e-01 -3.23825187e-03 4.55445582e-03 -2.72829903e+01] [ 3.24293575e-03 9.99994220e-01 -1.02140928e-03 1.50600929e+01] [-4.55112192e-03 1.03616314e-03 9.99989107e-01 1.69392481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91925976399997 meters Centerline goodness [0,1] 0.5103029284954365 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99984011e-01 -3.42159599e-03 4.50237475e-03 -2.72835028e+01] [ 3.42817243e-03 9.99993067e-01 -1.45375522e-03 1.50613232e+01] [-4.49736937e-03 1.46916690e-03 9.99988808e-01 1.69403009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94925976399998 meters Centerline goodness [0,1] 0.5103029284954365 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99984011e-01 -3.42159599e-03 4.50237475e-03 -2.72835028e+01] [ 3.42817243e-03 9.99993067e-01 -1.45375522e-03 1.50613232e+01] [-4.49736937e-03 1.46916690e-03 9.99988808e-01 1.69403009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97925976399998 meters Centerline goodness [0,1] 0.5140987474021232 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.94 [[ 9.99985596e-01 -3.34286203e-03 4.19914889e-03 -2.72828881e+01] [ 3.35065342e-03 9.99992676e-01 -1.84980649e-03 1.50636851e+01] [-4.19293449e-03 1.86384974e-03 9.99989473e-01 1.69408629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00925976399998 meters Centerline goodness [0,1] 0.5197272421147154 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.94 [[ 9.99987140e-01 -3.25945161e-03 3.88534348e-03 -2.72821695e+01] [ 3.26794895e-03 9.99992278e-01 -2.18268477e-03 1.50659499e+01] [-3.87819912e-03 2.19535381e-03 9.99990070e-01 1.69412793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03925976399998 meters Centerline goodness [0,1] 0.5200214012164902 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.94 [[ 9.99988249e-01 -3.16399857e-03 3.67288695e-03 -2.72814647e+01] [ 3.17267029e-03 9.99992188e-01 -2.35758885e-03 1.50676672e+01] [-3.66539885e-03 2.36921400e-03 9.99990476e-01 1.69412322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06925976399998 meters Centerline goodness [0,1] 0.5245550196045246 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.94 [[ 9.99989170e-01 -3.00365296e-03 3.55505455e-03 -2.72807867e+01] [ 3.01175750e-03 9.99992873e-01 -2.27656783e-03 1.50683012e+01] [-3.54819119e-03 2.28725014e-03 9.99991089e-01 1.69407380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09925976399998 meters Centerline goodness [0,1] 0.5196360965135334 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.94 [[ 9.99989839e-01 -2.69259967e-03 3.61561313e-03 -2.72801902e+01] [ 2.69965341e-03 9.99994460e-01 -1.94744856e-03 1.50677778e+01] [-3.61034940e-03 1.95718968e-03 9.99991567e-01 1.69397081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12925976399998 meters Centerline goodness [0,1] 0.5240285577221548 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.94 [[ 9.99992030e-01 -2.06801315e-03 3.41511947e-03 -2.72787480e+01] [ 2.07438522e-03 9.99996112e-01 -1.86335624e-03 1.50684458e+01] [-3.41125275e-03 1.87042567e-03 9.99992432e-01 1.69390332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15925976399998 meters Centerline goodness [0,1] 0.52624590349192 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.94 [[ 9.99993667e-01 -1.88720587e-03 3.01726793e-03 -2.72778188e+01] [ 1.89370351e-03 9.99995891e-01 -2.15207952e-03 1.50705685e+01] [-3.01319412e-03 2.15777970e-03 9.99993132e-01 1.69395096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18925976399998 meters Centerline goodness [0,1] 0.5278178883886859 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.94 [[ 9.99994464e-01 -1.93907366e-03 2.70390943e-03 -2.72774828e+01] [ 1.94649563e-03 9.99994338e-01 -2.74497976e-03 1.50732884e+01] [-2.69857140e-03 2.75022772e-03 9.99992577e-01 1.69405704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.219259764 meters Centerline goodness [0,1] 0.5357395411987667 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.08, Z:16.94 [[ 9.99995344e-01 -1.88883721e-03 2.39653353e-03 -2.72768116e+01] [ 1.89617894e-03 9.99993505e-01 -3.06491481e-03 1.50754096e+01] [-2.39072884e-03 3.06944480e-03 9.99992431e-01 1.69409869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.249259764 meters Centerline goodness [0,1] 0.5381280285641419 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99997226e-01 -1.28138770e-03 1.97633875e-03 -2.72746300e+01] [ 1.28651396e-03 9.99995806e-01 -2.59472768e-03 1.50761516e+01] [-1.97300561e-03 2.59726307e-03 9.99994681e-01 1.69395427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.279259764 meters Centerline goodness [0,1] 0.536192041718626 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99997826e-01 -8.81170836e-04 1.88998623e-03 -2.72736385e+01] [ 8.85367849e-04 9.99997142e-01 -2.22097230e-03 1.50754968e+01] [-1.88802377e-03 2.22264080e-03 9.99995748e-01 1.69385598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.309259764 meters Centerline goodness [0,1] 0.5384353934175494 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.94 [[ 9.99997902e-01 -6.35457240e-04 1.94737657e-03 -2.72732468e+01] [ 6.39144218e-04 9.99998004e-01 -1.89326778e-03 1.50749342e+01] [-1.94616959e-03 1.89450846e-03 9.99996312e-01 1.69377724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.339259764 meters Centerline goodness [0,1] 0.538311080874224 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99998046e-01 -5.92325626e-04 1.88577797e-03 -2.72731669e+01] [ 5.95913704e-04 9.99998012e-01 -1.90271140e-03 1.50751825e+01] [-1.88464719e-03 1.90383144e-03 9.99996412e-01 1.69379016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.369259764 meters Centerline goodness [0,1] 0.5383105802047782 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99998239e-01 -6.33151564e-04 1.76673622e-03 -2.72731171e+01] [ 6.36893206e-04 9.99997554e-01 -2.11806847e-03 1.50762567e+01] [-1.76539084e-03 2.11918996e-03 9.99996196e-01 1.69383274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.399259764 meters Centerline goodness [0,1] 0.5382089211262779 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99998609e-01 -7.40723066e-04 1.49435397e-03 -2.72731109e+01] [ 7.44764362e-04 9.99996062e-01 -2.70563548e-03 1.50789311e+01] [-1.49234396e-03 2.70674465e-03 9.99995223e-01 1.69396710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.429259764 meters Centerline goodness [0,1] 0.5412636639386482 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99999145e-01 -4.95856622e-04 1.21008090e-03 -2.72722233e+01] [ 4.99328482e-04 9.99995755e-01 -2.87050053e-03 1.50805831e+01] [-1.20865240e-03 2.87110231e-03 9.99995148e-01 1.69398183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.459259764 meters Centerline goodness [0,1] 0.5401415919057583 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99999590e-01 -2.54431597e-04 8.69328956e-04 -2.72711624e+01] [ 2.57012444e-04 9.99995557e-01 -2.96995913e-03 1.50819438e+01] [-8.68569442e-04 2.97018134e-03 9.99995212e-01 1.69398183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48925976399997 meters Centerline goodness [0,1] 0.5513575635684529 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99999613e-01 8.31688263e-04 2.86460348e-04 -2.72681460e+01] [-8.30932333e-04 9.99996199e-01 -2.62894929e-03 1.50834429e+01] [-2.88645726e-04 2.62871025e-03 9.99996503e-01 1.69385658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51925976399997 meters Centerline goodness [0,1] 0.5493805918788712 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.94 [[ 9.99999083e-01 1.35431522e-03 -5.53040978e-06 -2.72665674e+01] [-1.35432466e-03 9.99996131e-01 -2.42962891e-03 1.50841700e+01] [ 2.23990497e-06 2.42963417e-03 9.99997048e-01 1.69377095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54925976399997 meters Centerline goodness [0,1] 0.5503606425471996 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.94 [[ 9.99998293e-01 1.82425369e-03 -2.91731124e-04 -2.72649389e+01] [-1.82488323e-03 9.99995975e-01 -2.17243133e-03 1.50847908e+01] [ 2.87766884e-04 2.17296000e-03 9.99997598e-01 1.69366739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57925976399997 meters Centerline goodness [0,1] 0.557659654070855 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.94 [[ 9.99997834e-01 2.01609466e-03 -5.17114639e-04 -2.72640961e+01] [-2.01725152e-03 9.99995442e-01 -2.24645501e-03 1.50857679e+01] [ 5.12583216e-04 2.24749329e-03 9.99997343e-01 1.69365302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60925976399997 meters Centerline goodness [0,1] 0.5591877880184332 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.94 [[ 9.99997580e-01 2.09715524e-03 -6.65128410e-04 -2.72636636e+01] [-2.09872964e-03 9.99994977e-01 -2.37526713e-03 1.50868625e+01] [ 6.60143765e-04 2.37665731e-03 9.99996958e-01 1.69366165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63925976399997 meters Centerline goodness [0,1] 0.5570456249639499 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.94 [[ 9.99997523e-01 2.08672233e-03 -7.74657850e-04 -2.72635507e+01] [-2.08876297e-03 9.99994326e-01 -2.64285280e-03 1.50877652e+01] [ 7.69138555e-04 2.64446433e-03 9.99996208e-01 1.69370511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66925976399997 meters Centerline goodness [0,1] 0.5564024830373899 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.94 [[ 9.99997061e-01 2.25747576e-03 -8.84340798e-04 -2.72632798e+01] [-2.25988911e-03 9.99993699e-01 -2.73754817e-03 1.50884604e+01] [ 8.78155277e-04 2.73953864e-03 9.99995862e-01 1.69373402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69925976399998 meters Centerline goodness [0,1] 0.5554786221222088 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.94 [[ 9.99996972e-01 2.27686611e-03 -9.33310897e-04 -2.72632803e+01] [-2.27954961e-03 9.99993242e-01 -2.88434308e-03 1.50891119e+01] [ 9.26737326e-04 2.88646187e-03 9.99995405e-01 1.69376637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72925976399998 meters Centerline goodness [0,1] 0.5589441460174436 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.94 [[ 9.99996987e-01 2.27378019e-03 -9.25362930e-04 -2.72632648e+01] [-2.27643326e-03 9.99993273e-01 -2.87617836e-03 1.50897026e+01] [ 9.18816907e-04 2.87827622e-03 9.99995436e-01 1.69375114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75925976399998 meters Centerline goodness [0,1] 0.5590850237375917 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.94 [[ 9.99996787e-01 2.34805949e-03 -9.55189569e-04 -2.72630716e+01] [-2.35071837e-03 9.99993339e-01 -2.79208504e-03 1.50898589e+01] [ 9.48627225e-04 2.79432145e-03 9.99995646e-01 1.69372974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78925976399998 meters Centerline goodness [0,1] 0.5589306358381503 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.94 [[ 9.99997446e-01 2.15921084e-03 -6.68118364e-04 -2.72638668e+01] [-2.16111094e-03 9.99993585e-01 -2.85643006e-03 1.50897198e+01] [ 6.61946443e-04 2.85786665e-03 9.99995697e-01 1.69372056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81925976399998 meters Centerline goodness [0,1] 0.5601751807992623 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.94 [[ 9.99998184e-01 -1.24057644e-03 -1.44637818e-03 -2.72613341e+01] [ 1.23041267e-03 9.99974694e-01 -7.00689104e-03 1.50924096e+01] [ 1.45503416e-03 7.00509868e-03 9.99974405e-01 1.69372458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84925976399998 meters Centerline goodness [0,1] 0.5590628144315078 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.94 [[ 9.99998586e-01 -1.14926269e-03 -1.22733074e-03 -2.72615959e+01] [ 1.14124880e-03 9.99978156e-01 -6.51038718e-03 1.50908848e+01] [ 1.23478607e-03 6.50897729e-03 9.99978054e-01 1.69363333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87925976399998 meters Centerline goodness [0,1] 0.5586061550897858 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.94 [[ 9.99998393e-01 -1.28846802e-03 -1.24657582e-03 -2.72619963e+01] [ 1.28005780e-03 9.99976574e-01 -6.72409551e-03 1.50917866e+01] [ 1.25521040e-03 6.72248902e-03 9.99976616e-01 1.69369673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90925976399998 meters Centerline goodness [0,1] 0.5575550998006875 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.94 [[ 9.99997772e-01 -1.72329112e-03 -1.21878307e-03 -2.72630178e+01] [ 1.71434384e-03 9.99971852e-01 -7.30449167e-03 1.50937328e+01] [ 1.23133653e-03 7.30238599e-03 9.99972579e-01 1.69382572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93925976399998 meters Centerline goodness [0,1] 0.5580669402855656 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.94 [[ 9.99996924e-01 -2.15392804e-03 -1.22947727e-03 -2.72640537e+01] [ 2.14395201e-03 9.99965231e-01 -8.05849435e-03 1.50962352e+01] [ 1.24679194e-03 8.05583363e-03 9.99966774e-01 1.69399139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.969259764 meters Centerline goodness [0,1] 0.5563553320035846 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.94 [[ 9.99997380e-01 -1.96551518e-03 -1.17334310e-03 -2.72637666e+01] [ 1.95632146e-03 9.99967776e-01 -7.78588071e-03 1.50959608e+01] [ 1.18860855e-03 7.78356487e-03 9.99969001e-01 1.69392244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.999259764 meters Centerline goodness [0,1] 0.5566593508143698 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.94 [[ 9.99997705e-01 -1.78559033e-03 -1.18374050e-03 -2.72632708e+01] [ 1.77656947e-03 9.99969705e-01 -7.57838424e-03 1.50958812e+01] [ 1.19723653e-03 7.57626385e-03 9.99970583e-01 1.69385156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.029259764 meters Centerline goodness [0,1] 0.5596959050855267 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.94 [[ 9.99997916e-01 -1.63612021e-03 -1.22082167e-03 -2.72627607e+01] [ 1.62695987e-03 9.99970798e-01 -7.46706247e-03 1.50962782e+01] [ 1.23300303e-03 7.46506068e-03 9.99971376e-01 1.69379336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.059259764 meters Centerline goodness [0,1] 0.5581301048485199 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.94 [[ 9.99997738e-01 -1.55945057e-03 -1.44644970e-03 -2.72618717e+01] [ 1.54869667e-03 9.99971374e-01 -7.40625007e-03 1.50978762e+01] [ 1.45795797e-03 7.40399321e-03 9.99971527e-01 1.69373773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.089259764 meters Centerline goodness [0,1] 0.5592065195324962 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.94 [[ 9.99997623e-01 -1.49188877e-03 -1.59032206e-03 -2.72615515e+01] [ 1.48021826e-03 9.99972153e-01 -7.31454857e-03 1.50981344e+01] [ 1.60119027e-03 7.31217715e-03 9.99971984e-01 1.69373636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.119259764 meters Centerline goodness [0,1] 0.5603797614912586 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.94 [[ 9.99997617e-01 -1.55532058e-03 -1.53209574e-03 -2.72618140e+01] [ 1.54420954e-03 9.99972694e-01 -7.22686356e-03 1.50981497e+01] [ 1.54329400e-03 7.22448046e-03 9.99972712e-01 1.69372819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.149259764 meters Centerline goodness [0,1] 0.5624097081768276 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.94 [[ 9.99997968e-01 -1.40399952e-03 -1.44684309e-03 -2.72617416e+01] [ 1.39409097e-03 9.99975725e-01 -6.82679568e-03 1.50972988e+01] [ 1.45639279e-03 6.82476477e-03 9.99975650e-01 1.69365873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.179259764 meters Centerline goodness [0,1] 0.5618480742003524 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.94 [[ 9.99998407e-01 -1.23484526e-03 -1.28919536e-03 -2.72617484e+01] [ 1.22658813e-03 9.99978856e-01 -6.38612840e-03 1.50963188e+01] [ 1.29705398e-03 6.38453692e-03 9.99978777e-01 1.69357641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.209259764 meters Centerline goodness [0,1] 0.5603941513032422 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.94 [[ 9.99998611e-01 -1.13207489e-03 -1.22323500e-03 -2.72616289e+01] [ 1.12460148e-03 9.99980805e-01 -6.09306268e-03 1.50956863e+01] [ 1.23010932e-03 6.09167856e-03 9.99980689e-01 1.69351580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23925976399997 meters Centerline goodness [0,1] 0.559997689063493 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.94 [[ 9.99998417e-01 -1.41867425e-03 -1.07354110e-03 -2.72625144e+01] [ 1.41195157e-03 9.99979552e-01 -6.23721462e-03 1.50960724e+01] [ 1.08236772e-03 6.23568896e-03 9.99979972e-01 1.69355853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26925976399997 meters Centerline goodness [0,1] 0.5593068333044031 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.94 [[ 9.99998289e-01 -1.60047812e-03 -9.27125401e-04 -2.72632204e+01] [ 1.59451456e-03 9.99978263e-01 -6.39773338e-03 1.50966514e+01] [ 9.37344681e-04 6.39624412e-03 9.99979105e-01 1.69359742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29925976399997 meters Centerline goodness [0,1] 0.5578162480853155 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.94 [[ 9.99998021e-01 -1.82850042e-03 -7.83556759e-04 -2.72640922e+01] [ 1.82329315e-03 9.99976586e-01 -6.59565742e-03 1.50971230e+01] [ 7.95598575e-04 6.59421572e-03 9.99977941e-01 1.69365657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32925976399997 meters Centerline goodness [0,1] 0.5575016618977426 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.94 [[ 9.99998013e-01 -1.86645444e-03 -7.00894908e-04 -2.72643318e+01] [ 1.86180084e-03 9.99976602e-01 -6.58248166e-03 1.50974475e+01] [ 7.13164410e-04 6.58116365e-03 9.99978090e-01 1.69365141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35925976399997 meters Centerline goodness [0,1] 0.5579205178295478 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.94 [[ 9.99998293e-01 -1.39074072e-03 -1.21666322e-03 -2.72625096e+01] [ 1.38267141e-03 9.99977210e-01 -6.60821635e-03 1.50998879e+01] [ 1.22582581e-03 6.60652283e-03 9.99977425e-01 1.69361990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38925976399997 meters Centerline goodness [0,1] 0.5594102593928114 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.94 [[ 9.99998346e-01 -1.18625569e-03 -1.37834124e-03 -2.72615955e+01] [ 1.17717636e-03 9.99977728e-01 -6.56938463e-03 1.51011735e+01] [ 1.38610351e-03 6.56775121e-03 9.99977471e-01 1.69356138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41925976399997 meters Centerline goodness [0,1] 0.559067055393586 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.94 [[ 9.99998265e-01 -9.67020819e-04 -1.59203549e-03 -2.72606380e+01] [ 9.56577502e-04 9.99978108e-01 -6.54747073e-03 1.51021647e+01] [ 1.59833218e-03 6.54593647e-03 9.99977298e-01 1.69351503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44925976399998 meters Centerline goodness [0,1] 0.5587943510737629 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.93 [[ 9.99998260e-01 -7.22929844e-04 -1.71944477e-03 -2.72597853e+01] [ 7.11813220e-04 9.99978899e-01 -6.45708925e-03 1.51028283e+01] [ 1.72407651e-03 6.45585410e-03 9.99977675e-01 1.69345158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47925976399998 meters Centerline goodness [0,1] 0.561349245717954 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.93 [[ 9.99998251e-01 -4.86777525e-04 -1.80597192e-03 -2.72591011e+01] [ 4.75277386e-04 9.99979644e-01 -6.36281303e-03 1.51034272e+01] [ 1.80903243e-03 6.36194356e-03 9.99978126e-01 1.69339703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50925976399998 meters Centerline goodness [0,1] 0.5597130275015312 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.93 [[ 9.99998094e-01 -3.54126494e-04 -1.92001620e-03 -2.72585196e+01] [ 3.41884134e-04 9.99979635e-01 -6.37275862e-03 1.51043998e+01] [ 1.92223386e-03 6.37209005e-03 9.99977850e-01 1.69336351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53925976399998 meters Centerline goodness [0,1] 0.5638985579313774 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.93 [[ 9.99997574e-01 -4.41256803e-04 -2.15821335e-03 -2.72582877e+01] [ 4.26386191e-04 9.99976201e-01 -6.88585559e-03 1.51072719e+01] [ 2.16120042e-03 6.88491865e-03 9.99973963e-01 1.69344744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56925976399998 meters Centerline goodness [0,1] 0.5637216117216117 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.93 [[ 9.99997409e-01 -5.00753562e-04 -2.22048484e-03 -2.72583246e+01] [ 4.85036049e-04 9.99974866e-01 -7.07331237e-03 1.51083525e+01] [ 2.22397102e-03 7.07221703e-03 9.99972518e-01 1.69347705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59925976399998 meters Centerline goodness [0,1] 0.5634477720964207 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.93 [[ 9.99997471e-01 -5.09317870e-04 -2.19068666e-03 -2.72584796e+01] [ 4.93545341e-04 9.99973999e-01 -7.19433532e-03 1.51090276e+01] [ 2.19429390e-03 7.19323592e-03 9.99971721e-01 1.69349767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62925976399998 meters Centerline goodness [0,1] 0.5637316623232116 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.93 [[ 9.99997364e-01 -3.15608194e-04 -2.27443004e-03 -2.72576766e+01] [ 2.99417299e-04 9.99974640e-01 -7.11548846e-03 1.51099276e+01] [ 2.27661807e-03 7.11478870e-03 9.99972098e-01 1.69341568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65925976399998 meters Centerline goodness [0,1] 0.564818625433594 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.93 [[ 9.99997281e-01 -1.23832152e-04 -2.32862435e-03 -2.72569662e+01] [ 1.07860891e-04 9.99976481e-01 -6.85754310e-03 1.51102369e+01] [ 2.32941876e-03 6.85727329e-03 9.99973775e-01 1.69332411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68925976399998 meters Centerline goodness [0,1] 0.5634217420741221 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.93 [[ 9.99997026e-01 7.59957808e-05 -2.43778079e-03 -2.72561357e+01] [-9.22160385e-05 9.99977856e-01 -6.65427606e-03 1.51108713e+01] [ 2.43722111e-03 6.65448107e-03 9.99974889e-01 1.69323883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.719259764 meters Centerline goodness [0,1] 0.5658448941121028 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.93 [[ 9.99996644e-01 3.22216638e-04 -2.57056763e-03 -2.72553452e+01] [-3.38787486e-04 9.99979151e-01 -6.44854793e-03 1.51112486e+01] [ 2.56843621e-03 6.44939717e-03 9.99975904e-01 1.69317380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.749259764 meters Centerline goodness [0,1] 0.5664659701316332 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.93 [[ 9.99996377e-01 5.65823921e-04 -2.63155068e-03 -2.72546800e+01] [-5.82027674e-04 9.99980853e-01 -6.16080810e-03 1.51111621e+01] [ 2.62801436e-03 6.16231741e-03 9.99977559e-01 1.69309490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.779259764 meters Centerline goodness [0,1] 0.5659605766401883 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.93 [[ 9.99996630e-01 9.01844472e-04 -2.43461132e-03 -2.72544805e+01] [-9.15058792e-04 9.99984828e-01 -5.43204520e-03 1.51091595e+01] [ 2.42967552e-03 5.43425470e-03 9.99982283e-01 1.69296060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.809259764 meters Centerline goodness [0,1] 0.5678747650375939 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.93 [[ 9.99996672e-01 1.03888198e-03 -2.36170114e-03 -2.72546051e+01] [-1.05101276e-03 9.99986232e-01 -5.14103550e-03 1.51082550e+01] [ 2.35632770e-03 5.14350057e-03 9.99983996e-01 1.69293820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.839259764 meters Centerline goodness [0,1] 0.5678747650375939 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.93 [[ 9.99996672e-01 1.03888198e-03 -2.36170114e-03 -2.72546051e+01] [-1.05101276e-03 9.99986232e-01 -5.14103550e-03 1.51082550e+01] [ 2.35632770e-03 5.14350057e-03 9.99983996e-01 1.69293820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.869259764 meters Centerline goodness [0,1] 0.5629000998414283 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.93 [[ 9.99996997e-01 9.88670176e-04 -2.24230768e-03 -2.72552482e+01] [-1.00000894e-03 9.99986692e-01 -5.06126622e-03 1.51078342e+01] [ 2.23727392e-03 5.06349335e-03 9.99984678e-01 1.69296779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.899259764 meters Centerline goodness [0,1] 0.563039520817429 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.93 [[ 9.99997151e-01 9.76072305e-04 -2.17838762e-03 -2.72557844e+01] [-9.86909335e-04 9.99987116e-01 -4.97927624e-03 1.51073346e+01] [ 2.17349942e-03 4.98141193e-03 9.99985231e-01 1.69300829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.929259764 meters Centerline goodness [0,1] 0.5595712277413308 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.93 [[ 9.99997706e-01 1.12238143e-03 -1.82453941e-03 -2.72567495e+01] [-1.13037288e-03 9.99989748e-01 -4.38486413e-03 1.51046024e+01] [ 1.81959921e-03 4.38691648e-03 9.99988722e-01 1.69297819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.959259764 meters Centerline goodness [0,1] 0.5570684000936987 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.93 [[ 9.99997868e-01 1.32383960e-03 -1.58488552e-03 -2.72571119e+01] [-1.32976067e-03 9.99992119e-01 -3.74075774e-03 1.51023995e+01] [ 1.57992087e-03 3.74285728e-03 9.99991747e-01 1.69290388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98925976399997 meters Centerline goodness [0,1] 0.5560216745324245 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.93 [[ 9.99994318e-01 -2.43511231e-03 -2.33131502e-03 -2.72553621e+01] [ 2.41646445e-03 9.99965331e-01 -7.96853679e-03 1.51042005e+01] [ 2.35063847e-03 7.96285797e-03 9.99965533e-01 1.69296783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01925976399997 meters Centerline goodness [0,1] 0.5549914415851924 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.93 [[ 9.99995258e-01 -2.42087386e-03 -1.90372466e-03 -2.72564712e+01] [ 2.40684692e-03 9.99970193e-01 -7.33624862e-03 1.51016964e+01] [ 1.92142805e-03 7.33163185e-03 9.99971277e-01 1.69291616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04925976399997 meters Centerline goodness [0,1] 0.5555652022920645 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.93 [[ 9.99995644e-01 -2.58549431e-03 -1.42361633e-03 -2.72580369e+01] [ 2.57574627e-03 9.99973514e-01 -6.80715614e-03 1.50989990e+01] [ 1.44117848e-03 6.80345962e-03 9.99975818e-01 1.69289703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07925976399997 meters Centerline goodness [0,1] 0.5546998932825704 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.93 [[ 9.99995992e-01 -2.67786424e-03 -9.19246656e-04 -2.72595655e+01] [ 2.67218844e-03 9.99977696e-01 -6.12108318e-03 1.50956669e+01] [ 9.35617583e-04 6.11860225e-03 9.99980843e-01 1.69286167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10925976399997 meters Centerline goodness [0,1] 0.553417707086255 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.93 [[ 9.99972956e-01 -7.32752144e-03 -6.28516877e-04 -2.72616648e+01] [ 7.32103255e-03 9.99925470e-01 -9.77024473e-03 1.50922485e+01] [ 7.00061711e-04 9.76537911e-03 9.99952072e-01 1.69294698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13925976399997 meters Centerline goodness [0,1] 0.5496768289195217 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.93 [[ 9.99969305e-01 -7.83483345e-03 7.17530992e-05 -2.72642569e+01] [ 7.83516201e-03 9.99927461e-01 -9.14781662e-03 1.50883264e+01] [-7.62745625e-08 9.14809802e-03 9.99958155e-01 1.69294121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16925976399997 meters Centerline goodness [0,1] 0.5465665358138476 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.93 [[ 9.99967094e-01 -8.08140277e-03 7.07719529e-04 -2.72660980e+01] [ 8.08706626e-03 9.99931992e-01 -8.40301847e-03 1.50849496e+01] [-6.39763222e-04 8.40846534e-03 9.99964444e-01 1.69287678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19925976399998 meters Centerline goodness [0,1] 0.5427834759449198 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.93 [[ 9.99965676e-01 -8.20000432e-03 1.18584293e-03 -2.72674918e+01] [ 8.20904621e-03 9.99935631e-01 -7.83235553e-03 1.50824016e+01] [-1.12154125e-03 7.84182134e-03 9.99968623e-01 1.69283892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22925976399998 meters Centerline goodness [0,1] 0.5451313450523405 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.93 [[ 9.99963070e-01 -8.44853856e-03 1.57524808e-03 -2.72690568e+01] [ 8.45952420e-03 9.99938992e-01 -7.10279097e-03 1.50790353e+01] [-1.51514378e-03 7.11585451e-03 9.99973534e-01 1.69281557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25925976399998 meters Centerline goodness [0,1] 0.5423925339366515 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.93 [[ 9.99986167e-01 -4.79791371e-03 2.15527288e-03 -2.72709908e+01] [ 4.80249797e-03 9.99986206e-01 -2.12688357e-03 1.50743868e+01] [-2.14503855e-03 2.13720485e-03 9.99995416e-01 1.69271760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28925976399998 meters Centerline goodness [0,1] 0.5422724064925899 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.93 [[ 9.99986926e-01 -4.59364439e-03 2.24616828e-03 -2.72710387e+01] [ 4.59750378e-03 9.99987959e-01 -1.71607663e-03 1.50731852e+01] [-2.23825819e-03 1.72638096e-03 9.99996005e-01 1.69267311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31925976399998 meters Centerline goodness [0,1] 0.5406374389520933 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.93 [[ 9.99987488e-01 -4.38364093e-03 2.40970817e-03 -2.72712317e+01] [ 4.38637014e-03 9.99989743e-01 -1.12847108e-03 1.50711662e+01] [-2.40473665e-03 1.13902683e-03 9.99996460e-01 1.69260828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34925976399998 meters Centerline goodness [0,1] 0.5388579151883763 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99987996e-01 -4.10726527e-03 2.67169788e-03 -2.72713615e+01] [ 4.10833913e-03 9.99991482e-01 -3.96573242e-04 1.50687070e+01] [-2.67004629e-03 4.07544723e-04 9.99996352e-01 1.69249826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37925976399998 meters Centerline goodness [0,1] 0.5397669989918226 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99987721e-01 -3.95837278e-03 2.98147133e-03 -2.72717988e+01] [ 3.95777618e-03 9.99992147e-01 2.05977573e-04 1.50666235e+01] [-2.98226325e-03 -1.94175047e-04 9.99995534e-01 1.69240979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40925976399998 meters Centerline goodness [0,1] 0.5353086005259918 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99987429e-01 -3.93712781e-03 3.10494998e-03 -2.72725030e+01] [ 3.93626821e-03 9.99992213e-01 2.82911621e-04 1.50659850e+01] [-3.10603967e-03 -2.70686149e-04 9.99995140e-01 1.69245966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43925976399998 meters Centerline goodness [0,1] 0.5326503764659781 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.93 [[ 9.99986507e-01 -4.05641947e-03 3.24524062e-03 -2.72732635e+01] [ 4.05577148e-03 9.99991754e-01 2.06228831e-04 1.50657657e+01] [-3.24605041e-03 -1.93064094e-04 9.99994713e-01 1.69251129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.469259764 meters Centerline goodness [0,1] 0.5315348057031032 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.93 [[ 9.99985773e-01 -4.10038759e-03 3.41189287e-03 -2.72739420e+01] [ 4.09961967e-03 9.99991570e-01 2.32034872e-04 1.50651795e+01] [-3.41281553e-03 -2.18044107e-04 9.99994153e-01 1.69254316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.499259764 meters Centerline goodness [0,1] 0.5312883778050687 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.92 [[ 9.99984606e-01 -4.07488421e-03 3.76591944e-03 -2.72747703e+01] [ 4.07251917e-03 9.99991505e-01 6.35465776e-04 1.50635821e+01] [-3.76847690e-03 -6.20119215e-04 9.99992707e-01 1.69249879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.529259764 meters Centerline goodness [0,1] 0.5301335861895864 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.92 [[ 9.99983317e-01 -4.15576036e-03 4.01197844e-03 -2.72753213e+01] [ 4.15289729e-03 9.99991116e-01 7.21696153e-04 1.50633095e+01] [-4.01494200e-03 -7.05022778e-04 9.99991692e-01 1.69247185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.559259764 meters Centerline goodness [0,1] 0.529549444119368 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.92 [[ 9.99983107e-01 -4.14098816e-03 4.07897177e-03 -2.72753854e+01] [ 4.13772596e-03 9.99991113e-01 8.07876125e-04 1.50632543e+01] [-4.08228093e-03 -7.90984810e-04 9.99991355e-01 1.69244894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.589259764 meters Centerline goodness [0,1] 0.512042818911686 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.92 [[ 9.99983999e-01 -4.03215188e-03 3.96790618e-03 -2.72749774e+01] [ 4.02938580e-03 9.99991634e-01 7.04862003e-04 1.50641123e+01] [-3.97071510e-03 -6.88862500e-04 9.99991879e-01 1.69244814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.619259764 meters Centerline goodness [0,1] 0.5170130740864901 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.92 [[ 9.99983884e-01 -4.10038305e-03 3.92663930e-03 -2.72750204e+01] [ 4.09916113e-03 9.99991547e-01 3.19184998e-04 1.50656377e+01] [-3.92791489e-03 -3.03083927e-04 9.99992240e-01 1.69249093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.649259764 meters Centerline goodness [0,1] 0.521257601963957 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.93 [[ 9.99984446e-01 -4.03564716e-03 3.84978645e-03 -2.72748709e+01] [ 4.03518799e-03 9.99991851e-01 1.27032530e-04 1.50667389e+01] [-3.85026774e-03 -1.11495943e-04 9.99992581e-01 1.69251622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.679259764 meters Centerline goodness [0,1] 0.5262038073908175 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99987271e-01 -3.61056969e-03 3.52434078e-03 -2.72733734e+01] [ 3.61044648e-03 9.99993481e-01 4.13202330e-05 1.50684089e+01] [-3.52446700e-03 -2.85952633e-05 9.99993789e-01 1.69246942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.709259764 meters Centerline goodness [0,1] 0.5278936319104268 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99988231e-01 -3.39666803e-03 3.46411482e-03 -2.72726240e+01] [ 3.39591925e-03 9.99994209e-01 2.22012219e-04 1.50687992e+01] [-3.46484886e-03 -2.10245752e-04 9.99993975e-01 1.69238812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73925976399997 meters Centerline goodness [0,1] 0.5319553603893379 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99988824e-01 -3.18268942e-03 3.49604762e-03 -2.72720883e+01] [ 3.18111642e-03 9.99994837e-01 4.55404530e-04 1.50686621e+01] [-3.49747898e-03 -4.44278106e-04 9.99993785e-01 1.69230040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76925976399997 meters Centerline goodness [0,1] 0.5300431590157502 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99988139e-01 -3.06438912e-03 3.78565129e-03 -2.72723431e+01] [ 3.06073447e-03 9.99994845e-01 9.70813156e-04 1.50670842e+01] [-3.78860672e-03 -9.59214768e-04 9.99992363e-01 1.69219255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79925976399997 meters Centerline goodness [0,1] 0.526157984700311 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99987611e-01 -2.98968636e-03 3.97985942e-03 -2.72726840e+01] [ 2.98450483e-03 9.99994692e-01 1.30724083e-03 1.50660443e+01] [-3.98374653e-03 -1.29534673e-03 9.99991226e-01 1.69215152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82925976399997 meters Centerline goodness [0,1] 0.5262995742773919 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99986024e-01 -3.15141516e-03 4.24499352e-03 -2.72737309e+01] [ 3.14573064e-03 9.99994147e-01 1.34512256e-03 1.50653895e+01] [-4.24920771e-03 -1.33175016e-03 9.99990085e-01 1.69218472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85925976399997 meters Centerline goodness [0,1] 0.5235673772736162 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.92 [[ 9.99983917e-01 -3.41173323e-03 4.53050618e-03 -2.72750088e+01] [ 3.40537555e-03 9.99993207e-01 1.41027795e-03 1.50647558e+01] [-4.53528690e-03 -1.39482719e-03 9.99988743e-01 1.69222568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88925976399997 meters Centerline goodness [0,1] 0.5249301285634433 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.92 [[ 9.99983110e-01 -3.62752262e-03 4.54108327e-03 -2.72756088e+01] [ 3.62248964e-03 9.99992816e-01 1.11605580e-03 1.50653054e+01] [-4.54509916e-03 -1.09958692e-03 9.99989066e-01 1.69230878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91925976399997 meters Centerline goodness [0,1] 0.5269290015404005 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.92 [[ 9.99984801e-01 -3.56340826e-03 4.20702346e-03 -2.72750415e+01] [ 3.56114175e-03 9.99993510e-01 5.46112668e-04 1.50677032e+01] [-4.20894217e-03 -5.31122561e-04 9.99991001e-01 1.69239985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94925976399998 meters Centerline goodness [0,1] 0.5278831296530412 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99988681e-01 -2.93343295e-03 3.74597923e-03 -2.72730114e+01] [ 2.93145486e-03 9.99995561e-01 5.33436842e-04 1.50695879e+01] [-3.74752740e-03 -5.22449636e-04 9.99992842e-01 1.69234565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97925976399998 meters Centerline goodness [0,1] 0.5283526838297157 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99990268e-01 -2.44513130e-03 3.67226207e-03 -2.72717659e+01] [ 2.44135492e-03 9.99996487e-01 1.03248378e-03 1.50687941e+01] [-3.67477373e-03 -1.02350844e-03 9.99992724e-01 1.69220444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00925976399998 meters Centerline goodness [0,1] 0.5293639219205744 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99991314e-01 -1.97526249e-03 3.67005673e-03 -2.72707387e+01] [ 1.96941766e-03 9.99996788e-01 1.59550386e-03 1.50674515e+01] [-3.67319648e-03 -1.58826213e-03 9.99991992e-01 1.69206084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03925976399998 meters Centerline goodness [0,1] 0.5305996694955606 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99991808e-01 -1.68038198e-03 3.68254466e-03 -2.72702003e+01] [ 1.67341249e-03 9.99996805e-01 1.89483960e-03 1.50666938e+01] [-3.68571695e-03 -1.88866167e-03 9.99991424e-01 1.69198587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06925976399998 meters Centerline goodness [0,1] 0.5238108616862867 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99992124e-01 -1.83228446e-03 3.52061547e-03 -2.72705058e+01] [ 1.82757402e-03 9.99997431e-01 1.34070968e-03 1.50681973e+01] [-3.52306298e-03 -1.33426494e-03 9.99992904e-01 1.69212106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09925976399998 meters Centerline goodness [0,1] 0.5242259778971345 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99991785e-01 -2.05947173e-03 3.49117404e-03 -2.72709612e+01] [ 2.05629251e-03 9.99997468e-01 9.13990741e-04 1.50696494e+01] [-3.49304754e-03 -9.06804358e-04 9.99993488e-01 1.69220557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12925976399998 meters Centerline goodness [0,1] 0.5230959543422644 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99991937e-01 -2.12231165e-03 3.40918842e-03 -2.72710951e+01] [ 2.11989401e-03 9.99997499e-01 7.12609776e-04 1.50705776e+01] [-3.41069227e-03 -7.05376912e-04 9.99993935e-01 1.69225893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15925976399998 meters Centerline goodness [0,1] 0.5268108595246142 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99992227e-01 -2.12297438e-03 3.32261574e-03 -2.72709044e+01] [ 2.12113271e-03 9.99997595e-01 5.57711705e-04 1.50714077e+01] [-3.32379176e-03 -5.50659661e-04 9.99994325e-01 1.69227570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18925976399998 meters Centerline goodness [0,1] 0.5239048317077296 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99992206e-01 -2.16735817e-03 3.30004339e-03 -2.72709402e+01] [ 2.16627323e-03 9.99997598e-01 3.32305172e-04 1.50721529e+01] [-3.30075569e-03 -3.25153786e-04 9.99994500e-01 1.69230438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.219259764 meters Centerline goodness [0,1] 0.5256085192697768 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99992879e-01 -2.03474623e-03 3.17839693e-03 -2.72701402e+01] [ 2.03361500e-03 9.99997868e-01 3.59105030e-04 1.50728874e+01] [-3.17912084e-03 -3.52638837e-04 9.99994884e-01 1.69223705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.249259764 meters Centerline goodness [0,1] 0.5312376878482581 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99992604e-01 -2.05452987e-03 3.25129832e-03 -2.72702944e+01] [ 2.05345993e-03 9.99997836e-01 3.32387168e-04 1.50732246e+01] [-3.25197419e-03 -3.25708299e-04 9.99994659e-01 1.69222842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.279259764 meters Centerline goodness [0,1] 0.5234066553863508 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99992349e-01 -2.14097879e-03 3.27375102e-03 -2.72706113e+01] [ 2.14078286e-03 9.99997707e-01 6.33521305e-05 1.50738893e+01] [-3.27387915e-03 -5.63432557e-05 9.99994639e-01 1.69227826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.309259764 meters Centerline goodness [0,1] 0.527977369165488 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.92 [[ 9.99991592e-01 -2.30146017e-03 3.39397065e-03 -2.72710869e+01] [ 2.30204549e-03 9.99997336e-01 -1.68562593e-04 1.50747565e+01] [-3.39357367e-03 1.76374251e-04 9.99994226e-01 1.69230522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.339259764 meters Centerline goodness [0,1] 0.5263455769992642 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.92 [[ 9.99991552e-01 -2.31284234e-03 3.39798329e-03 -2.72711746e+01] [ 2.31378251e-03 9.99997286e-01 -2.72779928e-04 1.50753030e+01] [-3.39734317e-03 2.80639818e-04 9.99994190e-01 1.69232388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.369259764 meters Centerline goodness [0,1] 0.5265889920162496 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.92 [[ 9.99981673e-01 -5.32706309e-03 2.87688551e-03 -2.72689498e+01] [ 5.33934062e-03 9.99976599e-01 -4.27696333e-03 1.50797911e+01] [-2.85403453e-03 4.29224561e-03 9.99986715e-01 1.69232952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.399259764 meters Centerline goodness [0,1] 0.5253522720842058 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.92 [[ 9.99981283e-01 -5.38810034e-03 2.89851114e-03 -2.72690357e+01] [ 5.40080972e-03 9.99975757e-01 -4.39498593e-03 1.50804509e+01] [-2.87476025e-03 4.41055797e-03 9.99986141e-01 1.69233548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.429259764 meters Centerline goodness [0,1] 0.5241091929585849 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.92 [[ 9.99981107e-01 -5.33997565e-03 3.04473825e-03 -2.72690336e+01] [ 5.35306489e-03 9.99976396e-01 -4.30715191e-03 1.50806910e+01] [-3.02166630e-03 4.32336922e-03 9.99986089e-01 1.69227946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.459259764 meters Centerline goodness [0,1] 0.5238943558420993 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.92 [[ 9.99981152e-01 -5.33380450e-03 3.04088938e-03 -2.72689468e+01] [ 5.34703035e-03 9.99976209e-01 -4.35792482e-03 1.50812517e+01] [-3.01757271e-03 4.37410241e-03 9.99985881e-01 1.69226941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48925976399997 meters Centerline goodness [0,1] 0.5261632861769218 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.92 [[ 9.99982171e-01 -5.24824806e-03 2.84841450e-03 -2.72682355e+01] [ 5.26110563e-03 9.99975921e-01 -4.52537239e-03 1.50828111e+01] [-2.82459564e-03 4.54027752e-03 9.99985704e-01 1.69225538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51925976399997 meters Centerline goodness [0,1] 0.5230309923230025 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.92 [[ 9.99982589e-01 -5.26852663e-03 2.65803039e-03 -2.72678374e+01] [ 5.28164959e-03 9.99973778e-01 -4.95447429e-03 1.50849921e+01] [-2.63185791e-03 4.96842681e-03 9.99984194e-01 1.69229816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54925976399997 meters Centerline goodness [0,1] 0.5292566909278469 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.92 [[ 9.99994878e-01 -1.09331717e-03 3.00818736e-03 -2.72682694e+01] [ 1.09516851e-03 9.99999212e-01 -6.13857419e-04 1.50852359e+01] [-3.00751385e-03 6.17148746e-04 9.99995287e-01 1.69220871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57925976399997 meters Centerline goodness [0,1] 0.5273621878307635 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.92 [[ 9.99996237e-01 -7.60714158e-04 2.63578404e-03 -2.72669326e+01] [ 7.62484481e-04 9.99999484e-01 -6.70709805e-04 1.50867252e+01] [-2.63527247e-03 6.72717025e-04 9.99996301e-01 1.69218717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60925976399997 meters Centerline goodness [0,1] 0.5231690810125853 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.92 [[ 9.99996489e-01 -7.48243328e-04 2.54208491e-03 -2.72665411e+01] [ 7.51708802e-04 9.99998789e-01 -1.36255899e-03 1.50892691e+01] [-2.54106231e-03 1.36446511e-03 9.99995841e-01 1.69223243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63925976399997 meters Centerline goodness [0,1] 0.5267386609071274 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.92 [[ 9.99996584e-01 -7.59074664e-04 2.50126129e-03 -2.72664809e+01] [ 7.62884190e-04 9.99998550e-01 -1.52244026e-03 1.50900582e+01] [-2.50010201e-03 1.52434323e-03 9.99995713e-01 1.69224825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66925976399997 meters Centerline goodness [0,1] 0.524186582205586 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.92 [[ 9.99996634e-01 -8.72467183e-04 2.44355109e-03 -2.72665444e+01] [ 8.77032239e-04 9.99997871e-01 -1.86775752e-03 1.50914048e+01] [-2.44191634e-03 1.86989431e-03 9.99995270e-01 1.69229401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69925976399998 meters Centerline goodness [0,1] 0.5267116182572614 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.92 [[ 9.99996828e-01 -8.97591704e-04 2.35345618e-03 -2.72663085e+01] [ 9.02522349e-04 9.99997399e-01 -2.09484122e-03 1.50927960e+01] [-2.35156975e-03 2.09695862e-03 9.99995036e-01 1.69230711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72925976399998 meters Centerline goodness [0,1] 0.5257111439071679 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.92 [[ 9.99997128e-01 -9.06811629e-04 2.21862964e-03 -2.72660331e+01] [ 9.12340395e-04 9.99996478e-01 -2.49223170e-03 1.50943343e+01] [-2.21636184e-03 2.49424868e-03 9.99994433e-01 1.69235157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75925976399998 meters Centerline goodness [0,1] 0.5257111439071679 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.92 [[ 9.99997128e-01 -9.06811629e-04 2.21862964e-03 -2.72660331e+01] [ 9.12340395e-04 9.99996478e-01 -2.49223170e-03 1.50943343e+01] [-2.21636184e-03 2.49424868e-03 9.99994433e-01 1.69235157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78925976399998 meters Centerline goodness [0,1] 0.5234560055462476 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.92 [[ 9.99998267e-01 -3.43775479e-04 1.82971497e-03 -2.72640817e+01] [ 3.48233412e-04 9.99996971e-01 -2.43664809e-03 1.50958399e+01] [-1.82887177e-03 2.43728104e-03 9.99995357e-01 1.69227093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81925976399998 meters Centerline goodness [0,1] 0.5234126295074376 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.92 [[ 9.99998480e-01 -1.70908981e-04 1.73539161e-03 -2.72633878e+01] [ 1.75165234e-04 9.99996977e-01 -2.45276239e-03 1.50965537e+01] [-1.73496716e-03 2.45306264e-03 9.99995486e-01 1.69222302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84925976399998 meters Centerline goodness [0,1] 0.5252274368231047 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.92 [[ 9.99998576e-01 -8.86459447e-05 1.68547974e-03 -2.72629897e+01] [ 9.28247393e-05 9.99996922e-01 -2.47937435e-03 1.50974089e+01] [-1.68525477e-03 2.47952728e-03 9.99995506e-01 1.69218786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87925976399998 meters Centerline goodness [0,1] 0.5279524706564266 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.92 [[ 9.99998932e-01 -4.63315298e-05 1.46098163e-03 -2.72623145e+01] [ 5.02054683e-05 9.99996483e-01 -2.65167457e-03 1.50988296e+01] [-1.46085364e-03 2.65174509e-03 9.99995417e-01 1.69218706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90925976399998 meters Centerline goodness [0,1] 0.5286466668606512 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.92 [[ 9.99999212e-01 -8.12252742e-05 1.25315308e-03 -2.72619180e+01] [ 8.49068665e-05 9.99995680e-01 -2.93808977e-03 1.51003898e+01] [-1.25290902e-03 2.93819386e-03 9.99994899e-01 1.69222045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93925976399998 meters Centerline goodness [0,1] 0.5311363834676129 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.92 [[ 9.99999514e-01 1.93456278e-04 9.67139405e-04 -2.72607506e+01] [-1.90628580e-04 9.99995710e-01 -2.92301320e-03 1.51015631e+01] [-9.67700731e-04 2.92282742e-03 9.99995260e-01 1.69217920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.969259764 meters Centerline goodness [0,1] 0.530206400742115 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.92 [[ 9.99999562e-01 4.50531611e-04 8.19934919e-04 -2.72599208e+01] [-4.48241756e-04 9.99996005e-01 -2.79077236e-03 1.51017724e+01] [-8.21188974e-04 2.79040361e-03 9.99995770e-01 1.69212918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.999259764 meters Centerline goodness [0,1] 0.5335196343841877 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.92 [[ 9.99999560e-01 5.64977464e-04 7.49011253e-04 -2.72595185e+01] [-5.62906820e-04 9.99996028e-01 -2.76183719e-03 1.51023208e+01] [-7.50568653e-04 2.76141435e-03 9.99995906e-01 1.69210257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.029259764 meters Centerline goodness [0,1] 0.5342688631279235 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.92 [[ 9.99999565e-01 6.44014711e-04 6.74723026e-04 -2.72590334e+01] [-6.42112205e-04 9.99995829e-01 -2.81611646e-03 1.51034244e+01] [-6.76533832e-04 2.81568199e-03 9.99995807e-01 1.69207001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.059259764 meters Centerline goodness [0,1] 0.5362803548058747 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.92 [[ 9.99999472e-01 9.90002393e-04 2.74944796e-04 -2.72578219e+01] [-9.89163961e-04 9.99994911e-01 -3.03303019e-03 1.51049922e+01] [-2.77946104e-04 3.03275662e-03 9.99995363e-01 1.69209730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.089259764 meters Centerline goodness [0,1] 0.5375277226567059 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.92 [[ 9.99999295e-01 1.16089243e-03 2.50713300e-04 -2.72574308e+01] [-1.16013394e-03 9.99994813e-01 -3.00459228e-03 1.51054515e+01] [-2.54200008e-04 3.00429930e-03 9.99995455e-01 1.69206470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.119259764 meters Centerline goodness [0,1] 0.53544754347065 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.92 [[ 9.99999088e-01 1.33579545e-03 2.00021217e-04 -2.72569851e+01] [-1.33519654e-03 9.99994713e-01 -2.96498527e-03 1.51059242e+01] [-2.03980773e-04 2.96471550e-03 9.99995584e-01 1.69203157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.149259764 meters Centerline goodness [0,1] 0.5360915235392223 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.92 [[ 9.99998716e-01 1.60138391e-03 5.97858619e-05 -2.72561807e+01] [-1.60119993e-03 9.99994337e-01 -2.95999328e-03 1.51064812e+01] [-6.45256089e-05 2.95989375e-03 9.99995617e-01 1.69199884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.179259764 meters Centerline goodness [0,1] 0.5409974640743871 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.92 [[ 9.99998300e-01 1.82880500e-03 -2.35496131e-04 -2.72550715e+01] [-1.82949586e-03 9.99993923e-01 -2.96760087e-03 1.51075096e+01] [ 2.30067536e-04 2.96802666e-03 9.99995569e-01 1.69196916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.209259764 meters Centerline goodness [0,1] 0.5416009348524686 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99997265e-01 2.22314415e-03 -7.25697278e-04 -2.72535900e+01] [-2.22535687e-03 9.99992834e-01 -3.06266557e-03 1.51090217e+01] [ 7.18883331e-04 3.06427213e-03 9.99995047e-01 1.69198555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23925976399997 meters Centerline goodness [0,1] 0.5404826837922642 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99997518e-01 2.11276641e-03 -7.07316573e-04 -2.72538330e+01] [-2.11513209e-03 9.99992116e-01 -3.36071333e-03 1.51097751e+01] [ 7.00210594e-04 3.36220106e-03 9.99994103e-01 1.69202739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26925976399997 meters Centerline goodness [0,1] 0.5468727219711328 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99998635e-01 -1.02380512e-03 -1.29705830e-03 -2.72513674e+01] [ 1.01390545e-03 9.99970528e-01 -7.61020257e-03 1.51135297e+01] [ 1.30481143e-03 7.60887708e-03 9.99970201e-01 1.69203986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29925976399997 meters Centerline goodness [0,1] 0.5426327051030277 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99998948e-01 -8.68261141e-04 -1.16173211e-03 -2.72512621e+01] [ 8.59646791e-04 9.99972286e-01 -7.39515672e-03 1.51131131e+01] [ 1.16812084e-03 7.39415027e-03 9.99971981e-01 1.69197454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32925976399997 meters Centerline goodness [0,1] 0.5433605525799748 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999205e-01 -5.87700117e-04 -1.11553485e-03 -2.72508794e+01] [ 5.79764560e-04 9.99974621e-01 -7.10072202e-03 1.51127144e+01] [ 1.11967964e-03 7.10006963e-03 9.99974167e-01 1.69190257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35925976399997 meters Centerline goodness [0,1] 0.5439362419057107 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999202e-01 -6.55981309e-04 -1.07969587e-03 -2.72512109e+01] [ 6.48209065e-04 9.99973990e-01 -7.18322552e-03 1.51131433e+01] [ 1.08437985e-03 7.18251992e-03 9.99973617e-01 1.69193437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38925976399997 meters Centerline goodness [0,1] 0.5424846176384412 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999162e-01 -8.12077143e-04 -1.00858545e-03 -2.72517836e+01] [ 8.04663469e-04 9.99972816e-01 -7.32934690e-03 1.51135902e+01] [ 1.01451003e-03 7.32852918e-03 9.99972631e-01 1.69198209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41925976399997 meters Centerline goodness [0,1] 0.5426470157344194 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999270e-01 -8.13806998e-04 -8.92762962e-04 -2.72521803e+01] [ 8.07389219e-04 9.99974001e-01 -7.16563054e-03 1.51132733e+01] [ 8.98571191e-04 7.16490451e-03 9.99973928e-01 1.69197742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44925976399998 meters Centerline goodness [0,1] 0.5431737770110237 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999435e-01 -8.24274717e-04 -6.71934592e-04 -2.72527538e+01] [ 8.19565037e-04 9.99975307e-01 -6.97953310e-03 1.51126431e+01] [ 6.77671053e-04 6.97897846e-03 9.99975417e-01 1.69195903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47925976399998 meters Centerline goodness [0,1] 0.5424659134039882 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999612e-01 -7.66193301e-04 -4.34087559e-04 -2.72532099e+01] [ 7.63292422e-04 9.99977638e-01 -6.64391713e-03 1.51116242e+01] [ 4.39168377e-04 6.64358322e-03 9.99977835e-01 1.69191432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50925976399998 meters Centerline goodness [0,1] 0.5426507848676355 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999560e-01 -9.02806085e-04 -2.53467525e-04 -2.72538762e+01] [ 9.01141519e-04 9.99978519e-01 -6.49222908e-03 1.51112405e+01] [ 2.59323305e-04 6.49199781e-03 9.99978893e-01 1.69190553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53925976399998 meters Centerline goodness [0,1] 0.544638171321943 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999364e-01 -1.08770681e-03 -2.99709156e-04 -2.72541257e+01] [ 1.08566338e-03 9.99976724e-01 -6.73586555e-03 1.51123669e+01] [ 3.07028827e-04 6.73553588e-03 9.99977269e-01 1.69195114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56925976399998 meters Centerline goodness [0,1] 0.5467998951262854 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999208e-01 -1.23612231e-03 -2.34680695e-04 -2.72545111e+01] [ 1.23447884e-03 9.99975580e-01 -6.87856344e-03 1.51130688e+01] [ 2.43177710e-04 6.87826828e-03 9.99976315e-01 1.69197221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59925976399998 meters Centerline goodness [0,1] 0.5441300983912878 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999283e-01 -1.19732001e-03 2.07987272e-05 -2.72549432e+01] [ 1.19743260e-03 9.99976782e-01 -6.70830603e-03 1.51124941e+01] [-1.27662552e-05 6.70832613e-03 9.99977499e-01 1.69192433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62925976399998 meters Centerline goodness [0,1] 0.5443807741784586 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999407e-01 -1.07549187e-03 1.73900056e-04 -2.72549718e+01] [ 1.07658949e-03 9.99978684e-01 -6.43994932e-03 1.51120294e+01] [-1.66970236e-04 6.44013271e-03 9.99979248e-01 1.69185975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65925976399998 meters Centerline goodness [0,1] 0.5423450860958182 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999440e-01 -1.03887146e-03 2.03366442e-04 -2.72548422e+01] [ 1.04014479e-03 9.99979204e-01 -6.36465967e-03 1.51122414e+01] [-1.96750150e-04 6.36486763e-03 9.99979725e-01 1.69182360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68925976399998 meters Centerline goodness [0,1] 0.5469098813300435 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999245e-01 -1.22825344e-03 -2.69922465e-05 -2.72546602e+01] [ 1.22804531e-03 9.99976856e-01 -6.69170090e-03 1.51145030e+01] [ 3.52107264e-05 6.69166270e-03 9.99977610e-01 1.69187619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.719259764 meters Centerline goodness [0,1] 0.5515771526001705 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.12, Z:16.92 [[ 9.99999180e-01 -1.27864353e-03 -6.43718344e-05 -2.72547079e+01] [ 1.27818307e-03 9.99976695e-01 -6.70644802e-03 1.51150739e+01] [ 7.29454906e-05 6.70636025e-03 9.99977509e-01 1.69188702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.749259764 meters Centerline goodness [0,1] 0.5484447832077629 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999293e-01 -1.18867586e-03 -1.24024801e-05 -2.72547206e+01] [ 1.18856925e-03 9.99977884e-01 -6.54367232e-03 1.51147308e+01] [ 2.01805111e-05 6.54365296e-03 9.99978590e-01 1.69186033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.779259764 meters Centerline goodness [0,1] 0.555354008191925 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999598e-01 -8.85389676e-04 1.38154735e-04 -2.72544515e+01] [ 8.86200430e-04 9.99981708e-01 -5.98309163e-03 1.51133135e+01] [-1.32854841e-04 5.98321166e-03 9.99982092e-01 1.69174811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.809259764 meters Centerline goodness [0,1] 0.5504152532459936 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999755e-01 -6.32300558e-04 2.99698465e-04 -2.72543152e+01] [ 6.33942450e-04 9.99984617e-01 -5.51041828e-03 1.51119829e+01] [-2.96209614e-04 5.51060693e-03 9.99984773e-01 1.69165358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.839259764 meters Centerline goodness [0,1] 0.5503216374269007 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999798e-01 -5.06155755e-04 3.85704742e-04 -2.72542573e+01] [ 5.08177682e-04 9.99986036e-01 -5.26022201e-03 1.51115252e+01] [-3.83036864e-04 5.26041695e-03 9.99986091e-01 1.69160521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.869259764 meters Centerline goodness [0,1] 0.5528091857305636 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.92 [[ 9.99999661e-01 -7.61332290e-04 3.13537709e-04 -2.72548137e+01] [ 7.63121306e-04 9.99983201e-01 -5.74586990e-03 1.51133920e+01] [-3.09157926e-04 5.74610722e-03 9.99983443e-01 1.69172036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.899259764 meters Centerline goodness [0,1] 0.5596778916544656 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.92 [[ 9.99999422e-01 -1.00064192e-03 3.92920619e-04 -2.72556415e+01] [ 1.00305188e-03 9.99980389e-01 -6.18190026e-03 1.51146472e+01] [-3.86727045e-04 6.18229081e-03 9.99980815e-01 1.69182125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.929259764 meters Centerline goodness [0,1] 0.5543290486926478 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.92 [[ 9.99999278e-01 -1.06871614e-03 5.50098853e-04 -2.72562368e+01] [ 1.07212696e-03 9.99979969e-01 -6.23788547e-03 1.51149450e+01] [-5.43421305e-04 6.23847074e-03 9.99980393e-01 1.69184357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.959259764 meters Centerline goodness [0,1] 0.5537025659030399 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.92 [[ 9.99999182e-01 -1.05071908e-03 7.29986896e-04 -2.72566863e+01] [ 1.05510951e-03 9.99981201e-01 -6.04027707e-03 1.51142756e+01] [-7.23626538e-04 6.04104235e-03 9.99981491e-01 1.69182005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98925976399997 meters Centerline goodness [0,1] 0.5537782196748158 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.92 [[ 9.99999028e-01 -9.51196264e-04 1.01907223e-03 -2.72571202e+01] [ 9.56931663e-04 9.99983623e-01 -5.64243352e-03 1.51130869e+01] [-1.01368848e-03 5.64340322e-03 9.99983562e-01 1.69174837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01925976399997 meters Centerline goodness [0,1] 0.5567509256829646 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.92 [[ 9.99999092e-01 -6.75744540e-04 1.16602630e-03 -2.72568450e+01] [ 6.81364053e-04 9.99988124e-01 -4.82572207e-03 1.51108542e+01] [-1.16275149e-03 4.82651217e-03 9.99987676e-01 1.69159947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04925976399997 meters Centerline goodness [0,1] 0.5555814699279904 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.92 [[ 9.99999094e-01 -5.28030477e-04 1.23825776e-03 -2.72568319e+01] [ 5.33546017e-04 9.99989920e-01 -4.45818282e-03 1.51098985e+01] [-1.23589122e-03 4.45883945e-03 9.99989296e-01 1.69155049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07925976399997 meters Centerline goodness [0,1] 0.552408511633345 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.92 [[ 9.99998901e-01 -4.81072151e-04 1.40200758e-03 -2.72572312e+01] [ 4.87008135e-04 9.99990907e-01 -4.23665577e-03 1.51091234e+01] [-1.39995669e-03 4.23733390e-03 9.99990043e-01 1.69153371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10925976399997 meters Centerline goodness [0,1] 0.553772817114289 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.92 [[ 9.99998605e-01 -4.59136033e-04 1.60618324e-03 -2.72580542e+01] [ 4.65203740e-04 9.99992750e-01 -3.77938564e-03 1.51072490e+01] [-1.60443634e-03 3.78012757e-03 9.99991568e-01 1.69152921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13925976399997 meters Centerline goodness [0,1] 0.5548017005416108 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.91 [[ 9.99998459e-01 -3.40847921e-04 1.72195475e-03 -2.72582526e+01] [ 3.46612075e-04 9.99994334e-01 -3.34825916e-03 1.51059782e+01] [-1.72080375e-03 3.34885085e-03 9.99992912e-01 1.69148517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16925976399997 meters Centerline goodness [0,1] 0.549803464842044 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.91 [[ 9.99998290e-01 -2.86594032e-04 1.82715111e-03 -2.72585425e+01] [ 2.92032437e-04 9.99995526e-01 -2.97686837e-03 1.51048300e+01] [-1.82628978e-03 2.97739686e-03 9.99993900e-01 1.69145566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19925976399998 meters Centerline goodness [0,1] 0.5515980144561525 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.91 [[ 9.99997819e-01 -2.87165207e-04 2.06880594e-03 -2.72591644e+01] [ 2.92557738e-04 9.99996560e-01 -2.60676001e-03 1.51034769e+01] [-2.06805025e-03 2.60735957e-03 9.99994462e-01 1.69142170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22925976399998 meters Centerline goodness [0,1] 0.5540153378671683 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.91 [[ 9.99997234e-01 -2.39995277e-04 2.33961764e-03 -2.72598543e+01] [ 2.44946385e-04 9.99997731e-01 -2.11614732e-03 1.51014868e+01] [-2.33910447e-03 2.11671455e-03 9.99995024e-01 1.69138152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25925976399998 meters Centerline goodness [0,1] 0.5478796957824383 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.91 [[ 9.99988564e-01 -4.18192457e-03 2.32000820e-03 -2.72598227e+01] [ 4.19573698e-03 9.99973311e-01 -5.98102935e-03 1.51002934e+01] [-2.29493406e-03 5.99069510e-03 9.99979422e-01 1.69138905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28925976399998 meters Centerline goodness [0,1] 0.5463484761357102 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.91 [[ 9.99988433e-01 -4.03010734e-03 2.62527043e-03 -2.72604858e+01] [ 4.04374864e-03 9.99978243e-01 -5.21173618e-03 1.50974712e+01] [-2.60420945e-03 5.22229183e-03 9.99982973e-01 1.69131569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31925976399998 meters Centerline goodness [0,1] 0.5469979890835966 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.91 [[ 9.99987555e-01 -4.03074266e-03 2.94005241e-03 -2.72613318e+01] [ 4.04465196e-03 9.99980584e-01 -4.74046741e-03 1.50957396e+01] [-2.92088773e-03 4.75229990e-03 9.99984442e-01 1.69127898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34925976399998 meters Centerline goodness [0,1] 0.5467630024657377 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.91 [[ 9.99987355e-01 -4.01580206e-03 3.02691210e-03 -2.72618018e+01] [ 4.02921113e-03 9.99982039e-01 -4.43694787e-03 1.50947359e+01] [-3.00903983e-03 4.44908783e-03 9.99985576e-01 1.69128214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37925976399998 meters Centerline goodness [0,1] 0.5468294356452628 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.91 [[ 9.99985703e-01 -4.14774061e-03 3.37492358e-03 -2.72630915e+01] [ 4.16080613e-03 9.99983841e-01 -3.87358581e-03 1.50920931e+01] [-3.35880242e-03 3.88757283e-03 9.99986803e-01 1.69126620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40925976399998 meters Centerline goodness [0,1] 0.5478523413467016 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.91 [[ 9.99985721e-01 -3.95570260e-03 3.59321561e-03 -2.72633709e+01] [ 3.96699099e-03 9.99987202e-01 -3.13990755e-03 1.50896057e+01] [-3.58074909e-03 3.15411697e-03 9.99988615e-01 1.69117414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43925976399998 meters Centerline goodness [0,1] 0.5471160963388942 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.91 [[ 9.99987012e-01 -3.56486859e-03 3.64233831e-03 -2.72629381e+01] [ 3.57411493e-03 9.99990399e-01 -2.53522555e-03 1.50880149e+01] [-3.63326560e-03 2.54821076e-03 9.99990153e-01 1.69108184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.469259764 meters Centerline goodness [0,1] 0.5490084340095738 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.91 [[ 9.99987487e-01 -3.35115213e-03 3.71434342e-03 -2.72627697e+01] [ 3.35957795e-03 9.99991793e-01 -2.26454183e-03 1.50873128e+01] [-3.70672411e-03 2.27699212e-03 9.99990538e-01 1.69103023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.499259764 meters Centerline goodness [0,1] 0.5488328452418185 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.91 [[ 9.99988703e-01 -3.02892699e-03 3.66335546e-03 -2.72625381e+01] [ 3.03594318e-03 9.99993565e-01 -1.91119460e-03 1.50863711e+01] [-3.65754302e-03 1.92229475e-03 9.99991464e-01 1.69101045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.529259764 meters Centerline goodness [0,1] 0.552775805764589 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.91 [[ 9.99988800e-01 -3.00565851e-03 3.65586118e-03 -2.72627782e+01] [ 3.01231671e-03 9.99993812e-01 -1.81709842e-03 1.50860183e+01] [-3.65037698e-03 1.82809068e-03 9.99991666e-01 1.69103140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.559259764 meters Centerline goodness [0,1] 0.5487804878048781 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.91 [[ 9.99988889e-01 -2.92117119e-03 3.69988026e-03 -2.72631598e+01] [ 2.92728177e-03 9.99994359e-01 -1.64722518e-03 1.50851605e+01] [-3.69504757e-03 1.65803747e-03 9.99991799e-01 1.69106147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.589259764 meters Centerline goodness [0,1] 0.551878633205728 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.91 [[ 9.99988411e-01 -2.88150288e-03 3.85672062e-03 -2.72637845e+01] [ 2.88695397e-03 9.99994841e-01 -1.40857948e-03 1.50840482e+01] [-3.85264190e-03 1.41969733e-03 9.99991571e-01 1.69107358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.619259764 meters Centerline goodness [0,1] 0.5508057675996607 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.91 [[ 9.99987948e-01 -2.75365127e-03 4.06467203e-03 -2.72642701e+01] [ 2.75755587e-03 9.99995742e-01 -9.55327939e-04 1.50822832e+01] [-4.06202408e-03 9.66524986e-04 9.99991283e-01 1.69103719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.649259764 meters Centerline goodness [0,1] 0.5508057675996607 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.91 [[ 9.99987948e-01 -2.75365127e-03 4.06467203e-03 -2.72642701e+01] [ 2.75755587e-03 9.99995742e-01 -9.55327939e-04 1.50822832e+01] [-4.06202408e-03 9.66524986e-04 9.99991283e-01 1.69103719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.679259764 meters Centerline goodness [0,1] 0.5492043787382914 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.91 [[ 9.99984438e-01 -3.09044642e-03 4.64466743e-03 -2.72663066e+01] [ 3.09259513e-03 9.99995114e-01 -4.55508981e-04 1.50784264e+01] [-4.64323701e-03 4.69865968e-04 9.99989110e-01 1.69102794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.709259764 meters Centerline goodness [0,1] 0.5506361179914434 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.91 [[ 9.99982930e-01 -3.08571747e-03 4.96169387e-03 -2.72672094e+01] [ 3.08548941e-03 9.99995238e-01 5.36176880e-05 1.50763465e+01] [-4.96183569e-03 -3.83075188e-05 9.99987689e-01 1.69099482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73925976399997 meters Centerline goodness [0,1] 0.547714108980487 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.91 [[ 9.99981103e-01 -3.14618790e-03 5.28163320e-03 -2.72684447e+01] [ 3.14343816e-03 9.99994920e-01 5.28842680e-04 1.50738812e+01] [-5.28327021e-03 -5.12230199e-04 9.99985912e-01 1.69100465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76925976399997 meters Centerline goodness [0,1] 0.5445547330641543 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.91 [[ 9.99976872e-01 -3.45792702e-03 5.85652913e-03 -2.72704631e+01] [ 3.45307423e-03 9.99993687e-01 8.38521261e-04 1.50715089e+01] [-5.85939170e-03 -8.18278838e-04 9.99982499e-01 1.69102527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79925976399997 meters Centerline goodness [0,1] 0.5372432704684089 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.91 [[ 9.99970624e-01 -4.54490462e-03 6.17209278e-03 -2.72732513e+01] [ 4.53814580e-03 9.99989088e-01 1.10862547e-03 1.50672465e+01] [-6.17706402e-03 -1.08058305e-03 9.99980338e-01 1.69112784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82925976399997 meters Centerline goodness [0,1] 0.5377606350271116 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.91 [[ 9.99971247e-01 -4.41568776e-03 6.16491494e-03 -2.72732152e+01] [ 4.40732887e-03 9.99989351e-01 1.36880859e-03 1.50663991e+01] [-6.17089352e-03 -1.34159843e-03 9.99980060e-01 1.69111332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85925976399997 meters Centerline goodness [0,1] 0.5427020371614059 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.91 [[ 9.99971229e-01 -4.38742376e-03 6.18803019e-03 -2.72733738e+01] [ 4.37883523e-03 9.99989432e-01 1.40079303e-03 1.50664047e+01] [-6.19411067e-03 -1.37365637e-03 9.99979873e-01 1.69112368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88925976399997 meters Centerline goodness [0,1] 0.5406065026509945 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.91 [[ 9.99970150e-01 -4.39792800e-03 6.35271680e-03 -2.72738109e+01] [ 4.38878932e-03 9.99989315e-01 1.45177076e-03 1.50661788e+01] [-6.35903371e-03 -1.42384669e-03 9.99978767e-01 1.69112024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91925976399997 meters Centerline goodness [0,1] 0.5371808167727108 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.91 [[ 9.99968824e-01 -4.05174043e-03 6.77745381e-03 -2.72740190e+01] [ 4.03566580e-03 9.99989015e-01 2.38377717e-03 1.50628705e+01] [-6.78703781e-03 -2.35635131e-03 9.99974192e-01 1.69094918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94925976399998 meters Centerline goodness [0,1] 0.5368686868686869 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.91 [[ 9.99968581e-01 -3.78579487e-03 6.96455882e-03 -2.72739380e+01] [ 3.76556256e-03 9.99988659e-01 2.91586163e-03 1.50608833e+01] [-6.97551869e-03 -2.88954453e-03 9.99971496e-01 1.69085561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97925976399998 meters Centerline goodness [0,1] 0.5364742066265902 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.91 [[ 9.99967373e-01 -3.70151951e-03 7.18001169e-03 -2.72743216e+01] [ 3.67804141e-03 9.99987855e-01 3.28037757e-03 1.50595166e+01] [-7.19206688e-03 -3.25386216e-03 9.99968843e-01 1.69080786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00925976399998 meters Centerline goodness [0,1] 0.5359012400974162 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.91 [[ 9.99964607e-01 -3.93005780e-03 7.43905982e-03 -2.72753909e+01] [ 3.90604869e-03 9.99987125e-01 3.23922102e-03 1.50590378e+01] [-7.45169437e-03 -3.21004905e-03 9.99967083e-01 1.69084322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03925976399998 meters Centerline goodness [0,1] 0.5195263290501386 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.91 [[ 9.99963583e-01 -4.07785842e-03 7.49695400e-03 -2.72759264e+01] [ 4.05397960e-03 9.99986670e-01 3.19757934e-03 1.50591307e+01] [-7.50989334e-03 -3.16707040e-03 9.99966785e-01 1.69088385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06925976399998 meters Centerline goodness [0,1] 0.536908800358855 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.91 [[ 9.99966382e-01 -3.99784272e-03 7.15902844e-03 -2.72753232e+01] [ 3.97863236e-03 9.99988452e-01 2.69560871e-03 1.50611284e+01] [-7.16972239e-03 -2.66703494e-03 9.99970741e-01 1.69097239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09925976399998 meters Centerline goodness [0,1] 0.5391199416287815 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.91 [[ 9.99969464e-01 -3.77077493e-03 6.84491849e-03 -2.72746584e+01] [ 3.75789208e-03 9.99991145e-01 1.89399072e-03 1.50639090e+01] [-6.85199970e-03 -1.86821042e-03 9.99974780e-01 1.69110004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12925976399998 meters Centerline goodness [0,1] 0.5327829858681965 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.91 [[ 9.99969268e-01 -3.68609348e-03 6.91926796e-03 -2.72746288e+01] [ 3.67408045e-03 9.99991723e-01 1.74807957e-03 1.50644442e+01] [-6.92565427e-03 -1.72260390e-03 9.99974534e-01 1.69108660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15925976399998 meters Centerline goodness [0,1] 0.5361860517183477 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.91 [[ 9.99970751e-01 -3.21692782e-03 6.93887468e-03 -2.72737573e+01] [ 3.20423503e-03 9.99993174e-01 1.83957127e-03 1.50642766e+01] [-6.94474508e-03 -1.81728368e-03 9.99974234e-01 1.69100270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18925976399998 meters Centerline goodness [0,1] 0.535598343221762 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.91 [[ 9.99971135e-01 -3.07236141e-03 6.94909853e-03 -2.72735196e+01] [ 3.05905254e-03 9.99993468e-01 1.92501155e-03 1.50642031e+01] [-6.95496747e-03 -1.90369832e-03 9.99974002e-01 1.69097021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.219259764 meters Centerline goodness [0,1] 0.5354365945069084 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.91 [[ 9.99970658e-01 -3.07971150e-03 7.01411228e-03 -2.72737237e+01] [ 3.06615548e-03 9.99993412e-01 1.94261186e-03 1.50641929e+01] [-7.02004876e-03 -1.92104850e-03 9.99973514e-01 1.69096985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.249259764 meters Centerline goodness [0,1] 0.53682262902638 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.91 [[ 9.99969676e-01 -3.11450675e-03 7.13764704e-03 -2.72741405e+01] [ 3.10062703e-03 9.99993282e-01 1.95481988e-03 1.50640556e+01] [-7.14368739e-03 -1.93262943e-03 9.99972616e-01 1.69097817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.279259764 meters Centerline goodness [0,1] 0.5372946346105405 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.91 [[ 9.99968278e-01 -3.11259080e-03 7.33171999e-03 -2.72746064e+01] [ 3.09620898e-03 9.99992687e-01 2.24466738e-03 1.50631156e+01] [-7.33865311e-03 -2.22189564e-03 9.99970603e-01 1.69094648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.309259764 meters Centerline goodness [0,1] 0.5364242118819642 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.91 [[ 9.99967182e-01 -3.07040319e-03 7.49715028e-03 -2.72748924e+01] [ 3.05179383e-03 9.99992237e-01 2.49237043e-03 1.50624292e+01] [-7.50474467e-03 -2.46940887e-03 9.99968790e-01 1.69090723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.339259764 meters Centerline goodness [0,1] 0.5378760319014971 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.91 [[ 9.99966056e-01 -3.07541096e-03 7.64386455e-03 -2.72752554e+01] [ 3.05550053e-03 9.99991913e-01 2.61507437e-03 1.50617994e+01] [-7.65184516e-03 -2.59162977e-03 9.99967366e-01 1.69089436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.369259764 meters Centerline goodness [0,1] 0.536437926788313 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.91 [[ 9.99964959e-01 -3.03388589e-03 7.80237756e-03 -2.72755602e+01] [ 3.01201944e-03 9.99991508e-01 2.81276128e-03 1.50610200e+01] [-7.81084490e-03 -2.78916181e-03 9.99965605e-01 1.69086528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.399259764 meters Centerline goodness [0,1] 0.5376807136265764 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.91 [[ 9.99964424e-01 -2.94711525e-03 7.90349838e-03 -2.72756214e+01] [ 2.92293959e-03 9.99991020e-01 3.06866472e-03 1.50602561e+01] [-7.91247112e-03 -3.04545410e-03 9.99964058e-01 1.69082302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.429259764 meters Centerline goodness [0,1] 0.5372588435659045 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.91 [[ 9.99962224e-01 -2.94892058e-03 8.17646267e-03 -2.72760367e+01] [ 2.92156414e-03 9.99990102e-01 3.35568254e-03 1.50592890e+01] [-8.18627738e-03 -3.33166772e-03 9.99960942e-01 1.69075679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.459259764 meters Centerline goodness [0,1] 0.5352740109828533 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.91 [[ 9.99959853e-01 -2.94332867e-03 8.46342102e-03 -2.72765825e+01] [ 2.91295449e-03 9.99989281e-01 3.59896793e-03 1.50579498e+01] [-8.47392325e-03 -3.57416989e-03 9.99957708e-01 1.69070875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48925976399997 meters Centerline goodness [0,1] 0.5373919368827462 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.91 [[ 9.99960980e-01 -2.88654529e-03 8.34906835e-03 -2.72763069e+01] [ 2.85826212e-03 9.99990144e-01 3.39753411e-03 1.50586947e+01] [-8.35879319e-03 -3.37353772e-03 9.99959374e-01 1.69073042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51925976399997 meters Centerline goodness [0,1] 0.5375782587944636 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.91 [[ 9.99964576e-01 -2.71276624e-03 7.96786000e-03 -2.72753401e+01] [ 2.68999321e-03 9.99992271e-01 2.86743911e-03 1.50613796e+01] [-7.97557710e-03 -2.84590404e-03 9.99964145e-01 1.69078760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54925976399997 meters Centerline goodness [0,1] 0.5360292052794159 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.06, Z:16.91 [[ 9.99967541e-01 -2.59190001e-03 7.62888158e-03 -2.72745173e+01] [ 2.57322738e-03 9.99993672e-01 2.45642270e-03 1.50638767e+01] [-7.63520011e-03 -2.43671212e-03 9.99967883e-01 1.69083133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57925976399997 meters Centerline goodness [0,1] 0.5378962779435779 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.91 [[ 9.99971574e-01 -2.14676707e-03 7.22791789e-03 -2.72729508e+01] [ 2.13076379e-03 9.99995263e-01 2.22106697e-03 1.50662157e+01] [-7.23265177e-03 -2.20560285e-03 9.99971412e-01 1.69082014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60925976399997 meters Centerline goodness [0,1] 0.5378532027468197 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.91 [[ 9.99972228e-01 -1.90720129e-03 7.20452161e-03 -2.72724040e+01] [ 1.89029771e-03 9.99995447e-01 2.35232746e-03 1.50662321e+01] [-7.20897517e-03 -2.33864344e-03 9.99971280e-01 1.69075900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63925976399997 meters Centerline goodness [0,1] 0.5423528750491822 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.91 [[ 9.99973130e-01 -1.72027512e-03 7.12597683e-03 -2.72717366e+01] [ 1.70245357e-03 9.99995410e-01 2.50623820e-03 1.50664567e+01] [-7.13025554e-03 -2.49403921e-03 9.99971469e-01 1.69068751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66925976399997 meters Centerline goodness [0,1] 0.5418022351110483 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.91 [[ 9.99973578e-01 -1.81062719e-03 7.04026794e-03 -2.72715331e+01] [ 1.79769591e-03 9.99996686e-01 1.84265543e-03 1.50688369e+01] [-7.04358097e-03 -1.82995048e-03 9.99973519e-01 1.69073938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69925976399998 meters Centerline goodness [0,1] 0.5437102023489457 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.91 [[ 9.99974033e-01 -1.83486179e-03 6.96892571e-03 -2.72714730e+01] [ 1.82371927e-03 9.99997049e-01 1.60490334e-03 1.50698415e+01] [-6.97184993e-03 -1.59215230e-03 9.99974429e-01 1.69077378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72925976399998 meters Centerline goodness [0,1] 0.5441138935367686 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.91 [[ 9.99973337e-01 -1.92172328e-03 7.04508509e-03 -2.72717253e+01] [ 1.91181914e-03 9.99997175e-01 1.41228742e-03 1.50704918e+01] [-7.04777921e-03 -1.39878084e-03 9.99974186e-01 1.69079043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75925976399998 meters Centerline goodness [0,1] 0.5413446567586695 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.91 [[ 9.99973347e-01 -1.93338223e-03 7.04043102e-03 -2.72718054e+01] [ 1.92400492e-03 9.99997253e-01 1.33845269e-03 1.50708741e+01] [-7.04299943e-03 -1.32487119e-03 9.99974320e-01 1.69080410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78925976399998 meters Centerline goodness [0,1] 0.5440627122481323 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.91 [[ 9.99972701e-01 -1.97314282e-03 7.12063587e-03 -2.72719878e+01] [ 1.96434937e-03 9.99997300e-01 1.24170664e-03 1.50712950e+01] [-7.12306670e-03 -1.22768532e-03 9.99973877e-01 1.69080104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81925976399998 meters Centerline goodness [0,1] 0.5419214221014492 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.91 [[ 9.99971953e-01 -2.03834978e-03 7.20688295e-03 -2.72723412e+01] [ 2.03125970e-03 9.99997446e-01 9.90975845e-04 1.50719334e+01] [-7.20888450e-03 -9.76309000e-04 9.99973539e-01 1.69083555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84925976399998 meters Centerline goodness [0,1] 0.5395123882792171 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.91 [[ 9.99971022e-01 -2.22109406e-03 7.28165978e-03 -2.72728887e+01] [ 2.21580141e-03 9.99997275e-01 7.34832694e-04 1.50728138e+01] [-7.28327207e-03 -7.18676688e-04 9.99973218e-01 1.69088471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87925976399998 meters Centerline goodness [0,1] 0.5378985589470101 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.91 [[ 9.99970576e-01 -2.45483989e-03 7.26774868e-03 -2.72731963e+01] [ 2.45280855e-03 9.99996950e-01 2.88399704e-04 1.50745381e+01] [-7.26843450e-03 -2.70564822e-04 9.99973548e-01 1.69094458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90925976399998 meters Centerline goodness [0,1] 0.5434831970935513 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.91 [[ 9.99969999e-01 -2.68312023e-03 7.26652008e-03 -2.72735983e+01] [ 2.68355260e-03 9.99996398e-01 -4.97522349e-05 1.50760302e+01] [-7.26636041e-03 6.92508311e-05 9.99973597e-01 1.69099866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93925976399998 meters Centerline goodness [0,1] 0.5418559745570195 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.91 [[ 9.99969569e-01 -2.80707912e-03 7.27878913e-03 -2.72737717e+01] [ 2.80901029e-03 9.99996022e-01 -2.55105403e-04 1.50769942e+01] [-7.27804407e-03 2.75543834e-04 9.99973477e-01 1.69101704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.969259764 meters Centerline goodness [0,1] 0.5457714285714286 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.91 [[ 9.99975503e-01 -1.39367386e-03 6.85931647e-03 -2.72707321e+01] [ 1.39635409e-03 9.99998951e-01 -3.85970142e-04 1.50817515e+01] [-6.85877136e-03 3.95538722e-04 9.99976400e-01 1.69094243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.999259764 meters Centerline goodness [0,1] 0.5474109522308508 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.91 [[ 9.99979247e-01 -9.63840769e-04 6.37003413e-03 -2.72689262e+01] [ 9.68632579e-04 9.99999250e-01 -7.49200059e-04 1.50845998e+01] [-6.36930724e-03 7.55354733e-04 9.99979430e-01 1.69094175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.029259764 meters Centerline goodness [0,1] 0.5475336451548107 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99981735e-01 -5.67439987e-04 6.01729192e-03 -2.72673444e+01] [ 5.73094091e-04 9.99999396e-01 -9.37960136e-04 1.50867452e+01] [-6.01675605e-03 9.41391479e-04 9.99981456e-01 1.69090324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.059259764 meters Centerline goodness [0,1] 0.543954938644136 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.91 [[ 9.99984397e-01 4.86039322e-04 5.56501942e-03 -2.72643607e+01] [-4.81345860e-04 9.99999527e-01 -8.44694889e-04 1.50886780e+01] [-5.56542735e-03 8.42003010e-04 9.99984158e-01 1.69076665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.089259764 meters Centerline goodness [0,1] 0.5465008942479663 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.91 [[ 9.99984703e-01 4.90217001e-04 5.50931606e-03 -2.72642115e+01] [-4.83888382e-04 9.99999222e-01 -1.14998648e-03 1.50900677e+01] [-5.50987551e-03 1.14730300e-03 9.99984162e-01 1.69079092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.119259764 meters Centerline goodness [0,1] 0.5446743339305322 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.91 [[ 9.99985139e-01 4.20204305e-04 5.43553740e-03 -2.72642096e+01] [-4.12321274e-04 9.99998862e-01 -1.45131559e-03 1.50916242e+01] [-5.43614106e-03 1.44905283e-03 9.99984174e-01 1.69082702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.149259764 meters Centerline goodness [0,1] 0.5400161915225814 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.91 [[ 9.99985838e-01 3.49137850e-04 5.31062246e-03 -2.72641841e+01] [-3.39326996e-04 9.99998235e-01 -1.84819062e-03 1.50933734e+01] [-5.31125835e-03 1.84636241e-03 9.99984191e-01 1.69089235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.179259764 meters Centerline goodness [0,1] 0.5382764717817907 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.91 [[ 9.99986484e-01 2.81405280e-04 5.19154001e-03 -2.72640620e+01] [-2.70273711e-04 9.99997663e-01 -2.14475165e-03 1.50949833e+01] [-5.19213143e-03 2.14331952e-03 9.99984224e-01 1.69093190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.209259764 meters Centerline goodness [0,1] 0.5422014892938893 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.91 [[ 9.99987094e-01 3.90633542e-04 5.06553245e-03 -2.72634573e+01] [-3.79544143e-04 9.99997530e-01 -2.18996381e-03 1.50960837e+01] [-5.06637541e-03 2.18801295e-03 9.99984772e-01 1.69090671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23925976399997 meters Centerline goodness [0,1] 0.5388225750376636 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.91 [[ 9.99987835e-01 8.35756579e-04 4.86126008e-03 -2.72618651e+01] [-8.26742581e-04 9.99997936e-01 -1.85596534e-03 1.50966831e+01] [-4.86280119e-03 1.85192375e-03 9.99986462e-01 1.69077195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26925976399997 meters Centerline goodness [0,1] 0.5430946774803058 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.91 [[ 9.99987867e-01 9.02074402e-04 4.84276177e-03 -2.72614555e+01] [-8.93070782e-04 9.99997869e-01 -1.86103185e-03 1.50973244e+01] [-4.84443024e-03 1.85668434e-03 9.99986542e-01 1.69072596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29925976399997 meters Centerline goodness [0,1] 0.5385644875040005 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.91 [[ 9.99988201e-01 9.37693745e-04 4.76630494e-03 -2.72611098e+01] [-9.28417818e-04 9.99997672e-01 -1.94798661e-03 1.50983286e+01] [-4.76812046e-03 1.94353851e-03 9.99986744e-01 1.69071192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32925976399997 meters Centerline goodness [0,1] 0.5404752198474172 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.91 [[ 9.99988822e-01 9.16624716e-04 4.63856148e-03 -2.72609281e+01] [-9.06143470e-04 9.99997033e-01 -2.26118727e-03 1.50999223e+01] [-4.64062037e-03 2.25695880e-03 9.99986685e-01 1.69075364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35925976399997 meters Centerline goodness [0,1] 0.5418785434566602 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.91 [[ 9.99989848e-01 1.20060098e-03 4.34301317e-03 -2.72598182e+01] [-1.18935473e-03 9.99995936e-01 -2.59116095e-03 1.51026015e+01] [-4.34610646e-03 2.58596926e-03 9.99987212e-01 1.69077001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38925976399997 meters Centerline goodness [0,1] 0.5539320260673894 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.91 [[ 9.99990116e-01 1.24851678e-03 4.26716503e-03 -2.72594722e+01] [-1.23698683e-03 9.99995580e-01 -2.70358787e-03 1.51035927e+01] [-4.27052165e-03 2.69828272e-03 9.99987241e-01 1.69076022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41925976399997 meters Centerline goodness [0,1] 0.5544707842506795 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.91 [[ 9.99990475e-01 1.36491551e-03 4.14563520e-03 -2.72589106e+01] [-1.35367874e-03 9.99995406e-01 -2.71210380e-03 1.51046045e+01] [-4.14931795e-03 2.70646611e-03 9.99987729e-01 1.69073681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44925976399998 meters Centerline goodness [0,1] 0.5568695345971008 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.91 [[ 9.99990312e-01 1.34049405e-03 4.19266316e-03 -2.72590834e+01] [-1.32919524e-03 9.99995481e-01 -2.69652656e-03 1.51047907e+01] [-4.19625889e-03 2.69092757e-03 9.99987575e-01 1.69073563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47925976399998 meters Centerline goodness [0,1] 0.537930832012213 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.91 [[ 9.99991193e-01 1.54964429e-03 3.90043683e-03 -2.72581124e+01] [-1.53845750e-03 9.99994700e-01 -2.86945396e-03 1.51061956e+01] [-3.90486278e-03 2.86342803e-03 9.99988276e-01 1.69074167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50925976399998 meters Centerline goodness [0,1] 0.5503016036486685 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.91 [[ 9.99991818e-01 1.95200910e-03 3.54298805e-03 -2.72567250e+01] [-1.94164617e-03 9.99993834e-01 -2.92600129e-03 1.51077673e+01] [-3.54867779e-03 2.91909812e-03 9.99989443e-01 1.69072093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53925976399998 meters Centerline goodness [0,1] 0.5498468065048314 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.91 [[ 9.99992409e-01 1.97005149e-03 3.36165090e-03 -2.72564013e+01] [-1.95896323e-03 9.99992641e-01 -3.29856894e-03 1.51093483e+01] [-3.36812451e-03 3.29195855e-03 9.99988909e-01 1.69077348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56925976399998 meters Centerline goodness [0,1] 0.5498468065048314 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.11, Z:16.91 [[ 9.99992409e-01 1.97005149e-03 3.36165090e-03 -2.72564013e+01] [-1.95896323e-03 9.99992641e-01 -3.29856894e-03 1.51093483e+01] [-3.36812451e-03 3.29195855e-03 9.99988909e-01 1.69077348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59925976399998 meters Centerline goodness [0,1] 0.5492961902794582 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.91 [[ 9.99991797e-01 2.76067376e-03 2.96372439e-03 -2.72541589e+01] [-2.75203778e-03 9.99991967e-01 -2.91402893e-03 1.51100314e+01] [-2.97174527e-03 2.90584875e-03 9.99991362e-01 1.69065256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62925976399998 meters Centerline goodness [0,1] 0.5521604483114585 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.91 [[ 9.99991358e-01 3.05542577e-03 2.81943019e-03 -2.72534009e+01] [-3.04761770e-03 9.99991521e-01 -2.76953093e-03 1.51103491e+01] [-2.82786838e-03 2.76091445e-03 9.99992190e-01 1.69061032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65925976399998 meters Centerline goodness [0,1] 0.5504752346655647 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.91 [[ 9.99991554e-01 3.11970249e-03 2.67568751e-03 -2.72530352e+01] [-3.11170225e-03 9.99990692e-01 -2.98894535e-03 1.51112590e+01] [-2.68498723e-03 2.98059416e-03 9.99991953e-01 1.69063726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68925976399998 meters Centerline goodness [0,1] 0.5489860881867484 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.91 [[ 9.99991388e-01 3.25304500e-03 2.57698112e-03 -2.72526602e+01] [-3.24525347e-03 9.99990168e-01 -3.02194359e-03 1.51118048e+01] [-2.58678630e-03 3.01355461e-03 9.99992113e-01 1.69063621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.719259764 meters Centerline goodness [0,1] 0.552038863535993 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.91 [[ 9.99991676e-01 3.23480389e-03 2.48686307e-03 -2.72527345e+01] [-3.22683053e-03 9.99989662e-01 -3.20354797e-03 1.51125613e+01] [-2.49720021e-03 3.19549662e-03 9.99991776e-01 1.69068946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.749259764 meters Centerline goodness [0,1] 0.5495373770010281 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.91 [[ 9.99991825e-01 3.31667861e-03 2.31309838e-03 -2.72525182e+01] [-3.30897953e-03 9.99988999e-01 -3.32439108e-03 1.51134676e+01] [-2.32409887e-03 3.31670991e-03 9.99991799e-01 1.69073653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.779259764 meters Centerline goodness [0,1] 0.5470123151985422 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.91 [[ 9.99991497e-01 3.42656949e-03 2.29435807e-03 -2.72525999e+01] [-3.41898186e-03 9.99988701e-01 -3.30287915e-03 1.51131908e+01] [-2.30564969e-03 3.29500670e-03 9.99991913e-01 1.69076364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.809259764 meters Centerline goodness [0,1] 0.5469378172961235 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.91 [[ 9.99990806e-01 3.60242389e-03 2.32610480e-03 -2.72523926e+01] [-3.59519482e-03 9.99988718e-01 -3.10453996e-03 1.51126765e+01] [-2.33726243e-03 3.09614862e-03 9.99992476e-01 1.69072091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.839259764 meters Centerline goodness [0,1] 0.5479283347506084 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.91 [[ 9.99990371e-01 3.75199213e-03 2.27622842e-03 -2.72521062e+01] [-3.74533955e-03 9.99988723e-01 -2.91988939e-03 1.51120878e+01] [-2.28715816e-03 2.91133603e-03 9.99993146e-01 1.69069397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.869259764 meters Centerline goodness [0,1] 0.5459524367385192 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.91 [[ 9.99989950e-01 3.81588995e-03 2.35368527e-03 -2.72519958e+01] [-3.80929186e-03 9.99988821e-01 -2.80144500e-03 1.51115513e+01] [-2.36434896e-03 2.79245097e-03 9.99993306e-01 1.69064254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.899259764 meters Centerline goodness [0,1] 0.54770111584974 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.91 [[ 9.99989077e-01 4.04188463e-03 2.34729037e-03 -2.72516965e+01] [-4.03595833e-03 9.99988670e-01 -2.52400950e-03 1.51107990e+01] [-2.35746553e-03 2.51450836e-03 9.99994060e-01 1.69060050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.929259764 meters Centerline goodness [0,1] 0.5445189504373178 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.91 [[ 9.99998379e-01 6.40778896e-04 1.68244622e-03 -2.72495269e+01] [-6.29481140e-04 9.99977309e-01 -6.70704178e-03 1.51137464e+01] [-1.68670578e-03 6.70597184e-03 9.99976092e-01 1.69062197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.959259764 meters Centerline goodness [0,1] 0.5446680842387347 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.91 [[ 9.99998056e-01 7.88816394e-04 1.80720594e-03 -2.72501204e+01] [-7.77494618e-04 9.99980123e-01 -6.25695583e-03 1.51119468e+01] [-1.81210561e-03 6.25553857e-03 9.99978792e-01 1.69062855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98925976399997 meters Centerline goodness [0,1] 0.5436553113232332 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.91 [[ 9.99997720e-01 9.00814866e-04 1.93622176e-03 -2.72504268e+01] [-8.89232197e-04 9.99981756e-01 -5.97465762e-03 1.51110674e+01] [-1.94156850e-03 5.97292225e-03 9.99980277e-01 1.69061334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01925976399997 meters Centerline goodness [0,1] 0.5421353225712454 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.91 [[ 9.99997310e-01 9.78469850e-04 2.10285895e-03 -2.72508474e+01] [-9.66533132e-04 9.99983459e-01 -5.66996277e-03 1.51100458e+01] [-2.10837206e-03 5.66791504e-03 9.99981715e-01 1.69059174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04925976399997 meters Centerline goodness [0,1] 0.5414157283756655 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.91 [[ 9.99996698e-01 1.12990308e-03 2.30810566e-03 -2.72512502e+01] [-1.11779038e-03 9.99985633e-01 -5.24246386e-03 1.51084394e+01] [-2.31399598e-03 5.23986657e-03 9.99983594e-01 1.69055349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07925976399997 meters Centerline goodness [0,1] 0.541677546638814 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.11, Z:16.90 [[ 9.99995745e-01 1.31804103e-03 2.60230644e-03 -2.72517866e+01] [-1.30632081e-03 9.99989020e-01 -4.50035531e-03 1.51057015e+01] [-2.60820952e-03 4.49693672e-03 9.99986487e-01 1.69047005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10925976399997 meters Centerline goodness [0,1] 0.5400005790890929 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.10, Z:16.90 [[ 9.99995274e-01 1.59955092e-03 2.62538156e-03 -2.72514342e+01] [-1.58913579e-03 9.99990879e-01 -3.96439321e-03 1.51042431e+01] [-2.63169886e-03 3.96020239e-03 9.99988695e-01 1.69039227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13925976399997 meters Centerline goodness [0,1] 0.5391515712714856 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.10, Z:16.90 [[ 9.99994829e-01 1.80578914e-03 2.66105714e-03 -2.72512472e+01] [-1.79630440e-03 9.99992041e-01 -3.56236631e-03 1.51032121e+01] [-2.66746885e-03 3.55756782e-03 9.99990114e-01 1.69033565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16925976399997 meters Centerline goodness [0,1] 0.5405648081100651 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.10, Z:16.90 [[ 9.99994414e-01 1.90376355e-03 2.74712915e-03 -2.72514252e+01] [-1.89468723e-03 9.99992751e-01 -3.30275759e-03 1.51023122e+01] [-2.75339690e-03 3.29753419e-03 9.99990772e-01 1.69031520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19925976399998 meters Centerline goodness [0,1] 0.5425464221669463 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.10, Z:16.90 [[ 9.99993867e-01 1.86067821e-03 2.96718725e-03 -2.72521476e+01] [-1.85139557e-03 9.99993394e-01 -3.12811508e-03 1.51014460e+01] [-2.97298806e-03 3.12260246e-03 9.99990705e-01 1.69031680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22925976399998 meters Centerline goodness [0,1] 0.5416172428757413 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.10, Z:16.90 [[ 9.99993452e-01 1.91218400e-03 3.07230573e-03 -2.72524700e+01] [-1.90370346e-03 9.99994377e-01 -2.76087367e-03 1.51002444e+01] [-3.07756776e-03 2.75500683e-03 9.99991469e-01 1.69029302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25925976399998 meters Centerline goodness [0,1] 0.54903713099631 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.10, Z:16.90 [[ 9.99993486e-01 -2.34767536e-03 2.74167376e-03 -2.72520641e+01] [ 2.36713611e-03 9.99971875e-01 -7.11658868e-03 1.51022132e+01] [-2.72488921e-03 7.12303224e-03 9.99970918e-01 1.69035347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28925976399998 meters Centerline goodness [0,1] 0.5411387838734814 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.10, Z:16.90 [[ 9.99992047e-01 -2.49087068e-03 3.11458483e-03 -2.72533006e+01] [ 2.51230244e-03 9.99973065e-01 -6.89622286e-03 1.51008249e+01] [-3.09732334e-03 6.90399280e-03 9.99971370e-01 1.69036089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31925976399998 meters Centerline goodness [0,1] 0.5377070869765301 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.90 [[ 9.99989394e-01 -2.78097118e-03 3.67129823e-03 -2.72550783e+01] [ 2.80568195e-03 9.99973330e-01 -6.74289382e-03 1.50994906e+01] [-3.65244853e-03 6.75312280e-03 9.99970527e-01 1.69036962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34925976399998 meters Centerline goodness [0,1] 0.5441362278888123 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.90 [[ 9.99987567e-01 -2.91844754e-03 4.04334644e-03 -2.72562776e+01] [ 2.94474493e-03 9.99974453e-01 -6.51325287e-03 1.50981745e+01] [-4.02423456e-03 6.52507851e-03 9.99970614e-01 1.69037260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37925976399998 meters Centerline goodness [0,1] 0.5386157900767732 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.90 [[ 9.99982502e-01 -3.56808185e-03 4.71847725e-03 -2.72587809e+01] [ 3.59805249e-03 9.99973311e-01 -6.35860006e-03 1.50964023e+01] [-4.69566331e-03 6.37546612e-03 9.99968652e-01 1.69038765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40925976399998 meters Centerline goodness [0,1] 0.5430298516014439 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.10, Z:16.90 [[ 9.99980488e-01 -3.76120397e-03 4.98773582e-03 -2.72597473e+01] [ 3.79202332e-03 9.99973689e-01 -6.18403277e-03 1.50956734e+01] [-4.96434518e-03 6.20282572e-03 9.99968440e-01 1.69038550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43925976399998 meters Centerline goodness [0,1] 0.5391428571428571 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99978959e-01 -3.86498550e-03 5.20989729e-03 -2.72604323e+01] [ 3.89624204e-03 9.99974393e-01 -6.00271572e-03 1.50949865e+01] [-5.18656347e-03 6.02288844e-03 9.99968412e-01 1.69037313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.469259764 meters Centerline goodness [0,1] 0.5408209936538791 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99977235e-01 -3.95970095e-03 5.46355976e-03 -2.72612738e+01] [ 3.99082875e-03 9.99975801e-01 -5.69825697e-03 1.50940633e+01] [-5.44086415e-03 5.71993138e-03 9.99968839e-01 1.69035164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.499259764 meters Centerline goodness [0,1] 0.5441151276340586 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99977208e-01 -3.82895666e-03 5.56085815e-03 -2.72613062e+01] [ 3.85887038e-03 9.99978090e-01 -5.37860497e-03 1.50934079e+01] [-5.54014187e-03 5.39994101e-03 9.99970073e-01 1.69030197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.529259764 meters Centerline goodness [0,1] 0.5455038383607773 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99977717e-01 -3.71314023e-03 5.54782401e-03 -2.72608956e+01] [ 3.74186522e-03 9.99979602e-01 -5.17632802e-03 1.50935820e+01] [-5.52849042e-03 5.19697189e-03 9.99971213e-01 1.69023420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.559259764 meters Centerline goodness [0,1] 0.54692852249372 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99978226e-01 -3.55843662e-03 5.55751475e-03 -2.72606380e+01] [ 3.58638049e-03 9.99980937e-01 -5.02627689e-03 1.50936765e+01] [-5.53952312e-03 5.04609880e-03 9.99971925e-01 1.69019078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.589259764 meters Centerline goodness [0,1] 0.547327219222308 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99978766e-01 -3.40567112e-03 5.55599290e-03 -2.72604451e+01] [ 3.43248086e-03 9.99982478e-01 -4.82299523e-03 1.50935548e+01] [-5.53947001e-03 4.84196366e-03 9.99972934e-01 1.69015509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.619259764 meters Centerline goodness [0,1] 0.5411871938019824 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99978812e-01 -3.06445783e-03 5.74330954e-03 -2.72602384e+01] [ 3.08906130e-03 9.99986070e-01 -4.27988462e-03 1.50920385e+01] [-5.73011401e-03 4.29753537e-03 9.99974348e-01 1.69003931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.649259764 meters Centerline goodness [0,1] 0.5407627312171729 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99979391e-01 -2.76957041e-03 5.79206204e-03 -2.72599278e+01] [ 2.79236806e-03 9.99988372e-01 -3.93164036e-03 1.50912283e+01] [-5.78110573e-03 3.94773290e-03 9.99975497e-01 1.68997719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.679259764 meters Centerline goodness [0,1] 0.541372838944495 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99979528e-01 -2.72177060e-03 5.79092563e-03 -2.72600162e+01] [ 2.74460430e-03 9.99988477e-01 -3.93872735e-03 1.50915446e+01] [-5.78013859e-03 3.95454051e-03 9.99975476e-01 1.68998898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.709259764 meters Centerline goodness [0,1] 0.5398323448905109 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99979718e-01 -2.78817923e-03 5.72619562e-03 -2.72602870e+01] [ 2.81200483e-03 9.99987406e-01 -4.15697991e-03 1.50924065e+01] [-5.71453310e-03 4.17299769e-03 9.99974965e-01 1.69005604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73925976399997 meters Centerline goodness [0,1] 0.5351355985482811 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99978806e-01 -2.79387287e-03 5.88058906e-03 -2.72609534e+01] [ 2.81881772e-03 9.99987047e-01 -4.23789061e-03 1.50925405e+01] [-5.86867276e-03 4.25437710e-03 9.99973729e-01 1.69009996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76925976399997 meters Centerline goodness [0,1] 0.5359350519868964 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99978915e-01 -2.54310905e-03 5.97517952e-03 -2.72609124e+01] [ 2.56560238e-03 9.99989641e-01 -3.75981694e-03 1.50912382e+01] [-5.96555599e-03 3.77506760e-03 9.99975080e-01 1.69003790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79925976399997 meters Centerline goodness [0,1] 0.5353630109727671 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99979048e-01 -2.18111121e-03 6.09475562e-03 -2.72605893e+01] [ 2.20028271e-03 9.99992648e-01 -3.14064158e-03 1.50895685e+01] [-6.08786072e-03 3.15398596e-03 9.99976495e-01 1.68993100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82925976399997 meters Centerline goodness [0,1] 0.5344577902717438 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99979015e-01 -1.99965054e-03 6.16204259e-03 -2.72604768e+01] [ 2.01691912e-03 9.99994053e-01 -2.79747287e-03 1.50883071e+01] [-6.15641197e-03 2.80984251e-03 9.99977101e-01 1.68987808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85925976399997 meters Centerline goodness [0,1] 0.5365798542455229 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99978064e-01 -1.90156627e-03 6.34466113e-03 -2.72608678e+01] [ 1.91648892e-03 9.99995410e-01 -2.34674992e-03 1.50865499e+01] [-6.34016951e-03 2.35885791e-03 9.99977119e-01 1.68983316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88925976399997 meters Centerline goodness [0,1] 0.533399349271467 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99978561e-01 -1.84194200e-03 6.28371290e-03 -2.72609727e+01] [ 1.85600455e-03 9.99995785e-01 -2.23283827e-03 1.50862337e+01] [-6.27957365e-03 2.24445300e-03 9.99977764e-01 1.68985873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91925976399997 meters Centerline goodness [0,1] 0.5310093916575007 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99978157e-01 -1.79397414e-03 6.36145117e-03 -2.72612691e+01] [ 1.80783642e-03 9.99996003e-01 -2.17402621e-03 1.50860114e+01] [-6.35752560e-03 2.18547919e-03 9.99977403e-01 1.68986913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94925976399998 meters Centerline goodness [0,1] 0.53125 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99977832e-01 -1.67826643e-03 6.44345070e-03 -2.72614977e+01] [ 1.69154801e-03 9.99996455e-01 -2.05635671e-03 1.50855734e+01] [-6.43997674e-03 2.06721053e-03 9.99977126e-01 1.68986893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97925976399998 meters Centerline goodness [0,1] 0.5301065242575795 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99978916e-01 -1.33993803e-03 6.35384850e-03 -2.72608096e+01] [ 1.35151947e-03 9.99997433e-01 -1.81880080e-03 1.50851975e+01] [-6.35139511e-03 1.82734980e-03 9.99978160e-01 1.68981445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00925976399998 meters Centerline goodness [0,1] 0.529798150654037 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99979713e-01 -1.08967105e-03 6.27578192e-03 -2.72602904e+01] [ 1.10050928e-03 9.99997909e-01 -1.72379864e-03 1.50853027e+01] [-6.27389042e-03 1.73067022e-03 9.99978821e-01 1.68978216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03925976399998 meters Centerline goodness [0,1] 0.5264747389218176 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99981770e-01 -6.95302758e-04 5.99793681e-03 -2.72592531e+01] [ 7.05481005e-04 9.99998315e-01 -1.69500932e-03 1.50858840e+01] [-5.99674815e-03 1.69920985e-03 9.99980576e-01 1.68976598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06925976399998 meters Centerline goodness [0,1] 0.5285193660479701 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99981702e-01 -4.88645174e-04 6.02965025e-03 -2.72589783e+01] [ 4.97417331e-04 9.99998820e-01 -1.45342293e-03 1.50856758e+01] [-6.02893292e-03 1.45639559e-03 9.99980765e-01 1.68971181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09925976399998 meters Centerline goodness [0,1] 0.526369254211462 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.90 [[ 9.99981351e-01 -3.28947028e-04 6.09834624e-03 -2.72590753e+01] [ 3.36749150e-04 9.99999126e-01 -1.27840055e-03 1.50849860e+01] [-6.09792038e-03 1.28043032e-03 9.99980588e-01 1.68970262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12925976399998 meters Centerline goodness [0,1] 0.5270813989476942 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.90 [[ 9.99980740e-01 -2.64386884e-04 6.20083975e-03 -2.72594037e+01] [ 2.71898866e-04 9.99999230e-01 -1.21063421e-03 1.50845325e+01] [-6.20051490e-03 1.21229689e-03 9.99980042e-01 1.68971191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15925976399998 meters Centerline goodness [0,1] 0.5237265754502289 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.90 [[ 9.99979934e-01 -4.32146925e-04 6.32020196e-03 -2.72603685e+01] [ 4.41633283e-04 9.99998778e-01 -1.49963946e-03 1.50849482e+01] [-6.31954617e-03 1.50240058e-03 9.99978903e-01 1.68981325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18925976399998 meters Centerline goodness [0,1] 0.5218540068021474 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99979716e-01 -4.20091154e-04 6.35538169e-03 -2.72605175e+01] [ 4.29966644e-04 9.99998702e-01 -1.55259179e-03 1.50852667e+01] [-6.35472122e-03 1.55529290e-03 9.99978599e-01 1.68982645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.219259764 meters Centerline goodness [0,1] 0.5201102548236485 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.09, Z:16.90 [[ 9.99979259e-01 -4.22912787e-04 6.42664935e-03 -2.72605923e+01] [ 4.32810321e-04 9.99998722e-01 -1.53876425e-03 1.50852178e+01] [-6.42599037e-03 1.54151386e-03 9.99978165e-01 1.68980957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.249259764 meters Centerline goodness [0,1] 0.5221256309590578 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.90 [[ 9.99977257e-01 -3.19588306e-04 6.73676442e-03 -2.72609196e+01] [ 3.25944147e-04 9.99999503e-01 -9.42379213e-04 1.50830626e+01] [-6.73645990e-03 9.44553589e-04 9.99976864e-01 1.68969432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.279259764 meters Centerline goodness [0,1] 0.5207165283695896 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.90 [[ 9.99976164e-01 -2.26870882e-04 6.90073368e-03 -2.72610669e+01] [ 2.31177228e-04 9.99999779e-01 -6.23250458e-04 1.50821138e+01] [-6.90059076e-03 6.24830895e-04 9.99975995e-01 1.68964002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.309259764 meters Centerline goodness [0,1] 0.5205028851782678 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.90 [[ 9.99975115e-01 -2.80174786e-04 7.04923542e-03 -2.72614958e+01] [ 2.83585853e-04 9.99999843e-01 -4.82896902e-04 1.50815409e+01] [-7.04909902e-03 4.84883949e-04 9.99975037e-01 1.68962585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.339259764 meters Centerline goodness [0,1] 0.5166601332810663 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.90 [[ 9.99973346e-01 -5.54882218e-04 7.28008088e-03 -2.72625188e+01] [ 5.60581328e-04 9.99999538e-01 -7.80818933e-04 1.50815801e+01] [-7.27964426e-03 7.84879198e-04 9.99973195e-01 1.68968649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.369259764 meters Centerline goodness [0,1] 0.5186604744852283 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.90 [[ 9.99972217e-01 -7.23941213e-04 7.41901811e-03 -2.72631808e+01] [ 7.30163054e-04 9.99999384e-01 -8.35959821e-04 1.50814969e+01] [-7.41840835e-03 8.41353688e-04 9.99972129e-01 1.68971499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.399259764 meters Centerline goodness [0,1] 0.5180094786729859 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.08, Z:16.90 [[ 9.99969570e-01 -1.29673054e-03 7.69265856e-03 -2.72649350e+01] [ 1.30507892e-03 9.99998565e-01 -1.08031890e-03 1.50815149e+01] [-7.69124664e-03 1.09032555e-03 9.99969828e-01 1.68982070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.429259764 meters Centerline goodness [0,1] 0.516815144766147 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99966822e-01 -1.48758266e-03 8.00882689e-03 -2.72659950e+01] [ 1.49543514e-03 9.99998407e-01 -9.74579867e-04 1.50807188e+01] [-8.00736437e-03 9.86524214e-04 9.99967454e-01 1.68982862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.459259764 meters Centerline goodness [0,1] 0.516815144766147 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99966822e-01 -1.48758266e-03 8.00882689e-03 -2.72659950e+01] [ 1.49543514e-03 9.99998407e-01 -9.74579867e-04 1.50807188e+01] [-8.00736437e-03 9.86524214e-04 9.99967454e-01 1.68982862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48925976399997 meters Centerline goodness [0,1] 0.5212949560182607 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99963857e-01 -1.69519855e-03 8.33133846e-03 -2.72670644e+01] [ 1.70193533e-03 9.99998230e-01 -8.01583842e-04 1.50796833e+01] [-8.32996487e-03 8.15734270e-04 9.99964973e-01 1.68982680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51925976399997 meters Centerline goodness [0,1] 0.5161308203991131 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99957465e-01 -2.65303859e-03 8.83341513e-03 -2.72696060e+01] [ 2.66037042e-03 9.99996126e-01 -8.18364160e-04 1.50775998e+01] [-8.83120976e-03 8.41829507e-04 9.99960650e-01 1.68988588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54925976399997 meters Centerline goodness [0,1] 0.5160108774071813 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99950652e-01 -3.12504615e-03 9.43009497e-03 -2.72716588e+01] [ 3.13193708e-03 9.99994839e-01 -7.16058878e-04 1.50762653e+01] [-9.42780858e-03 7.45558006e-04 9.99955279e-01 1.68990728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57925976399997 meters Centerline goodness [0,1] 0.5168495732180467 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.90 [[ 9.99943780e-01 -3.65262208e-03 9.95470034e-03 -2.72737504e+01] [ 3.65857047e-03 9.99993140e-01 -5.79400988e-04 1.50745479e+01] [-9.95251572e-03 6.15788387e-04 9.99950283e-01 1.68994507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60925976399997 meters Centerline goodness [0,1] 0.5181033050988209 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.90 [[ 9.99937020e-01 -4.00314185e-03 1.04847761e-02 -2.72753747e+01] [ 4.00675799e-03 9.99991920e-01 -3.23911368e-04 1.50730228e+01] [-1.04833947e-02 3.65900928e-04 9.99944981e-01 1.68992536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63925976399997 meters Centerline goodness [0,1] 0.5228961082159884 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.07, Z:16.90 [[ 9.99941185e-01 -3.74048037e-03 1.01800957e-02 -2.72741317e+01] [ 3.74449511e-03 9.99992919e-01 -3.75340163e-04 1.50744498e+01] [-1.01786197e-02 4.13437406e-04 9.99948111e-01 1.68988969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66925976399997 meters Centerline goodness [0,1] 0.5238028797856904 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99947016e-01 -3.29612443e-03 9.75196239e-03 -2.72725959e+01] [ 3.30158780e-03 9.99994402e-01 -5.44186673e-04 1.50767451e+01] [-9.75011409e-03 5.76354800e-04 9.99952300e-01 1.68988547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69925976399998 meters Centerline goodness [0,1] 0.5196355200268329 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99947831e-01 -3.16546605e-03 9.71162238e-03 -2.72723488e+01] [ 3.17108905e-03 9.99994813e-01 -5.63653605e-04 1.50771914e+01] [-9.70978778e-03 5.94420619e-04 9.99952682e-01 1.68987859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72925976399998 meters Centerline goodness [0,1] 0.5179070287182925 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99949453e-01 -2.88990754e-03 9.63019588e-03 -2.72718288e+01] [ 2.89507677e-03 9.99995673e-01 -5.22875589e-04 1.50772302e+01] [-9.62864314e-03 5.50729316e-04 9.99953492e-01 1.68985866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75925976399998 meters Centerline goodness [0,1] 0.5219163549053549 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99951619e-01 -2.55647640e-03 9.49859289e-03 -2.72710403e+01] [ 2.55995539e-03 9.99996661e-01 -3.54124204e-04 1.50773161e+01] [-9.49765586e-03 3.78423046e-04 9.99954825e-01 1.68980913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78925976399998 meters Centerline goodness [0,1] 0.5216334739253093 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99954299e-01 -2.35058139e-03 9.26680652e-03 -2.72701518e+01] [ 2.35701344e-03 9.99996989e-01 -6.83235327e-04 1.50792688e+01] [-9.26517262e-03 7.05046090e-04 9.99956829e-01 1.68981437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81925976399998 meters Centerline goodness [0,1] 0.5243284125605759 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99955454e-01 -2.38422261e-03 9.13267610e-03 -2.72699539e+01] [ 2.39320322e-03 9.99996663e-01 -9.72547723e-04 1.50805534e+01] [-9.13032685e-03 9.94360749e-04 9.99957823e-01 1.68985434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84925976399998 meters Centerline goodness [0,1] 0.5245363485873011 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99956784e-01 -2.38011990e-03 8.98699382e-03 -2.72697532e+01] [ 2.39088771e-03 9.99996437e-01 -1.18760121e-03 1.50815765e+01] [-8.98413516e-03 1.20903677e-03 9.99958911e-01 1.68989333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87925976399998 meters Centerline goodness [0,1] 0.5233707676365978 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99958704e-01 -2.17859874e-03 8.82289753e-03 -2.72690281e+01] [ 2.19057568e-03 9.99996692e-01 -1.34804710e-03 1.50831498e+01] [-8.81993149e-03 1.36731866e-03 9.99960169e-01 1.68988562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90925976399998 meters Centerline goodness [0,1] 0.5210029763576122 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99960145e-01 -1.98909803e-03 8.70351829e-03 -2.72685090e+01] [ 2.00062619e-03 9.99997133e-01 -1.31603433e-03 1.50834782e+01] [-8.70087561e-03 1.33339436e-03 9.99961258e-01 1.68987141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93925976399998 meters Centerline goodness [0,1] 0.5199212155317952 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99960169e-01 -1.97192261e-03 8.70465110e-03 -2.72685783e+01] [ 1.98475574e-03 9.99996956e-01 -1.46589236e-03 1.50839582e+01] [-8.70173398e-03 1.48311058e-03 9.99961039e-01 1.68989318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.969259764 meters Centerline goodness [0,1] 0.5187838938998005 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99960110e-01 -1.94660536e-03 8.71720557e-03 -2.72686466e+01] [ 1.96047162e-03 9.99996826e-01 -1.58241492e-03 1.50846234e+01] [-8.71409757e-03 1.59944163e-03 9.99960752e-01 1.68990809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.999259764 meters Centerline goodness [0,1] 0.5242030696576151 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.90 [[ 9.99960093e-01 -2.02177318e-03 8.70198898e-03 -2.72687849e+01] [ 2.03732307e-03 9.99996343e-01 -1.77844167e-03 1.50856091e+01] [-8.69836155e-03 1.79609946e-03 9.99960555e-01 1.68994055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.029259764 meters Centerline goodness [0,1] 0.522725995842463 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.90 [[ 9.99959992e-01 -2.11511356e-03 8.69146719e-03 -2.72689451e+01] [ 2.13181081e-03 9.99995899e-01 -1.91229339e-03 1.50863624e+01] [-8.68738683e-03 1.93074545e-03 9.99960400e-01 1.68996450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.059259764 meters Centerline goodness [0,1] 0.5220102714600147 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.90 [[ 9.99958301e-01 -2.28589687e-03 8.84145725e-03 -2.72697798e+01] [ 2.30346262e-03 9.99995393e-01 -1.97707497e-03 1.50863933e+01] [-8.83689712e-03 1.99735849e-03 9.99958959e-01 1.69001592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.089259764 meters Centerline goodness [0,1] 0.5190233461939227 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.90 [[ 9.99956832e-01 -2.30561709e-03 9.00096350e-03 -2.72705780e+01] [ 2.32316032e-03 9.99995421e-01 -1.93907045e-03 1.50856749e+01] [-8.99645153e-03 1.95989743e-03 9.99957610e-01 1.69006431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.119259764 meters Centerline goodness [0,1] 0.5150220623366404 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.90 [[ 9.99953544e-01 -2.53175541e-03 9.30055089e-03 -2.72717927e+01] [ 2.55074530e-03 9.99994685e-01 -2.03050781e-03 1.50853873e+01] [-9.29536071e-03 2.05413681e-03 9.99954687e-01 1.69010825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.149259764 meters Centerline goodness [0,1] 0.5151796516699023 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.90 [[ 9.99952236e-01 -2.53184260e-03 9.44005304e-03 -2.72722663e+01] [ 2.55043076e-03 9.99994832e-01 -1.95755567e-03 1.50850265e+01] [-9.43504803e-03 1.98153837e-03 9.99953526e-01 1.69011778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.179259764 meters Centerline goodness [0,1] 0.5113828945881822 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.90 [[ 9.99950714e-01 -2.76645101e-03 9.53499280e-03 -2.72730700e+01] [ 2.78835952e-03 9.99993502e-01 -2.28516791e-03 1.50862532e+01] [-9.52860903e-03 2.31164228e-03 9.99951930e-01 1.69019445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.209259764 meters Centerline goodness [0,1] 0.5104449728260869 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.90 [[ 9.99949644e-01 -3.02815117e-03 9.56762558e-03 -2.72737602e+01] [ 3.05381153e-03 9.99991777e-01 -2.66852955e-03 1.50874333e+01] [-9.55946619e-03 2.69761290e-03 9.99950669e-01 1.69028178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23925976399997 meters Centerline goodness [0,1] 0.5129787414725281 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.90 [[ 9.99947739e-01 -3.23042137e-03 9.69970036e-03 -2.72745857e+01] [ 3.25789440e-03 9.99990723e-01 -2.81789553e-03 1.50878166e+01] [-9.69050739e-03 2.84934887e-03 9.99948986e-01 1.69033993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26925976399997 meters Centerline goodness [0,1] 0.5106316625085053 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.09, Z:16.90 [[ 9.99946405e-01 -3.31912988e-03 9.80660849e-03 -2.72751502e+01] [ 3.34600344e-03 9.99990689e-01 -2.72521743e-03 1.50873464e+01] [-9.79747183e-03 2.75788431e-03 9.99948200e-01 1.69035827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29925976399997 meters Centerline goodness [0,1] 0.5075459410482204 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.09, Z:16.90 [[ 9.99945270e-01 -3.33901439e-03 9.91507148e-03 -2.72755842e+01] [ 3.36291211e-03 9.99991478e-01 -2.39454846e-03 1.50862237e+01] [-9.90699155e-03 2.42776092e-03 9.99947977e-01 1.69033928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32925976399997 meters Centerline goodness [0,1] 0.5114679542966227 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.08, Z:16.90 [[ 9.99945880e-01 -3.18936349e-03 9.90273349e-03 -2.72753575e+01] [ 3.20751299e-03 9.99993204e-01 -1.81743615e-03 1.50845753e+01] [-9.89686973e-03 1.84910094e-03 9.99949315e-01 1.69026657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35925976399997 meters Centerline goodness [0,1] 0.5162918512702597 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.90 [[ 9.99948362e-01 -2.93528728e-03 9.72917801e-03 -2.72745049e+01] [ 2.95169505e-03 9.99994245e-01 -1.67252018e-03 1.50850033e+01] [-9.72421269e-03 1.70115138e-03 9.99951272e-01 1.69021945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38925976399997 meters Centerline goodness [0,1] 0.5166137685026543 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.90 [[ 9.99950019e-01 -2.84881151e-03 9.58346828e-03 -2.72741359e+01] [ 2.86642036e-03 9.99994228e-01 -1.82418550e-03 1.50857793e+01] [-9.57821620e-03 1.85156457e-03 9.99952414e-01 1.69024321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41925976399997 meters Centerline goodness [0,1] 0.5135454801464376 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.90 [[ 9.99950892e-01 -2.83048167e-03 9.49748802e-03 -2.72740787e+01] [ 2.84861765e-03 9.99994144e-01 -1.89657161e-03 1.50862010e+01] [-9.49206419e-03 1.92353318e-03 9.99953099e-01 1.69027135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44925976399998 meters Centerline goodness [0,1] 0.5139399724850493 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.90 [[ 9.99950388e-01 -2.67535751e-03 9.59501172e-03 -2.72741020e+01] [ 2.69028509e-03 9.99995190e-01 -1.54319571e-03 1.50851916e+01] [-9.59083698e-03 1.56893246e-03 9.99952776e-01 1.69021977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47925976399998 meters Centerline goodness [0,1] 0.5128471831777803 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99949327e-01 -2.54914502e-03 9.73886669e-03 -2.72742409e+01] [ 2.56014154e-03 9.99996099e-01 -1.11683729e-03 1.50839051e+01] [-9.73598172e-03 1.14171358e-03 9.99951952e-01 1.69016082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50925976399998 meters Centerline goodness [0,1] 0.5165245202558635 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.90 [[ 9.99946812e-01 -2.63049755e-03 9.97262542e-03 -2.72748965e+01] [ 2.63845529e-03 9.99996211e-01 -7.84885860e-04 1.50827647e+01] [-9.97052299e-03 8.11156440e-04 9.99949964e-01 1.69012802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53925976399998 meters Centerline goodness [0,1] 0.5210682825562476 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.08, Z:16.90 [[ 9.99947918e-01 -2.70338516e-03 9.84138240e-03 -2.72750825e+01] [ 2.71111099e-03 9.99996027e-01 -7.71778736e-04 1.50824183e+01] [-9.83925689e-03 7.98419621e-04 9.99951275e-01 1.69018736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56925976399998 meters Centerline goodness [0,1] 0.5207549289445599 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.08, Z:16.90 [[ 9.99947921e-01 -2.72480927e-03 9.83521292e-03 -2.72753502e+01] [ 2.73185458e-03 9.99996021e-01 -7.02971286e-04 1.50821197e+01] [-9.83325833e-03 7.29803047e-04 9.99951386e-01 1.69021361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59925976399998 meters Centerline goodness [0,1] 0.521619574062123 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.08, Z:16.90 [[ 9.99945774e-01 -2.82135717e-03 1.00244118e-02 -2.72761345e+01] [ 2.82724684e-03 9.99995839e-01 -5.73409744e-04 1.50813735e+01] [-1.00227523e-02 6.01720137e-04 9.99949590e-01 1.69023527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62925976399998 meters Centerline goodness [0,1] 0.5171351775114794 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.08, Z:16.90 [[ 9.99944557e-01 -2.80960521e-03 1.01483142e-02 -2.72766521e+01] [ 2.81249510e-03 9.99996008e-01 -2.70504963e-04 1.50800069e+01] [-1.01475137e-02 2.99032050e-04 9.99948468e-01 1.69023357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65925976399998 meters Centerline goodness [0,1] 0.5189092634458121 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.08, Z:16.90 [[ 9.99943463e-01 -2.50510268e-03 1.03342179e-02 -2.72768560e+01] [ 2.50008530e-03 9.99996751e-01 4.98401199e-04 1.50765794e+01] [-1.03354328e-02 -4.72536595e-04 9.99946476e-01 1.69016038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68925976399998 meters Centerline goodness [0,1] 0.5183122127837348 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.90 [[ 9.99942606e-01 -2.31746966e-03 1.04601304e-02 -2.72770324e+01] [ 2.30580159e-03 9.99996706e-01 1.12740241e-03 1.50744801e+01] [-1.04627087e-02 -1.10321872e-03 9.99944656e-01 1.69010007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.719259764 meters Centerline goodness [0,1] 0.5154985028279916 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.90 [[ 9.99942390e-01 -2.22600203e-03 1.05005375e-02 -2.72774488e+01] [ 2.20748564e-03 9.99995989e-01 1.77463551e-03 1.50715828e+01] [-1.05044457e-02 -1.75135349e-03 9.99943293e-01 1.69009168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.749259764 meters Centerline goodness [0,1] 0.516902581182348 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.90 [[ 9.99940813e-01 -2.20893756e-03 1.06532460e-02 -2.72781894e+01] [ 2.18779262e-03 9.99995615e-01 1.99608084e-03 1.50699323e+01] [-1.06576085e-02 -1.97265561e-03 9.99941260e-01 1.69012488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.779259764 meters Centerline goodness [0,1] 0.5168358573251235 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.90 [[ 9.99939568e-01 -2.19791055e-03 1.07717462e-02 -2.72787725e+01] [ 2.17437890e-03 9.99995225e-01 2.19579608e-03 1.50686120e+01] [-1.07765210e-02 -2.17224153e-03 9.99939572e-01 1.69015101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.809259764 meters Centerline goodness [0,1] 0.5182506028103434 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.90 [[ 9.99939290e-01 -2.08020266e-03 1.08207702e-02 -2.72790711e+01] [ 2.05278401e-03 9.99994656e-01 2.54438101e-03 1.50670618e+01] [-1.08260052e-02 -2.52201384e-03 9.99938217e-01 1.69015632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.839259764 meters Centerline goodness [0,1] 0.5200996677740863 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.90 [[ 9.99938610e-01 -1.92157000e-03 1.09125243e-02 -2.72793059e+01] [ 1.88961501e-03 9.99993899e-01 2.93784173e-03 1.50653846e+01] [-1.09181030e-02 -2.91704091e-03 9.99936141e-01 1.69013921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.869259764 meters Centerline goodness [0,1] 0.5180386740331492 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.90 [[ 9.99938444e-01 -1.74715306e-03 1.09569691e-02 -2.72794319e+01] [ 1.70968646e-03 9.99992663e-01 3.42786629e-03 1.50634703e+01] [-1.09628777e-02 -3.40892230e-03 9.99934095e-01 1.69011276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.899259764 meters Centerline goodness [0,1] 0.5191703850603206 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.90 [[ 9.99937340e-01 -1.78107388e-03 1.10518845e-02 -2.72800763e+01] [ 1.73871878e-03 9.99991112e-01 3.84081322e-03 1.50613881e+01] [-1.10586270e-02 -3.82135644e-03 9.99931550e-01 1.69012420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.929259764 meters Centerline goodness [0,1] 0.5191968712129558 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.90 [[ 9.99936448e-01 -1.86498247e-03 1.11185152e-02 -2.72807668e+01] [ 1.82347512e-03 9.99991336e-01 3.74214296e-03 1.50607372e+01] [-1.11253979e-02 -3.72163081e-03 9.99931185e-01 1.69019735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.959259764 meters Centerline goodness [0,1] 0.5198405059810257 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.90 [[ 9.99935487e-01 -1.83826735e-03 1.12090012e-02 -2.72812885e+01] [ 1.79427628e-03 9.99990654e-01 3.93341466e-03 1.50594279e+01] [-1.12161271e-02 -3.91304886e-03 9.99929441e-01 1.69022400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98925976399997 meters Centerline goodness [0,1] 0.517276311466433 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.90 [[ 9.99932688e-01 -1.85274693e-03 1.14536507e-02 -2.72822303e+01] [ 1.80560504e-03 9.99989863e-01 4.12485478e-03 1.50574785e+01] [-1.14611769e-02 -4.10389636e-03 9.99925897e-01 1.69025406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01925976399997 meters Centerline goodness [0,1] 0.5160972943427166 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.05, Z:16.90 [[ 9.99924465e-01 -2.39044080e-03 1.20561288e-02 -2.72849592e+01] [ 2.34002206e-03 9.99988466e-01 4.19437484e-03 1.50539693e+01] [-1.20660161e-02 -4.16584641e-03 9.99918525e-01 1.69036369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04925976399997 meters Centerline goodness [0,1] 0.5132354546446894 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.05, Z:16.90 [[ 9.99922761e-01 -2.46174554e-03 1.21824589e-02 -2.72857507e+01] [ 2.40729072e-03 9.99987056e-01 4.48258359e-03 1.50523939e+01] [-1.21933362e-02 -4.45291063e-03 9.99915744e-01 1.69039264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07925976399997 meters Centerline goodness [0,1] 0.5136451446140451 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.05, Z:16.90 [[ 9.99920560e-01 -2.54903334e-03 1.23440604e-02 -2.72865786e+01] [ 2.49091522e-03 9.99985752e-01 4.72127309e-03 1.50509227e+01] [-1.23559192e-02 -4.69015002e-03 9.99912663e-01 1.69042319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10925976399997 meters Centerline goodness [0,1] 0.48914758200511343 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.05, Z:16.90 [[ 9.99917424e-01 -2.70103385e-03 1.25638111e-02 -2.72876004e+01] [ 2.63905431e-03 9.99984280e-01 4.94714587e-03 1.50493393e+01] [-1.25769760e-02 -4.91358077e-03 9.99908834e-01 1.69045638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13925976399997 meters Centerline goodness [0,1] 0.5104158179200956 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.05, Z:16.91 [[ 9.99911058e-01 -3.43421537e-03 1.28873252e-02 -2.72898001e+01] [ 3.36590338e-03 9.99980191e-01 5.31866280e-03 1.50457527e+01] [-1.29053353e-02 -5.27481225e-03 9.99902810e-01 1.69051920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16925976399997 meters Centerline goodness [0,1] 0.5023007795582504 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.04, Z:16.91 [[ 9.99905025e-01 -3.66529582e-03 1.32855490e-02 -2.72912217e+01] [ 3.59110022e-03 9.99977848e-01 5.60424512e-03 1.50436427e+01] [-1.33057959e-02 -5.55600312e-03 9.99896038e-01 1.69053152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19925976399998 meters Centerline goodness [0,1] 0.5062486474789007 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.04, Z:16.91 [[ 9.99896502e-01 -4.11926311e-03 1.37846559e-02 -2.72931271e+01] [ 4.04370625e-03 9.99976674e-01 5.50461952e-03 1.50421148e+01] [-1.38070094e-02 -5.44830870e-03 9.99889835e-01 1.69058902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22925976399998 meters Centerline goodness [0,1] 0.5000540365286934 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.04, Z:16.91 [[ 9.99888219e-01 -4.46532565e-03 1.42692176e-02 -2.72947654e+01] [ 4.38411042e-03 9.99974042e-01 5.71785963e-03 1.50403131e+01] [-1.42943793e-02 -5.65466265e-03 9.99881841e-01 1.69059528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25925976399998 meters Centerline goodness [0,1] 0.47470459400264986 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.04, Z:16.91 [[ 9.99874121e-01 -7.31580260e-03 1.40791382e-02 -2.72977223e+01] [ 7.26014462e-03 9.99965643e-01 4.00028315e-03 1.50384599e+01] [-1.41079197e-02 -3.89756302e-03 9.99892882e-01 1.69086384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28925976399998 meters Centerline goodness [0,1] 0.4705581019142626 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.04, Z:16.91 [[ 9.99873165e-01 -7.28576582e-03 1.41623326e-02 -2.72979647e+01] [ 7.22645032e-03 9.99964921e-01 4.23493078e-03 1.50373662e+01] [-1.41926906e-02 -4.13205025e-03 9.99890741e-01 1.69085014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31925976399998 meters Centerline goodness [0,1] 0.5001887504718762 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.04, Z:16.91 [[ 9.99878731e-01 -6.98864640e-03 1.39169885e-02 -2.72970950e+01] [ 6.93122796e-03 9.99967285e-01 4.16974900e-03 1.50384275e+01] [-1.39456741e-02 -4.07278152e-03 9.99894460e-01 1.69084599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34925976399998 meters Centerline goodness [0,1] 0.4864995957962813 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.04, Z:16.91 [[ 9.99879867e-01 -7.03846582e-03 1.38098286e-02 -2.72971758e+01] [ 6.98953365e-03 9.99969135e-01 3.58835689e-03 1.50404601e+01] [-1.38346589e-02 -3.49140155e-03 9.99898201e-01 1.69093684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37925976399998 meters Centerline goodness [0,1] 0.4864995957962813 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.04, Z:16.91 [[ 9.99879867e-01 -7.03846582e-03 1.38098286e-02 -2.72971758e+01] [ 6.98953365e-03 9.99969135e-01 3.58835689e-03 1.50404601e+01] [-1.38346589e-02 -3.49140155e-03 9.99898201e-01 1.69093684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40925976399998 meters Centerline goodness [0,1] 0.48585058214747734 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.04, Z:16.91 [[ 9.99879925e-01 -7.06356683e-03 1.37928236e-02 -2.72972518e+01] [ 7.01711311e-03 9.99969554e-01 3.41345976e-03 1.50409676e+01] [-1.38165149e-02 -3.31626408e-03 9.99899048e-01 1.69096142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43925976399998 meters Centerline goodness [0,1] 0.4899146311905852 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.04, Z:16.91 [[ 9.99879616e-01 -7.01996664e-03 1.38374314e-02 -2.72973019e+01] [ 6.97380580e-03 9.99969966e-01 3.38137457e-03 1.50410635e+01] [-1.38607529e-02 -3.28446795e-03 9.99898541e-01 1.69095429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.469259764 meters Centerline goodness [0,1] 0.4782632088668891 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.04, Z:16.91 [[ 9.99881203e-01 -6.84568636e-03 1.38099825e-02 -2.72969265e+01] [ 6.79880784e-03 9.99970976e-01 3.43863585e-03 1.50411924e+01] [-1.38331215e-02 -3.34433594e-03 9.99898725e-01 1.69092020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.499259764 meters Centerline goodness [0,1] 0.487812760914649 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.04, Z:16.91 [[ 9.99882197e-01 -6.93573992e-03 1.36925940e-02 -2.72968708e+01] [ 6.89509347e-03 9.99971688e-01 3.01347916e-03 1.50424554e+01] [-1.37131070e-02 -2.91871245e-03 9.99901711e-01 1.69097350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.529259764 meters Centerline goodness [0,1] 0.49554064613477755 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.04, Z:16.91 [[ 9.99886287e-01 -6.79320532e-03 1.34634654e-02 -2.72961481e+01] [ 6.75625776e-03 9.99973290e-01 2.78786970e-03 1.50440896e+01] [-1.34820444e-02 -2.69659004e-03 9.99905477e-01 1.69098089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.559259764 meters Centerline goodness [0,1] 0.49392154743894534 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.05, Z:16.91 [[ 9.99897878e-01 -5.59987633e-03 1.31481766e-02 -2.72936780e+01] [ 5.56606905e-03 9.99981112e-01 2.60644005e-03 1.50479330e+01] [-1.31625240e-02 -2.53299022e-03 9.99910162e-01 1.69091304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.589259764 meters Centerline goodness [0,1] 0.4918507688975525 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.05, Z:16.91 [[ 9.99908107e-01 -4.97509794e-03 1.26105762e-02 -2.72917675e+01] [ 4.94696895e-03 9.99985208e-01 2.26080052e-03 1.50508168e+01] [-1.26216373e-02 -2.19820864e-03 9.99917928e-01 1.69092644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.619259764 meters Centerline goodness [0,1] 0.5199075333152026 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.05, Z:16.91 [[ 9.99916989e-01 -4.19743870e-03 1.21818278e-02 -2.72897260e+01] [ 4.17444077e-03 9.99989458e-01 1.91270134e-03 1.50543287e+01] [-1.21897278e-02 -1.86169025e-03 9.99923969e-01 1.69090806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.649259764 meters Centerline goodness [0,1] 0.4954228421970357 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.91 [[ 9.99926668e-01 -3.43541331e-03 1.16128007e-02 -2.72875541e+01] [ 3.41827061e-03 9.99993039e-01 1.49571568e-03 1.50576072e+01] [-1.16178583e-02 -1.45591030e-03 9.99931450e-01 1.69092262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.679259764 meters Centerline goodness [0,1] 0.5216284290642282 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.91 [[ 9.99932619e-01 1.82213838e-03 1.14645693e-02 -2.72850517e+01] [-1.88834642e-03 9.99981589e-01 5.76684100e-03 1.50592589e+01] [-1.14538502e-02 -5.78810151e-03 9.99917650e-01 1.69073009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.709259764 meters Centerline goodness [0,1] 0.5192740033996819 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.06, Z:16.91 [[ 9.99935738e-01 2.36057441e-03 1.10882123e-02 -2.72833610e+01] [-2.41832971e-03 9.99983565e-01 5.19819452e-03 1.50627046e+01] [-1.10757594e-02 -5.22467543e-03 9.99925012e-01 1.69073004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73925976399997 meters Centerline goodness [0,1] 0.5235224488672338 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.91 [[ 9.99938833e-01 3.04661774e-03 1.06324208e-02 -2.72812918e+01] [-3.09864350e-03 9.99983291e-01 4.88008614e-03 1.50657154e+01] [-1.06173754e-02 -4.91273372e-03 9.99931566e-01 1.69069395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76925976399997 meters Centerline goodness [0,1] 0.5223493726733766 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.91 [[ 9.99940313e-01 3.62757170e-03 1.03059169e-02 -2.72795942e+01] [-3.67385928e-03 9.99983234e-01 4.47598446e-03 1.50685657e+01] [-1.02895072e-02 -4.51357979e-03 9.99936875e-01 1.69066597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79925976399997 meters Centerline goodness [0,1] 0.5250808390680706 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.91 [[ 9.99933872e-01 5.45617633e-03 1.01233455e-02 -2.72764626e+01] [-5.50180697e-03 9.99974807e-01 4.48510620e-03 1.50726811e+01] [-1.00986190e-02 -4.54050630e-03 9.99938699e-01 1.69052853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82925976399997 meters Centerline goodness [0,1] 0.5287168252031393 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.08, Z:16.91 [[ 9.99935847e-01 5.61067756e-03 9.83980576e-03 -2.72755763e+01] [-5.64970280e-03 9.99976267e-01 3.94275488e-03 1.50754085e+01] [-9.81745071e-03 -3.99809392e-03 9.99943815e-01 1.69056037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85925976399997 meters Centerline goodness [0,1] 0.530783789801826 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.91 [[ 9.99936144e-01 6.26724144e-03 9.40368263e-03 -2.72740879e+01] [-6.29620272e-03 9.99975517e-01 3.05334301e-03 1.50794125e+01] [-9.38431636e-03 -3.11235553e-03 9.99951123e-01 1.69067801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88925976399997 meters Centerline goodness [0,1] 0.5309665354880124 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.91 [[ 9.99937730e-01 6.38363942e-03 9.15348157e-03 -2.72735596e+01] [-6.40729885e-03 9.99976202e-01 2.55775549e-03 1.50810863e+01] [-9.13693594e-03 -2.61624531e-03 9.99954835e-01 1.69074288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91925976399997 meters Centerline goodness [0,1] 0.5336141486275385 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99950978e-01 3.88797334e-03 9.10635192e-03 -2.72719309e+01] [-3.87452118e-03 9.99991377e-01 -1.49440479e-03 1.50854427e+01] [-9.11208361e-03 1.45904878e-03 9.99957420e-01 1.69073566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94925976399998 meters Centerline goodness [0,1] 0.5360419397116645 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99951490e-01 4.29211680e-03 8.86534825e-03 -2.72707443e+01] [-4.27949307e-03 9.99989803e-01 -1.44241999e-03 1.50861446e+01] [-8.87144888e-03 1.40441082e-03 9.99959662e-01 1.69068528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97925976399998 meters Centerline goodness [0,1] 0.5416270351927488 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99950934e-01 5.17593970e-03 8.44631358e-03 -2.72684179e+01] [-5.16738148e-03 9.99986114e-01 -1.03475795e-03 1.50868390e+01] [-8.45155213e-03 9.91061854e-04 9.99963794e-01 1.69055861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00925976399998 meters Centerline goodness [0,1] 0.5402028352103996 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99951153e-01 5.25861720e-03 8.36888453e-03 -2.72681937e+01] [-5.24876401e-03 9.99985506e-01 -1.19888872e-03 1.50874378e+01] [-8.37506773e-03 1.15490385e-03 9.99964262e-01 1.69057600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03925976399998 meters Centerline goodness [0,1] 0.5443006052454606 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99950660e-01 5.42446960e-03 8.32187594e-03 -2.72679739e+01] [-5.41451317e-03 9.99984599e-01 -1.21848004e-03 1.50874507e+01] [-8.32835738e-03 1.17336101e-03 9.99964630e-01 1.69058043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06925976399998 meters Centerline goodness [0,1] 0.5457292336961084 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99950336e-01 5.56449038e-03 8.26809730e-03 -2.72678169e+01] [-5.55466005e-03 9.99983839e-01 -1.21143468e-03 1.50874388e+01] [-8.27470470e-03 1.16544805e-03 9.99965085e-01 1.69058913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09925976399998 meters Centerline goodness [0,1] 0.5493922465822643 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99952471e-01 5.61458753e-03 7.97071494e-03 -2.72674977e+01] [-5.60256316e-03 9.99983135e-01 -1.53009710e-03 1.50884706e+01] [-7.97917138e-03 1.48536794e-03 9.99967063e-01 1.69068039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12925976399998 meters Centerline goodness [0,1] 0.5502102607232968 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99953211e-01 5.68001864e-03 7.83032667e-03 -2.72672891e+01] [-5.66796091e-03 9.99982718e-01 -1.56120902e-03 1.50889812e+01] [-7.83905905e-03 1.51675398e-03 9.99968124e-01 1.69070491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15925976399998 meters Centerline goodness [0,1] 0.5544320862824401 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99953061e-01 5.67982435e-03 7.84950140e-03 -2.72673297e+01] [-5.66712428e-03 9.99982598e-01 -1.63924222e-03 1.50893686e+01] [-7.85867541e-03 1.59468117e-03 9.99967849e-01 1.69070758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18925976399998 meters Centerline goodness [0,1] 0.5526360020169196 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99952084e-01 5.77284487e-03 7.90600338e-03 -2.72673137e+01] [-5.76121444e-03 9.99982289e-01 -1.49307390e-03 1.50887744e+01] [-7.91448264e-03 1.44745418e-03 9.99967632e-01 1.69067900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.219259764 meters Centerline goodness [0,1] 0.5467199597506778 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99969212e-01 2.36295722e-03 7.48271376e-03 -2.72656700e+01] [-2.31966762e-03 9.99980555e-01 -5.78868503e-03 1.50905786e+01] [-7.49624667e-03 5.77114940e-03 9.99955249e-01 1.69069011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.249259764 meters Centerline goodness [0,1] 0.5518542324567532 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99968133e-01 2.50909538e-03 7.57874824e-03 -2.72657900e+01] [-2.46699779e-03 9.99981506e-01 -5.55893951e-03 1.50899749e+01] [-7.59255599e-03 5.54006561e-03 9.99955829e-01 1.69066811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.279259764 meters Centerline goodness [0,1] 0.5438375702659619 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99967828e-01 2.53626382e-03 7.60981934e-03 -2.72660546e+01] [-2.49440706e-03 9.99981737e-01 -5.50482082e-03 1.50898755e+01] [-7.62364205e-03 5.48566174e-03 9.99955893e-01 1.69068803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.309259764 meters Centerline goodness [0,1] 0.5519536822084861 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99967743e-01 2.49622827e-03 7.63422374e-03 -2.72662823e+01] [-2.45385422e-03 9.99981561e-01 -5.55487663e-03 1.50902188e+01] [-7.64794921e-03 5.53596418e-03 9.99955430e-01 1.69071051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.339259764 meters Centerline goodness [0,1] 0.5511815432859223 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99967488e-01 2.49372888e-03 7.66836822e-03 -2.72666320e+01] [-2.45237138e-03 9.99982424e-01 -5.39794206e-03 1.50898969e+01] [-7.68169445e-03 5.37896088e-03 9.99956028e-01 1.69073142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.369259764 meters Centerline goodness [0,1] 0.5501049391353015 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99966673e-01 2.53202754e-03 7.76156026e-03 -2.72669218e+01] [-2.49184773e-03 9.99983468e-01 -5.18207523e-03 1.50892511e+01] [-7.77455311e-03 5.16256190e-03 9.99956451e-01 1.69072087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.399259764 meters Centerline goodness [0,1] 0.5466618206217848 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99966194e-01 2.64697595e-03 7.78490346e-03 -2.72668654e+01] [-2.60940172e-03 9.99984918e-01 -4.83275404e-03 1.50883608e+01] [-7.79757823e-03 4.81227673e-03 9.99958019e-01 1.69067834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.429259764 meters Centerline goodness [0,1] 0.5450020970222285 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99964827e-01 2.75592125e-03 7.92144750e-03 -2.72670389e+01] [-2.72028554e-03 9.99986148e-01 -4.50589554e-03 1.50873853e+01] [-7.93375567e-03 4.48418846e-03 9.99958473e-01 1.69063533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45925976399997 meters Centerline goodness [0,1] 0.5440269991353583 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.09, Z:16.91 [[ 9.99963926e-01 2.83792963e-03 8.00578261e-03 -2.72671583e+01] [-2.80422427e-03 9.99987171e-01 -4.21821518e-03 1.50865550e+01] [-8.01765091e-03 4.19561300e-03 9.99959056e-01 1.69060322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48925976399997 meters Centerline goodness [0,1] 0.5394151656659996 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.91 [[ 9.99963167e-01 2.59742350e-03 8.18029228e-03 -2.72679691e+01] [-2.56606167e-03 9.99989327e-01 -3.84199219e-03 1.50847160e+01] [-8.19018425e-03 3.82085954e-03 9.99959160e-01 1.69059058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51925976399997 meters Centerline goodness [0,1] 0.5384551264240067 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.91 [[ 9.99962075e-01 2.45289061e-03 8.35649689e-03 -2.72687034e+01] [-2.42325024e-03 9.99990744e-01 -3.55526585e-03 1.50835397e+01] [-8.36514022e-03 3.53488113e-03 9.99958764e-01 1.69058820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54925976399997 meters Centerline goodness [0,1] 0.5365035352835159 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.91 [[ 9.99960614e-01 2.31729823e-03 8.56739589e-03 -2.72695379e+01] [-2.28916472e-03 9.99991961e-01 -3.29213659e-03 1.50822131e+01] [-8.57495587e-03 3.27239475e-03 9.99957880e-01 1.69059319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57925976399997 meters Centerline goodness [0,1] 0.5323522089131096 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.91 [[ 9.99961701e-01 -2.16627228e-03 8.47959642e-03 -2.72702348e+01] [ 2.23217653e-03 9.99967319e-01 -7.77036404e-03 1.50828743e+01] [-8.46248658e-03 7.78899440e-03 9.99933857e-01 1.69071734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60925976399997 meters Centerline goodness [0,1] 0.5264558330330663 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.91 [[ 9.99957923e-01 -2.34674077e-03 8.86815673e-03 -2.72712534e+01] [ 2.41116184e-03 9.99970734e-01 -7.26061660e-03 1.50807091e+01] [-8.85085841e-03 7.28169366e-03 9.99934317e-01 1.69065965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63925976399997 meters Centerline goodness [0,1] 0.52198958679517 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.91 [[ 9.99953377e-01 -2.70076486e-03 9.27093767e-03 -2.72725303e+01] [ 2.76418103e-03 9.99972825e-01 -6.83433335e-03 1.50786802e+01] [-9.25222781e-03 6.85964126e-03 9.99933669e-01 1.69061966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66925976399997 meters Centerline goodness [0,1] 0.5218901632112924 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.08, Z:16.91 [[ 9.99948064e-01 -3.12069651e-03 9.70204175e-03 -2.72739794e+01] [ 3.18289268e-03 9.99974443e-01 -6.40180890e-03 1.50767279e+01] [-9.68181569e-03 6.43235697e-03 9.99932441e-01 1.69058110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69925976399998 meters Centerline goodness [0,1] 0.5247753318492868 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.91 [[ 9.99939134e-01 -5.16303647e-03 9.75046815e-03 -2.72765935e+01] [ 5.22645061e-03 9.99965285e-01 -6.48945824e-03 1.50733357e+01] [-9.71662435e-03 6.54002359e-03 9.99931405e-01 1.69064950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72925976399998 meters Centerline goodness [0,1] 0.5230350814538063 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.91 [[ 9.99929950e-01 -5.78365259e-03 1.03268354e-02 -2.72788507e+01] [ 5.84879430e-03 9.99963119e-01 -6.28898467e-03 1.50712003e+01] [-1.02900812e-02 6.34894367e-03 9.99926900e-01 1.69067905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75925976399998 meters Centerline goodness [0,1] 0.522065882223868 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.91 [[ 9.99919764e-01 -6.44063147e-03 1.09080127e-02 -2.72810593e+01] [ 6.50779916e-03 9.99960014e-01 -6.13338609e-03 1.50694888e+01] [-1.08680737e-02 6.20388113e-03 9.99921695e-01 1.69069787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78925976399998 meters Centerline goodness [0,1] 0.5218451924131127 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.07, Z:16.91 [[ 9.99909135e-01 -7.14925379e-03 1.14284679e-02 -2.72831870e+01] [ 7.21885891e-03 9.99955576e-01 -6.06089865e-03 1.50680176e+01] [-1.13846293e-02 6.14284842e-03 9.99916324e-01 1.69072790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81925976399998 meters Centerline goodness [0,1] 0.5154867862522251 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.07, Z:16.91 [[ 9.99890221e-01 -9.17327756e-03 1.16360582e-02 -2.72861528e+01] [ 9.24625596e-03 9.99937823e-01 -6.23353058e-03 1.50656001e+01] [-1.15781528e-02 6.34043624e-03 9.99912869e-01 1.69080929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84925976399998 meters Centerline goodness [0,1] 0.5130851355050643 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.91 [[ 9.99879341e-01 -9.72926334e-03 1.21096763e-02 -2.72879042e+01] [ 9.80488965e-03 9.99932701e-01 -6.20149077e-03 1.50647060e+01] [-1.20485254e-02 6.31947655e-03 9.99907444e-01 1.69082422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87925976399998 meters Centerline goodness [0,1] 0.4992593405387612 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.91 [[ 9.99868204e-01 -1.02030302e-02 1.26282371e-02 -2.72895301e+01] [ 1.02812860e-02 9.99928249e-01 -6.14756421e-03 1.50640816e+01] [-1.25646072e-02 6.27658851e-03 9.99901363e-01 1.69081436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90925976399998 meters Centerline goodness [0,1] 0.5076194905748133 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.91 [[ 9.99856815e-01 -1.07226735e-02 1.30909716e-02 -2.72911591e+01] [ 1.08031788e-02 9.99923071e-01 -6.09452695e-03 1.50633877e+01] [-1.30246149e-02 6.23507841e-03 9.99895736e-01 1.69081354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93925976399998 meters Centerline goodness [0,1] 0.5045675838302062 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.91 [[ 9.99846688e-01 -1.11390149e-02 1.35100890e-02 -2.72924346e+01] [ 1.12207453e-02 9.99919110e-01 -5.98894184e-03 1.50627838e+01] [-1.34422852e-02 6.13961693e-03 9.99890799e-01 1.69078409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.969259764 meters Centerline goodness [0,1] 0.4891092906654977 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.91 [[ 9.99876709e-01 -7.33085430e-03 1.38861229e-02 -2.72928348e+01] [ 7.35459720e-03 9.99971578e-01 -1.65953531e-03 1.50632807e+01] [-1.38735624e-02 1.76145755e-03 9.99902206e-01 1.69062990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.999259764 meters Centerline goodness [0,1] 0.5214238447115915 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.91 [[ 9.99897135e-01 -3.17423520e-03 1.39872792e-02 -2.72927214e+01] [ 3.14268218e-03 9.99992469e-01 2.27723971e-03 1.50648159e+01] [-1.39944023e-02 -2.23304789e-03 9.99899580e-01 1.69058522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.029259764 meters Centerline goodness [0,1] 0.5136820037515172 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.07, Z:16.91 [[ 9.99906173e-01 -2.70900770e-03 1.34278473e-02 -2.72908508e+01] [ 2.68847968e-03 9.99995190e-01 1.54657989e-03 1.50693228e+01] [-1.34319724e-02 -1.51033428e-03 9.99908646e-01 1.69063940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.059259764 meters Centerline goodness [0,1] 0.5194761957607369 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.07, Z:16.91 [[ 9.99911762e-01 -2.31184034e-03 1.30814038e-02 -2.72892592e+01] [ 2.29861105e-03 9.99996832e-01 1.02625007e-03 1.50728144e+01] [-1.30837349e-02 -9.96090453e-04 9.99913908e-01 1.69062354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.089259764 meters Centerline goodness [0,1] 0.5297148267795477 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.08, Z:16.90 [[ 9.99917842e-01 -8.00912417e-04 1.27932765e-02 -2.72857276e+01] [ 7.90633364e-04 9.99999361e-01 8.08510491e-04 1.50770883e+01] [-1.27939159e-02 -7.98329274e-04 9.99917836e-01 1.69044406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.119259764 meters Centerline goodness [0,1] 0.5285626535626535 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.08, Z:16.90 [[ 9.99923381e-01 -4.74499544e-04 1.23696311e-02 -2.72839848e+01] [ 4.68623636e-04 9.99999776e-01 4.77921115e-04 1.50793844e+01] [-1.23698551e-02 -4.72087795e-04 9.99923379e-01 1.69040559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.149259764 meters Centerline goodness [0,1] 0.5285966238347191 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.08, Z:16.90 [[ 9.99927139e-01 -2.31937887e-04 1.20691029e-02 -2.72825595e+01] [ 2.29671642e-04 9.99999956e-01 1.89158073e-04 1.50819012e+01] [-1.20691463e-02 -1.86372360e-04 9.99927148e-01 1.69035926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.179259764 meters Centerline goodness [0,1] 0.5342750428262517 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.08, Z:16.90 [[ 9.99930510e-01 -2.36929927e-04 1.17863939e-02 -2.72818553e+01] [ 2.41354070e-04 9.99999901e-01 -3.73939245e-04 1.50847876e+01] [-1.17863042e-02 3.76757954e-04 9.99930468e-01 1.69040428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20925976399997 meters Centerline goodness [0,1] 0.5371744054360136 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.09, Z:16.90 [[ 9.99934629e-01 3.73416407e-04 1.14280000e-02 -2.72799861e+01] [-3.63714283e-04 9.99999572e-01 -8.51044921e-04 1.50900666e+01] [-1.14283129e-02 8.46832760e-04 9.99934336e-01 1.69038848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23925976399997 meters Centerline goodness [0,1] 0.5396712949844149 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.09, Z:16.90 [[ 9.99938207e-01 5.14980427e-04 1.11048383e-02 -2.72789445e+01] [-5.01805901e-04 9.99999167e-01 -1.18913081e-03 1.50924476e+01] [-1.11054414e-02 1.18348485e-03 9.99937632e-01 1.69039437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26925976399997 meters Centerline goodness [0,1] 0.5396712949844149 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.09, Z:16.90 [[ 9.99938207e-01 5.14980427e-04 1.11048383e-02 -2.72789445e+01] [-5.01805901e-04 9.99999167e-01 -1.18913081e-03 1.50924476e+01] [-1.11054414e-02 1.18348485e-03 9.99937632e-01 1.69039437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29925976399997 meters Centerline goodness [0,1] 0.5390756422319163 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.10, Z:16.90 [[ 9.99942555e-01 8.86214981e-04 1.06818475e-02 -2.72771493e+01] [-8.69922934e-04 9.99998452e-01 -1.52975847e-03 1.50954568e+01] [-1.06831867e-02 1.52037820e-03 9.99941777e-01 1.69036058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32925976399997 meters Centerline goodness [0,1] 0.5428677435926708 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.10, Z:16.90 [[ 9.99943972e-01 8.80560312e-04 1.05488311e-02 -2.72768526e+01] [-8.61954453e-04 9.99998065e-01 -1.76820058e-03 1.50968367e+01] [-1.05503677e-02 1.75900890e-03 9.99942796e-01 1.69038227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35925976399997 meters Centerline goodness [0,1] 0.5419967397832242 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.10, Z:16.90 [[ 9.99946049e-01 8.61370760e-04 1.03516446e-02 -2.72765738e+01] [-8.39851911e-04 9.99997478e-01 -2.08295283e-03 1.50979790e+01] [-1.03534127e-02 2.07414660e-03 9.99944251e-01 1.69043498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38925976399997 meters Centerline goodness [0,1] 0.5400330993551332 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.10, Z:16.90 [[ 9.99947951e-01 9.63321127e-04 1.01571154e-02 -2.72759778e+01] [-9.41388604e-04 9.99997216e-01 -2.16388600e-03 1.50990282e+01] [-1.01591717e-02 2.15421158e-03 9.99946074e-01 1.69043198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41925976399997 meters Centerline goodness [0,1] 0.5457783603567663 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.10, Z:16.90 [[ 9.99948392e-01 9.66166864e-04 1.01133879e-02 -2.72758533e+01] [-9.42315300e-04 9.99996764e-01 -2.36291434e-03 1.51000128e+01] [-1.01156381e-02 2.35326240e-03 9.99946067e-01 1.69044266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44925976399998 meters Centerline goodness [0,1] 0.5451283073680613 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.10, Z:16.90 [[ 9.99950031e-01 1.21688372e-03 9.92240978e-03 -2.72750796e+01] [-1.19142329e-03 9.99995984e-01 -2.57145984e-03 1.51013082e+01] [-9.92549910e-03 2.55950956e-03 9.99947465e-01 1.69044681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47925976399998 meters Centerline goodness [0,1] 0.5434565434565435 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.10, Z:16.90 [[ 9.99950408e-01 1.41997473e-03 9.85720672e-03 -2.72743743e+01] [-1.39602090e-03 9.99996057e-01 -2.43653930e-03 1.51017813e+01] [-9.86062768e-03 2.42265760e-03 9.99948448e-01 1.69037517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50925976399998 meters Centerline goodness [0,1] 0.5436643835616438 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.10, Z:16.90 [[ 9.99951038e-01 1.54684299e-03 9.77393114e-03 -2.72738513e+01] [-1.52365607e-03 9.99996009e-01 -2.37932340e-03 1.51021882e+01] [-9.77757256e-03 2.36431479e-03 9.99949403e-01 1.69033653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53925976399998 meters Centerline goodness [0,1] 0.5439500658535188 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.10, Z:16.90 [[ 9.99951964e-01 1.58781472e-03 9.67208354e-03 -2.72735394e+01] [-1.56512367e-03 9.99996007e-01 -2.35315332e-03 1.51026102e+01] [-9.67578129e-03 2.33790228e-03 9.99950456e-01 1.69032119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56925976399998 meters Centerline goodness [0,1] 0.5448747282919575 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.10, Z:16.90 [[ 9.99953011e-01 1.54527718e-03 9.57018164e-03 -2.72736022e+01] [-1.52155921e-03 9.99995755e-01 -2.48510500e-03 1.51031049e+01] [-9.57398119e-03 2.47042663e-03 9.99951117e-01 1.69036872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59925976399998 meters Centerline goodness [0,1] 0.5426595805474599 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.10, Z:16.90 [[ 9.99952444e-01 1.39826248e-03 9.65162358e-03 -2.72743519e+01] [-1.37221143e-03 9.99995399e-01 -2.70523158e-03 1.51034667e+01] [-9.65536180e-03 2.69185887e-03 9.99949763e-01 1.69045244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62925976399998 meters Centerline goodness [0,1] 0.5435563922642479 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.10, Z:16.90 [[ 9.99951398e-01 1.50655068e-03 9.74327973e-03 -2.72745354e+01] [-1.48288302e-03 9.99995934e-01 -2.43589451e-03 1.51026189e+01] [-9.74690991e-03 2.42132798e-03 9.99949566e-01 1.69042933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65925976399998 meters Centerline goodness [0,1] 0.5450701408531184 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.10, Z:16.90 [[ 9.99950579e-01 1.40305987e-03 9.84233250e-03 -2.72750971e+01] [-1.37870908e-03 9.99995973e-01 -2.48043603e-03 1.51023827e+01] [-9.84577306e-03 2.46674373e-03 9.99948487e-01 1.69046251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68925976399998 meters Centerline goodness [0,1] 0.544546829087382 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.10, Z:16.90 [[ 9.99949568e-01 1.42329715e-03 9.94164063e-03 -2.72753729e+01] [-1.40045266e-03 9.99996364e-01 -2.30444298e-03 1.51019630e+01] [-9.94488439e-03 2.29040397e-03 9.99947925e-01 1.69044692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.719259764 meters Centerline goodness [0,1] 0.5455786181404606 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.10, Z:16.90 [[ 9.99947892e-01 1.44948094e-03 1.01050213e-02 -2.72755314e+01] [-1.43297567e-03 9.99997628e-01 -1.64042194e-03 1.50998659e+01] [-1.01073751e-02 1.62585622e-03 9.99947597e-01 1.69033394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.749259764 meters Centerline goodness [0,1] 0.5438023569501633 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.10, Z:16.90 [[ 9.99944687e-01 1.52093338e-03 1.04071717e-02 -2.72760150e+01] [-1.51000043e-03 9.99998300e-01 -1.05829737e-03 1.50976551e+01] [-1.04087636e-02 1.04252400e-03 9.99945284e-01 1.69024682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.779259764 meters Centerline goodness [0,1] 0.5438093887391859 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.10, Z:16.90 [[ 9.99941148e-01 1.39982392e-03 1.07583205e-02 -2.72770670e+01] [-1.39385006e-03 9.99998870e-01 -5.62755639e-04 1.50953492e+01] [-1.07590961e-02 5.47727033e-04 9.99941969e-01 1.69020879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.809259764 meters Centerline goodness [0,1] 0.5418353767307529 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.09, Z:16.90 [[ 9.99937793e-01 1.11837843e-03 1.10977582e-02 -2.72784862e+01] [-1.11537544e-03 9.99999340e-01 -2.76780019e-04 1.50934931e+01] [-1.10980604e-02 2.64384634e-04 9.99938380e-01 1.69022599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.839259764 meters Centerline goodness [0,1] 0.5397895568281192 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.09, Z:16.90 [[ 9.99934479e-01 -4.26756595e-05 1.14470749e-02 -2.72814192e+01] [ 4.69377803e-05 9.99999930e-01 -3.72064345e-04 1.50909255e+01] [-1.14470582e-02 3.72577268e-04 9.99934411e-01 1.69036844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.869259764 meters Centerline goodness [0,1] 0.5422243512074163 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.09, Z:16.90 [[ 9.99933353e-01 -1.34544306e-04 1.15443203e-02 -2.72819964e+01] [ 1.39157994e-04 9.99999911e-01 -3.98847765e-04 1.50905389e+01] [-1.15442656e-02 4.00427668e-04 9.99933283e-01 1.69040797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.899259764 meters Centerline goodness [0,1] 0.5422725735542779 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.09, Z:16.90 [[ 9.99935354e-01 -6.63426105e-06 1.13704752e-02 -2.72815180e+01] [ 1.17422200e-05 9.99999899e-01 -4.49163329e-04 1.50909504e+01] [-1.13704711e-02 4.49267807e-04 9.99935253e-01 1.69041551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.929259764 meters Centerline goodness [0,1] 0.544323746271177 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.09, Z:16.90 [[ 9.99936817e-01 1.07637551e-04 1.12405357e-02 -2.72811985e+01] [-1.02862106e-04 9.99999904e-01 -4.25418665e-04 1.50909426e+01] [-1.12405805e-02 4.24235561e-04 9.99936733e-01 1.69042169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95925976399997 meters Centerline goodness [0,1] 0.5453574340089393 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.09, Z:16.90 [[ 9.99936403e-01 3.58488781e-04 1.12721661e-02 -2.72807339e+01] [-3.58256260e-04 9.99999936e-01 -2.26470421e-05 1.50900020e+01] [-1.12721735e-02 1.86072777e-05 9.99936467e-01 1.69033044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98925976399997 meters Centerline goodness [0,1] 0.5436326381676818 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.09, Z:16.90 [[ 9.99933700e-01 6.03590838e-04 1.14992102e-02 -2.72807265e+01] [-6.10938651e-04 9.99999611e-01 6.35482087e-04 1.50868337e+01] [-1.14988222e-02 -6.42465266e-04 9.99933680e-01 1.69020994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01925976399997 meters Centerline goodness [0,1] 0.5469415191575173 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.09, Z:16.90 [[ 9.99932165e-01 6.34376548e-04 1.16302682e-02 -2.72812573e+01] [-6.42863910e-04 9.99999530e-01 7.26041053e-04 1.50856540e+01] [-1.16298022e-02 -7.33468481e-04 9.99932103e-01 1.69023498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04925976399997 meters Centerline goodness [0,1] 0.5404157690047844 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.08, Z:16.90 [[ 9.99930370e-01 5.62815914e-04 1.17871794e-02 -2.72819845e+01] [-5.71527260e-04 9.99999566e-01 7.35697202e-04 1.50849679e+01] [-1.17867603e-02 -7.42382670e-04 9.99930258e-01 1.69027286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07925976399997 meters Centerline goodness [0,1] 0.5418763278541876 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.08, Z:16.90 [[ 9.99930543e-01 4.16874895e-04 1.17786368e-02 -2.72826183e+01] [-4.23203589e-04 9.99999767e-01 5.34815376e-04 1.50847931e+01] [-1.17784111e-02 -5.39762991e-04 9.99930486e-01 1.69036584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10925976399997 meters Centerline goodness [0,1] 0.5441176470588236 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.08, Z:16.90 [[ 9.99928061e-01 8.70602201e-05 1.19943427e-02 -2.72838930e+01] [-9.43400504e-05 9.99999812e-01 6.06374211e-04 1.50837776e+01] [-1.19942877e-02 -6.07462136e-04 9.99927881e-01 1.69042254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13925976399997 meters Centerline goodness [0,1] 0.5400441673888128 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.08, Z:16.90 [[ 9.99925448e-01 1.09863087e-04 1.22100817e-02 -2.72843803e+01] [-1.21328439e-04 9.99999552e-01 9.38270177e-04 1.50822795e+01] [-1.22099732e-02 -9.39681657e-04 9.99925014e-01 1.69038693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16925976399997 meters Centerline goodness [0,1] 0.5337860402983413 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.08, Z:16.90 [[ 9.99921150e-01 2.69584940e-05 1.25575547e-02 -2.72854215e+01] [-4.36672306e-05 9.99999114e-01 1.33030018e-03 1.50801364e+01] [-1.25575078e-02 -1.33074364e-03 9.99920266e-01 1.69036299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19925976399998 meters Centerline goodness [0,1] 0.5319267073847862 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.08, Z:16.90 [[ 9.99913301e-01 -4.98976679e-04 1.31583078e-02 -2.72878200e+01] [ 4.77752185e-04 9.99998580e-01 1.61610498e-03 1.50763968e+01] [-1.31590955e-02 -1.60967845e-03 9.99912120e-01 1.69040050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22925976399998 meters Centerline goodness [0,1] 0.532283988250291 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.08, Z:16.90 [[ 9.99912198e-01 -5.98693239e-04 1.32377569e-02 -2.72885612e+01] [ 5.77620416e-04 9.99998560e-01 1.59563874e-03 1.50757680e+01] [-1.32386932e-02 -1.58785224e-03 9.99911104e-01 1.69046845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25925976399998 meters Centerline goodness [0,1] 0.5319184260770913 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.08, Z:16.91 [[ 9.99910832e-01 -7.53159771e-04 1.33327292e-02 -2.72894552e+01] [ 7.33874763e-04 9.99998678e-01 1.45127455e-03 1.50755312e+01] [-1.33338046e-02 -1.44136059e-03 9.99910062e-01 1.69055689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28925976399998 meters Centerline goodness [0,1] 0.5332706194837175 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.07, Z:16.91 [[ 9.99907807e-01 -7.85587079e-04 1.35558133e-02 -2.72903066e+01] [ 7.62095498e-04 9.99998199e-01 1.73803121e-03 1.50740228e+01] [-1.35571543e-02 -1.72754015e-03 9.99906605e-01 1.69057126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31925976399998 meters Centerline goodness [0,1] 0.5297175389862208 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.07, Z:16.91 [[ 9.99898120e-01 -4.67585572e-03 1.34865129e-02 -2.72901055e+01] [ 4.70123043e-03 9.99987237e-01 -1.85039819e-03 1.50716588e+01] [-1.34776886e-02 1.91361287e-03 9.99907341e-01 1.69054300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34925976399998 meters Centerline goodness [0,1] 0.5254274561548189 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.07, Z:16.90 [[ 9.99896853e-01 -4.39890658e-03 1.36723588e-02 -2.72900750e+01] [ 4.41366192e-03 9.99989709e-01 -1.04922226e-03 1.50690433e+01] [-1.36676027e-02 1.10945921e-03 9.99905978e-01 1.69042734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37925976399998 meters Centerline goodness [0,1] 0.524452263793056 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.07, Z:16.90 [[ 9.99896356e-01 -4.17818201e-03 1.37775140e-02 -2.72900341e+01] [ 4.18534079e-03 9.99991121e-01 -4.90806841e-04 1.50673921e+01] [-1.37753410e-02 5.48419563e-04 9.99904965e-01 1.69035534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40925976399998 meters Centerline goodness [0,1] 0.5242515792364735 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.07, Z:16.90 [[ 9.99894781e-01 -4.23564099e-03 1.38739578e-02 -2.72905902e+01] [ 4.24056966e-03 9.99990956e-01 -3.25847612e-04 1.50663429e+01] [-1.38724522e-02 3.84646811e-04 9.99903699e-01 1.69037657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43925976399998 meters Centerline goodness [0,1] 0.5050766309880858 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.07, Z:16.90 [[ 9.99891197e-01 -4.36344265e-03 1.40909085e-02 -2.72914156e+01] [ 4.36510385e-03 9.99990469e-01 -8.71376425e-05 1.50651564e+01] [-1.40903940e-02 1.48636441e-04 9.99900714e-01 1.69037791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.469259764 meters Centerline goodness [0,1] 0.5209714238565417 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.90 [[ 9.99889065e-01 -4.35308457e-03 1.42445989e-02 -2.72919170e+01] [ 4.35034925e-03 9.99990512e-01 2.23005929e-04 1.50639746e+01] [-1.42454345e-02 -1.61012210e-04 9.99898516e-01 1.69036891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.499259764 meters Centerline goodness [0,1] 0.5043521238913754 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.90 [[ 9.99883609e-01 -4.48551687e-03 1.45824827e-02 -2.72930737e+01] [ 4.48055807e-03 9.99989893e-01 3.72704925e-04 1.50624577e+01] [-1.45840071e-02 -3.07323885e-04 9.99893600e-01 1.69038694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.529259764 meters Centerline goodness [0,1] 0.4741627187337405 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.90 [[ 9.99882525e-01 -4.39570356e-03 1.46837960e-02 -2.72932950e+01] [ 4.38791280e-03 9.99990215e-01 5.62744196e-04 1.50615144e+01] [-1.46861260e-02 -4.98246871e-04 9.99892029e-01 1.69037423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.559259764 meters Centerline goodness [0,1] 0.5005470160275696 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.90 [[ 9.99880028e-01 -4.38285913e-03 1.48566651e-02 -2.72936917e+01] [ 4.37251948e-03 9.99990175e-01 7.28371046e-04 1.50607154e+01] [-1.48597115e-02 -6.63322604e-04 9.99889368e-01 1.69035240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.589259764 meters Centerline goodness [0,1] 0.49457381251022525 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.90 [[ 9.99876714e-01 -4.55365895e-03 1.50273260e-02 -2.72946865e+01] [ 4.54419029e-03 9.99989455e-01 6.64181921e-04 1.50601973e+01] [-1.50301920e-02 -5.95813008e-04 9.99886863e-01 1.69041949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.619259764 meters Centerline goodness [0,1] 0.4975459453563833 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.06, Z:16.90 [[ 9.99874120e-01 -4.67174352e-03 1.51630784e-02 -2.72952790e+01] [ 4.66315952e-03 9.99988947e-01 6.01418353e-04 1.50601311e+01] [-1.51657205e-02 -5.30634793e-04 9.99884853e-01 1.69044329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.649259764 meters Centerline goodness [0,1] 0.5053056548187349 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.06, Z:16.90 [[ 9.99873171e-01 -4.64883448e-03 1.52325104e-02 -2.72955097e+01] [ 4.64058241e-03 9.99989066e-01 5.77041897e-04 1.50600168e+01] [-1.52350264e-02 -5.06280992e-04 9.99883812e-01 1.69045441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.679259764 meters Centerline goodness [0,1] 0.506793997271487 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.06, Z:16.90 [[ 9.99875305e-01 -4.52416662e-03 1.51296343e-02 -2.72952329e+01] [ 4.51710610e-03 9.99989672e-01 5.00808733e-04 1.50605554e+01] [-1.51317438e-02 -4.32404121e-04 9.99885415e-01 1.69046567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70925976399997 meters Centerline goodness [0,1] 0.5061890678058933 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.90 [[ 9.99879033e-01 -4.39599264e-03 1.49196031e-02 -2.72947506e+01] [ 4.39227690e-03 9.99990314e-01 2.81809448e-04 1.50617609e+01] [-1.49206975e-02 -2.16244331e-04 9.99888657e-01 1.69049755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73925976399997 meters Centerline goodness [0,1] 0.48858710562414265 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.90 [[ 9.99882586e-01 -4.15221352e-03 1.47503390e-02 -2.72938489e+01] [ 4.14798924e-03 9.99991347e-01 3.16967884e-04 1.50628340e+01] [-1.47515274e-02 -2.55746420e-04 9.99891158e-01 1.69044873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76925976399997 meters Centerline goodness [0,1] 0.4920303396724195 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.90 [[ 9.99883179e-01 -3.93194664e-03 1.47704906e-02 -2.72934643e+01] [ 3.92313917e-03 9.99992109e-01 6.25216039e-04 1.50622815e+01] [-1.47728323e-02 -5.67196311e-04 9.99890715e-01 1.69037966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79925976399997 meters Centerline goodness [0,1] 0.4954415641476274 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.90 [[ 9.99882471e-01 -3.81678489e-03 1.48484307e-02 -2.72934032e+01] [ 3.80478748e-03 9.99992412e-01 8.36157094e-04 1.50615631e+01] [-1.48515095e-02 -7.79563698e-04 9.99889406e-01 1.69033489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82925976399997 meters Centerline goodness [0,1] 0.49475069214111456 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.90 [[ 9.99879610e-01 -3.75431953e-03 1.50555657e-02 -2.72937752e+01] [ 3.73872614e-03 9.99992445e-01 1.06373495e-03 1.50607283e+01] [-1.50594456e-02 -1.00731825e-03 9.99886093e-01 1.69029941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85925976399997 meters Centerline goodness [0,1] 0.5191264317422042 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.90 [[ 9.99879789e-01 -3.81463416e-03 1.50285185e-02 -2.72940915e+01] [ 3.80325016e-03 9.99992459e-01 7.86000820e-04 1.50613279e+01] [-1.50314035e-02 -7.28749118e-04 9.99886757e-01 1.69037171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88925976399997 meters Centerline goodness [0,1] 0.5026410137113768 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.90 [[ 9.99880450e-01 -3.95407137e-03 1.49482948e-02 -2.72942296e+01] [ 3.94897331e-03 9.99992134e-01 3.70547898e-04 1.50626544e+01] [-1.49496424e-02 -3.11473182e-04 9.99888199e-01 1.69043904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91925976399997 meters Centerline goodness [0,1] 0.5010403548157477 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.90 [[ 9.99881220e-01 -3.94268985e-03 1.48997156e-02 -2.72942223e+01] [ 3.93881585e-03 9.99992201e-01 2.89341233e-04 1.50632328e+01] [-1.49007401e-02 -2.30619629e-04 9.99888951e-01 1.69046146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94925976399998 meters Centerline goodness [0,1] 0.5010683175368433 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.90 [[ 9.99880009e-01 -3.98766172e-03 1.49688535e-02 -2.72944420e+01] [ 3.98406936e-03 9.99992027e-01 2.69801707e-04 1.50632339e+01] [-1.49698100e-02 -2.10132382e-04 9.99887924e-01 1.69046324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97925976399998 meters Centerline goodness [0,1] 0.5062359827142935 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.90 [[ 9.99878550e-01 -3.75458768e-03 1.51257246e-02 -2.72941362e+01] [ 3.74005570e-03 9.99992517e-01 9.88918548e-04 1.50612690e+01] [-1.51293243e-02 -9.32227392e-04 9.99885111e-01 1.69031509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00925976399998 meters Centerline goodness [0,1] 0.5085453751228568 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.90 [[ 9.99876905e-01 -3.71421434e-03 1.52440226e-02 -2.72943675e+01] [ 3.69693918e-03 9.99992492e-01 1.16126497e-03 1.50605465e+01] [-1.52482213e-02 -1.10476580e-03 9.99883129e-01 1.69029566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03925976399998 meters Centerline goodness [0,1] 0.505951405951406 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.06, Z:16.90 [[ 9.99874550e-01 -3.74489968e-03 1.53902660e-02 -2.72948984e+01] [ 3.72548113e-03 9.99992228e-01 1.29021906e-03 1.50597595e+01] [-1.53949781e-02 -1.23272105e-03 9.99880730e-01 1.69030304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06925976399998 meters Centerline goodness [0,1] 0.5077370754126893 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.06, Z:16.90 [[ 9.99871333e-01 -3.93762381e-03 1.55503304e-02 -2.72958442e+01] [ 3.91767664e-03 9.99991464e-01 1.31300351e-03 1.50584002e+01] [-1.55553678e-02 -1.25191340e-03 9.99878224e-01 1.69036070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09925976399998 meters Centerline goodness [0,1] 0.47420942436849123 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.06, Z:16.90 [[ 9.99871515e-01 -4.01615917e-03 1.55185244e-02 -2.72961334e+01] [ 4.00049351e-03 9.99991457e-01 1.04039207e-03 1.50590370e+01] [-1.55225702e-02 -9.78176634e-04 9.99879039e-01 1.69042875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12925976399998 meters Centerline goodness [0,1] 0.4888726048960539 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.06, Z:16.91 [[ 9.99871716e-01 -4.10561129e-03 1.54820799e-02 -2.72964598e+01] [ 4.09528572e-03 9.99991370e-01 6.98581379e-04 1.50601760e+01] [-1.54848144e-02 -6.35088221e-04 9.99879901e-01 1.69050948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15925976399998 meters Centerline goodness [0,1] 0.5138425662301038 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.06, Z:16.91 [[ 9.99873311e-01 -4.04797679e-03 1.53939961e-02 -2.72963580e+01] [ 4.03970106e-03 9.99991679e-01 5.68652087e-04 1.50608750e+01] [-1.53961699e-02 -5.06392903e-04 9.99881344e-01 1.69054097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18925976399998 meters Centerline goodness [0,1] 0.5138425662301038 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.06, Z:16.91 [[ 9.99873311e-01 -4.04797679e-03 1.53939961e-02 -2.72963580e+01] [ 4.03970106e-03 9.99991679e-01 5.68652087e-04 1.50608750e+01] [-1.53961699e-02 -5.06392903e-04 9.99881344e-01 1.69054097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.219259764 meters Centerline goodness [0,1] 0.49366367262760846 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.06, Z:16.91 [[ 9.99871307e-01 -4.14764373e-03 1.54972925e-02 -2.72968693e+01] [ 4.14217175e-03 9.99991347e-01 3.85173912e-04 1.50609460e+01] [-1.54987559e-02 -3.20931896e-04 9.99879836e-01 1.69057991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.249259764 meters Centerline goodness [0,1] 0.5089556277056277 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.06, Z:16.91 [[ 9.99870420e-01 -3.88670550e-03 1.56216717e-02 -2.72967201e+01] [ 3.87470022e-03 9.99992174e-01 7.98694652e-04 1.50596990e+01] [-1.56246537e-02 -7.38061863e-04 9.99877655e-01 1.69050346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.279259764 meters Centerline goodness [0,1] 0.5081006642544689 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.06, Z:16.90 [[ 9.99866335e-01 -3.82642799e-03 1.58956301e-02 -2.72970918e+01] [ 3.80887823e-03 9.99992103e-01 1.13418943e-03 1.50577859e+01] [-1.58998445e-02 -1.07349331e-03 9.99873013e-01 1.69043208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.309259764 meters Centerline goodness [0,1] 0.48391265717132015 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.06, Z:16.90 [[ 9.99860761e-01 -4.05107564e-03 1.61878743e-02 -2.72982085e+01] [ 4.03335393e-03 9.99991231e-01 1.12725051e-03 1.50567947e+01] [-1.61922989e-02 -1.06180212e-03 9.99868332e-01 1.69046484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.339259764 meters Centerline goodness [0,1] 0.4982208324347639 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.06, Z:16.91 [[ 9.99850908e-01 -4.52533714e-03 1.66638432e-02 -2.73000265e+01] [ 4.51005882e-03 9.99989374e-01 9.54320757e-04 1.50561652e+01] [-1.66679848e-02 -8.79023562e-04 9.99860693e-01 1.69051999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.369259764 meters Centerline goodness [0,1] 0.4821831667204127 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.06, Z:16.91 [[ 9.99845234e-01 -4.84605868e-03 1.69122586e-02 -2.73012417e+01] [ 4.83180050e-03 9.99987936e-01 8.83827426e-04 1.50558250e+01] [-1.69163377e-02 -8.01973979e-04 9.99856587e-01 1.69057886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.399259764 meters Centerline goodness [0,1] 0.4991379310344828 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.06, Z:16.91 [[ 9.99847284e-01 -5.16057810e-03 1.66966322e-02 -2.73017570e+01] [ 5.16026770e-03 9.99986684e-01 6.16734586e-05 1.50580768e+01] [-1.66967281e-02 2.44950517e-05 9.99860600e-01 1.69076895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.429259764 meters Centerline goodness [0,1] 0.4896313674729661 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.06, Z:16.91 [[ 9.99847925e-01 -5.14306180e-03 1.66636338e-02 -2.73018151e+01] [ 5.14458887e-03 9.99986765e-01 -4.87755347e-05 1.50585010e+01] [-1.66631624e-02 1.34495662e-04 9.99861151e-01 1.69079892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45925976399997 meters Centerline goodness [0,1] 0.4761725270583167 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.06, Z:16.91 [[ 9.99846598e-01 -5.14793315e-03 1.67415257e-02 -2.73020105e+01] [ 5.14840810e-03 9.99986747e-01 1.47300217e-05 1.50585047e+01] [-1.67413797e-02 7.14644445e-05 9.99859851e-01 1.69078943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48925976399997 meters Centerline goodness [0,1] 0.47619047619047616 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.92 [[ 9.99936450e-01 -3.53071490e-03 1.07065781e-02 -2.73193638e+01] [ 3.62279378e-03 9.99956516e-01 -8.59305167e-03 1.50637411e+01] [-1.06757729e-02 8.63129330e-03 9.99905760e-01 1.69150865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51925976399997 meters Centerline goodness [0,1] 0.4768843949388991 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99937766e-01 -3.20878442e-03 1.06849408e-02 -2.73185928e+01] [ 3.29731136e-03 9.99960301e-01 -8.27792304e-03 1.50636768e+01] [-1.06579546e-02 8.31263944e-03 9.99908650e-01 1.69141193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54925976399997 meters Centerline goodness [0,1] 0.4890576029395871 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99937717e-01 -3.20454336e-03 1.06908089e-02 -2.73186448e+01] [ 3.29357155e-03 9.99959961e-01 -8.32035790e-03 1.50640680e+01] [-1.06637179e-02 8.35505062e-03 9.99908235e-01 1.69141722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57925976399997 meters Centerline goodness [0,1] 0.4907314697047601 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99935298e-01 1.20782163e-04 1.13747387e-02 -2.73209666e+01] [-7.62901862e-05 9.99992346e-01 -3.91182508e-03 1.50604743e+01] [-1.13751241e-02 3.91070420e-03 9.99927654e-01 1.69136562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60925976399997 meters Centerline goodness [0,1] 0.48588818269955836 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99933851e-01 1.37211729e-04 1.15010786e-02 -2.73211278e+01] [-9.73333184e-05 9.99993982e-01 -3.46785074e-03 1.50590262e+01] [-1.15014852e-02 3.46650190e-03 9.99927847e-01 1.69129880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63925976399997 meters Centerline goodness [0,1] 0.4891330694029248 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99932870e-01 2.40156337e-04 1.15844017e-02 -2.73211034e+01] [-2.04157233e-04 9.99995147e-01 -3.10863215e-03 1.50581055e+01] [-1.15850921e-02 3.10605843e-03 9.99928066e-01 1.69124334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66925976399997 meters Centerline goodness [0,1] 0.49050598770093856 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99931481e-01 2.49587548e-04 1.17034907e-02 -2.73214061e+01] [-2.16222666e-04 9.99995910e-01 -2.85202747e-03 1.50573736e+01] [-1.17041546e-02 2.84930149e-03 9.99927444e-01 1.69122210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69925976399998 meters Centerline goodness [0,1] 0.4710529863826345 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99931706e-01 2.28505056e-04 1.16846945e-02 -2.73215474e+01] [-1.95640573e-04 9.99996022e-01 -2.81367514e-03 1.50572437e+01] [-1.16852909e-02 2.81119698e-03 9.99927773e-01 1.69124197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72925976399998 meters Centerline goodness [0,1] 0.4906525668348215 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99937125e-01 5.59544573e-04 1.11996824e-02 -2.73202949e+01] [-5.25814643e-04 9.99995318e-01 -3.01440437e-03 1.50591112e+01] [-1.12013166e-02 3.00832588e-03 9.99932738e-01 1.69128397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75925976399998 meters Centerline goodness [0,1] 0.4752897943743414 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99939864e-01 7.04506502e-04 1.09440118e-02 -2.73196156e+01] [-6.69149192e-04 9.99994546e-01 -3.23407073e-03 1.50606344e+01] [-1.09462306e-02 3.22655307e-03 9.99934883e-01 1.69131000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78925976399998 meters Centerline goodness [0,1] 0.48343296096940847 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99943564e-01 1.31648706e-03 1.05421066e-02 -2.73179877e+01] [-1.28530841e-03 9.99994782e-01 -2.96376372e-03 1.50612735e+01] [-1.05459534e-02 2.95004660e-03 9.99940038e-01 1.69125922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81925976399998 meters Centerline goodness [0,1] 0.4816208315288003 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99943441e-01 1.65650728e-03 1.05057522e-02 -2.73173835e+01] [-1.62851031e-03 9.99995102e-01 -2.67291295e-03 1.50605850e+01] [-1.05101284e-02 2.65565305e-03 9.99941241e-01 1.69119608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84925976399998 meters Centerline goodness [0,1] 0.48360744427613067 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99941924e-01 1.93096274e-03 1.06028253e-02 -2.73171755e+01] [-1.90693219e-03 9.99995592e-01 -2.27607108e-03 1.50593722e+01] [-1.06071736e-02 2.25572002e-03 9.99941198e-01 1.69112697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87925976399998 meters Centerline goodness [0,1] 0.48462557806203854 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99940087e-01 2.00793682e-03 1.07605927e-02 -2.73175898e+01] [-1.98562337e-03 9.99995857e-01 -2.08390936e-03 1.50582417e+01] [-1.07647324e-02 2.06241802e-03 9.99939932e-01 1.69111850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90925976399998 meters Centerline goodness [0,1] 0.48891538836793325 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99938469e-01 1.80641922e-03 1.09451129e-02 -2.73185842e+01] [-1.78573624e-03 9.99996602e-01 -1.89917867e-03 1.50571349e+01] [-1.09485064e-02 1.87951672e-03 9.99938297e-01 1.69115681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93925976399998 meters Centerline goodness [0,1] 0.48929315899185144 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99937211e-01 1.70141229e-03 1.10761062e-02 -2.73191498e+01] [-1.68320171e-03 9.99997217e-01 -1.65324601e-03 1.50563264e+01] [-1.10788882e-02 1.63449888e-03 9.99937291e-01 1.69115455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.969259764 meters Centerline goodness [0,1] 0.48782138024357236 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.05, Z:16.91 [[ 9.99934694e-01 6.74454235e-04 1.14084710e-02 -2.73214517e+01] [-6.56989437e-04 9.99998607e-01 -1.53454076e-03 1.50536667e+01] [-1.14094901e-02 1.52694530e-03 9.99933744e-01 1.69121421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.999259764 meters Centerline goodness [0,1] 0.48606191699337564 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.05, Z:16.91 [[ 9.99929998e-01 3.96090690e-04 1.18254637e-02 -2.73228252e+01] [-3.82045675e-04 9.99999219e-01 -1.18992790e-03 1.50514824e+01] [-1.18259257e-02 1.18532674e-03 9.99929369e-01 1.69119856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.029259764 meters Centerline goodness [0,1] 0.48160869800400286 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.05, Z:16.91 [[ 9.99922990e-01 -2.91572839e-05 1.24102058e-02 -2.73246676e+01] [ 4.12620111e-05 9.99999524e-01 -9.75129968e-04 1.50495612e+01] [-1.24101714e-02 9.75566943e-04 9.99922515e-01 1.69119019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.059259764 meters Centerline goodness [0,1] 0.4665818811559692 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.05, Z:16.91 [[ 9.99924489e-01 1.10083467e-04 1.22883455e-02 -2.73241387e+01] [-1.00910087e-04 9.99999716e-01 -7.47128128e-04 1.50492065e+01] [-1.22884242e-02 7.45831693e-04 9.99924216e-01 1.69115006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.089259764 meters Centerline goodness [0,1] 0.4659429313985598 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.05, Z:16.91 [[ 9.99929453e-01 3.30881530e-04 1.18734906e-02 -2.73229113e+01] [-3.19102605e-04 9.99999455e-01 -9.93916425e-04 1.50512394e+01] [-1.18738130e-02 9.90057446e-04 9.99929014e-01 1.69116202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.119259764 meters Centerline goodness [0,1] 0.4911046527419398 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.05, Z:16.91 [[ 9.99932442e-01 4.31449216e-04 1.16157375e-02 -2.73218962e+01] [-4.18306694e-04 9.99999270e-01 -1.13384678e-03 1.50532542e+01] [-1.16162182e-02 1.12891124e-03 9.99931892e-01 1.69112578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.149259764 meters Centerline goodness [0,1] 0.48311610568419905 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.05, Z:16.91 [[ 9.99932274e-01 6.75042438e-04 1.16185996e-02 -2.73210786e+01] [-6.66371311e-04 9.99999497e-01 -7.50169405e-04 1.50529168e+01] [-1.16191002e-02 7.42376297e-04 9.99932220e-01 1.69099844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.179259764 meters Centerline goodness [0,1] 0.49382985099022036 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.05, Z:16.91 [[ 9.99936922e-01 1.35749138e-03 1.11493832e-02 -2.73187596e+01] [-1.35079117e-03 9.99998903e-01 -6.08457466e-04 1.50542349e+01] [-1.11501970e-02 5.93358597e-04 9.99937659e-01 1.69089910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20925976399997 meters Centerline goodness [0,1] 0.49839017735334246 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99940713e-01 1.80519894e-03 1.07383049e-02 -2.73170334e+01] [-1.79854926e-03 9.99998185e-01 -6.28873200e-04 1.50557694e+01] [-1.07394207e-02 6.09522546e-04 9.99942145e-01 1.69084623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23925976399997 meters Centerline goodness [0,1] 0.4893331874623926 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99945282e-01 2.01338693e-03 1.02654444e-02 -2.73157920e+01] [-2.00015741e-03 9.99997156e-01 -1.29884677e-03 1.50592033e+01] [-1.02680302e-02 1.27824320e-03 9.99946465e-01 1.69092169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26925976399997 meters Centerline goodness [0,1] 0.4940137765143232 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99946796e-01 1.90998758e-03 1.01369552e-02 -2.73157356e+01] [-1.89289076e-03 9.99996770e-01 -1.69590968e-03 1.50608492e+01] [-1.01401616e-02 1.67663130e-03 9.99947182e-01 1.69098096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29925976399997 meters Centerline goodness [0,1] 0.4873331144670606 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.06, Z:16.91 [[ 9.99947727e-01 1.84346374e-03 1.00570782e-02 -2.73155977e+01] [-1.82339806e-03 9.99996330e-01 -2.00398405e-03 1.50622883e+01] [-1.00607355e-02 1.98554124e-03 9.99947418e-01 1.69100435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32925976399997 meters Centerline goodness [0,1] 0.5111956640753312 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.06, Z:16.91 [[ 9.99950812e-01 2.09441289e-03 9.69463855e-03 -2.73143420e+01] [-2.07372992e-03 9.99995554e-01 -2.14300491e-03 1.50637164e+01] [-9.69908378e-03 2.12279544e-03 9.99950710e-01 1.69099206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35925976399997 meters Centerline goodness [0,1] 0.49323287671232874 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.07, Z:16.91 [[ 9.99954124e-01 2.41249687e-03 9.26987320e-03 -2.73128456e+01] [-2.39037897e-03 9.99994272e-01 -2.39633828e-03 1.50661997e+01] [-9.27560126e-03 2.37406984e-03 9.99954162e-01 1.69098463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38925976399997 meters Centerline goodness [0,1] 0.5208258774948382 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.07, Z:16.91 [[ 9.99957560e-01 2.80204299e-03 8.77649491e-03 -2.73110721e+01] [-2.77580879e-03 9.99991648e-01 -2.99990012e-03 1.50702166e+01] [-8.78482745e-03 2.97541093e-03 9.99956986e-01 1.69101008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41925976399997 meters Centerline goodness [0,1] 0.5032353993997302 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.07, Z:16.91 [[ 9.99958349e-01 2.90486657e-03 8.65226365e-03 -2.73104703e+01] [-2.87711058e-03 9.99990681e-01 -3.21866629e-03 1.50717595e+01] [-8.66153281e-03 3.19363871e-03 9.99957388e-01 1.69099586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44925976399998 meters Centerline goodness [0,1] 0.5089349732502344 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.07, Z:16.91 [[ 9.99958985e-01 3.05928427e-03 8.52461172e-03 -2.73097303e+01] [-3.03097400e-03 9.99989856e-01 -3.33194697e-03 1.50730470e+01] [-8.53471862e-03 3.30597244e-03 9.99958114e-01 1.69095653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47925976399998 meters Centerline goodness [0,1] 0.5195980734097325 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.08, Z:16.91 [[ 9.99961656e-01 3.54465190e-03 8.00756812e-03 -2.73079528e+01] [-3.51504366e-03 9.99986945e-01 -3.70858495e-03 1.50760837e+01] [-8.02060923e-03 3.68029580e-03 9.99961062e-01 1.69097504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50925976399998 meters Centerline goodness [0,1] 0.508445899093002 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.08, Z:16.91 [[ 9.99963260e-01 3.57633466e-03 7.79023183e-03 -2.73074857e+01] [-3.54507780e-03 9.99985626e-01 -4.02243407e-03 1.50780405e+01] [-7.80450542e-03 3.99466931e-03 9.99961565e-01 1.69100800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53925976399998 meters Centerline goodness [0,1] 0.5012897678417885 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.08, Z:16.91 [[ 9.99964370e-01 3.59113072e-03 7.63953947e-03 -2.73070373e+01] [-3.55846681e-03 9.99984488e-01 -4.28494447e-03 1.50798948e+01] [-7.65480876e-03 4.25760675e-03 9.99961638e-01 1.69101836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56925976399998 meters Centerline goodness [0,1] 0.5265862873652628 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.08, Z:16.91 [[ 9.99966412e-01 3.65548690e-03 7.33569684e-03 -2.73061872e+01] [-3.62276936e-03 9.99983454e-01 -4.46838854e-03 1.50816537e+01] [-7.35190960e-03 4.44166292e-03 9.99963110e-01 1.69102184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59925976399998 meters Centerline goodness [0,1] 0.5278288484038107 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.08, Z:16.91 [[ 9.99968414e-01 4.05868481e-03 6.83361590e-03 -2.73041729e+01] [-4.02775065e-03 9.99981608e-01 -4.53445622e-03 1.50840725e+01] [-6.85189415e-03 4.50678889e-03 9.99966370e-01 1.69095977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62925976399998 meters Centerline goodness [0,1] 0.5287148538532136 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.08, Z:16.91 [[ 9.99968812e-01 4.16302359e-03 6.71151057e-03 -2.73037633e+01] [-4.13242987e-03 9.99981038e-01 -4.56583611e-03 1.50845148e+01] [-6.73039099e-03 4.53795887e-03 9.99967054e-01 1.69095580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65925976399998 meters Centerline goodness [0,1] 0.5261211666249618 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.08, Z:16.91 [[ 9.99968587e-01 4.30303620e-03 6.65645625e-03 -2.73033633e+01] [-4.27278605e-03 9.99980511e-01 -4.55204722e-03 1.50849687e+01] [-6.67591414e-03 4.52346261e-03 9.99967485e-01 1.69093182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68925976399998 meters Centerline goodness [0,1] 0.5262747500626583 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.09, Z:16.91 [[ 9.99968842e-01 4.24751993e-03 6.65379476e-03 -2.73034369e+01] [-4.21612707e-03 9.99979949e-01 -4.72498202e-03 1.50860351e+01] [-6.67373080e-03 4.69678155e-03 9.99966700e-01 1.69094724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.719259764 meters Centerline goodness [0,1] 0.5230812168573821 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.09, Z:16.91 [[ 9.99970681e-01 4.13765542e-03 6.44337542e-03 -2.73029847e+01] [-4.10455597e-03 9.99978357e-01 -5.14175275e-03 1.50887202e+01] [-6.46451077e-03 5.11515481e-03 9.99966022e-01 1.69097603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.749259764 meters Centerline goodness [0,1] 0.5153829004570283 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.09, Z:16.91 [[ 9.99970733e-01 4.15500572e-03 6.42408093e-03 -2.73027111e+01] [-4.12194117e-03 9.99978235e-01 -5.15167118e-03 1.50893192e+01] [-6.44534633e-03 5.12504072e-03 9.99966095e-01 1.69093797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.779259764 meters Centerline goodness [0,1] 0.5251991614255765 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.09, Z:16.91 [[ 9.99970815e-01 4.19990293e-03 6.38204401e-03 -2.73023838e+01] [-4.16732545e-03 9.99978264e-01 -5.10930602e-03 1.50895725e+01] [-6.40336388e-03 5.08256085e-03 9.99966582e-01 1.69090027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.809259764 meters Centerline goodness [0,1] 0.5266960499888418 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.09, Z:16.91 [[ 9.99971033e-01 4.47388200e-03 6.15765091e-03 -2.73011848e+01] [-4.44290267e-03 9.99977452e-01 -5.03554791e-03 1.50902682e+01] [-6.18004051e-03 5.00804420e-03 9.99968363e-01 1.69083188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.839259764 meters Centerline goodness [0,1] 0.5296433857410148 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.09, Z:16.91 [[ 9.99971610e-01 4.91222867e-03 5.71388684e-03 -2.72993939e+01] [-4.88296757e-03 9.99974951e-01 -5.12377702e-03 1.50924772e+01] [-5.73891288e-03 5.09573083e-03 9.99970549e-01 1.69079140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.869259764 meters Centerline goodness [0,1] 0.5367498880429915 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.09, Z:16.91 [[ 9.99942510e-01 8.96456823e-03 5.88332573e-03 -2.72994149e+01] [-8.95720242e-03 9.99959068e-01 -1.27713850e-03 1.50946398e+01] [-5.89453391e-03 1.22436694e-03 9.99981878e-01 1.69075587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.899259764 meters Centerline goodness [0,1] 0.532058492688414 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.10, Z:16.91 [[ 9.99945723e-01 8.76398310e-03 5.63409400e-03 -2.72991901e+01] [-8.75172109e-03 9.99959289e-01 -2.19737785e-03 1.50979564e+01] [-5.65312241e-03 2.14795056e-03 9.99981714e-01 1.69087579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.929259764 meters Centerline goodness [0,1] 0.5336806533370881 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.10, Z:16.91 [[ 9.99947002e-01 8.81060909e-03 5.32601165e-03 -2.72982890e+01] [-8.79655275e-03 9.99957780e-01 -2.65687632e-03 1.51004749e+01] [-5.34919548e-03 2.60988497e-03 9.99982287e-01 1.69089880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95925976399997 meters Centerline goodness [0,1] 0.5348437455969792 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.10, Z:16.91 [[ 9.99946371e-01 9.09406685e-03 4.95515816e-03 -2.72969179e+01] [-9.07962369e-03 9.99954488e-01 -2.92951378e-03 1.51025006e+01] [-4.98157383e-03 2.88436570e-03 9.99983432e-01 1.69089162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98925976399997 meters Centerline goodness [0,1] 0.5355750211924273 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.11, Z:16.91 [[ 9.99942532e-01 9.73301072e-03 4.49466813e-03 -2.72945115e+01] [-9.71743499e-03 9.99946749e-01 -3.47431366e-03 1.51068389e+01] [-4.52824431e-03 3.43043735e-03 9.99983863e-01 1.69085509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01925976399997 meters Centerline goodness [0,1] 0.5350700835339091 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.11, Z:16.91 [[ 9.99942149e-01 9.90782090e-03 4.18743850e-03 -2.72933216e+01] [-9.89170041e-03 9.99943653e-01 -3.85306181e-03 1.51094607e+01] [-4.22537800e-03 3.81141802e-03 9.99983810e-01 1.69085061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04925976399997 meters Centerline goodness [0,1] 0.5332557082812677 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.11, Z:16.91 [[ 9.99942336e-01 1.00559996e-02 3.76836502e-03 -2.72919989e+01] [-1.00397479e-02 9.99940325e-01 -4.30703138e-03 1.51124922e+01] [-3.81145165e-03 4.26894958e-03 9.99983624e-01 1.69087203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07925976399997 meters Centerline goodness [0,1] 0.5332557082812677 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.11, Z:16.91 [[ 9.99942336e-01 1.00559996e-02 3.76836502e-03 -2.72919989e+01] [-1.00397479e-02 9.99940325e-01 -4.30703138e-03 1.51124922e+01] [-3.81145165e-03 4.26894958e-03 9.99983624e-01 1.69087203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10925976399997 meters Centerline goodness [0,1] 0.535659356308744 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99942059e-01 1.02759684e-02 3.20666535e-03 -2.72903858e+01] [-1.02606822e-02 9.99936087e-01 -4.74761011e-03 1.51154969e+01] [-3.25524670e-03 4.71443246e-03 9.99983589e-01 1.69091169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13925976399997 meters Centerline goodness [0,1] 0.5377123377925463 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99937162e-01 1.08843192e-02 2.68398397e-03 -2.72881011e+01] [-1.08700438e-02 9.99926994e-01 -5.27714303e-03 1.51200537e+01] [-2.74122614e-03 5.24763640e-03 9.99982474e-01 1.69091206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16925976399997 meters Centerline goodness [0,1] 0.5392072506166465 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99936047e-01 1.10298656e-02 2.49897949e-03 -2.72872873e+01] [-1.10159409e-02 9.99924092e-01 -5.51902500e-03 1.51218375e+01] [-2.55966390e-03 5.49114342e-03 9.99981648e-01 1.69090084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19925976399998 meters Centerline goodness [0,1] 0.5362414755560672 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99934429e-01 1.12314535e-02 2.23447271e-03 -2.72861934e+01] [-1.12185755e-02 9.99920854e-01 -5.69473233e-03 1.51233947e+01] [-2.29825599e-03 5.66929132e-03 9.99981288e-01 1.69088195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22925976399998 meters Centerline goodness [0,1] 0.5398628004842336 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99932876e-01 1.14067364e-02 2.03238281e-03 -2.72853073e+01] [-1.13947662e-02 9.99918216e-01 -5.80702624e-03 1.51247210e+01] [-2.09845581e-03 5.78347792e-03 9.99981074e-01 1.69085557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25925976399998 meters Centerline goodness [0,1] 0.5411981779392262 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99931605e-01 1.15277960e-02 1.97367999e-03 -2.72848606e+01] [-1.15162791e-02 9.99917151e-01 -5.75040640e-03 1.51252052e+01] [-2.03980598e-03 5.72728366e-03 9.99981519e-01 1.69081593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28925976399998 meters Centerline goodness [0,1] 0.5426815191042365 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99929754e-01 1.16676199e-02 2.08657203e-03 -2.72850736e+01] [-1.16560133e-02 9.99916991e-01 -5.49074936e-03 1.51238430e+01] [-2.15046281e-03 5.46604255e-03 9.99982749e-01 1.69079595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31925976399998 meters Centerline goodness [0,1] 0.5417279676907544 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99929491e-01 1.16615352e-02 2.24067577e-03 -2.72856250e+01] [-1.16495144e-02 9.99918069e-01 -5.30500763e-03 1.51229369e+01] [-2.30235673e-03 5.27853080e-03 9.99983418e-01 1.69079345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34925976399998 meters Centerline goodness [0,1] 0.5402981631534935 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99930146e-01 1.15890240e-02 2.32348122e-03 -2.72862658e+01] [-1.15766214e-02 9.99919037e-01 -5.28213959e-03 1.51221762e+01] [-2.38450794e-03 5.25487254e-03 9.99983350e-01 1.69083688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37925976399998 meters Centerline goodness [0,1] 0.538029062391881 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99929959e-01 1.15600619e-02 2.53825251e-03 -2.72869174e+01] [-1.15470155e-02 9.99920346e-01 -5.09579506e-03 1.51213212e+01] [-2.59695804e-03 5.06612890e-03 9.99983795e-01 1.69082981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40925976399998 meters Centerline goodness [0,1] 0.5420315740954137 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99970200e-01 7.44317815e-03 2.04898697e-03 -2.72862091e+01] [-7.42332817e-03 9.99927028e-01 -9.53058692e-03 1.51231627e+01] [-2.11977531e-03 9.51509261e-03 9.99952484e-01 1.69091930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43925976399998 meters Centerline goodness [0,1] 0.5413793103448277 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99969776e-01 7.39379787e-03 2.40410156e-03 -2.72870980e+01] [-7.37175143e-03 9.99931844e-01 -9.05341057e-03 1.51209958e+01] [-2.47087679e-03 9.03541450e-03 9.99956127e-01 1.69086219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.469259764 meters Centerline goodness [0,1] 0.5415280486405873 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99968866e-01 7.36166313e-03 2.84117344e-03 -2.72882176e+01] [-7.33718079e-03 9.99936672e-01 -8.53329781e-03 1.51184960e+01] [-2.90381278e-03 8.51218593e-03 9.99959554e-01 1.69080833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.499259764 meters Centerline goodness [0,1] 0.5371227709190672 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99969290e-01 7.07940875e-03 3.36181788e-03 -2.72899708e+01] [-7.05145377e-03 9.99941058e-01 -8.25572830e-03 1.51164176e+01] [-3.42006541e-03 8.23176906e-03 9.99960270e-01 1.69080615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.529259764 meters Centerline goodness [0,1] 0.5378543031204417 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.11, Z:16.91 [[ 9.99974417e-01 5.99954990e-03 3.89493043e-03 -2.72934218e+01] [-5.96707521e-03 9.99947780e-01 -8.29643895e-03 1.51139905e+01] [-3.94450193e-03 8.27298536e-03 9.99957998e-01 1.69095685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.559259764 meters Centerline goodness [0,1] 0.5393364387163146 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.11, Z:16.91 [[ 9.99975368e-01 5.61436526e-03 4.21208416e-03 -2.72951458e+01] [-5.57925395e-03 9.99949975e-01 -8.30179870e-03 1.51130997e+01] [-4.25848278e-03 8.27809392e-03 9.99956668e-01 1.69104016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.589259764 meters Centerline goodness [0,1] 0.5377339619945707 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.11, Z:16.91 [[ 9.99976176e-01 5.46222993e-03 4.22040264e-03 -2.72957888e+01] [-5.42638595e-03 9.99949504e-01 -8.45830138e-03 1.51135443e+01] [-4.26639071e-03 8.43519834e-03 9.99955322e-01 1.69112075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.619259764 meters Centerline goodness [0,1] 0.5335197922315135 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.11, Z:16.91 [[ 9.99974719e-01 5.69185812e-03 4.26192051e-03 -2.72954473e+01] [-5.65673384e-03 9.99950309e-01 -8.20861211e-03 1.51131025e+01] [-4.30843099e-03 8.18429604e-03 9.99957226e-01 1.69105989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.649259764 meters Centerline goodness [0,1] 0.5366967241182514 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.11, Z:16.91 [[ 9.99973135e-01 5.93158100e-03 4.30637627e-03 -2.72949616e+01] [-5.89689977e-03 9.99950436e-01 -8.02197718e-03 1.51130178e+01] [-4.35374583e-03 7.99636740e-03 9.99958551e-01 1.69098438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.679259764 meters Centerline goodness [0,1] 0.535673678226265 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.11, Z:16.91 [[ 9.99970932e-01 6.26039812e-03 4.35236863e-03 -2.72942001e+01] [-6.22702813e-03 9.99951435e-01 -7.63881892e-03 1.51126110e+01] [-4.39997930e-03 7.61149455e-03 9.99961352e-01 1.69086125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70925976399997 meters Centerline goodness [0,1] 0.5307025052787765 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.11, Z:16.91 [[ 9.99969364e-01 6.47075892e-03 4.40452115e-03 -2.72937900e+01] [-6.43753101e-03 9.99951026e-01 -7.51687337e-03 1.51127161e+01] [-4.45294532e-03 7.48828884e-03 9.99962048e-01 1.69079207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73925976399997 meters Centerline goodness [0,1] 0.5317165246239204 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.11, Z:16.91 [[ 9.99970069e-01 6.48125085e-03 4.22543043e-03 -2.72933939e+01] [-6.44856407e-03 9.99949531e-01 -7.70399425e-03 1.51139982e+01] [-4.27514869e-03 7.67651570e-03 9.99961396e-01 1.69081252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76925976399997 meters Centerline goodness [0,1] 0.5325537294563844 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99971365e-01 6.39326872e-03 4.04909925e-03 -2.72931543e+01] [-6.36020883e-03 9.99946759e-01 -8.12566657e-03 1.51162219e+01] [-4.10083324e-03 8.09968078e-03 9.99958788e-01 1.69086755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79925976399997 meters Centerline goodness [0,1] 0.5302838754166188 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99971293e-01 6.63267523e-03 3.66341863e-03 -2.72919083e+01] [-6.60215173e-03 9.99943907e-01 -8.28214934e-03 1.51183746e+01] [-3.71814595e-03 8.25772514e-03 9.99958992e-01 1.69086635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82925976399997 meters Centerline goodness [0,1] 0.5320374370050396 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99968779e-01 7.25670661e-03 3.12761426e-03 -2.72895975e+01] [-7.23073073e-03 9.99939923e-01 -8.23812228e-03 1.51204605e+01] [-3.18720800e-03 8.21525014e-03 9.99961175e-01 1.69080136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85925976399997 meters Centerline goodness [0,1] 0.5318057356967862 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99966715e-01 7.53421039e-03 3.13128959e-03 -2.72888640e+01] [-7.50871839e-03 9.99939208e-01 -8.07459994e-03 1.51207566e+01] [-3.19193497e-03 8.05081920e-03 9.99962497e-01 1.69071620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88925976399997 meters Centerline goodness [0,1] 0.5303996537296205 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99965111e-01 7.79721318e-03 2.99684872e-03 -2.72880786e+01] [-7.77305017e-03 9.99937855e-01 -7.99160969e-03 1.51209915e+01] [-3.05897476e-03 7.96803621e-03 9.99963576e-01 1.69067168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91925976399997 meters Centerline goodness [0,1] 0.5306269864201099 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99964726e-01 7.86042949e-03 2.95976007e-03 -2.72877562e+01] [-7.83608321e-03 9.99936089e-01 -8.14942109e-03 1.51221658e+01] [-3.02362886e-03 8.12594070e-03 9.99962413e-01 1.69065781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94925976399998 meters Centerline goodness [0,1] 0.5259978612098616 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99964761e-01 7.93653896e-03 2.73647402e-03 -2.72871899e+01] [-7.91318213e-03 9.99933046e-01 -8.44308825e-03 1.51238570e+01] [-2.80329970e-03 8.42113650e-03 9.99960612e-01 1.69068720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97925976399998 meters Centerline goodness [0,1] 0.5279504901819023 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99965520e-01 7.91442416e-03 2.51390818e-03 -2.72867944e+01] [-7.89177182e-03 9.99929284e-01 -8.89641428e-03 1.51260339e+01] [-2.58414041e-03 8.87626835e-03 9.99957266e-01 1.69074739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00925976399998 meters Centerline goodness [0,1] 0.5263050689635105 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99965266e-01 8.04656217e-03 2.17258892e-03 -2.72859875e+01] [-8.02558884e-03 9.99922708e-01 -9.49565616e-03 1.51296264e+01] [-2.24882839e-03 9.47789003e-03 9.99952555e-01 1.69082601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03925976399998 meters Centerline goodness [0,1] 0.5276734503741229 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99964781e-01 8.13778505e-03 2.05282023e-03 -2.72855057e+01] [-8.11784946e-03 9.99921545e-01 -9.53958161e-03 1.51306559e+01] [-2.13029024e-03 9.52258115e-03 9.99952390e-01 1.69081036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06925976399998 meters Centerline goodness [0,1] 0.5265257395760541 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99963026e-01 8.37511264e-03 1.95034934e-03 -2.72849088e+01] [-8.35632967e-03 9.99920456e-01 -9.44740845e-03 1.51311718e+01] [-2.02931732e-03 9.43076138e-03 9.99953470e-01 1.69077687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09925976399998 meters Centerline goodness [0,1] 0.521647983694861 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99962593e-01 8.45237908e-03 1.83565876e-03 -2.72846915e+01] [-8.43425082e-03 9.99917689e-01 -9.66848018e-03 1.51324136e+01] [-1.91722932e-03 9.65263611e-03 9.99951574e-01 1.69081236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12925976399998 meters Centerline goodness [0,1] 0.5198611759216052 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99963178e-01 8.37836046e-03 1.85601530e-03 -2.72850447e+01] [-8.35963246e-03 9.99916264e-01 -9.87828679e-03 1.51330620e+01] [-1.93862373e-03 9.86240745e-03 9.99949486e-01 1.69086364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15925976399998 meters Centerline goodness [0,1] 0.5196770055970149 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99963423e-01 8.32143813e-03 1.97661999e-03 -2.72855289e+01] [-8.30134795e-03 9.99915905e-01 -9.96348667e-03 1.51333128e+01] [-2.05936431e-03 9.94671363e-03 9.99948410e-01 1.69088857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18925976399998 meters Centerline goodness [0,1] 0.5258718809280607 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99963893e-01 8.26311278e-03 1.98330277e-03 -2.72858736e+01] [-8.24286951e-03 9.99915956e-01 -1.00067606e-02 1.51331940e+01] [-2.06582308e-03 9.99005116e-03 9.99947964e-01 1.69093025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.219259764 meters Centerline goodness [0,1] 0.5190298289650341 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99962999e-01 8.34393828e-03 2.09271560e-03 -2.72861530e+01] [-8.32307490e-03 9.99917461e-01 -9.78759431e-03 1.51323926e+01] [-2.17420995e-03 9.76981433e-03 9.99949911e-01 1.69091980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.249259764 meters Centerline goodness [0,1] 0.5191836019621583 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99962047e-01 8.42556381e-03 2.21704914e-03 -2.72864037e+01] [-8.40435819e-03 9.99920441e-01 -9.40631595e-03 1.51311180e+01] [-2.29612627e-03 9.38732607e-03 9.99953302e-01 1.69088017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.279259764 meters Centerline goodness [0,1] 0.5171950721083669 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99960018e-01 8.56566834e-03 2.56751950e-03 -2.72869884e+01] [-8.54306220e-03 9.99925747e-01 -8.68997949e-03 1.51284682e+01] [-2.64176434e-03 8.66769757e-03 9.99958945e-01 1.69077739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.309259764 meters Centerline goodness [0,1] 0.516176041970271 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99958531e-01 8.70921016e-03 2.66186198e-03 -2.72870940e+01] [-8.68683233e-03 9.99927773e-01 -8.30584909e-03 1.51271342e+01] [-2.73400711e-03 8.28238151e-03 9.99961963e-01 1.69073515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.339259764 meters Centerline goodness [0,1] 0.5141582339389343 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99957116e-01 8.80361841e-03 2.87455315e-03 -2.72875173e+01] [-8.78060058e-03 9.99930051e-01 -7.92421376e-03 1.51256815e+01] [-2.94411383e-03 7.89863363e-03 9.99964471e-01 1.69069256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.369259764 meters Centerline goodness [0,1] 0.5131103600978907 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99958899e-01 8.44655359e-03 3.29476518e-03 -2.72894276e+01] [-8.42067428e-03 9.99934194e-01 -7.79101638e-03 1.51240215e+01] [-3.36035560e-03 7.76295202e-03 9.99964222e-01 1.69075388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.399259764 meters Centerline goodness [0,1] 0.5145642368689074 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99960052e-01 8.36101882e-03 3.16036373e-03 -2.72895878e+01] [-8.33504000e-03 9.99932084e-01 -8.14587686e-03 1.51250379e+01] [-3.22825691e-03 8.11920969e-03 9.99961828e-01 1.69084924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.429259764 meters Centerline goodness [0,1] 0.5083316369558264 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99961338e-01 8.22927303e-03 3.09863242e-03 -2.72900498e+01] [-8.20285099e-03 9.99930693e-01 -8.44528349e-03 1.51260252e+01] [-3.16791621e-03 8.41953936e-03 9.99959537e-01 1.69094500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45925976399997 meters Centerline goodness [0,1] 0.5045233731855601 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99961107e-01 8.22043709e-03 3.19516208e-03 -2.72904264e+01] [-8.19309175e-03 9.99930485e-01 -8.47924147e-03 1.51261248e+01] [-3.26464304e-03 8.45273343e-03 9.99958946e-01 1.69096565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48925976399997 meters Centerline goodness [0,1] 0.5050162375318952 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99959804e-01 8.27212918e-03 3.45877617e-03 -2.72911305e+01] [-8.24409044e-03 9.99933665e-01 -8.04370918e-03 1.51238778e+01] [-3.52508533e-03 8.01487139e-03 9.99961667e-01 1.69093246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51925976399997 meters Centerline goodness [0,1] 0.5043193413729128 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99958057e-01 8.41600689e-03 3.61317976e-03 -2.72913851e+01] [-8.38817859e-03 9.99935562e-01 -7.64916676e-03 1.51222459e+01] [-3.67732238e-03 7.61853794e-03 9.99964217e-01 1.69088897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54925976399997 meters Centerline goodness [0,1] 0.5061696211331248 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99957085e-01 8.49018467e-03 3.70744326e-03 -2.72916113e+01] [-8.46241968e-03 9.99936504e-01 -7.44153297e-03 1.51213235e+01] [-3.77038784e-03 7.40983968e-03 9.99965439e-01 1.69087602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57925976399997 meters Centerline goodness [0,1] 0.5067771084337349 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99957357e-01 8.45196137e-03 3.72128271e-03 -2.72919432e+01] [-8.42383885e-03 9.99936324e-01 -7.50911695e-03 1.51214422e+01] [-3.78451252e-03 7.47744926e-03 9.99964882e-01 1.69091800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60925976399997 meters Centerline goodness [0,1] 0.5015041073701261 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99957327e-01 8.44813422e-03 3.73817026e-03 -2.72922865e+01] [-8.41971825e-03 9.99936027e-01 -7.55311152e-03 1.51218111e+01] [-3.80174082e-03 7.52131487e-03 9.99964488e-01 1.69096530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63925976399997 meters Centerline goodness [0,1] 0.5035571750824224 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99957242e-01 8.51700883e-03 3.60216156e-03 -2.72921940e+01] [-8.48962650e-03 9.99935461e-01 -7.54981556e-03 1.51217899e+01] [-3.66623093e-03 7.51891174e-03 9.99965012e-01 1.69100399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66925976399997 meters Centerline goodness [0,1] 0.5040612805318687 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99957041e-01 8.60806971e-03 3.43753201e-03 -2.72917918e+01] [-8.58186549e-03 9.99934549e-01 -7.56632368e-03 1.51222614e+01] [-3.50243846e-03 7.53649821e-03 9.99965466e-01 1.69101558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69925976399998 meters Centerline goodness [0,1] 0.5055785782594836 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99956274e-01 8.76077770e-03 3.27076913e-03 -2.72912274e+01] [-8.73599641e-03 9.99933597e-01 -7.51552277e-03 1.51227993e+01] [-3.33639377e-03 7.48662072e-03 9.99966409e-01 1.69100160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72925976399998 meters Centerline goodness [0,1] 0.49774423043553706 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99954667e-01 8.98533232e-03 3.15082537e-03 -2.72906643e+01] [-8.96132532e-03 9.99931326e-01 -7.55236384e-03 1.51236285e+01] [-3.21846949e-03 7.52378590e-03 9.99966516e-01 1.69099593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75925976399998 meters Centerline goodness [0,1] 0.5063628721338087 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.12, Z:16.91 [[ 9.99954220e-01 9.04667412e-03 3.11690786e-03 -2.72905873e+01] [-9.02285070e-03 9.99930606e-01 -7.57439846e-03 1.51238796e+01] [-3.18521468e-03 7.54592832e-03 9.99966456e-01 1.69100007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78925976399998 meters Centerline goodness [0,1] 0.49934761808112726 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99951880e-01 9.43540470e-03 2.68521139e-03 -2.72889835e+01] [-9.41437725e-03 9.99925739e-01 -7.73860090e-03 1.51263450e+01] [-2.75802882e-03 7.71294893e-03 9.99966451e-01 1.69098403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81925976399998 meters Centerline goodness [0,1] 0.5003921796473287 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99951925e-01 9.51673473e-03 2.36205184e-03 -2.72883871e+01] [-9.49713359e-03 9.99921481e-01 -8.17529727e-03 1.51283595e+01] [-2.43966851e-03 8.15247152e-03 9.99963792e-01 1.69106570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84925976399998 meters Centerline goodness [0,1] 0.5029701240463572 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99952518e-01 9.50652733e-03 2.14184069e-03 -2.72878643e+01] [-9.48776737e-03 9.99917965e-01 -8.60501906e-03 1.51306661e+01] [-2.22346883e-03 8.58428919e-03 9.99960682e-01 1.69110467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87925976399998 meters Centerline goodness [0,1] 0.5063117292969435 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.13, Z:16.91 [[ 9.99950149e-01 9.83374308e-03 1.73116783e-03 -2.72864531e+01] [-9.81820534e-03 9.99913377e-01 -8.76595893e-03 1.51324677e+01] [-1.81722005e-03 8.74852498e-03 9.99960080e-01 1.69110040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90925976399998 meters Centerline goodness [0,1] 0.5098629416406091 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99946163e-01 1.02892637e-02 1.34236746e-03 -2.72846864e+01] [-1.02768721e-02 9.99907292e-01 -8.93269438e-03 1.51345347e+01] [-1.43415386e-03 8.91841813e-03 9.99959202e-01 1.69106282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93925976399998 meters Centerline goodness [0,1] 0.5142966181305777 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99942969e-01 1.06380028e-02 9.44217251e-04 -2.72830877e+01] [-1.06289524e-02 9.99901903e-01 -9.12188525e-03 1.51365838e+01] [-1.04116327e-03 9.11132898e-03 9.99957949e-01 1.69103449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.969259764 meters Centerline goodness [0,1] 0.5191308177947438 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99939038e-01 1.10290357e-02 5.29950136e-04 -2.72815174e+01] [-1.10236995e-02 9.99896976e-01 -9.19324542e-03 1.51380269e+01] [-6.31288169e-04 9.18684297e-03 9.99957601e-01 1.69100867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.999259764 meters Centerline goodness [0,1] 0.5191308177947438 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99939038e-01 1.10290357e-02 5.29950136e-04 -2.72815174e+01] [-1.10236995e-02 9.99896976e-01 -9.19324542e-03 1.51380269e+01] [-6.31288169e-04 9.18684297e-03 9.99957601e-01 1.69100867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.029259764 meters Centerline goodness [0,1] 0.5263204302971519 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99930806e-01 1.17635799e-02 3.38348047e-05 -2.72790101e+01] [-1.17627817e-02 9.99889198e-01 -9.12302786e-03 1.51399375e+01] [-1.41150523e-04 9.12199861e-03 9.99958384e-01 1.69091506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.059259764 meters Centerline goodness [0,1] 0.5295800401085289 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99930135e-01 1.18186561e-02 -2.09893295e-04 -2.72784919e+01] [-1.18201063e-02 9.99886032e-01 -9.39192966e-03 1.51413997e+01] [ 9.88693874e-05 9.39375446e-03 9.99955873e-01 1.69095968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.089259764 meters Centerline goodness [0,1] 0.5336367935682194 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99929403e-01 1.18750512e-02 -4.14689801e-04 -2.72780707e+01] [-1.18784840e-02 9.99883418e-01 -9.59434015e-03 1.51427100e+01] [ 3.00708175e-04 9.59858870e-03 9.99953887e-01 1.69099368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.119259764 meters Centerline goodness [0,1] 0.5374171793658306 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99929110e-01 1.18932140e-02 -5.71629126e-04 -2.72778214e+01] [-1.18982340e-02 9.99881457e-01 -9.77265269e-03 1.51436863e+01] [ 4.55333113e-04 9.77876128e-03 9.99952083e-01 1.69103187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.149259764 meters Centerline goodness [0,1] 0.5393258426966292 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99927285e-01 1.20338808e-02 -7.81457274e-04 -2.72775258e+01] [-1.20410043e-02 9.99878886e-01 -9.86039400e-03 1.51445943e+01] [ 6.62703823e-04 9.86908653e-03 9.99951080e-01 1.69108724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.179259764 meters Centerline goodness [0,1] 0.5375577127974429 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99927411e-01 1.20234773e-02 -7.80152968e-04 -2.72778241e+01] [-1.20305949e-02 9.99878915e-01 -9.87013423e-03 1.51443739e+01] [ 6.61385169e-04 9.87880347e-03 9.99950985e-01 1.69112610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20925976399997 meters Centerline goodness [0,1] 0.5408407432572154 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99925929e-01 1.21522026e-02 -6.78195724e-04 -2.72778941e+01] [-1.21581040e-02 9.99880880e-01 -9.50821384e-03 1.51432485e+01] [ 5.62569196e-04 9.51575514e-03 9.99954566e-01 1.69107531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23925976399997 meters Centerline goodness [0,1] 0.5404359640831757 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99923721e-01 1.23358559e-02 -6.15511125e-04 -2.72779215e+01] [-1.23409388e-02 9.99882608e-01 -9.08134208e-03 1.51416366e+01] [ 5.03412741e-04 9.08824535e-03 9.99958574e-01 1.69103790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26925976399997 meters Centerline goodness [0,1] 0.5432768894920055 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99923784e-01 1.23375568e-02 -4.58273660e-04 -2.72783530e+01] [-1.23410962e-02 9.99885540e-01 -8.75235506e-03 1.51404740e+01] [ 3.50238529e-04 8.75734359e-03 9.99961592e-01 1.69100532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29925976399997 meters Centerline goodness [0,1] 0.5382662849384611 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99923071e-01 1.23974558e-02 -3.94462901e-04 -2.72787296e+01] [-1.24003467e-02 9.99887422e-01 -8.44833680e-03 1.51391401e+01] [ 2.89680610e-04 8.45257836e-03 9.99964234e-01 1.69101138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32925976399997 meters Centerline goodness [0,1] 0.5395971180708719 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99927811e-01 1.20150066e-02 -1.09190874e-04 -2.72803551e+01] [-1.20154982e-02 9.99893996e-01 -8.22337748e-03 1.51371830e+01] [ 1.03753646e-05 8.22409583e-03 9.99966181e-01 1.69105806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35925976399997 meters Centerline goodness [0,1] 0.5386538800964876 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99928723e-01 1.19393899e-02 -5.91355509e-06 -2.72809061e+01] [-1.19390547e-02 9.99896682e-01 -8.00524439e-03 1.51362317e+01] [-8.96647903e-05 8.00474440e-03 9.99967958e-01 1.69106342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38925976399997 meters Centerline goodness [0,1] 0.5382313244527903 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99935317e-01 1.13699260e-02 2.94604857e-04 -2.72830708e+01] [-1.13671607e-02 9.99902444e-01 -8.11722112e-03 1.51345858e+01] [-3.86868320e-04 8.11334725e-03 9.99967011e-01 1.69119436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41925976399997 meters Centerline goodness [0,1] 0.5313930289872081 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99937378e-01 1.11773347e-02 5.54183913e-04 -2.72840745e+01] [-1.11725026e-02 9.99905046e-01 -8.06680715e-03 1.51337989e+01] [-6.44296695e-04 8.06011037e-03 9.99967309e-01 1.69121446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44925976399998 meters Centerline goodness [0,1] 0.5378405354626585 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99937918e-01 1.11232717e-02 6.57550110e-04 -2.72845128e+01] [-1.11176867e-02 9.99906500e-01 -7.96162450e-03 1.51330648e+01] [-7.46047942e-04 7.95381979e-03 9.99968090e-01 1.69122068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47925976399998 meters Centerline goodness [0,1] 0.5319655506892802 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99936743e-01 1.12369182e-02 4.90977606e-04 -2.72840748e+01] [-1.12326817e-02 9.99905584e-01 -7.91514070e-03 1.51331520e+01] [-5.79873039e-04 7.90912502e-03 9.99968554e-01 1.69122657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50925976399998 meters Centerline goodness [0,1] 0.5463798902460613 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99926789e-01 1.20965665e-02 -2.99763591e-04 -2.72810744e+01] [-1.20985699e-02 9.99895121e-01 -7.96059176e-03 1.51367700e+01] [ 2.03436324e-04 7.96363566e-03 9.99968269e-01 1.69120561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53925976399998 meters Centerline goodness [0,1] 0.5465305038222013 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99925527e-01 1.21930160e-02 -5.21289928e-04 -2.72805535e+01] [-1.21968043e-02 9.99893483e-01 -8.01622227e-03 1.51376263e+01] [ 4.23492476e-04 8.02198335e-03 9.99967734e-01 1.69122352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56925976399998 meters Centerline goodness [0,1] 0.5472339670618847 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99924483e-01 1.22758466e-02 -5.75620370e-04 -2.72804110e+01] [-1.22800715e-02 9.99892408e-01 -8.02322671e-03 1.51376664e+01] [ 4.77066538e-04 8.02968948e-03 9.99967648e-01 1.69123127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59925976399998 meters Centerline goodness [0,1] 0.5484262217489054 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99920078e-01 1.26227186e-02 -7.10845831e-04 -2.72796600e+01] [-1.26278367e-02 9.99890416e-01 -7.72613924e-03 1.51369245e+01] [ 6.13243053e-04 7.73449820e-03 9.99969900e-01 1.69118432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62925976399998 meters Centerline goodness [0,1] 0.5502913080767753 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99917207e-01 1.28453964e-02 -7.58298532e-04 -2.72793113e+01] [-1.28507743e-02 9.99888743e-01 -7.57356360e-03 1.51365477e+01] [ 6.60928739e-04 7.58268129e-03 9.99971033e-01 1.69116180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65925976399998 meters Centerline goodness [0,1] 0.5507473730945687 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99915374e-01 1.29797375e-02 -8.78151349e-04 -2.72789710e+01] [-1.29859522e-02 9.99887655e-01 -7.48610066e-03 1.51364994e+01] [ 7.80885072e-04 7.49687078e-03 9.99971593e-01 1.69115569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68925976399998 meters Centerline goodness [0,1] 0.554600936185341 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99918724e-01 1.27135737e-02 -9.54629599e-04 -2.72798037e+01] [-1.27206513e-02 9.99888547e-01 -7.81532953e-03 1.51369357e+01] [ 8.55162435e-04 7.82683784e-03 9.99969004e-01 1.69129719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.719259764 meters Centerline goodness [0,1] 0.554628067371163 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99919665e-01 1.26432165e-02 -9.01041981e-04 -2.72802276e+01] [-1.26497517e-02 9.99890653e-01 -7.65941240e-03 1.51364267e+01] [ 8.04103845e-04 7.67019504e-03 9.99970260e-01 1.69130621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.749259764 meters Centerline goodness [0,1] 0.5549338307132072 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99921093e-01 1.25429917e-02 -6.94181079e-04 -2.72809641e+01] [-1.25477919e-02 9.99893840e-01 -7.40688557e-03 1.51350829e+01] [ 6.01202881e-04 7.41501155e-03 9.99972328e-01 1.69129091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.779259764 meters Centerline goodness [0,1] 0.5526168030970182 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99921855e-01 1.24940082e-02 -4.28682366e-04 -2.72818230e+01] [-1.24966989e-02 9.99897510e-01 -6.98580367e-03 1.51329156e+01] [ 3.41357742e-04 6.99061488e-03 9.99975507e-01 1.69126224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.809259764 meters Centerline goodness [0,1] 0.5510931698980495 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99967604e-01 8.01826281e-03 -7.05589991e-04 -2.72820551e+01] [-8.02586451e-03 9.99901364e-01 -1.15259316e-02 1.51341433e+01] [ 6.13102445e-04 1.15312212e-02 9.99933325e-01 1.69138194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.839259764 meters Centerline goodness [0,1] 0.5544860473330979 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99969413e-01 7.80215599e-03 -5.46736491e-04 -2.72829542e+01] [-7.80785291e-03 9.99905275e-01 -1.13348227e-02 1.51329830e+01] [ 4.58248647e-04 1.13387449e-02 9.99935609e-01 1.69140240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.869259764 meters Centerline goodness [0,1] 0.5546346911185565 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99970862e-01 7.62328105e-03 -4.00275776e-04 -2.72836805e+01] [-7.62727555e-03 9.99908576e-01 -1.11653435e-02 1.51320990e+01] [ 3.15122630e-04 1.11680711e-02 9.99937585e-01 1.69140833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.899259764 meters Centerline goodness [0,1] 0.5551800146950772 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99970060e-01 7.70504730e-03 -7.14569733e-04 -2.72830466e+01] [-7.71245493e-03 9.99909549e-01 -1.10187361e-02 1.51325870e+01] [ 6.29605217e-04 1.10239173e-02 9.99939037e-01 1.69141108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.929259764 meters Centerline goodness [0,1] 0.5565273538389293 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99969919e-01 7.70960467e-03 -8.49789540e-04 -2.72827347e+01] [-7.71853523e-03 9.99909033e-01 -1.10612133e-02 1.51335227e+01] [ 7.64434655e-04 1.10674397e-02 9.99938462e-01 1.69141359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95925976399997 meters Centerline goodness [0,1] 0.5540132946792 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99970208e-01 7.66193634e-03 -9.37141187e-04 -2.72826873e+01] [-7.67190175e-03 9.99908543e-01 -1.11376847e-02 1.51341845e+01] [ 8.51719248e-04 1.11445425e-02 9.99937535e-01 1.69143515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98925976399997 meters Centerline goodness [0,1] 0.5658553729900712 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99969173e-01 7.78122110e-03 -1.05121631e-03 -2.72822640e+01] [-7.79238035e-03 9.99908419e-01 -1.10649424e-02 1.51346453e+01] [ 9.65021273e-04 1.10727927e-02 9.99938229e-01 1.69141704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01925976399997 meters Centerline goodness [0,1] 0.5635544898973655 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99967462e-01 7.98577077e-03 -1.14128997e-03 -2.72817580e+01] [-7.99765646e-03 9.99909483e-01 -1.08196046e-02 1.51342918e+01] [ 1.05478378e-03 1.08283802e-02 9.99940815e-01 1.69137115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04925976399997 meters Centerline goodness [0,1] 0.5672947510094213 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99965861e-01 8.18830551e-03 -1.10847369e-03 -2.72814108e+01] [-8.19952149e-03 9.99911011e-01 -1.05232311e-02 1.51337816e+01] [ 1.02220761e-03 1.05319608e-02 9.99944015e-01 1.69129913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07925976399997 meters Centerline goodness [0,1] 0.5713993094165155 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99963063e-01 8.48590467e-03 -1.36473569e-03 -2.72804084e+01] [-8.49938788e-03 9.99911881e-01 -1.01976056e-02 1.51336842e+01] [ 1.27807952e-03 1.02088283e-02 9.99947072e-01 1.69124101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10925976399997 meters Centerline goodness [0,1] 0.5653229581090569 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99962841e-01 8.49871469e-03 -1.44500155e-03 -2.72803095e+01] [-8.51295295e-03 9.99912243e-01 -1.01506852e-02 1.51339409e+01] [ 1.35860696e-03 1.01626093e-02 9.99947436e-01 1.69124104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13925976399997 meters Centerline goodness [0,1] 0.5644518661744888 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99963200e-01 8.43708196e-03 -1.55405989e-03 -2.72803353e+01] [-8.45241668e-03 9.99912860e-01 -1.01404522e-02 1.51341569e+01] [ 1.46836864e-03 1.01532146e-02 9.99947377e-01 1.69126370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16925976399997 meters Centerline goodness [0,1] 0.5683871911098114 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99964795e-01 8.27068800e-03 -1.41594298e-03 -2.72813225e+01] [-8.28440623e-03 9.99915946e-01 -9.97339341e-03 1.51329963e+01] [ 1.33333714e-03 9.98477254e-03 9.99949262e-01 1.69130428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19925976399998 meters Centerline goodness [0,1] 0.5724260839079116 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99965640e-01 8.18829465e-03 -1.29256063e-03 -2.72819655e+01] [-8.20070709e-03 9.99917276e-01 -9.90903822e-03 1.51322762e+01] [ 1.21131558e-03 9.91929766e-03 9.99950069e-01 1.69132966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22925976399998 meters Centerline goodness [0,1] 0.5678035390994569 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99966174e-01 8.14282690e-03 -1.15980093e-03 -2.72824945e+01] [-8.15377986e-03 9.99918981e-01 -9.77483827e-03 1.51316645e+01] [ 1.08011215e-03 9.78396439e-03 9.99951553e-01 1.69133216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25925976399998 meters Centerline goodness [0,1] 0.5703072568644043 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99967352e-01 8.01780023e-03 -1.00519553e-03 -2.72831306e+01] [-8.02717406e-03 9.99920767e-01 -9.69665511e-03 1.51313613e+01] [ 9.27370038e-04 9.70440741e-03 9.99952481e-01 1.69133426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28925976399998 meters Centerline goodness [0,1] 0.5690844025486602 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99968354e-01 7.90188649e-03 -9.22301559e-04 -2.72835806e+01] [-7.91026043e-03 9.99923971e-01 -9.45936818e-03 1.51304437e+01] [ 8.47484584e-04 9.46636448e-03 9.99954834e-01 1.69131521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31925976399998 meters Centerline goodness [0,1] 0.5694670700488713 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99967725e-01 7.97027343e-03 -1.01129303e-03 -2.72833129e+01] [-7.97943596e-03 9.99923934e-01 -9.40505052e-03 1.51306626e+01] [ 9.36255278e-04 9.41281653e-03 9.99955260e-01 1.69130432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34925976399998 meters Centerline goodness [0,1] 0.5727304489605777 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99966953e-01 8.06525058e-03 -1.02205534e-03 -2.72832644e+01] [-8.07434773e-03 9.99924772e-01 -9.23340651e-03 1.51304167e+01] [ 9.47508714e-04 9.24135380e-03 9.99956849e-01 1.69128953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37925976399998 meters Centerline goodness [0,1] 0.5695801349150965 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99966553e-01 8.11649789e-03 -1.00810208e-03 -2.72831945e+01] [-8.12528854e-03 9.99926076e-01 -9.04559366e-03 1.51301505e+01] [ 9.34609014e-04 9.05348222e-03 9.99958580e-01 1.69125679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40925976399998 meters Centerline goodness [0,1] 0.572072072072072 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99964731e-01 8.29822066e-03 -1.29484303e-03 -2.72822161e+01] [-8.30919017e-03 9.99927547e-01 -8.70969789e-03 1.51302069e+01] [ 1.22247422e-03 8.72014980e-03 9.99961232e-01 1.69119535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43925976399998 meters Centerline goodness [0,1] 0.571008329935341 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99962692e-01 8.53761816e-03 -1.31308350e-03 -2.72816910e+01] [-8.54837981e-03 9.99928004e-01 -8.42093936e-03 1.51299916e+01] [ 1.24109419e-03 8.43184993e-03 9.99963681e-01 1.69112410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.469259764 meters Centerline goodness [0,1] 0.5714036109493302 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99960597e-01 8.77642525e-03 -1.33370181e-03 -2.72811715e+01] [-8.78702271e-03 9.99928104e-01 -8.15940934e-03 1.51296432e+01] [ 1.26199548e-03 8.17080711e-03 9.99965822e-01 1.69105369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.499259764 meters Centerline goodness [0,1] 0.570909619296716 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99958212e-01 9.03921461e-03 -1.36664976e-03 -2.72806550e+01] [-9.04975899e-03 9.99927709e-01 -7.91692290e-03 1.51291369e+01] [ 1.29498820e-03 7.92895991e-03 9.99967727e-01 1.69099724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.529259764 meters Centerline goodness [0,1] 0.5721187427240978 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99957945e-01 9.08353641e-03 -1.26423382e-03 -2.72806525e+01] [-9.09320119e-03 9.99927754e-01 -7.86137549e-03 1.51292529e+01] [ 1.19273339e-03 7.87254081e-03 9.99968300e-01 1.69095668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.559259764 meters Centerline goodness [0,1] 0.5737790697674419 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99956712e-01 9.22226701e-03 -1.23462156e-03 -2.72803440e+01] [-9.23130020e-03 9.99929095e-01 -7.52254478e-03 1.51289034e+01] [ 1.16515910e-03 7.53361630e-03 9.99970943e-01 1.69087049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.589259764 meters Centerline goodness [0,1] 0.5720012782151469 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99956185e-01 9.29822338e-03 -1.08216008e-03 -2.72805350e+01] [-9.30582083e-03 9.99930481e-01 -7.24118388e-03 1.51280716e+01] [ 1.01475471e-03 7.25093700e-03 9.99973197e-01 1.69082048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.619259764 meters Centerline goodness [0,1] 0.5744927872754186 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99955622e-01 9.37353678e-03 -9.43503431e-04 -2.72807059e+01] [-9.37995363e-03 9.99931201e-01 -7.04340233e-03 1.51273889e+01] [ 8.77416929e-04 7.05193978e-03 9.99974750e-01 1.69078037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.649259764 meters Centerline goodness [0,1] 0.5738613286916159 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99956819e-01 9.26664450e-03 -6.99942129e-04 -2.72814032e+01] [-9.27129508e-03 9.99932784e-01 -6.96214169e-03 1.51270730e+01] [ 6.35379390e-04 6.96833043e-03 9.99975519e-01 1.69076485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.679259764 meters Centerline goodness [0,1] 0.5752076194900981 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99958949e-01 9.04044934e-03 -6.08212709e-04 -2.72819825e+01] [-9.04458811e-03 9.99933275e-01 -7.18615751e-03 1.51278963e+01] [ 5.43206034e-04 7.19136354e-03 9.99973994e-01 1.69079998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70925976399997 meters Centerline goodness [0,1] 0.5695264121871093 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99960947e-01 8.82725012e-03 -4.28954731e-04 -2.72825780e+01] [-8.83017609e-03 9.99933780e-01 -7.37995715e-03 1.51286273e+01] [ 3.63781598e-04 7.38345668e-03 9.99972676e-01 1.69080628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73925976399997 meters Centerline goodness [0,1] 0.5770618706710902 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99961745e-01 8.74113095e-03 -3.18775642e-04 -2.72828917e+01] [-8.74329603e-03 9.99933061e-01 -7.57811915e-03 1.51292807e+01] [ 2.52512972e-04 7.58061640e-03 9.99971235e-01 1.69081629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76925976399997 meters Centerline goodness [0,1] 0.5738598280635291 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99958061e-01 9.13964621e-03 -5.84940700e-04 -2.72814926e+01] [-9.14390799e-03 9.99928137e-01 -7.75309241e-03 1.51319664e+01] [ 5.14038143e-04 7.75811590e-03 9.99969773e-01 1.69077542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79925976399997 meters Centerline goodness [0,1] 0.57605481216877 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.13, Z:16.91 [[ 9.99956536e-01 9.29476857e-03 -7.30355050e-04 -2.72808085e+01] [-9.30032868e-03 9.99924597e-01 -8.01903256e-03 1.51339962e+01] [ 6.55764927e-04 8.02547657e-03 9.99967580e-01 1.69076970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82925976399997 meters Centerline goodness [0,1] 0.5639835487661575 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99954647e-01 9.47851624e-03 -9.28767278e-04 -2.72800756e+01] [-9.48593592e-03 9.99920231e-01 -8.33960479e-03 1.51359939e+01] [ 8.49646112e-04 8.34803679e-03 9.99964794e-01 1.69078554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85925976399997 meters Centerline goodness [0,1] 0.5775382168419192 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99954016e-01 9.53302025e-03 -1.04253472e-03 -2.72797684e+01] [-9.54186591e-03 9.99915424e-01 -8.83725932e-03 1.51383942e+01] [ 9.58200772e-04 8.84680068e-03 9.99960407e-01 1.69083584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88925976399997 meters Centerline goodness [0,1] 0.5775382168419192 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99954016e-01 9.53302025e-03 -1.04253472e-03 -2.72797684e+01] [-9.54186591e-03 9.99915424e-01 -8.83725932e-03 1.51383942e+01] [ 9.58200772e-04 8.84680068e-03 9.99960407e-01 1.69083584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91925976399997 meters Centerline goodness [0,1] 0.5766520213487454 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.14, Z:16.91 [[ 9.99953073e-01 9.61699196e-03 -1.16870805e-03 -2.72793407e+01] [-9.62745099e-03 9.99910408e-01 -9.29987914e-03 1.51409843e+01] [ 1.07916648e-03 9.31069440e-03 9.99956072e-01 1.69087132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94925976399998 meters Centerline goodness [0,1] 0.5801119701412957 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.15, Z:16.91 [[ 9.99946886e-01 1.02102613e-02 -1.40536207e-03 -2.72777969e+01] [-1.02237428e-02 9.99898275e-01 -9.94555308e-03 1.51462261e+01] [ 1.30367241e-03 9.95939289e-03 9.99949554e-01 1.69088881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97925976399998 meters Centerline goodness [0,1] 0.5830715428842392 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.15, Z:16.91 [[ 9.99944578e-01 1.04000437e-02 -1.63731882e-03 -2.72767803e+01] [-1.04161891e-02 9.99893907e-01 -1.01822131e-02 1.51484900e+01] [ 1.53124966e-03 1.01987034e-02 9.99946819e-01 1.69086793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00925976399998 meters Centerline goodness [0,1] 0.5839023380922822 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.15, Z:16.91 [[ 9.99942293e-01 1.05923655e-02 -1.79221680e-03 -2.72758973e+01] [-1.06105527e-02 9.99888970e-01 -1.04624519e-02 1.51508336e+01] [ 1.68119570e-03 1.04808645e-02 9.99943661e-01 1.69084764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03925976399998 meters Centerline goodness [0,1] 0.5936405201591355 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.15, Z:16.91 [[ 9.99934392e-01 1.12447044e-02 -2.18380259e-03 -2.72735688e+01] [-1.12672148e-02 9.99880500e-01 -1.05847041e-02 1.51540090e+01] [ 2.06451976e-03 1.06086150e-02 9.99941596e-01 1.69075080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06925976399998 meters Centerline goodness [0,1] 0.5944887728769317 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.16, Z:16.91 [[ 9.99931516e-01 1.14945882e-02 -2.19970674e-03 -2.72729071e+01] [-1.15173203e-02 9.99877311e-01 -1.06166960e-02 1.51551090e+01] [ 2.07740231e-03 1.06413036e-02 9.99941222e-01 1.69069402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09925976399998 meters Centerline goodness [0,1] 0.5913126094830914 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.16, Z:16.91 [[ 9.99930041e-01 1.16253628e-02 -2.18266645e-03 -2.72723968e+01] [-1.16482044e-02 9.99874247e-01 -1.07614418e-02 1.51565720e+01] [ 2.05728631e-03 1.07861131e-02 9.99939712e-01 1.69064104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12925976399998 meters Centerline goodness [0,1] 0.5969114029107507 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.16, Z:16.91 [[ 9.99926992e-01 1.18537160e-02 -2.34538352e-03 -2.72715665e+01] [-1.18785624e-02 9.99870258e-01 -1.08796828e-02 1.51578851e+01] [ 2.21611455e-03 1.09067483e-02 9.99938064e-01 1.69061600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15925976399998 meters Centerline goodness [0,1] 0.5925903865626303 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.16, Z:16.91 [[ 9.99924633e-01 1.20340609e-02 -2.43117785e-03 -2.72710318e+01] [-1.20601788e-02 9.99866435e-01 -1.10301770e-02 1.51590827e+01] [ 2.29811530e-03 1.10586661e-02 9.99936210e-01 1.69060406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18925976399998 meters Centerline goodness [0,1] 0.5952148003201992 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.16, Z:16.90 [[ 9.99929937e-01 1.16481557e-02 2.10753747e-03 -2.72485185e+01] [-1.16403656e-02 9.99925508e-01 -3.67158990e-03 1.51565954e+01] [-2.15014773e-03 3.64680015e-03 9.99991039e-01 1.68990620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.219259764 meters Centerline goodness [0,1] 0.5926101093703813 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.16, Z:16.90 [[ 9.99931705e-01 1.14720292e-02 2.23116510e-03 -2.72490014e+01] [-1.14627752e-02 9.99925825e-01 -4.11706542e-03 1.51581104e+01] [-2.27823070e-03 4.09120890e-03 9.99989036e-01 1.68994806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.249259764 meters Centerline goodness [0,1] 0.5945260425883325 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.16, Z:16.90 [[ 9.99932318e-01 1.14174154e-02 2.23635134e-03 -2.72491797e+01] [-1.14074240e-02 9.99925117e-01 -4.43067988e-03 1.51592216e+01] [-2.28677079e-03 4.40486899e-03 9.99987684e-01 1.68999197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.279259764 meters Centerline goodness [0,1] 0.5945388063222459 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.16, Z:16.90 [[ 9.99931798e-01 1.14597963e-02 2.25216017e-03 -2.72491466e+01] [-1.14494614e-02 9.99924103e-01 -4.54942969e-03 1.51597978e+01] [-2.30412477e-03 4.52333339e-03 9.99987115e-01 1.68999193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.309259764 meters Centerline goodness [0,1] 0.5932532673966796 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.16, Z:16.90 [[ 9.99927625e-01 1.17975188e-02 2.35848086e-03 -2.72486627e+01] [-1.17871562e-02 9.99921022e-01 -4.36041131e-03 1.51594516e+01] [-2.40973663e-03 4.33229594e-03 9.99987712e-01 1.68990708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.339259764 meters Centerline goodness [0,1] 0.5914747153825788 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.16, Z:16.90 [[ 9.99926618e-01 1.18304639e-02 2.60730205e-03 -2.72490337e+01] [-1.18191429e-02 9.99920839e-01 -4.31548179e-03 1.51591755e+01] [-2.65814980e-03 4.28434904e-03 9.99987289e-01 1.68987013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.369259764 meters Centerline goodness [0,1] 0.5927458403028436 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.16, Z:16.90 [[ 9.99925653e-01 1.18969268e-02 2.67427888e-03 -2.72490297e+01] [-1.18854894e-02 9.99920321e-01 -4.25277970e-03 1.51590514e+01] [-2.72466080e-03 4.22067840e-03 9.99987381e-01 1.68984354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.399259764 meters Centerline goodness [0,1] 0.5892678917395644 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.16, Z:16.90 [[ 9.99924501e-01 1.19571496e-02 2.83181431e-03 -2.72492182e+01] [-1.19453839e-02 9.99920098e-01 -4.13592121e-03 1.51587522e+01] [-2.88104187e-03 4.10178184e-03 9.99987437e-01 1.68980650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.429259764 meters Centerline goodness [0,1] 0.5890580008227067 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.16, Z:16.90 [[ 9.99923829e-01 1.19849245e-02 2.94923169e-03 -2.72493490e+01] [-1.19729164e-02 9.99920095e-01 -4.05612950e-03 1.51584225e+01] [-2.99760844e-03 4.02050964e-03 9.99987425e-01 1.68977546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45925976399997 meters Centerline goodness [0,1] 0.5810592485973621 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.16, Z:16.90 [[ 9.99925172e-01 1.17926977e-02 3.25299176e-03 -2.72505492e+01] [-1.17793964e-02 9.99922304e-01 -4.07824738e-03 1.51572864e+01] [-3.30083255e-03 4.03962393e-03 9.99986393e-01 1.68981718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48925976399997 meters Centerline goodness [0,1] 0.5764239577216677 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.16, Z:16.90 [[ 9.99925622e-01 1.16914374e-02 3.47275808e-03 -2.72513771e+01] [-1.16773594e-02 9.99923628e-01 -4.04682910e-03 1.51566016e+01] [-3.51980611e-03 4.00597546e-03 9.99985781e-01 1.68984032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51925976399997 meters Centerline goodness [0,1] 0.5756853747499706 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.16, Z:16.90 [[ 9.99924854e-01 1.16724276e-02 3.74721878e-03 -2.72520864e+01] [-1.16580855e-02 9.99924720e-01 -3.82670018e-03 1.51555498e+01] [-3.79160357e-03 3.78272722e-03 9.99985657e-01 1.68981789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54925976399997 meters Centerline goodness [0,1] 0.573530704968489 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.16, Z:16.90 [[ 9.99963138e-01 7.95288410e-03 3.23625723e-03 -2.72507247e+01] [-7.92607908e-03 9.99934860e-01 -8.21292707e-03 1.51583916e+01] [-3.30136287e-03 8.18697350e-03 9.99961036e-01 1.68987047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57925976399997 meters Centerline goodness [0,1] 0.5679873402883602 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.16, Z:16.90 [[ 9.99962191e-01 7.91521039e-03 3.60079964e-03 -2.72515445e+01] [-7.88788343e-03 9.99940455e-01 -7.54107050e-03 1.51557998e+01] [-3.66027439e-03 7.51238269e-03 9.99965083e-01 1.68977941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60925976399997 meters Centerline goodness [0,1] 0.564944768378798 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.15, Z:16.90 [[ 9.99961668e-01 7.88804913e-03 3.80017372e-03 -2.72521383e+01] [-7.86026094e-03 9.99942661e-01 -7.27261280e-03 1.51546591e+01] [-3.85732255e-03 7.24246367e-03 9.99966333e-01 1.68976240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63925976399997 meters Centerline goodness [0,1] 0.5623809942291356 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.15, Z:16.90 [[ 9.99960518e-01 7.97188593e-03 3.92566707e-03 -2.72525574e+01] [-7.94450453e-03 9.99944346e-01 -6.94185237e-03 1.51533407e+01] [-3.98078825e-03 6.91039082e-03 9.99968199e-01 1.68975338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66925976399997 meters Centerline goodness [0,1] 0.5593324370140877 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.15, Z:16.90 [[ 9.99960407e-01 7.77887083e-03 4.32137653e-03 -2.72538809e+01] [-7.74988492e-03 9.99947628e-01 -6.68429825e-03 1.51516282e+01] [-4.37314650e-03 6.65054343e-03 9.99968322e-01 1.68974660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69925976399998 meters Centerline goodness [0,1] 0.5567727047001432 Centerline is valid? [False, False] Translation: X:-27.25, Y:15.15, Z:16.90 [[ 9.99960734e-01 7.66523595e-03 4.44690118e-03 -2.72545315e+01] [-7.63579765e-03 9.99949069e-01 -6.59959039e-03 1.51508339e+01] [-4.49726211e-03 6.56537561e-03 9.99968335e-01 1.68977034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72925976399998 meters Centerline goodness [0,1] 0.5545677141024894 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.15, Z:16.90 [[ 9.99960204e-01 7.63891388e-03 4.60845782e-03 -2.72551090e+01] [-7.60942746e-03 9.99950680e-01 -6.38228659e-03 1.51497426e+01] [-4.65698427e-03 6.34696487e-03 9.99969014e-01 1.68976610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75925976399998 meters Centerline goodness [0,1] 0.5488688968468862 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.15, Z:16.90 [[ 9.99959597e-01 7.54903084e-03 4.88015029e-03 -2.72560455e+01] [-7.51905088e-03 9.99952926e-01 -6.13267714e-03 1.51483067e+01] [-4.92621634e-03 6.09573527e-03 9.99969287e-01 1.68976467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78925976399998 meters Centerline goodness [0,1] 0.5414599988329346 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.15, Z:16.90 [[ 9.99960089e-01 6.96402215e-03 5.59669236e-03 -2.72586509e+01] [-6.93046963e-03 9.99958030e-01 -5.99226182e-03 1.51454233e+01] [-5.63818771e-03 5.95323495e-03 9.99966384e-01 1.68979373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81925976399998 meters Centerline goodness [0,1] 0.5429261338841533 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.14, Z:16.90 [[ 9.99958638e-01 6.93410189e-03 5.88569035e-03 -2.72595587e+01] [-6.90077068e-03 9.99960145e-01 -5.66463403e-03 1.51437358e+01] [-5.92473492e-03 5.62378393e-03 9.99966635e-01 1.68978477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84925976399998 meters Centerline goodness [0,1] 0.5414765958683209 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.14, Z:16.90 [[ 9.99957733e-01 6.71172881e-03 6.28372234e-03 -2.72609357e+01] [-6.67781291e-03 9.99963107e-01 -5.40293460e-03 1.51421140e+01] [-6.31975354e-03 5.36074471e-03 9.99965661e-01 1.68978572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87925976399998 meters Centerline goodness [0,1] 0.5385621294897129 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.14, Z:16.90 [[ 9.99956720e-01 6.46139503e-03 6.69393943e-03 -2.72624447e+01] [-6.42669832e-03 9.99965870e-01 -5.19191052e-03 1.51403338e+01] [-6.72725795e-03 5.14866588e-03 9.99964117e-01 1.68980489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90925976399998 meters Centerline goodness [0,1] 0.5380264531848242 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.14, Z:16.90 [[ 9.99976443e-01 2.28638431e-03 6.47199030e-03 -2.72626713e+01] [-2.22667561e-03 9.99955035e-01 -9.21792868e-03 1.51396343e+01] [-6.49277501e-03 9.20330051e-03 9.99936570e-01 1.68989676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93925976399998 meters Centerline goodness [0,1] 0.5362746800995889 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.14, Z:16.90 [[ 9.99974159e-01 2.15430495e-03 6.85861017e-03 -2.72639056e+01] [-2.09489164e-03 9.99960324e-01 -8.65801915e-03 1.51370458e+01] [-6.87699007e-03 8.64342737e-03 9.99938997e-01 1.68986552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.969259764 meters Centerline goodness [0,1] 0.5372260668973472 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.90 [[ 9.99971375e-01 2.07061785e-03 7.27744080e-03 -2.72650763e+01] [-2.01200897e-03 9.99965561e-01 -8.05161588e-03 1.51342030e+01] [-7.29386199e-03 8.03674312e-03 9.99941103e-01 1.68981606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.999259764 meters Centerline goodness [0,1] 0.5412527989894931 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.90 [[ 9.99971701e-01 5.81727686e-04 7.50060879e-03 -2.72679166e+01] [-5.21329195e-04 9.99967447e-01 -8.05192072e-03 1.51299937e+01] [-7.50504864e-03 8.04778257e-03 9.99939452e-01 1.68992649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.029259764 meters Centerline goodness [0,1] 0.539997707867744 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.90 [[ 9.99968163e-01 2.53644243e-04 7.97547893e-03 -2.72696572e+01] [-1.92241544e-04 9.99970346e-01 -7.69875994e-03 1.51277942e+01] [-7.97719517e-03 7.69698162e-03 9.99938559e-01 1.68993274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.059259764 meters Centerline goodness [0,1] 0.5405050274223036 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.90 [[ 9.99963050e-01 -2.15510132e-04 8.59370927e-03 -2.72719034e+01] [ 2.78716816e-04 9.99972917e-01 -7.35447532e-03 1.51253203e+01] [-8.59189156e-03 7.35659878e-03 9.99936028e-01 1.68994513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.089259764 meters Centerline goodness [0,1] 0.5417332724366294 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.90 [[ 9.99957405e-01 -6.72400566e-04 9.20524185e-03 -2.72741289e+01] [ 7.37168316e-04 9.99974987e-01 -7.03438008e-03 1.51225067e+01] [-9.20028168e-03 7.04086626e-03 9.99932888e-01 1.68996268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.119259764 meters Centerline goodness [0,1] 0.5389856601191665 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.90 [[ 9.99955203e-01 -6.16659936e-04 9.44519408e-03 -2.72747024e+01] [ 6.78032371e-04 9.99978671e-01 -6.49591874e-03 1.51204008e+01] [-9.44098686e-03 6.50203189e-03 9.99934294e-01 1.68991833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.149259764 meters Centerline goodness [0,1] 0.5375908766928011 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.90 [[ 9.99957403e-01 -4.92783640e-04 9.21675977e-03 -2.72744442e+01] [ 5.55345567e-04 9.99976817e-01 -6.78651683e-03 1.51221311e+01] [-9.21320182e-03 6.79134623e-03 9.99934495e-01 1.69000483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.179259764 meters Centerline goodness [0,1] 0.5415727130012844 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.90 [[ 9.99956740e-01 -5.16487892e-04 9.28720649e-03 -2.72748187e+01] [ 5.79900178e-04 9.99976531e-01 -6.82652210e-03 1.51224104e+01] [-9.28346271e-03 6.83161244e-03 9.99933571e-01 1.69002903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20925976399997 meters Centerline goodness [0,1] 0.5395855927849763 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.90 [[ 9.99956350e-01 -1.98526753e-04 9.34125158e-03 -2.72744085e+01] [ 2.57993433e-04 9.99979708e-01 -6.36525487e-03 1.51213271e+01] [-9.33979836e-03 6.36738701e-03 9.99936110e-01 1.68994247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23925976399997 meters Centerline goodness [0,1] 0.5404843304843305 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.90 [[ 9.99953393e-01 2.15433997e-04 9.65217757e-03 -2.72740403e+01] [-1.63874336e-04 9.99985717e-01 -5.34223712e-03 1.51178145e+01] [-9.65319060e-03 5.34040640e-03 9.99939146e-01 1.68971944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26925976399997 meters Centerline goodness [0,1] 0.52358905899395 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.90 [[ 9.99951197e-01 3.57987306e-04 9.87298806e-03 -2.72742800e+01] [-3.10055408e-04 9.99988162e-01 -4.85595555e-03 1.51162952e+01] [-9.87460955e-03 4.85265739e-03 9.99939470e-01 1.68964308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29925976399997 meters Centerline goodness [0,1] 0.5233519997725916 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.90 [[ 9.99951867e-01 4.56677391e-04 9.80078500e-03 -2.72741772e+01] [-4.09667950e-04 9.99988406e-01 -4.79796922e-03 1.51164435e+01] [-9.80286250e-03 4.79372321e-03 9.99940460e-01 1.68966039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32925976399997 meters Centerline goodness [0,1] 0.5259790120296903 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.90 [[ 9.99951553e-01 3.42836701e-04 9.83734144e-03 -2.72745883e+01] [-2.93108989e-04 9.99987175e-01 -5.05599154e-03 1.51177284e+01] [-9.83894866e-03 5.05286319e-03 9.99938830e-01 1.68971757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35925976399997 meters Centerline goodness [0,1] 0.5268398145250761 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.12, Z:16.90 [[ 9.99951638e-01 1.98317749e-04 9.83269185e-03 -2.72752005e+01] [-1.45297692e-04 9.99985449e-01 -5.39264313e-03 1.51189692e+01] [-9.83361823e-03 5.39095366e-03 9.99937117e-01 1.68982026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38925976399997 meters Centerline goodness [0,1] 0.5300980868769481 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.12, Z:16.90 [[ 9.99950367e-01 3.30901010e-04 9.95763155e-03 -2.72754160e+01] [-2.77059003e-04 9.99985338e-01 -5.40800354e-03 1.51193397e+01] [-9.95927507e-03 5.40497628e-03 9.99935797e-01 1.68982896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41925976399997 meters Centerline goodness [0,1] 0.5334872979214781 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.90 [[ 9.99949017e-01 7.69918353e-04 1.00682562e-02 -2.72748629e+01] [-7.21644932e-04 9.99988232e-01 -4.79737013e-03 1.51179281e+01] [-1.00718313e-02 4.78985984e-03 9.99937806e-01 1.68970109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44925976399998 meters Centerline goodness [0,1] 0.5324289590175639 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.90 [[ 9.99946931e-01 1.11821594e-03 1.02413406e-02 -2.72745737e+01] [-1.07494431e-03 9.99990477e-01 -4.22972239e-03 1.51164153e+01] [-1.02459728e-02 4.21848906e-03 9.99938610e-01 1.68958696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47925976399998 meters Centerline goodness [0,1] 0.5340814986150375 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99945255e-01 1.42753083e-03 1.03657394e-02 -2.72742721e+01] [-1.38905088e-03 9.99992122e-01 -3.71847503e-03 1.51151520e+01] [-1.03709659e-02 3.70387293e-03 9.99939360e-01 1.68948496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50925976399998 meters Centerline goodness [0,1] 0.534985297896029 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.11, Z:16.89 [[ 9.99944339e-01 1.39946758e-03 1.04575792e-02 -2.72745180e+01] [-1.36234519e-03 9.99992749e-01 -3.55608812e-03 1.51148420e+01] [-1.04624800e-02 3.54164335e-03 9.99938995e-01 1.68946665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53925976399998 meters Centerline goodness [0,1] 0.5344325897187197 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.11, Z:16.89 [[ 9.99943749e-01 1.37738599e-03 1.05167502e-02 -2.72748332e+01] [-1.34007576e-03 9.99992787e-01 -3.55391876e-03 1.51148781e+01] [-1.05215694e-02 3.53962560e-03 9.99938382e-01 1.68948821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56925976399998 meters Centerline goodness [0,1] 0.5359641358042317 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.11, Z:16.89 [[ 9.99943495e-01 1.46489845e-03 1.05290786e-02 -2.72748201e+01] [-1.42863637e-03 9.99993026e-01 -3.45069085e-03 1.51149923e+01] [-1.05340600e-02 3.43545364e-03 9.99938614e-01 1.68947828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59925976399998 meters Centerline goodness [0,1] 0.5382084513489542 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99942701e-01 1.47406677e-03 1.06028866e-02 -2.72749690e+01] [-1.43703772e-03 9.99992845e-01 -3.49912730e-03 1.51156287e+01] [-1.06079687e-02 3.48369005e-03 9.99937666e-01 1.68947807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62925976399998 meters Centerline goodness [0,1] 0.5384549405306496 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99942991e-01 1.72600245e-03 1.05373800e-02 -2.72743747e+01] [-1.69227873e-03 9.99993421e-01 -3.20846710e-03 1.51153651e+01] [-1.05428485e-02 3.19045201e-03 9.99939333e-01 1.68941760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65925976399998 meters Centerline goodness [0,1] 0.5412650430616552 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.11, Z:16.89 [[ 9.99941924e-01 1.95382982e-03 1.05986789e-02 -2.72738954e+01] [-1.92399249e-03 9.99994160e-01 -2.82465922e-03 1.51148763e+01] [-1.06041359e-02 2.80410339e-03 9.99939843e-01 1.68931543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68925976399998 meters Centerline goodness [0,1] 0.5433057428108201 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.11, Z:16.89 [[ 9.99939407e-01 2.18644354e-03 1.07889477e-02 -2.72736358e+01] [-2.16031625e-03 9.99994707e-01 -2.43273123e-03 1.51141674e+01] [-1.07942096e-02 2.40927628e-03 9.99938838e-01 1.68920163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.719259764 meters Centerline goodness [0,1] 0.5423806129722024 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.11, Z:16.89 [[ 9.99936681e-01 2.31592439e-03 1.10122443e-02 -2.72737486e+01] [-2.29182843e-03 9.99994953e-01 -2.20022227e-03 1.51132306e+01] [-1.10172843e-02 2.17484478e-03 9.99936943e-01 1.68912731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.749259764 meters Centerline goodness [0,1] 0.5437039565378161 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.11, Z:16.89 [[ 9.99936907e-01 2.37872744e-03 1.09783207e-02 -2.72737122e+01] [-2.35408289e-03 9.99994682e-01 -2.25721529e-03 1.51136101e+01] [-1.09836316e-02 2.23122900e-03 9.99937189e-01 1.68914140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.779259764 meters Centerline goodness [0,1] 0.5439036914474811 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.11, Z:16.89 [[ 9.99937870e-01 2.35689188e-03 1.08949885e-02 -2.72736624e+01] [-2.32928670e-03 9.99994047e-01 -2.54574508e-03 1.51149532e+01] [-1.09009237e-02 2.52020936e-03 9.99937407e-01 1.68918961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.809259764 meters Centerline goodness [0,1] 0.5439036914474811 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.11, Z:16.89 [[ 9.99937870e-01 2.35689188e-03 1.08949885e-02 -2.72736624e+01] [-2.32928670e-03 9.99994047e-01 -2.54574508e-03 1.51149532e+01] [-1.09009237e-02 2.52020936e-03 9.99937407e-01 1.68918961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.839259764 meters Centerline goodness [0,1] 0.5453559399440544 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99939473e-01 2.54546362e-03 1.07037403e-02 -2.72730652e+01] [-2.51569894e-03 9.99992934e-01 -2.79331945e-03 1.51168672e+01] [-1.07107750e-02 2.76622299e-03 9.99938812e-01 1.68921990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.869259764 meters Centerline goodness [0,1] 0.543481377412048 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99940479e-01 2.79880373e-03 1.05454219e-02 -2.72723284e+01] [-2.76751041e-03 9.99991728e-01 -2.98090414e-03 1.51187358e+01] [-1.05536776e-02 2.95154215e-03 9.99939952e-01 1.68922003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.899259764 meters Centerline goodness [0,1] 0.5462976255419334 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99940766e-01 3.03613800e-03 1.04520886e-02 -2.72716866e+01] [-3.00432838e-03 9.99990812e-01 -3.05773203e-03 1.51198842e+01] [-1.04612763e-02 3.02614941e-03 9.99940700e-01 1.68919346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.929259764 meters Centerline goodness [0,1] 0.5458515283842795 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99940882e-01 3.66708858e-03 1.02364209e-02 -2.72700329e+01] [-3.63865511e-03 9.99989474e-01 -2.79491953e-03 1.51203901e+01] [-1.02465624e-02 2.75750749e-03 9.99943700e-01 1.68908348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95925976399997 meters Centerline goodness [0,1] 0.5441743938259518 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99940289e-01 3.62033191e-03 1.03107729e-02 -2.72702860e+01] [-3.58785890e-03 9.99988551e-01 -3.16618364e-03 1.51216061e+01] [-1.03221175e-02 3.12900098e-03 9.99941830e-01 1.68912278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98925976399997 meters Centerline goodness [0,1] 0.5436358946433177 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99939551e-01 3.69651530e-03 1.03551883e-02 -2.72702482e+01] [-3.66210924e-03 9.99987718e-01 -3.33958517e-03 1.51227275e+01] [-1.03674059e-02 3.30146147e-03 9.99940807e-01 1.68913031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01925976399997 meters Centerline goodness [0,1] 0.5455747126436782 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99941034e-01 3.77804601e-03 1.01811489e-02 -2.72698508e+01] [-3.74130878e-03 9.99986431e-01 -3.62499149e-03 1.51247752e+01] [-1.01947061e-02 3.58668691e-03 9.99941600e-01 1.68916992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04925976399997 meters Centerline goodness [0,1] 0.5485244204107461 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99940936e-01 3.85246459e-03 1.01628705e-02 -2.72697087e+01] [-3.81582424e-03 9.99986159e-01 -3.62224507e-03 1.51253572e+01] [-1.01766844e-02 3.58325140e-03 9.99941796e-01 1.68916116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07925976399997 meters Centerline goodness [0,1] 0.5474990641287758 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99940110e-01 4.02578548e-03 1.01769454e-02 -2.72694132e+01] [-3.99105237e-03 9.99986150e-01 -3.43092957e-03 1.51253439e+01] [-1.01906166e-02 3.39010737e-03 9.99942328e-01 1.68911233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10925976399997 meters Centerline goodness [0,1] 0.548946324353851 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99938070e-01 4.23871854e-03 1.02902708e-02 -2.72692341e+01] [-4.20730834e-03 9.99986430e-01 -3.07214906e-03 1.51245670e+01] [-1.03031531e-02 3.02866446e-03 9.99942334e-01 1.68903488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13925976399997 meters Centerline goodness [0,1] 0.5504328568552446 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99935162e-01 4.40937314e-03 1.04990192e-02 -2.72692594e+01] [-4.38244404e-03 9.99987052e-01 -2.58654195e-03 1.51231211e+01] [-1.05102882e-02 2.54036288e-03 9.99941538e-01 1.68892838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16925976399997 meters Centerline goodness [0,1] 0.5501885488931748 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99934959e-01 4.51668177e-03 1.04727408e-02 -2.72691569e+01] [-4.49030385e-03 9.99986690e-01 -2.54086878e-03 1.51232451e+01] [-1.04840777e-02 2.49367773e-03 9.99941931e-01 1.68893139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19925976399998 meters Centerline goodness [0,1] 0.5512383811558224 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99934567e-01 4.56340652e-03 1.04898624e-02 -2.72692565e+01] [-4.53651248e-03 9.99986366e-01 -2.58617900e-03 1.51237234e+01] [-1.05015212e-02 2.53842238e-03 9.99941636e-01 1.68895062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22925976399998 meters Centerline goodness [0,1] 0.5548922917207371 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99934720e-01 4.61789793e-03 1.04513647e-02 -2.72692644e+01] [-4.59040738e-03 9.99985945e-01 -2.65279309e-03 1.51243657e+01] [-1.04634681e-02 2.60464389e-03 9.99941864e-01 1.68897495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25925976399998 meters Centerline goodness [0,1] 0.5535848619871535 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99935458e-01 5.00125977e-03 1.02013171e-02 -2.72684618e+01] [-4.96724666e-03 9.99982029e-01 -3.35680412e-03 1.51274804e+01] [-1.02179220e-02 3.30591500e-03 9.99942331e-01 1.68908721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28925976399998 meters Centerline goodness [0,1] 0.5546406100495811 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99935274e-01 5.10603701e-03 1.01673812e-02 -2.72681940e+01] [-5.07093728e-03 9.99981105e-01 -3.47498252e-03 1.51285839e+01] [-1.01849325e-02 3.42319945e-03 9.99942273e-01 1.68908257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31925976399998 meters Centerline goodness [0,1] 0.5575542704367789 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99934985e-01 5.31864036e-03 1.00865638e-02 -2.72675272e+01] [-5.28356829e-03 9.99979915e-01 -3.50057310e-03 1.51293572e+01] [-1.01049795e-02 3.44705246e-03 9.99943002e-01 1.68904407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34925976399998 meters Centerline goodness [0,1] 0.5507860084691687 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99933668e-01 5.65205003e-03 1.00356073e-02 -2.72666931e+01] [-5.61990625e-03 9.99978997e-01 -3.22828978e-03 1.51295751e+01] [-1.00536430e-02 3.17167647e-03 9.99944431e-01 1.68894788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37925976399998 meters Centerline goodness [0,1] 0.5558303270103573 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99933978e-01 5.95930237e-03 9.82482483e-03 -2.72656898e+01] [-5.92583830e-03 9.99976554e-01 -3.43167250e-03 1.51311649e+01] [-9.84504485e-03 3.37322561e-03 9.99945847e-01 1.68893850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40925976399998 meters Centerline goodness [0,1] 0.5535823637477035 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99934416e-01 5.89616364e-03 9.81832549e-03 -2.72658992e+01] [-5.85915023e-03 9.99975636e-01 -3.79433574e-03 1.51324010e+01] [-9.84045831e-03 3.73655985e-03 9.99944600e-01 1.68899884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43925976399998 meters Centerline goodness [0,1] 0.5548787596176266 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99934090e-01 5.96485791e-03 9.80995185e-03 -2.72658144e+01] [-5.92763533e-03 9.99975139e-01 -3.81907814e-03 1.51330316e+01] [-9.83248822e-03 3.76067661e-03 9.99944588e-01 1.68899583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.469259764 meters Centerline goodness [0,1] 0.5568506323212308 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99933737e-01 5.91626668e-03 9.87515773e-03 -2.72660225e+01] [-5.87851487e-03 9.99975319e-01 -3.84756593e-03 1.51333849e+01] [-9.89767723e-03 3.78925972e-03 9.99943837e-01 1.68899122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.499259764 meters Centerline goodness [0,1] 0.5535407631632564 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99932140e-01 5.79493907e-03 1.01061086e-02 -2.72668370e+01] [-5.75660815e-03 9.99976143e-01 -3.81782094e-03 1.51330813e+01] [-1.01279916e-02 3.75938496e-03 9.99941644e-01 1.68899785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.529259764 meters Centerline goodness [0,1] 0.5511838541514984 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99930119e-01 5.78727898e-03 1.03084455e-02 -2.72673587e+01] [-5.74997231e-03 9.99976826e-01 -3.64500815e-03 1.51325846e+01] [-1.03293012e-02 3.58548015e-03 9.99940223e-01 1.68897602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.559259764 meters Centerline goodness [0,1] 0.5519108187560031 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99928072e-01 5.71469179e-03 1.05448168e-02 -2.72682101e+01] [-5.67739322e-03 9.99977533e-01 -3.56369825e-03 1.51320077e+01] [-1.05649454e-02 3.50357485e-03 9.99938052e-01 1.68899062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.589259764 meters Centerline goodness [0,1] 0.5479763396369358 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99925474e-01 5.60298178e-03 1.08467853e-02 -2.72691194e+01] [-5.56547630e-03 9.99978440e-01 -3.48485317e-03 1.51314882e+01] [-1.08660770e-02 3.42422593e-03 9.99935099e-01 1.68898727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.619259764 meters Centerline goodness [0,1] 0.5468795440004652 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99923572e-01 5.38474556e-03 1.11289705e-02 -2.72702649e+01] [-5.34603311e-03 9.99979566e-01 -3.50535580e-03 1.51312906e+01] [-1.11476185e-02 3.44559205e-03 9.99931927e-01 1.68902053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.649259764 meters Centerline goodness [0,1] 0.5490173309722182 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99923165e-01 5.49691013e-03 1.11107257e-02 -2.72701184e+01] [-5.45945399e-03 9.99979321e-01 -3.39869324e-03 1.51313543e+01] [-1.11291783e-02 3.33777360e-03 9.99932498e-01 1.68900735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.679259764 meters Centerline goodness [0,1] 0.5527331843121317 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99921602e-01 5.57759413e-03 1.12106998e-02 -2.72702039e+01] [-5.53994642e-03 9.99978920e-01 -3.38644822e-03 1.51315799e+01] [-1.12293517e-02 3.32407605e-03 9.99931424e-01 1.68899406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70925976399997 meters Centerline goodness [0,1] 0.5520314547837484 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99921328e-01 5.64012166e-03 1.12038753e-02 -2.72700815e+01] [-5.60298642e-03 9.99978715e-01 -3.34312740e-03 1.51318883e+01] [-1.12224925e-02 3.28008923e-03 9.99931646e-01 1.68897543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73925976399997 meters Centerline goodness [0,1] 0.5488461426534355 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99920299e-01 6.05787011e-03 1.10768843e-02 -2.72688715e+01] [-6.02160197e-03 9.99976410e-01 -3.30464406e-03 1.51333068e+01] [-1.10966421e-02 3.23768009e-03 9.99933189e-01 1.68889189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76925976399997 meters Centerline goodness [0,1] 0.5498244587478057 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.14, Z:16.89 [[ 9.99922543e-01 6.19927820e-03 1.07924514e-02 -2.72681605e+01] [-6.15828050e-03 9.99973711e-01 -3.82783540e-03 1.51357439e+01] [-1.08158975e-02 3.76107597e-03 9.99934433e-01 1.68895887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79925976399997 meters Centerline goodness [0,1] 0.5510998010998012 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.14, Z:16.89 [[ 9.99923153e-01 6.42222002e-03 1.06039629e-02 -2.72674345e+01] [-6.37757739e-03 9.99970681e-01 -4.23845672e-03 1.51381143e+01] [-1.06308723e-02 4.17050341e-03 9.99934794e-01 1.68899102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82925976399997 meters Centerline goodness [0,1] 0.5505158881801346 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.14, Z:16.89 [[ 9.99923586e-01 6.60516815e-03 1.04495902e-02 -2.72669046e+01] [-6.55748178e-03 9.99967960e-01 -4.59116763e-03 1.51399505e+01] [-1.04795808e-02 4.52229380e-03 9.99934862e-01 1.68902826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85925976399997 meters Centerline goodness [0,1] 0.5463507945850501 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.14, Z:16.89 [[ 9.99920098e-01 7.49236741e-03 1.01814523e-02 -2.72648719e+01] [-7.44827355e-03 9.99962748e-01 -4.36184135e-03 1.51407069e+01] [-1.02137535e-02 4.28565859e-03 9.99938654e-01 1.68892591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88925976399997 meters Centerline goodness [0,1] 0.5498452012383901 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.14, Z:16.89 [[ 9.99919120e-01 7.68142904e-03 1.01364778e-02 -2.72644942e+01] [-7.63741671e-03 9.99961270e-01 -4.37356462e-03 1.51409635e+01] [-1.01696804e-02 4.29579439e-03 9.99939060e-01 1.68890995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91925976399997 meters Centerline goodness [0,1] 0.5488794776777837 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.14, Z:16.89 [[ 9.99916080e-01 8.04907443e-03 1.01511097e-02 -2.72640767e+01] [-8.00767373e-03 9.99959481e-01 -4.11251298e-03 1.51406133e+01] [-1.01838003e-02 4.03088108e-03 9.99940019e-01 1.68886555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94925976399998 meters Centerline goodness [0,1] 0.5547447403266147 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.14, Z:16.89 [[ 9.99913510e-01 8.58003948e-03 9.96771687e-03 -2.72633387e+01] [-8.53995949e-03 9.99955306e-01 -4.05660904e-03 1.51406370e+01] [-1.00020772e-02 3.97113428e-03 9.99942093e-01 1.68889332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97925976399998 meters Centerline goodness [0,1] 0.5537194942663922 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.14, Z:16.89 [[ 9.99911023e-01 8.79067113e-03 1.00334523e-02 -2.72634064e+01] [-8.75172743e-03 9.99954024e-01 -3.91871547e-03 1.51403184e+01] [-1.00674391e-02 3.83055675e-03 9.99941985e-01 1.68889430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00925976399998 meters Centerline goodness [0,1] 0.551587067899417 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.14, Z:16.89 [[ 9.99910046e-01 8.82953436e-03 1.00965442e-02 -2.72637930e+01] [-8.79024805e-03 9.99953647e-01 -3.92884474e-03 1.51398775e+01] [-1.01307661e-02 3.83974020e-03 9.99941310e-01 1.68893463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03925976399998 meters Centerline goodness [0,1] 0.5531552185286424 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.14, Z:16.89 [[ 9.99906558e-01 9.00606883e-03 1.02842763e-02 -2.72642199e+01] [-8.96939644e-03 9.99953271e-01 -3.60644404e-03 1.51386034e+01] [-1.03162756e-02 3.51386329e-03 9.99940612e-01 1.68891433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06925976399998 meters Centerline goodness [0,1] 0.5605546454481629 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.14, Z:16.89 [[ 9.99933872e-01 5.82623576e-03 9.91499618e-03 -2.72629732e+01] [-5.74953460e-03 9.99953463e-01 -7.74687538e-03 1.51395571e+01] [-9.95966989e-03 7.68935648e-03 9.99920836e-01 1.68899620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09925976399998 meters Centerline goodness [0,1] 0.5605546454481629 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.14, Z:16.89 [[ 9.99933872e-01 5.82623576e-03 9.91499618e-03 -2.72629732e+01] [-5.74953460e-03 9.99953463e-01 -7.74687538e-03 1.51395571e+01] [-9.95966989e-03 7.68935648e-03 9.99920836e-01 1.68899620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12925976399998 meters Centerline goodness [0,1] 0.5580886854610653 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.14, Z:16.89 [[ 9.99927694e-01 6.23626014e-03 1.02818376e-02 -2.72638090e+01] [-6.16591029e-03 9.99957462e-01 -6.85970781e-03 1.51356266e+01] [-1.03241792e-02 6.79581492e-03 9.99923611e-01 1.68894309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15925976399998 meters Centerline goodness [0,1] 0.5550669772859639 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.13, Z:16.89 [[ 9.99924127e-01 6.54215496e-03 1.04374239e-02 -2.72641723e+01] [-6.47633137e-03 9.99959007e-01 -6.32788151e-03 1.51334358e+01] [-1.04783940e-02 6.25980518e-03 9.99925506e-01 1.68892333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18925976399998 meters Centerline goodness [0,1] 0.55638879200093 Centerline is valid? [False, False] Translation: X:-27.26, Y:15.13, Z:16.89 [[ 9.99921066e-01 6.71658221e-03 1.06183272e-02 -2.72647678e+01] [-6.65489046e-03 9.99960834e-01 -5.83462781e-03 1.51314061e+01] [-1.06571001e-02 5.76350345e-03 9.99926601e-01 1.68891738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.219259764 meters Centerline goodness [0,1] 0.5479670091159021 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.13, Z:16.89 [[ 9.99917718e-01 6.39377933e-03 1.11210446e-02 -2.72671522e+01] [-6.33513939e-03 9.99965887e-01 -5.30014013e-03 1.51275474e+01] [-1.11545531e-02 5.22925065e-03 9.99924113e-01 1.68897847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.249259764 meters Centerline goodness [0,1] 0.5511954261954262 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99912100e-01 6.53001338e-03 1.15391425e-02 -2.72682216e+01] [-6.47782404e-03 9.99968647e-01 -4.55441273e-03 1.51243808e+01] [-1.15685211e-02 4.47926387e-03 9.99923050e-01 1.68892519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.279259764 meters Centerline goodness [0,1] 0.539736531088755 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99906219e-01 6.46397405e-03 1.20735547e-02 -2.72697533e+01] [-6.41632987e-03 9.99971492e-01 -3.98073619e-03 1.51211036e+01] [-1.20989418e-02 3.90289496e-03 9.99919188e-01 1.68888592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.309259764 meters Centerline goodness [0,1] 0.5362281456004585 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99900917e-01 6.38310028e-03 1.25464143e-02 -2.72712304e+01] [-6.34074067e-03 9.99974072e-01 -3.41311633e-03 1.51178111e+01] [-1.25678752e-02 3.33322458e-03 9.99915465e-01 1.68886280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.339259764 meters Centerline goodness [0,1] 0.5334872321021431 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.12, Z:16.89 [[ 9.99921186e-01 2.46450801e-03 1.23105183e-02 -2.72710984e+01] [-2.36849810e-03 9.99966716e-01 -7.80751505e-03 1.51190643e+01] [-1.23293502e-02 7.77774227e-03 9.99893741e-01 1.68897379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.369259764 meters Centerline goodness [0,1] 0.5292517006802722 Centerline is valid? [False, False] Translation: X:-27.27, Y:15.11, Z:16.89 [[ 9.99916086e-01 1.86246978e-03 1.28200025e-02 -2.72736452e+01] [-1.77269593e-03 9.99973855e-01 -7.01044370e-03 1.51143009e+01] [-1.28327241e-02 6.98712946e-03 9.99893245e-01 1.68898389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.399259764 meters Centerline goodness [0,1] 0.5292690495669592 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.11, Z:16.89 [[ 9.99909644e-01 1.64174219e-03 1.33419732e-02 -2.72754313e+01] [-1.55520310e-03 9.99977704e-01 -6.49401749e-03 1.51117467e+01] [-1.33523372e-02 6.47268124e-03 9.99889904e-01 1.68896919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.429259764 meters Centerline goodness [0,1] 0.5219804993518571 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.11, Z:16.89 [[ 9.99901984e-01 1.44413732e-03 1.39261067e-02 -2.72771812e+01] [-1.36369534e-03 9.99982342e-01 -5.78411051e-03 1.51088384e+01] [-1.39342138e-02 5.76455261e-03 9.99886297e-01 1.68891398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45925976399997 meters Centerline goodness [0,1] 0.5141439345089573 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.10, Z:16.89 [[ 9.99899743e-01 -2.45920616e-04 1.41578131e-02 -2.72800807e+01] [ 3.25688716e-04 9.99984086e-01 -5.63218060e-03 1.51040372e+01] [-1.41562027e-02 5.63622698e-03 9.99883911e-01 1.68897909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48925976399997 meters Centerline goodness [0,1] 0.5164023523509573 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.10, Z:16.89 [[ 9.99892584e-01 -4.49288541e-04 1.46498538e-02 -2.72815968e+01] [ 5.20231149e-04 9.99988156e-01 -4.83909592e-03 1.51008691e+01] [-1.46475061e-02 4.84619743e-03 9.99880975e-01 1.68890921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51925976399997 meters Centerline goodness [0,1] 0.5143096001114672 Centerline is valid? [False, False] Translation: X:-27.28, Y:15.10, Z:16.89 [[ 9.99885854e-01 -7.92256456e-04 1.50881169e-02 -2.72832226e+01] [ 8.57910064e-04 9.99990191e-01 -4.34537019e-03 1.50982664e+01] [-1.50845262e-02 4.35781843e-03 9.99876726e-01 1.68888929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54925976399997 meters Centerline goodness [0,1] 0.5134026334026334 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.10, Z:16.89 [[ 9.99876660e-01 -1.13072597e-03 1.56647970e-02 -2.72851319e+01] [ 1.19137916e-03 9.99991828e-01 -3.86315186e-03 1.50958689e+01] [-1.56603008e-02 3.88133809e-03 9.99869837e-01 1.68886456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57925976399997 meters Centerline goodness [0,1] 0.5129952895538931 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.09, Z:16.89 [[ 9.99866998e-01 -1.58265622e-03 1.62321067e-02 -2.72871819e+01] [ 1.64113362e-03 9.99992210e-01 -3.58988881e-03 1.50939403e+01] [-1.62262987e-02 3.61605041e-03 9.99861806e-01 1.68887125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60925976399997 meters Centerline goodness [0,1] 0.510399116144179 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.09, Z:16.89 [[ 9.99856064e-01 -2.70356252e-03 1.67493967e-02 -2.72899625e+01] [ 2.75614523e-03 9.99991344e-01 -3.11709150e-03 1.50902402e+01] [-1.67408245e-02 3.16280661e-03 9.99854860e-01 1.68886963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63925976399997 meters Centerline goodness [0,1] 0.5069480751767976 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.09, Z:16.89 [[ 9.99847041e-01 -3.02018562e-03 1.72270763e-02 -2.72915951e+01] [ 3.06835173e-03 9.99991456e-01 -2.77020799e-03 1.50884789e+01] [-1.72185626e-02 2.82264299e-03 9.99847765e-01 1.68885575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66925976399997 meters Centerline goodness [0,1] 0.5053760483981851 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.09, Z:16.89 [[ 9.99834786e-01 -3.40176820e-03 1.78557708e-02 -2.72936344e+01] [ 3.44517999e-03 9.99991183e-01 -2.40104970e-03 1.50863628e+01] [-1.78474455e-02 2.46216936e-03 9.99837690e-01 1.68884012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69925976399998 meters Centerline goodness [0,1] 0.5053760483981851 Centerline is valid? [False, False] Translation: X:-27.29, Y:15.09, Z:16.89 [[ 9.99834786e-01 -3.40176820e-03 1.78557708e-02 -2.72936344e+01] [ 3.44517999e-03 9.99991183e-01 -2.40104970e-03 1.50863628e+01] [-1.78474455e-02 2.46216936e-03 9.99837690e-01 1.68884012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72925976399998 meters Centerline goodness [0,1] 0.4906385548783836 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.08, Z:16.89 [[ 9.99824188e-01 -3.82267651e-03 1.83570327e-02 -2.72953844e+01] [ 3.86009626e-03 9.99990543e-01 -2.00344185e-03 1.50839022e+01] [-1.83492006e-02 2.07394953e-03 9.99829488e-01 1.68881792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75925976399998 meters Centerline goodness [0,1] 0.4699079149309362 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.08, Z:16.89 [[ 9.99824532e-01 -3.58102286e-03 1.83870163e-02 -2.72951983e+01] [ 3.61197290e-03 9.99992115e-01 -1.65032154e-03 1.50829918e+01] [-1.83809615e-02 1.71644537e-03 9.99829583e-01 1.68877409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78925976399998 meters Centerline goodness [0,1] 0.4735656807008871 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.08, Z:16.89 [[ 9.99825106e-01 -3.56299995e-03 1.83592648e-02 -2.72954545e+01] [ 3.59676341e-03 9.99991900e-01 -1.80635033e-03 1.50837766e+01] [-1.83526801e-02 1.87206834e-03 9.99829823e-01 1.68883373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81925976399998 meters Centerline goodness [0,1] 0.4746880668388941 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.08, Z:16.89 [[ 9.99823611e-01 -3.61847460e-03 1.84296940e-02 -2.72960597e+01] [ 3.65516160e-03 9.99991404e-01 -1.95735039e-03 1.50842672e+01] [-1.84224530e-02 2.02436864e-03 9.99828243e-01 1.68890210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84925976399998 meters Centerline goodness [0,1] 0.4747972824895902 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.08, Z:16.89 [[ 9.99822181e-01 -3.50576456e-03 1.85287933e-02 -2.72964212e+01] [ 3.54019027e-03 9.99992067e-01 -1.82548341e-03 1.50838271e+01] [-1.85222466e-02 1.89075426e-03 9.99826661e-01 1.68891752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87925976399998 meters Centerline goodness [0,1] 0.47575898601111444 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.08, Z:16.89 [[ 9.99809965e-01 -3.61477842e-03 1.91564103e-02 -2.72981585e+01] [ 3.64746719e-03 9.99991951e-01 -1.67174962e-03 1.50817059e+01] [-1.91502131e-02 1.74130431e-03 9.99815102e-01 1.68891326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90925976399998 meters Centerline goodness [0,1] 0.4554663608562691 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.08, Z:16.89 [[ 9.99805300e-01 -3.45563442e-03 1.94273425e-02 -2.72986063e+01] [ 3.48146537e-03 9.99993100e-01 -1.29595427e-03 1.50803495e+01] [-1.94227301e-02 1.36333757e-03 9.99810431e-01 1.68885967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93925976399998 meters Centerline goodness [0,1] 0.4774005131284459 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.08, Z:16.89 [[ 9.99796304e-01 -3.90110447e-03 1.98023167e-02 -2.73003307e+01] [ 3.93294425e-03 9.99991035e-01 -1.56919201e-03 1.50802969e+01] [-1.97960176e-02 1.64675378e-03 9.99802683e-01 1.68894092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.969259764 meters Centerline goodness [0,1] 0.4760176797991924 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.08, Z:16.89 [[ 9.99796877e-01 -3.96902564e-03 1.97598247e-02 -2.73007081e+01] [ 4.00602199e-03 9.99990296e-01 -1.83307041e-03 1.50807759e+01] [-1.97523574e-02 1.91185636e-03 9.99803075e-01 1.68902983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.999259764 meters Centerline goodness [0,1] 0.4760176797991924 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.08, Z:16.89 [[ 9.99796877e-01 -3.96902564e-03 1.97598247e-02 -2.73007081e+01] [ 4.00602199e-03 9.99990296e-01 -1.83307041e-03 1.50807759e+01] [-1.97523574e-02 1.91185636e-03 9.99803075e-01 1.68902983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.029259764 meters Centerline goodness [0,1] 0.4715170025360639 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.08, Z:16.89 [[ 9.99794549e-01 -4.06585581e-03 1.98577014e-02 -2.73014712e+01] [ 4.10783186e-03 9.99989413e-01 -2.07350997e-03 1.50811568e+01] [-1.98490606e-02 2.15465607e-03 9.99800666e-01 1.68911804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.059259764 meters Centerline goodness [0,1] 0.47828097375221 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.08, Z:16.89 [[ 9.99789698e-01 -4.18798451e-03 2.00753918e-02 -2.73024483e+01] [ 4.23090425e-03 9.99988853e-01 -2.09593199e-03 1.50809249e+01] [-2.00663903e-02 2.18042827e-03 9.99796272e-01 1.68916291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.089259764 meters Centerline goodness [0,1] 0.46163440160511904 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.08, Z:16.89 [[ 9.99783657e-01 -4.44644989e-03 2.03191830e-02 -2.73036201e+01] [ 4.49348732e-03 9.99987328e-01 -2.26985698e-03 1.50809162e+01] [-2.03088327e-02 2.36066990e-03 9.99790967e-01 1.68922843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.119259764 meters Centerline goodness [0,1] 0.46143415057496207 Centerline is valid? [False, False] Translation: X:-27.30, Y:15.08, Z:16.89 [[ 9.99777718e-01 -4.70563261e-03 2.05516660e-02 -2.73046530e+01] [ 4.75742880e-03 9.99985628e-01 -2.47212726e-03 1.50811204e+01] [-2.05397377e-02 2.56935084e-03 9.99785736e-01 1.68928352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.149259764 meters Centerline goodness [0,1] 0.4624925365032839 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99891560e-01 -2.92239805e-03 1.44335555e-02 -2.73225707e+01] [ 3.07301128e-03 9.99940949e-01 -1.04238050e-02 1.50860795e+01] [-1.44022407e-02 1.04670292e-02 9.99841496e-01 1.69004220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.179259764 meters Centerline goodness [0,1] 0.4654872547421055 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99892396e-01 -2.64736909e-03 1.44286868e-02 -2.73219921e+01] [ 2.79246209e-03 9.99945648e-01 -1.00450171e-02 1.50858845e+01] [-1.44013097e-02 1.00842278e-02 9.99845443e-01 1.68994966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20925976399997 meters Centerline goodness [0,1] 0.468427501701838 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.08, Z:16.90 [[ 9.99884336e-01 1.44397204e-03 1.51403577e-02 -2.73232167e+01] [-1.36828511e-03 9.99986523e-01 -5.00818594e-03 1.50827099e+01] [-1.51473854e-02 4.98689035e-03 9.99872836e-01 1.68977771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23925976399997 meters Centerline goodness [0,1] 0.47624505389548366 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99889072e-01 2.03119606e-03 1.47552519e-02 -2.73219513e+01] [-1.95382379e-03 9.99984277e-01 -5.25623492e-03 1.50853539e+01] [-1.47656964e-02 5.22682269e-03 9.99877320e-01 1.68983521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26925976399997 meters Centerline goodness [0,1] 0.47799240457910985 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99889758e-01 2.07232975e-03 1.47030015e-02 -2.73219515e+01] [-1.99275890e-03 9.99983302e-01 -5.42446611e-03 1.50862775e+01] [-1.47139972e-02 5.39456857e-03 9.99877191e-01 1.68987126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29925976399997 meters Centerline goodness [0,1] 0.4809587507848544 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99889274e-01 2.18697681e-03 1.47192712e-02 -2.73218327e+01] [-2.10642204e-03 9.99982733e-01 -5.48602187e-03 1.50867946e+01] [-1.47310148e-02 5.45440942e-03 9.99876616e-01 1.68986509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32925976399997 meters Centerline goodness [0,1] 0.4831983035180252 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99888098e-01 2.45497057e-03 1.47568695e-02 -2.73214273e+01] [-2.37780999e-03 9.99983423e-01 -5.24406388e-03 1.50866380e+01] [-1.47694989e-02 5.20838803e-03 9.99877360e-01 1.68980201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35925976399997 meters Centerline goodness [0,1] 0.4833483348334834 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99886452e-01 2.56661706e-03 1.48491054e-02 -2.73212521e+01] [-2.48985467e-03 9.99983455e-01 -5.18567534e-03 1.50870488e+01] [-1.48621693e-02 5.14811441e-03 9.99876299e-01 1.68975025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38925976399997 meters Centerline goodness [0,1] 0.4806412913076671 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99884340e-01 2.55720475e-03 1.49922268e-02 -2.73215668e+01] [-2.47990022e-03 9.99983547e-01 -5.17263261e-03 1.50873344e+01] [-1.50052076e-02 5.13485512e-03 9.99874231e-01 1.68974262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41925976399997 meters Centerline goodness [0,1] 0.4878108638743456 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99881267e-01 2.53336842e-03 1.51997798e-02 -2.73220568e+01] [-2.45566525e-03 9.99983833e-01 -5.12861275e-03 1.50872733e+01] [-1.52125267e-02 5.09067825e-03 9.99871324e-01 1.68973510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44925976399998 meters Centerline goodness [0,1] 0.4890057230482763 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99876961e-01 2.03040562e-03 1.55544178e-02 -2.73238272e+01] [-1.94807808e-03 9.99984025e-01 -5.30619627e-03 1.50873422e+01] [-1.55649430e-02 5.27524218e-03 9.99864943e-01 1.68981968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47925976399998 meters Centerline goodness [0,1] 0.48571897570584377 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99875167e-01 1.79755500e-03 1.56977674e-02 -2.73247863e+01] [-1.71191692e-03 9.99983590e-01 -5.46716458e-03 1.50876941e+01] [-1.57073373e-02 5.43960882e-03 9.99861836e-01 1.68989447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50925976399998 meters Centerline goodness [0,1] 0.48778879701107114 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.09, Z:16.90 [[ 9.99877088e-01 1.67267642e-03 1.55887822e-02 -2.73251578e+01] [-1.58159826e-03 9.99981620e-01 -5.85304285e-03 1.50891346e+01] [-1.55982859e-02 5.82766825e-03 9.99861356e-01 1.69000640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53925976399998 meters Centerline goodness [0,1] 0.4891250617894216 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.09, Z:16.90 [[ 9.99877682e-01 1.62814752e-03 1.55553658e-02 -2.73252685e+01] [-1.53181780e-03 9.99979590e-01 -6.20260958e-03 1.50909123e+01] [-1.55651471e-02 6.17802291e-03 9.99859769e-01 1.69006031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56925976399998 meters Centerline goodness [0,1] 0.49334582426363216 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99878620e-01 1.72112986e-03 1.54849273e-02 -2.73249861e+01] [-1.62312244e-03 9.99978588e-01 -6.33955655e-03 1.50920237e+01] [-1.54955070e-02 6.31365312e-03 9.99860004e-01 1.69006602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59925976399998 meters Centerline goodness [0,1] 0.496088585279859 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99880533e-01 2.41255150e-03 1.52676147e-02 -2.73230543e+01] [-2.32361393e-03 9.99980246e-01 -5.84030339e-03 1.50921862e+01] [-1.52814032e-02 5.80412962e-03 9.99866386e-01 1.68989653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62925976399998 meters Centerline goodness [0,1] 0.498248903841381 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99880776e-01 2.75137873e-03 1.51942068e-02 -2.73221347e+01] [-2.66777617e-03 9.99981207e-01 -5.51979603e-03 1.50922167e+01] [-1.52091083e-02 5.47860319e-03 9.99869325e-01 1.68979366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65925976399998 meters Centerline goodness [0,1] 0.4995304904993372 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99880035e-01 2.92064658e-03 1.52113904e-02 -2.73217008e+01] [-2.83923098e-03 9.99981545e-01 -5.37112703e-03 1.50925093e+01] [-1.52267969e-02 5.32729403e-03 9.99869874e-01 1.68972952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68925976399998 meters Centerline goodness [0,1] 0.48216505954190036 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99878387e-01 2.94749688e-03 1.53141542e-02 -2.73217879e+01] [-2.86595158e-03 9.99981614e-01 -5.34405258e-03 1.50929522e+01] [-1.53296242e-02 5.29951305e-03 9.99868450e-01 1.68970488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.719259764 meters Centerline goodness [0,1] 0.4795658433935098 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99878859e-01 2.94363246e-03 1.52840566e-02 -2.73218330e+01] [-2.86113384e-03 9.99981236e-01 -5.41675462e-03 1.50935070e+01] [-1.52997147e-02 5.37236870e-03 9.99868520e-01 1.68972492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.749259764 meters Centerline goodness [0,1] 0.5056195365616761 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99883686e-01 3.19684143e-03 1.49129234e-02 -2.73210233e+01] [-3.10742976e-03 9.99977082e-01 -6.01490711e-03 1.50973767e+01] [-1.49318104e-02 5.96786663e-03 9.99870704e-01 1.68983773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.779259764 meters Centerline goodness [0,1] 0.5032679738562091 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99885119e-01 3.16684645e-03 1.48229766e-02 -2.73208872e+01] [-3.07218461e-03 9.99974771e-01 -6.40457577e-03 1.50995597e+01] [-1.48428850e-02 6.35830109e-03 9.99869622e-01 1.68988059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.809259764 meters Centerline goodness [0,1] 0.5065391372242827 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99886068e-01 3.24275698e-03 1.47423241e-02 -2.73206481e+01] [-3.14561434e-03 9.99973221e-01 -6.60779019e-03 1.51008904e+01] [-1.47633568e-02 6.56066369e-03 9.99869492e-01 1.68990023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.839259764 meters Centerline goodness [0,1] 0.5146665924524101 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99886312e-01 3.76904345e-03 1.45998957e-02 -2.73193221e+01] [-3.67777306e-03 9.99973560e-01 -6.27325401e-03 1.51011047e+01] [-1.46231538e-02 6.21884572e-03 9.99873737e-01 1.68978767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.869259764 meters Centerline goodness [0,1] 0.50390625 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99884482e-01 4.02380886e-03 1.46571079e-02 -2.73188552e+01] [-3.93651973e-03 9.99974375e-01 -5.97940364e-03 1.51007347e+01] [-1.46807923e-02 5.92101492e-03 9.99874700e-01 1.68969971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.899259764 meters Centerline goodness [0,1] 0.5095575122603656 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99883419e-01 4.20455463e-03 1.46788843e-02 -2.73186436e+01] [-4.12037550e-03 9.99974921e-01 -5.76024991e-03 1.51003129e+01] [-1.47027354e-02 5.69909586e-03 9.99875667e-01 1.68965797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.929259764 meters Centerline goodness [0,1] 0.5115197102660538 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99881670e-01 4.12995405e-03 1.48185578e-02 -2.73191396e+01] [-4.04370528e-03 9.99974739e-01 -5.84557068e-03 1.51005320e+01] [-1.48423254e-02 5.78495710e-03 9.99873112e-01 1.68967525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95925976399997 meters Centerline goodness [0,1] 0.5023788987507304 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99880728e-01 4.05013887e-03 1.49038785e-02 -2.73195791e+01] [-3.96271154e-03 9.99974797e-01 -5.89094228e-03 1.51009194e+01] [-1.49273620e-02 5.83117989e-03 9.99871577e-01 1.68970072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98925976399997 meters Centerline goodness [0,1] 0.5058464102208027 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99880089e-01 3.87409714e-03 1.49933315e-02 -2.73201972e+01] [-3.78493458e-03 9.99975013e-01 -5.97062847e-03 1.51012658e+01] [-1.50160877e-02 5.91316374e-03 9.99869767e-01 1.68973791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01925976399997 meters Centerline goodness [0,1] 0.503671562082777 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99879728e-01 3.93955463e-03 1.50002952e-02 -2.73203275e+01] [-3.85142696e-03 9.99975181e-01 -5.89942456e-03 1.51012707e+01] [-1.50231640e-02 5.84094248e-03 9.99870086e-01 1.68975519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04925976399997 meters Centerline goodness [0,1] 0.5109373260603363 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99878991e-01 3.99325945e-03 1.50351746e-02 -2.73206401e+01] [-3.90540239e-03 9.99975155e-01 -5.86826812e-03 1.51010600e+01] [-1.50582345e-02 5.80883960e-03 9.99869745e-01 1.68978655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07925976399997 meters Centerline goodness [0,1] 0.5099404132093335 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99877111e-01 4.10091087e-03 1.51309482e-02 -2.73208036e+01] [-4.01638769e-03 9.99976185e-01 -5.61227776e-03 1.51003763e+01] [-1.51536033e-02 5.55081632e-03 9.99869770e-01 1.68975940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10925976399997 meters Centerline goodness [0,1] 0.5121367331032178 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99875582e-01 4.26692366e-03 1.51859464e-02 -2.73208321e+01] [-4.18612093e-03 9.99976934e-01 -5.34870375e-03 1.50996869e+01] [-1.52084186e-02 5.28446807e-03 9.99870381e-01 1.68973590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13925976399997 meters Centerline goodness [0,1] 0.5105204564430837 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99874960e-01 4.48937829e-03 1.51627744e-02 -2.73205216e+01] [-4.41224992e-03 9.99977177e-01 -5.11632123e-03 1.50992919e+01] [-1.51853975e-02 5.04877954e-03 9.99871949e-01 1.68970090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16925976399997 meters Centerline goodness [0,1] 0.5165718111817877 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99877652e-01 5.08473297e-03 1.47927539e-02 -2.73191568e+01] [-5.01211241e-03 9.99975227e-01 -4.94213698e-03 1.50995453e+01] [-1.48175168e-02 4.86738938e-03 9.99878367e-01 1.68968640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19925976399998 meters Centerline goodness [0,1] 0.5148318128393127 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99878791e-01 5.34431519e-03 1.46232944e-02 -2.73185930e+01] [-5.27325801e-03 9.99974123e-01 -4.89342917e-03 1.51001513e+01] [-1.46490681e-02 4.81572364e-03 9.99881100e-01 1.68968646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22925976399998 meters Centerline goodness [0,1] 0.5152668551118077 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99878240e-01 5.63985145e-03 1.45498332e-02 -2.73181616e+01] [-5.57227192e-03 9.99973518e-01 -4.68106068e-03 1.51001024e+01] [-1.45758484e-02 4.59941508e-03 9.99883188e-01 1.68966128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25925976399998 meters Centerline goodness [0,1] 0.516506922257721 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99877718e-01 5.89080759e-03 1.44861393e-02 -2.73178369e+01] [-5.82642044e-03 9.99972978e-01 -4.48293641e-03 1.50997987e+01] [-1.45121560e-02 4.39798589e-03 9.99885021e-01 1.68964541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28925976399998 meters Centerline goodness [0,1] 0.5194932319051349 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99876759e-01 6.18562613e-03 1.44293120e-02 -2.73174888e+01] [-6.12763821e-03 9.99972986e-01 -4.05951407e-03 1.50984659e+01] [-1.44540329e-02 3.97059617e-03 9.99887651e-01 1.68960470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31925976399998 meters Centerline goodness [0,1] 0.517844685660072 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99874070e-01 6.31682064e-03 1.45582300e-02 -2.73176796e+01] [-6.26312638e-03 9.99973427e-01 -3.73088701e-03 1.50974780e+01] [-1.45814105e-02 3.63923715e-03 9.99887063e-01 1.68956519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34925976399998 meters Centerline goodness [0,1] 0.520119516349725 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99871583e-01 6.35045541e-03 1.47135844e-02 -2.73181245e+01] [-6.29817945e-03 9.99973699e-01 -3.59652182e-03 1.50968258e+01] [-1.47360370e-02 3.50339117e-03 9.99885281e-01 1.68956510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37925976399998 meters Centerline goodness [0,1] 0.5183059348007801 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99871046e-01 6.39711434e-03 1.47298215e-02 -2.73183552e+01] [-6.34709297e-03 9.99973939e-01 -3.44017308e-03 1.50961618e+01] [-1.47514448e-02 3.34623791e-03 9.99885592e-01 1.68958187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40925976399998 meters Centerline goodness [0,1] 0.5157897665618653 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99867120e-01 6.33387777e-03 1.50207849e-02 -2.73191083e+01] [-6.28534008e-03 9.99974880e-01 -3.27637805e-03 1.50955090e+01] [-1.50411598e-02 3.18153194e-03 9.99881814e-01 1.68956138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43925976399998 meters Centerline goodness [0,1] 0.5251872685249646 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99865170e-01 6.29157536e-03 1.51676771e-02 -2.73195134e+01] [-6.24945436e-03 9.99976488e-01 -2.82282398e-03 1.50938486e+01] [-1.51850805e-02 2.72765367e-03 9.99880980e-01 1.68950367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.469259764 meters Centerline goodness [0,1] 0.5249798213142587 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.89 [[ 9.99862512e-01 6.32859374e-03 1.53266135e-02 -2.73198681e+01] [-6.28921932e-03 9.99976801e-01 -2.61586148e-03 1.50930978e+01] [-1.53428127e-02 2.51910940e-03 9.99879119e-01 1.68948323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.499259764 meters Centerline goodness [0,1] 0.5248644892286309 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.89 [[ 9.99858616e-01 6.30155144e-03 1.55896651e-02 -2.73205318e+01] [-6.26459754e-03 9.99977454e-01 -2.41811055e-03 1.50923326e+01] [-1.56045514e-02 2.32010569e-03 9.99875550e-01 1.68945778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.529259764 meters Centerline goodness [0,1] 0.5203145478374835 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99857704e-01 5.80028982e-03 1.58407299e-02 -2.73220431e+01] [-5.76208714e-03 9.99980382e-01 -2.45625089e-03 1.50918466e+01] [-1.58546661e-02 2.36462571e-03 9.99871511e-01 1.68951213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.559259764 meters Centerline goodness [0,1] 0.5209136092031049 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99856317e-01 5.74438311e-03 1.59482914e-02 -2.73223810e+01] [-5.70648661e-03 9.99980788e-01 -2.42070228e-03 1.50919587e+01] [-1.59618904e-02 2.32934576e-03 9.99869888e-01 1.68950552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.589259764 meters Centerline goodness [0,1] 0.5247533055656501 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99854751e-01 5.74494786e-03 1.60459296e-02 -2.73226107e+01] [-5.70609608e-03 9.99980679e-01 -2.46602022e-03 1.50921217e+01] [-1.60597868e-02 2.37410242e-03 9.99868215e-01 1.68950586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.619259764 meters Centerline goodness [0,1] 0.5247533055656501 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.90 [[ 9.99854751e-01 5.74494786e-03 1.60459296e-02 -2.73226107e+01] [-5.70609608e-03 9.99980679e-01 -2.46602022e-03 1.50921217e+01] [-1.60597868e-02 2.37410242e-03 9.99868215e-01 1.68950586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.649259764 meters Centerline goodness [0,1] 0.5294084805850989 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.09, Z:16.89 [[ 9.99856692e-01 6.14211397e-03 1.57755948e-02 -2.73214693e+01] [-6.10445216e-03 9.99978404e-01 -2.43439218e-03 1.50930361e+01] [-1.57902064e-02 2.33774195e-03 9.99872594e-01 1.68947622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.679259764 meters Centerline goodness [0,1] 0.5318463305965757 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.89 [[ 9.99858498e-01 6.80079287e-03 1.53861292e-02 -2.73195387e+01] [-6.75987971e-03 9.99973481e-01 -2.70954110e-03 1.50957954e+01] [-1.54041482e-02 2.60514931e-03 9.99877955e-01 1.68944403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70925976399997 meters Centerline goodness [0,1] 0.5353730632372307 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.89 [[ 9.99860303e-01 6.92005493e-03 1.52146867e-02 -2.73190599e+01] [-6.87499409e-03 9.99971831e-01 -3.01197933e-03 1.50975443e+01] [-1.52351012e-02 2.90695769e-03 9.99879713e-01 1.68947336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73925976399997 meters Centerline goodness [0,1] 0.5311412860509483 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99860851e-01 6.95833830e-03 1.51611255e-02 -2.73189932e+01] [-6.90629346e-03 9.99970087e-01 -3.48243890e-03 1.50993173e+01] [-1.51849040e-02 3.37724714e-03 9.99878999e-01 1.68953086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76925976399997 meters Centerline goodness [0,1] 0.5325845851467079 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99861617e-01 7.01069834e-03 1.50863409e-02 -2.73188047e+01] [-6.95394838e-03 9.99968560e-01 -3.81085425e-03 1.51008011e+01] [-1.51125834e-02 3.70541726e-03 9.99878933e-01 1.68956139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79925976399997 meters Centerline goodness [0,1] 0.5370209181524639 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.10, Z:16.90 [[ 9.99863352e-01 7.37070204e-03 1.47969634e-02 -2.73177201e+01] [-7.30795215e-03 9.99964093e-01 -4.29032873e-03 1.51034058e+01] [-1.48280548e-02 4.18160696e-03 9.99881314e-01 1.68960668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82925976399997 meters Centerline goodness [0,1] 0.5378097028536154 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.11, Z:16.90 [[ 9.99865210e-01 7.42463728e-03 1.46436373e-02 -2.73172447e+01] [-7.35848903e-03 9.99962502e-01 -4.56592021e-03 1.51051594e+01] [-1.46769885e-02 4.45754973e-03 9.99882351e-01 1.68961993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85925976399997 meters Centerline goodness [0,1] 0.5384637044545812 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.11, Z:16.90 [[ 9.99866180e-01 7.46233473e-03 1.45580319e-02 -2.73168835e+01] [-7.39340505e-03 9.99961230e-01 -4.78290991e-03 1.51068572e+01] [-1.45931591e-02 4.67463643e-03 9.99882587e-01 1.68961382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88925976399997 meters Centerline goodness [0,1] 0.5424097065462754 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.11, Z:16.90 [[ 9.99867021e-01 7.77105119e-03 1.43370663e-02 -2.73155919e+01] [-7.70277068e-03 9.99958757e-01 -4.81160586e-03 1.51083323e+01] [-1.43738663e-02 4.70053088e-03 9.99885642e-01 1.68953876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91925976399997 meters Centerline goodness [0,1] 0.5424097065462754 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.11, Z:16.90 [[ 9.99867021e-01 7.77105119e-03 1.43370663e-02 -2.73155919e+01] [-7.70277068e-03 9.99958757e-01 -4.81160586e-03 1.51083323e+01] [-1.43738663e-02 4.70053088e-03 9.99885642e-01 1.68953876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94925976399998 meters Centerline goodness [0,1] 0.5435193278258663 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.11, Z:16.90 [[ 9.99864725e-01 7.85858445e-03 1.44489975e-02 -2.73156709e+01] [-7.78717395e-03 9.99957220e-01 -4.99188304e-03 1.51091222e+01] [-1.44876085e-02 4.87869090e-03 9.99883147e-01 1.68953653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97925976399998 meters Centerline goodness [0,1] 0.541544200768709 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.11, Z:16.90 [[ 9.99864008e-01 7.62688889e-03 1.46217805e-02 -2.73164595e+01] [-7.55028958e-03 9.99957521e-01 -5.28677758e-03 1.51099917e+01] [-1.46614810e-02 5.17565994e-03 9.99879119e-01 1.68957876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00925976399998 meters Centerline goodness [0,1] 0.5434911326021372 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.11, Z:16.90 [[ 9.99862873e-01 7.59825102e-03 1.47139776e-02 -2.73166683e+01] [-7.51976947e-03 9.99957244e-01 -5.38181007e-03 1.51106171e+01] [-1.47542409e-02 5.27042636e-03 9.99877260e-01 1.68957792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03925976399998 meters Centerline goodness [0,1] 0.5473708068902992 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.11, Z:16.90 [[ 9.99864429e-01 7.46818153e-03 1.46747850e-02 -2.73166654e+01] [-7.38720291e-03 9.99957231e-01 -5.56469508e-03 1.51121304e+01] [-1.47157155e-02 5.45553506e-03 9.99876835e-01 1.68958179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06925976399998 meters Centerline goodness [0,1] 0.5452669079393802 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.11, Z:16.90 [[ 9.99863095e-01 7.45457609e-03 1.47723134e-02 -2.73168376e+01] [-7.37330111e-03 9.99957422e-01 -5.54869310e-03 1.51123856e+01] [-1.48130476e-02 5.43901274e-03 9.99875488e-01 1.68956357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09925976399998 meters Centerline goodness [0,1] 0.5443979412929133 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.11, Z:16.90 [[ 9.99860858e-01 7.40896677e-03 1.49456277e-02 -2.73171851e+01] [-7.32715471e-03 9.99957913e-01 -5.52133118e-03 1.51124932e+01] [-1.49859060e-02 5.41105400e-03 9.99873064e-01 1.68953797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12925976399998 meters Centerline goodness [0,1] 0.5488095238095239 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.11, Z:16.89 [[ 9.99860502e-01 7.80636765e-03 1.47660496e-02 -2.73157095e+01] [-7.72340268e-03 9.99954114e-01 -5.66733550e-03 1.51146445e+01] [-1.48096134e-02 5.55250078e-03 9.99874915e-01 1.68945600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15925976399998 meters Centerline goodness [0,1] 0.5507246376811594 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.12, Z:16.89 [[ 9.99861243e-01 8.10075830e-03 1.45558358e-02 -2.73145566e+01] [-8.01638933e-03 9.99950784e-01 -5.84525799e-03 1.51168275e+01] [-1.46024704e-02 5.72776167e-03 9.99876973e-01 1.68941050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18925976399998 meters Centerline goodness [0,1] 0.5519321609470149 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.12, Z:16.89 [[ 9.99860838e-01 8.26201517e-03 1.44929137e-02 -2.73140765e+01] [-8.17481000e-03 9.99948186e-01 -6.06604816e-03 1.51185765e+01] [-1.45422805e-02 5.94672718e-03 9.99876572e-01 1.68939914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.219259764 meters Centerline goodness [0,1] 0.549889959127676 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.12, Z:16.89 [[ 9.99856860e-01 8.89954127e-03 1.43895133e-02 -2.73127436e+01] [-8.80687368e-03 9.99940154e-01 -6.49053256e-03 1.51218376e+01] [-1.44464149e-02 6.36287687e-03 9.99875400e-01 1.68937910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.249259764 meters Centerline goodness [0,1] 0.549717983222149 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.12, Z:16.89 [[ 9.99856231e-01 9.03910409e-03 1.43461207e-02 -2.73124199e+01] [-8.94359210e-03 9.99937506e-01 -6.70793928e-03 1.51234416e+01] [-1.44058579e-02 6.57866904e-03 9.99874588e-01 1.68937990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.279259764 meters Centerline goodness [0,1] 0.549717983222149 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.12, Z:16.89 [[ 9.99856231e-01 9.03910409e-03 1.43461207e-02 -2.73124199e+01] [-8.94359210e-03 9.99937506e-01 -6.70793928e-03 1.51234416e+01] [-1.44058579e-02 6.57866904e-03 9.99874588e-01 1.68937990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.309259764 meters Centerline goodness [0,1] 0.5488583424397538 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99854980e-01 9.62148424e-03 1.40515211e-02 -2.73107408e+01] [-9.52423278e-03 9.99930340e-01 -6.97166039e-03 1.51263143e+01] [-1.41176200e-02 6.83681940e-03 9.99876968e-01 1.68935100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.339259764 meters Centerline goodness [0,1] 0.5522615084376077 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99853759e-01 9.79959047e-03 1.40152836e-02 -2.73103725e+01] [-9.70055868e-03 9.99927624e-01 -7.11659878e-03 1.51276196e+01] [-1.40840090e-02 6.97960196e-03 9.99876455e-01 1.68934742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.369259764 meters Centerline goodness [0,1] 0.5623848987108655 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99852675e-01 1.03918230e-02 1.36615700e-02 -2.73085475e+01] [-1.02928791e-02 9.99920431e-01 -7.29297045e-03 1.51301709e+01] [-1.37362702e-02 7.15127912e-03 9.99880080e-01 1.68930776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.399259764 meters Centerline goodness [0,1] 0.5629687319718473 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99850768e-01 1.05967161e-02 1.36437354e-02 -2.73080248e+01] [-1.04976277e-02 9.99918151e-01 -7.31380648e-03 1.51311660e+01] [-1.37201210e-02 7.16948818e-03 9.99880171e-01 1.68926237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.429259764 meters Centerline goodness [0,1] 0.5569528765539173 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99848423e-01 1.08065551e-02 1.36509757e-02 -2.73076796e+01] [-1.07060443e-02 9.99915198e-01 -7.41465073e-03 1.51320809e+01] [-1.37299449e-02 7.26737889e-03 9.99879330e-01 1.68924321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45925976399997 meters Centerline goodness [0,1] 0.5618113642918949 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99847008e-01 1.09879415e-02 1.36097642e-02 -2.73072722e+01] [-1.08861702e-02 9.99912395e-01 -7.52946762e-03 1.51332243e+01] [-1.36913053e-02 7.38015747e-03 9.99879033e-01 1.68923184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48925976399997 meters Centerline goodness [0,1] 0.5598155505930802 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99843949e-01 1.15171336e-02 1.33952464e-02 -2.73059942e+01] [-1.14170100e-02 9.99906492e-01 -7.52716862e-03 1.51345686e+01] [-1.34806853e-02 7.37306034e-03 9.99881948e-01 1.68919168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51925976399997 meters Centerline goodness [0,1] 0.5631543838278372 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99840946e-01 1.17872503e-02 1.33844737e-02 -2.73055169e+01] [-1.16906971e-02 9.99905238e-01 -7.26929414e-03 1.51344845e+01] [-1.34688903e-02 7.11166410e-03 9.99884000e-01 1.68913057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54925976399997 meters Centerline goodness [0,1] 0.5643280775350789 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99839040e-01 1.19468612e-02 1.33853448e-02 -2.73052022e+01] [-1.18517664e-02 9.99904121e-01 -7.16134195e-03 1.51348167e+01] [-1.34696170e-02 7.00154928e-03 9.99884767e-01 1.68909244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57925976399997 meters Centerline goodness [0,1] 0.5637737378415933 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.14, Z:16.89 [[ 9.99838220e-01 1.20481382e-02 1.33557548e-02 -2.73050681e+01] [-1.19533148e-02 9.99902943e-01 -7.15705038e-03 1.51352064e+01] [-1.34406877e-02 6.99624697e-03 9.99885194e-01 1.68909455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60925976399997 meters Centerline goodness [0,1] 0.5609431890423626 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.14, Z:16.89 [[ 9.99836910e-01 1.19740896e-02 1.35193803e-02 -2.73058242e+01] [-1.18747551e-02 9.99902080e-01 -7.40408064e-03 1.51357244e+01] [-1.36067136e-02 7.24233378e-03 9.99881196e-01 1.68916126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63925976399997 meters Centerline goodness [0,1] 0.5636705202312139 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.14, Z:16.89 [[ 9.99834752e-01 1.20568163e-02 1.36052103e-02 -2.73060310e+01] [-1.19588478e-02 9.99902139e-01 -7.25933667e-03 1.51352934e+01] [-1.36914033e-02 7.09543444e-03 9.99881093e-01 1.68915093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66925976399997 meters Centerline goodness [0,1] 0.565548472698953 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.14, Z:16.89 [[ 9.99832589e-01 1.20861399e-02 1.37375168e-02 -2.73063446e+01] [-1.19880818e-02 9.99902232e-01 -7.19806009e-03 1.51351346e+01] [-1.38231704e-02 7.03216858e-03 9.99879727e-01 1.68914194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69925976399998 meters Centerline goodness [0,1] 0.5598464513522095 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99828394e-01 1.21937625e-02 1.39461578e-02 -2.73064777e+01] [-1.20999178e-02 9.99903714e-01 -6.79377284e-03 1.51344010e+01] [-1.40276567e-02 6.62385962e-03 9.99879667e-01 1.68904799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72925976399998 meters Centerline goodness [0,1] 0.5556195633389021 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99824813e-01 1.22053772e-02 1.41905606e-02 -2.73070613e+01] [-1.21127227e-02 9.99904876e-01 -6.59702550e-03 1.51335096e+01] [-1.42697299e-02 6.42398346e-03 9.99877546e-01 1.68901930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75925976399998 meters Centerline goodness [0,1] 0.5556195633389021 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99824813e-01 1.22053772e-02 1.41905606e-02 -2.73070613e+01] [-1.21127227e-02 9.99904876e-01 -6.59702550e-03 1.51335096e+01] [-1.42697299e-02 6.42398346e-03 9.99877546e-01 1.68901930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78925976399998 meters Centerline goodness [0,1] 0.5584669872440899 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99819908e-01 1.20726213e-02 1.46425462e-02 -2.73083542e+01] [-1.19843192e-02 9.99909559e-01 -6.10334194e-03 1.51310678e+01] [-1.47149052e-02 5.92676183e-03 9.99874165e-01 1.68896205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81925976399998 meters Centerline goodness [0,1] 0.5516537244751223 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99817276e-01 1.19076118e-02 1.49540657e-02 -2.73094574e+01] [-1.18194589e-02 9.99912329e-01 -5.96952193e-03 1.51302387e+01] [-1.50238374e-02 5.79168219e-03 9.99870362e-01 1.68896722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84925976399998 meters Centerline goodness [0,1] 0.5522889904302095 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99815318e-01 1.17070070e-02 1.52406296e-02 -2.73105240e+01] [-1.16181912e-02 9.99915082e-01 -5.90312662e-03 1.51296524e+01] [-1.53084433e-02 5.72496787e-03 9.99866429e-01 1.68897943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87925976399998 meters Centerline goodness [0,1] 0.5514746001206099 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99813439e-01 1.13606358e-02 1.56212675e-02 -2.73121019e+01] [-1.12685992e-02 9.99918702e-01 -5.96720719e-03 1.51291508e+01] [-1.56877888e-02 5.79006414e-03 9.99860174e-01 1.68903023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90925976399998 meters Centerline goodness [0,1] 0.5522285320943039 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99812186e-01 1.11225691e-02 1.58707604e-02 -2.73132337e+01] [-1.10276725e-02 9.99920864e-01 -6.05437393e-03 1.51291222e+01] [-1.59368446e-02 5.87821928e-03 9.99855721e-01 1.68907951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93925976399998 meters Centerline goodness [0,1] 0.5511146816629846 Centerline is valid? [False, False] Translation: X:-27.31, Y:15.13, Z:16.89 [[ 9.99809254e-01 1.09385523e-02 1.61803623e-02 -2.73143378e+01] [-1.08435228e-02 9.99923509e-01 -5.94926307e-03 1.51284174e+01] [-1.62442010e-02 5.77267614e-03 9.99851390e-01 1.68908540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.969259764 meters Centerline goodness [0,1] 0.5511605193611399 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.13, Z:16.89 [[ 9.99805369e-01 1.07638676e-02 1.65337041e-02 -2.73154363e+01] [-1.06693351e-02 9.99926288e-01 -5.79517404e-03 1.51275102e+01] [-1.65948638e-02 5.61764249e-03 9.99846515e-01 1.68907238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.999259764 meters Centerline goodness [0,1] 0.5508508451347647 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.13, Z:16.89 [[ 9.99843460e-01 6.78796988e-03 1.63394685e-02 -2.73151207e+01] [-6.62200067e-03 9.99926150e-01 -1.01903275e-02 1.51286189e+01] [-1.64074334e-02 1.00805323e-02 9.99814572e-01 1.68913502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.029259764 meters Centerline goodness [0,1] 0.5498302376672659 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.13, Z:16.89 [[ 9.99837018e-01 6.72742895e-03 1.67534636e-02 -2.73161238e+01] [-6.56489742e-03 9.99931039e-01 -9.73754175e-03 1.51268314e+01] [-1.68178169e-02 9.62596994e-03 9.99812233e-01 1.68907069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.059259764 meters Centerline goodness [0,1] 0.5525514415004127 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.12, Z:16.89 [[ 9.99831018e-01 6.70948521e-03 1.71148751e-02 -2.73169796e+01] [-6.55188807e-03 9.99935774e-01 -9.24770782e-03 1.51249084e+01] [-1.71758233e-02 9.13401037e-03 9.99810763e-01 1.68900525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.089259764 meters Centerline goodness [0,1] 0.5536641003706873 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.13, Z:16.89 [[ 9.99831087e-01 7.05822579e-03 1.69699667e-02 -2.73164242e+01] [-6.90164774e-03 9.99933236e-01 -9.26770213e-03 1.51260409e+01] [-1.70342473e-02 9.14901596e-03 9.99813047e-01 1.68902167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.119259764 meters Centerline goodness [0,1] 0.5518147291470344 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.13, Z:16.89 [[ 9.99830834e-01 7.03215497e-03 1.69956290e-02 -2.73167621e+01] [-6.87149902e-03 9.99931333e-01 -9.49276358e-03 1.51271124e+01] [-1.70612166e-02 9.37437228e-03 9.99810500e-01 1.68907764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.149259764 meters Centerline goodness [0,1] 0.5492136116671433 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.13, Z:16.89 [[ 9.99828481e-01 7.20077065e-03 1.70633146e-02 -2.73168032e+01] [-7.04077766e-03 9.99930862e-01 -9.41802717e-03 1.51276116e+01] [-1.71299519e-02 9.29627280e-03 9.99810054e-01 1.68906242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.179259764 meters Centerline goodness [0,1] 0.5514705882352942 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.13, Z:16.89 [[ 9.99825554e-01 7.49250327e-03 1.71091577e-02 -2.73165510e+01] [-7.33604733e-03 9.99930869e-01 -9.18909753e-03 1.51273853e+01] [-1.71768243e-02 9.06198094e-03 9.99811401e-01 1.68902080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20925976399997 meters Centerline goodness [0,1] 0.5420146436334515 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.13, Z:16.89 [[ 9.99820903e-01 7.93428069e-03 1.71816686e-02 -2.73160024e+01] [-7.78554083e-03 9.99931788e-01 -8.70654768e-03 1.51267149e+01] [-1.72495768e-02 8.57121978e-03 9.99814476e-01 1.68891418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23925976399997 meters Centerline goodness [0,1] 0.5434429268014486 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.13, Z:16.89 [[ 9.99819298e-01 8.07138957e-03 1.72111814e-02 -2.73160703e+01] [-7.92499091e-03 9.99931981e-01 -8.55732805e-03 1.51263744e+01] [-1.72790802e-02 8.41938327e-03 9.99815257e-01 1.68890980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26925976399997 meters Centerline goodness [0,1] 0.5491852401472561 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.13, Z:16.89 [[ 9.99815544e-01 8.09027796e-03 1.74191199e-02 -2.73166522e+01] [-7.94578710e-03 9.99933583e-01 -8.34825074e-03 1.51258763e+01] [-1.74855027e-02 8.20830224e-03 9.99813423e-01 1.68889100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29925976399997 meters Centerline goodness [0,1] 0.5439591766919436 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.12, Z:16.89 [[ 9.99812288e-01 8.22838661e-03 1.75408544e-02 -2.73170252e+01] [-8.08756476e-03 9.99934617e-01 -8.08409799e-03 1.51249683e+01] [-1.76062266e-02 7.94071772e-03 9.99813465e-01 1.68888606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32925976399997 meters Centerline goodness [0,1] 0.5438751388453761 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.12, Z:16.89 [[ 9.99807963e-01 8.18865807e-03 1.78040129e-02 -2.73180643e+01] [-8.05029600e-03 9.99936946e-01 -7.82922909e-03 1.51235063e+01] [-1.78670012e-02 7.68439801e-03 9.99810842e-01 1.68890144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35925976399997 meters Centerline goodness [0,1] 0.5405767367641192 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.12, Z:16.89 [[ 9.99804529e-01 8.27276731e-03 1.79573044e-02 -2.73184665e+01] [-8.14042865e-03 9.99939261e-01 -7.43025755e-03 1.51224135e+01] [-1.80176825e-02 7.28262499e-03 9.99811145e-01 1.68886438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38925976399997 meters Centerline goodness [0,1] 0.5406221513217867 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.12, Z:16.89 [[ 9.99800405e-01 8.25668433e-03 1.81927662e-02 -2.73192135e+01] [-8.12633994e-03 9.99940865e-01 -7.22694403e-03 1.51215338e+01] [-1.82513609e-02 7.07766096e-03 9.99808379e-01 1.68886055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41925976399997 meters Centerline goodness [0,1] 0.5406451980296689 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.12, Z:16.89 [[ 9.99795676e-01 8.24063682e-03 1.84580371e-02 -2.73200920e+01] [-8.11399496e-03 9.99943099e-01 -6.92548422e-03 1.51201874e+01] [-1.85140572e-02 6.77430075e-03 9.99805650e-01 1.68885142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44925976399998 meters Centerline goodness [0,1] 0.5405958026865079 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.12, Z:16.89 [[ 9.99789735e-01 8.28367920e-03 1.87581103e-02 -2.73208701e+01] [-8.16235296e-03 9.99945332e-01 -6.53528765e-03 1.51186002e+01] [-1.88112210e-02 6.38080319e-03 9.99802692e-01 1.68882083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47925976399998 meters Centerline goodness [0,1] 0.53788285867813 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.12, Z:16.89 [[ 9.99784447e-01 7.84055660e-03 1.92245976e-02 -2.73230151e+01] [-7.72238397e-03 9.99950877e-01 -6.21350174e-03 1.51157766e+01] [-1.92723705e-02 6.06370268e-03 9.99795883e-01 1.68886031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50925976399998 meters Centerline goodness [0,1] 0.53788285867813 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.12, Z:16.89 [[ 9.99784447e-01 7.84055660e-03 1.92245976e-02 -2.73230151e+01] [-7.72238397e-03 9.99950877e-01 -6.21350174e-03 1.51157766e+01] [-1.92723705e-02 6.06370268e-03 9.99795883e-01 1.68886031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53925976399998 meters Centerline goodness [0,1] 0.5379544490026877 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.11, Z:16.89 [[ 9.99778517e-01 7.62806315e-03 1.96145436e-02 -2.73245515e+01] [-7.51013196e-03 9.99953320e-01 -6.07908490e-03 1.51145979e+01] [-1.96599996e-02 5.93043068e-03 9.99789135e-01 1.68889541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56925976399998 meters Centerline goodness [0,1] 0.5280476782284488 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.11, Z:16.89 [[ 9.99773694e-01 7.42042072e-03 1.99373671e-02 -2.73259978e+01] [-7.30375838e-03 9.99955816e-01 -5.91790060e-03 1.51133417e+01] [-1.99803995e-02 5.77094363e-03 9.99783717e-01 1.68893909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59925976399998 meters Centerline goodness [0,1] 0.5341082209558201 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.11, Z:16.89 [[ 9.99767447e-01 7.07331807e-03 2.03720387e-02 -2.73282698e+01] [-6.95784201e-03 9.99959356e-01 -5.73367443e-03 1.51109281e+01] [-2.04117668e-02 5.59059562e-03 9.99776027e-01 1.68904414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62925976399998 meters Centerline goodness [0,1] 0.5281240327527505 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.11, Z:16.89 [[ 9.99762719e-01 6.85470218e-03 2.06765037e-02 -2.73297372e+01] [-6.74029238e-03 9.99961615e-01 -5.59794934e-03 1.51096629e+01] [-2.07140823e-02 5.45725537e-03 9.99770546e-01 1.68910022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65925976399998 meters Centerline goodness [0,1] 0.5299969002733396 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.11, Z:16.89 [[ 9.99755513e-01 6.64702841e-03 2.10886320e-02 -2.73313146e+01] [-6.53465785e-03 9.99964107e-01 -5.39293420e-03 1.51082020e+01] [-2.11237220e-02 5.25380870e-03 9.99763065e-01 1.68913094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68925976399998 meters Centerline goodness [0,1] 0.5270635233218928 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.11, Z:16.89 [[ 9.99749832e-01 6.54861041e-03 2.13866660e-02 -2.73324250e+01] [-6.44221925e-03 9.99966549e-01 -5.03976351e-03 1.51064052e+01] [-2.14189540e-02 4.90072513e-03 9.99758577e-01 1.68912789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.719259764 meters Centerline goodness [0,1] 0.5312342710139254 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.10, Z:16.89 [[ 9.99772484e-01 2.83433028e-03 2.11411177e-02 -2.73318219e+01] [-2.65299622e-03 9.99959496e-01 -8.60043721e-03 1.51049261e+01] [-2.11646379e-02 8.54239317e-03 9.99739509e-01 1.68910481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.749259764 meters Centerline goodness [0,1] 0.525309744391115 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.10, Z:16.89 [[ 9.99760781e-01 2.79244849e-03 2.16929028e-02 -2.73330548e+01] [-2.62353335e-03 9.99966050e-01 -7.81121535e-03 1.51019139e+01] [-2.17139788e-02 7.75243471e-03 9.99734166e-01 1.68899700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.779259764 meters Centerline goodness [0,1] 0.5317318933363024 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.10, Z:16.89 [[ 9.99754276e-01 2.79115794e-03 2.19908178e-02 -2.73339822e+01] [-2.63444295e-03 9.99970953e-01 -7.15213337e-03 1.50993282e+01] [-2.20101417e-02 7.09244237e-03 9.99732590e-01 1.68895077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.809259764 meters Centerline goodness [0,1] 0.528169404973357 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.10, Z:16.89 [[ 9.99740598e-01 2.20125845e-03 2.26691759e-02 -2.73369608e+01] [-2.05222903e-03 9.99976145e-01 -6.59526693e-03 1.50957350e+01] [-2.26831530e-02 6.54703376e-03 9.99721267e-01 1.68899117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.839259764 meters Centerline goodness [0,1] 0.5152353804001881 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.09, Z:16.89 [[ 9.99735721e-01 2.17386724e-03 2.28858498e-02 -2.73378842e+01] [-2.02983635e-03 9.99978001e-01 -6.31479789e-03 1.50946047e+01] [-2.28990739e-02 6.26667449e-03 9.99718141e-01 1.68900741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.869259764 meters Centerline goodness [0,1] 0.5264192200171607 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.09, Z:16.89 [[ 9.99729031e-01 2.00324607e-03 2.31916126e-02 -2.73392946e+01] [-1.86080799e-03 9.99979285e-01 -6.16174494e-03 1.50935321e+01] [-2.32034756e-02 6.11692016e-03 9.99712050e-01 1.68905862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.899259764 meters Centerline goodness [0,1] 0.5221808143547274 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.09, Z:16.89 [[ 9.99714853e-01 1.49699517e-03 2.38321774e-02 -2.73421109e+01] [-1.36117699e-03 9.99982748e-01 -5.71414352e-03 1.50900127e+01] [-2.38403203e-02 5.68007434e-03 9.99699643e-01 1.68911458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.929259764 meters Centerline goodness [0,1] 0.5221808143547274 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.09, Z:16.89 [[ 9.99714853e-01 1.49699517e-03 2.38321774e-02 -2.73421109e+01] [-1.36117699e-03 9.99982748e-01 -5.71414352e-03 1.50900127e+01] [-2.38403203e-02 5.68007434e-03 9.99699643e-01 1.68911458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95925976399997 meters Centerline goodness [0,1] 0.5139555945879188 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.09, Z:16.89 [[ 9.99702924e-01 1.27248292e-03 2.43401925e-02 -2.73438194e+01] [-1.15580176e-03 9.99987777e-01 -4.80723263e-03 1.50852032e+01] [-2.43460121e-02 4.77767208e-03 9.99692175e-01 1.68904646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98925976399997 meters Centerline goodness [0,1] 0.5205701417115236 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.08, Z:16.89 [[ 9.99697822e-01 1.26146992e-03 2.45493996e-02 -2.73447245e+01] [-1.14899741e-03 9.99988783e-01 -4.59504342e-03 1.50842054e+01] [-2.45549207e-02 4.56544770e-03 9.99688058e-01 1.68907030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01925976399997 meters Centerline goodness [0,1] 0.5103943831934616 Centerline is valid? [False, False] Translation: X:-27.35, Y:15.08, Z:16.89 [[ 9.99693356e-01 1.10577173e-03 2.47380444e-02 -2.73460061e+01] [-9.93284007e-04 9.99989114e-01 -4.55898062e-03 1.50833436e+01] [-2.47428163e-02 4.53301074e-03 9.99683572e-01 1.68915852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04925976399997 meters Centerline goodness [0,1] 0.49865841638374764 Centerline is valid? [False, False] Translation: X:-27.35, Y:15.08, Z:16.89 [[ 9.99687727e-01 9.79845874e-04 2.49697464e-02 -2.73472792e+01] [-8.71304169e-04 9.99990127e-01 -4.35743774e-03 1.50820518e+01] [-2.49737695e-02 4.33432079e-03 9.99678711e-01 1.68921819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07925976399997 meters Centerline goodness [0,1] 0.5023615168309263 Centerline is valid? [False, False] Translation: X:-27.35, Y:15.08, Z:16.89 [[ 9.99665108e-01 1.24521289e-04 2.58777364e-02 -2.73510272e+01] [-2.15697722e-05 9.99992085e-01 -3.97862292e-03 1.50778289e+01] [-2.58780270e-02 3.97673233e-03 9.99657198e-01 1.68927713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10925976399997 meters Centerline goodness [0,1] 0.4974812797821647 Centerline is valid? [False, False] Translation: X:-27.35, Y:15.08, Z:16.89 [[ 9.99655024e-01 -1.75917087e-05 2.62646623e-02 -2.73523666e+01] [ 1.12940677e-04 9.99993409e-01 -3.62883488e-03 1.50757351e+01] [-2.62644254e-02 3.63054937e-03 9.99648438e-01 1.68927673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13925976399997 meters Centerline goodness [0,1] 0.503738139901585 Centerline is valid? [False, False] Translation: X:-27.37, Y:15.08, Z:16.90 [[ 9.99793446e-01 1.51957557e-03 2.02671173e-02 -2.73708940e+01] [-1.28216811e-03 9.99930476e-01 -1.17217780e-02 1.50798468e+01] [-2.02835204e-02 1.16933710e-02 9.99725884e-01 1.69007571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16925976399997 meters Centerline goodness [0,1] 0.5023752001954451 Centerline is valid? [False, False] Translation: X:-27.37, Y:15.08, Z:16.90 [[ 9.99790166e-01 1.59493489e-03 2.04225245e-02 -2.73715416e+01] [-1.36214796e-03 9.99934006e-01 -1.14073798e-02 1.50788518e+01] [-2.04393708e-02 1.13771676e-02 9.99726359e-01 1.69008487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19925976399998 meters Centerline goodness [0,1] 0.49279015558085326 Centerline is valid? [False, False] Translation: X:-27.37, Y:15.08, Z:16.90 [[ 9.99783636e-01 1.49283234e-03 2.07473409e-02 -2.73730909e+01] [-1.26152177e-03 9.99936957e-01 -1.11575455e-02 1.50773746e+01] [-2.07626893e-02 1.11289582e-02 9.99722490e-01 1.69015804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22925976399998 meters Centerline goodness [0,1] 0.4933077877921097 Centerline is valid? [False, False] Translation: X:-27.37, Y:15.08, Z:16.90 [[ 9.99779326e-01 1.61702898e-03 2.09447763e-02 -2.73736345e+01] [-1.39105090e-03 9.99940718e-01 -1.07993126e-02 1.50760572e+01] [-2.09609975e-02 1.07677943e-02 9.99722307e-01 1.69014054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25925976399998 meters Centerline goodness [0,1] 0.4981783834840102 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.07, Z:16.90 [[ 9.99749652e-01 4.91216839e-03 2.18289597e-02 -2.73764983e+01] [-4.77833867e-03 9.99969495e-01 -6.17876967e-03 1.50712504e+01] [-2.18586449e-02 6.07291667e-03 9.99742627e-01 1.69008501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28925976399998 meters Centerline goodness [0,1] 0.49404922182131505 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.07, Z:16.90 [[ 9.99745193e-01 5.01643415e-03 2.20087243e-02 -2.73769854e+01] [-4.89010760e-03 9.99971281e-01 -5.78990919e-03 1.50696694e+01] [-2.20371370e-02 5.68080885e-03 9.99741013e-01 1.69005536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31925976399998 meters Centerline goodness [0,1] 0.4832534596952237 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.07, Z:16.90 [[ 9.99737582e-01 4.68809789e-03 2.24229478e-02 -2.73786999e+01] [-4.56709819e-03 9.99974750e-01 -5.44441403e-03 1.50674956e+01] [-2.24479056e-02 5.34057752e-03 9.99733749e-01 1.69007346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34925976399998 meters Centerline goodness [0,1] 0.49261229314420807 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.07, Z:16.90 [[ 9.99734172e-01 4.53898614e-03 2.26049140e-02 -2.73794396e+01] [-4.42088389e-03 9.99976331e-01 -5.27186290e-03 1.50668662e+01] [-2.26283078e-02 5.17052779e-03 9.99730576e-01 1.69007344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37925976399998 meters Centerline goodness [0,1] 0.4912918248135886 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.07, Z:16.90 [[ 9.99727377e-01 4.25113912e-03 2.29586689e-02 -2.73807921e+01] [-4.13404398e-03 9.99978217e-01 -5.14531477e-03 1.50662448e+01] [-2.29800423e-02 5.04899989e-03 9.99723174e-01 1.69008939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40925976399998 meters Centerline goodness [0,1] 0.48352624495289365 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.07, Z:16.90 [[ 9.99721483e-01 4.12428169e-03 2.32367351e-02 -2.73817625e+01] [-4.01064822e-03 9.99979781e-01 -4.93473423e-03 1.50652234e+01] [-2.32566175e-02 4.84016545e-03 9.99717811e-01 1.69008818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43925976399998 meters Centerline goodness [0,1] 0.48991121872477805 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.07, Z:16.90 [[ 9.99721653e-01 4.21267361e-03 2.32135643e-02 -2.73816889e+01] [-4.09538695e-03 9.99978620e-01 -5.09773221e-03 1.50660612e+01] [-2.32345431e-02 5.00124474e-03 9.99717532e-01 1.69010467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.469259764 meters Centerline goodness [0,1] 0.49499003393847973 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.07, Z:16.91 [[ 9.99828934e-01 7.32862677e-03 1.69821939e-02 -2.73988303e+01] [-7.12799237e-03 9.99904440e-01 -1.18449613e-02 1.50723917e+01] [-1.70673784e-02 1.17218861e-02 9.99785628e-01 1.69080650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.499259764 meters Centerline goodness [0,1] 0.4925614489003881 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.07, Z:16.91 [[ 9.99831971e-01 7.41423717e-03 1.67648177e-02 -2.73982443e+01] [-7.21102304e-03 9.99900189e-01 -1.21495964e-02 1.50745511e+01] [-1.68532244e-02 1.20266635e-02 9.99785641e-01 1.69083298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.529259764 meters Centerline goodness [0,1] 0.49882543539894697 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99833755e-01 7.46538528e-03 1.66352350e-02 -2.73978133e+01] [-7.26067185e-03 9.99897589e-01 -1.23326148e-02 1.50762415e+01] [-1.67255991e-02 1.22097816e-02 9.99785565e-01 1.69083088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.559259764 meters Centerline goodness [0,1] 0.4985515878387524 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99832745e-01 7.99293620e-03 1.64497481e-02 -2.73967561e+01] [-7.78908363e-03 9.99892538e-01 -1.24194238e-02 1.50774496e+01] [-1.65472481e-02 1.22892182e-02 9.99787559e-01 1.69081479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.589259764 meters Centerline goodness [0,1] 0.4921768892269245 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99830555e-01 8.11718398e-03 1.65218969e-02 -2.73967610e+01] [-7.91362643e-03 9.99892435e-01 -1.23487856e-02 1.50775947e+01] [-1.66203571e-02 1.22159450e-02 9.99787245e-01 1.69079147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.619259764 meters Centerline goodness [0,1] 0.4949242712122035 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99829801e-01 8.13852830e-03 1.65569926e-02 -2.73969730e+01] [-7.93384226e-03 9.99891754e-01 -1.23908619e-02 1.50779473e+01] [-1.66560438e-02 1.22573924e-02 9.99786143e-01 1.69080908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.649259764 meters Centerline goodness [0,1] 0.49458414979316356 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99831058e-01 8.06578810e-03 1.65166354e-02 -2.73970777e+01] [-7.85862000e-03 9.99890116e-01 -1.25697182e-02 1.50790204e+01] [-1.66162052e-02 1.24377966e-02 9.99784578e-01 1.69084037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.679259764 meters Centerline goodness [0,1] 0.49481562117294875 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99832233e-01 8.05453280e-03 1.64508603e-02 -2.73971313e+01] [-7.84681955e-03 9.99889170e-01 -1.26520435e-02 1.50798354e+01] [-1.65509434e-02 1.25208340e-02 9.99784624e-01 1.69087313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70925976399997 meters Centerline goodness [0,1] 0.49729170636108766 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99833248e-01 8.10380860e-03 1.63647274e-02 -2.73969455e+01] [-7.89597049e-03 9.99887854e-01 -1.27252939e-02 1.50810171e+01] [-1.64660155e-02 1.25939565e-02 9.99785108e-01 1.69088712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73925976399997 meters Centerline goodness [0,1] 0.49419871445691255 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99833178e-01 8.20524158e-03 1.63184288e-02 -2.73966994e+01] [-7.99772577e-03 9.99886839e-01 -1.27415148e-02 1.50817549e+01] [-1.64211294e-02 1.26088789e-02 9.99785658e-01 1.69087774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76925976399997 meters Centerline goodness [0,1] 0.49597774808431727 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99834416e-01 8.45335806e-03 1.61146204e-02 -2.73959079e+01] [-8.24863027e-03 9.99884961e-01 -1.27288855e-02 1.50828401e+01] [-1.62203685e-02 1.25938543e-02 9.99789125e-01 1.69085669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79925976399997 meters Centerline goodness [0,1] 0.49979512115169233 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99834107e-01 8.56699782e-03 1.60737512e-02 -2.73956565e+01] [-8.36164889e-03 9.99883122e-01 -1.27994250e-02 1.50837974e+01] [-1.61815252e-02 1.26628986e-02 9.99788882e-01 1.69084964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82925976399997 meters Centerline goodness [0,1] 0.4978651193343552 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.08, Z:16.91 [[ 9.99833271e-01 9.05673133e-03 1.58557815e-02 -2.73944260e+01] [-8.85646574e-03 9.99880694e-01 -1.26554280e-02 1.50846904e+01] [-1.59685066e-02 1.25128918e-02 9.99794196e-01 1.69078766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85925976399997 meters Centerline goodness [0,1] 0.5010410388471864 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99833629e-01 9.32366418e-03 1.56774673e-02 -2.73936241e+01] [-9.12687915e-03 9.99879251e-01 -1.25771365e-02 1.50855486e+01] [-1.57928393e-02 1.24319577e-02 9.99797996e-01 1.69075266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88925976399997 meters Centerline goodness [0,1] 0.49854579377709485 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99831979e-01 9.50602719e-03 1.56731927e-02 -2.73933213e+01] [-9.30920463e-03 9.99877491e-01 -1.25834044e-02 1.50863439e+01] [-1.57908908e-02 1.24353852e-02 9.99797984e-01 1.69072834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91925976399997 meters Centerline goodness [0,1] 0.4963381057268722 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99832250e-01 9.84188946e-03 1.54470003e-02 -2.73928068e+01] [-9.64498923e-03 9.99871943e-01 -1.27699781e-02 1.50879495e+01] [-1.55707029e-02 1.26188498e-02 9.99799139e-01 1.69078934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94925976399998 meters Centerline goodness [0,1] 0.49655001786843334 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99833394e-01 9.84330661e-03 1.53718537e-02 -2.73928148e+01] [-9.64427601e-03 9.99869393e-01 -1.29686237e-02 1.50890365e+01] [-1.54975001e-02 1.28182127e-02 9.99797740e-01 1.69083133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97925976399998 meters Centerline goodness [0,1] 0.4996836052494016 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99832803e-01 9.94676680e-03 1.53436421e-02 -2.73926552e+01] [-9.74784356e-03 9.99868172e-01 -1.29852992e-02 1.50897862e+01] [-1.54707811e-02 1.28335607e-02 9.99797957e-01 1.69082830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00925976399998 meters Centerline goodness [0,1] 0.4982635060639471 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99831376e-01 1.01650594e-02 1.52935051e-02 -2.73921403e+01] [-9.96811247e-03 9.99867112e-01 -1.28993982e-02 1.50906568e+01] [-1.54225959e-02 1.27447757e-02 9.99799837e-01 1.69079070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03925976399998 meters Centerline goodness [0,1] 0.4855020435214846 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99831146e-01 1.01891389e-02 1.52924808e-02 -2.73922411e+01] [-9.99278550e-03 9.99867350e-01 -1.28618225e-02 1.50909264e+01] [-1.54215032e-02 1.27068362e-02 9.99800337e-01 1.69079712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06925976399998 meters Centerline goodness [0,1] 0.4978302330080986 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99829350e-01 1.02145687e-02 1.53926358e-02 -2.73924813e+01] [-1.00182608e-02 9.99868183e-01 -1.27769557e-02 1.50908635e+01] [-1.55211179e-02 1.26205679e-02 9.99799888e-01 1.69078561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09925976399998 meters Centerline goodness [0,1] 0.49508467575382076 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99823966e-01 1.01217972e-02 1.57983151e-02 -2.73935696e+01] [-9.92411388e-03 9.99872102e-01 -1.25415775e-02 1.50897827e+01] [-1.59232378e-02 1.23825855e-02 9.99796540e-01 1.69076101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12925976399998 meters Centerline goodness [0,1] 0.5007305306685045 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99821176e-01 1.00717079e-02 1.60055196e-02 -2.73942086e+01] [-9.87502318e-03 9.99875338e-01 -1.23204426e-02 1.50889751e+01] [-1.61276122e-02 1.21601846e-02 9.99795994e-01 1.69074995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15925976399998 meters Centerline goodness [0,1] 0.4924317754944205 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99822409e-01 1.02318988e-02 1.58258855e-02 -2.73937733e+01] [-1.00383911e-02 9.99874469e-01 -1.22587804e-02 1.50897416e+01] [-1.59493294e-02 1.20977369e-02 9.99799612e-01 1.69076037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18925976399998 meters Centerline goodness [0,1] 0.4924317754944205 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99822409e-01 1.02318988e-02 1.58258855e-02 -2.73937733e+01] [-1.00383911e-02 9.99874469e-01 -1.22587804e-02 1.50897416e+01] [-1.59493294e-02 1.20977369e-02 9.99799612e-01 1.69076037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.219259764 meters Centerline goodness [0,1] 0.496314903248958 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99823123e-01 1.03516245e-02 1.57024625e-02 -2.73934699e+01] [-1.01572263e-02 9.99871406e-01 -1.24097532e-02 1.50910446e+01] [-1.58289044e-02 1.22480647e-02 9.99799695e-01 1.69078758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.249259764 meters Centerline goodness [0,1] 0.49166413226796424 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99821930e-01 1.06471065e-02 1.55803526e-02 -2.73928902e+01] [-1.04542648e-02 9.99868381e-01 -1.24067816e-02 1.50919827e+01] [-1.57103982e-02 1.22416912e-02 9.99801643e-01 1.69078125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.279259764 meters Centerline goodness [0,1] 0.49233526330300525 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99818069e-01 1.09028054e-02 1.56511243e-02 -2.73926103e+01] [-1.07137808e-02 9.99869263e-01 -1.21108497e-02 1.50916032e+01] [-1.57811203e-02 1.19409637e-02 9.99804166e-01 1.69071176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.309259764 meters Centerline goodness [0,1] 0.4911748483177054 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99812980e-01 1.11776958e-02 1.57817960e-02 -2.73924269e+01] [-1.09932319e-02 9.99870803e-01 -1.17271663e-02 1.50907840e+01] [-1.59108397e-02 1.15514802e-02 9.99806686e-01 1.69063219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.339259764 meters Centerline goodness [0,1] 0.488215859030837 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99809879e-01 1.13769679e-02 1.58357463e-02 -2.73923633e+01] [-1.11961066e-02 9.99871612e-01 -1.14632555e-02 1.50902428e+01] [-1.59641303e-02 1.12837774e-02 9.99808893e-01 1.69059912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.369259764 meters Centerline goodness [0,1] 0.4891714136327362 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99809986e-01 1.13456028e-02 1.58514750e-02 -2.73926405e+01] [-1.11653301e-02 9.99872506e-01 -1.14152011e-02 1.50904649e+01] [-1.59789663e-02 1.12360451e-02 9.99809194e-01 1.69061950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.399259764 meters Centerline goodness [0,1] 0.4877867634923254 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99810260e-01 1.13709676e-02 1.58159972e-02 -2.73927926e+01] [-1.11922967e-02 9.99873062e-01 -1.13398512e-02 1.50903938e+01] [-1.59429346e-02 1.11606822e-02 9.99810613e-01 1.69064992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.429259764 meters Centerline goodness [0,1] 0.4877867634923254 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99810260e-01 1.13709676e-02 1.58159972e-02 -2.73927926e+01] [-1.11922967e-02 9.99873062e-01 -1.13398512e-02 1.50903938e+01] [-1.59429346e-02 1.11606822e-02 9.99810613e-01 1.69064992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45925976399997 meters Centerline goodness [0,1] 0.48917915578165816 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99806537e-01 1.13598737e-02 1.60574312e-02 -2.73934995e+01] [-1.11848457e-02 9.99877510e-01 -1.09482236e-02 1.50889751e+01] [-1.61798348e-02 1.07665056e-02 9.99811130e-01 1.69062620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48925976399997 meters Centerline goodness [0,1] 0.4903626715059529 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99802736e-01 1.15369177e-02 1.61674940e-02 -2.73936432e+01] [-1.13666949e-02 9.99879409e-01 -1.05813440e-02 1.50877653e+01] [-1.62876204e-02 1.03954858e-02 9.99813306e-01 1.69059407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51925976399997 meters Centerline goodness [0,1] 0.4900753285313686 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99800782e-01 1.16401671e-02 1.62142536e-02 -2.73940210e+01] [-1.14727421e-02 9.99880300e-01 -1.03808221e-02 1.50869726e+01] [-1.63331473e-02 1.01927321e-02 9.99814651e-01 1.69062256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54925976399997 meters Centerline goodness [0,1] 0.487589918181319 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99799527e-01 1.16698488e-02 1.62702376e-02 -2.73943519e+01] [-1.15030855e-02 9.99880728e-01 -1.03057790e-02 1.50868617e+01] [-1.63885639e-02 1.01165551e-02 9.99814518e-01 1.69064529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57925976399997 meters Centerline goodness [0,1] 0.487589918181319 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99799527e-01 1.16698488e-02 1.62702376e-02 -2.73943519e+01] [-1.15030855e-02 9.99880728e-01 -1.03057790e-02 1.50868617e+01] [-1.63885639e-02 1.01165551e-02 9.99814518e-01 1.69064529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60925976399997 meters Centerline goodness [0,1] 0.48764279437609837 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99799224e-01 1.17244419e-02 1.62495678e-02 -2.73944848e+01] [-1.15589734e-02 9.99880762e-01 -1.02397350e-02 1.50867335e+01] [-1.63676854e-02 1.00498508e-02 9.99815533e-01 1.69066885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63925976399997 meters Centerline goodness [0,1] 0.4875095869398488 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.09, Z:16.91 [[ 9.99796607e-01 1.17121215e-02 1.64186068e-02 -2.73950792e+01] [-1.15473698e-02 9.99882382e-01 -1.00936004e-02 1.50861594e+01] [-1.65348932e-02 9.90195571e-03 9.99814257e-01 1.69067436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66925976399997 meters Centerline goodness [0,1] 0.4856126914660831 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99791907e-01 1.17374026e-02 1.66845817e-02 -2.73957389e+01] [-1.15782779e-02 9.99886866e-01 -9.60204469e-03 1.50838832e+01] [-1.67953971e-02 9.40686785e-03 9.99814696e-01 1.69062573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69925976399998 meters Centerline goodness [0,1] 0.4874811875769599 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99789272e-01 1.18654292e-02 1.67517926e-02 -2.73958450e+01] [-1.17100305e-02 9.99887773e-01 -9.34436040e-03 1.50831369e+01] [-1.68607874e-02 9.14622728e-03 9.99816013e-01 1.69060572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72925976399998 meters Centerline goodness [0,1] 0.49084239056040735 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99788207e-01 1.19769951e-02 1.67359636e-02 -2.73958966e+01] [-1.18238902e-02 9.99887611e-01 -9.21745335e-03 1.50829214e+01] [-1.68444800e-02 9.01761697e-03 9.99817456e-01 1.69061885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75925976399998 meters Centerline goodness [0,1] 0.4889854597135673 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99789424e-01 1.21515245e-02 1.65362676e-02 -2.73958171e+01] [-1.19979961e-02 9.99884286e-01 -9.35209989e-03 1.50839118e+01] [-1.66479964e-02 9.15172849e-03 9.99819529e-01 1.69071392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78925976399998 meters Centerline goodness [0,1] 0.4819742136815307 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99789493e-01 1.20922440e-02 1.65755271e-02 -2.73962913e+01] [-1.19363114e-02 9.99883875e-01 -9.47427534e-03 1.50842526e+01] [-1.66881675e-02 9.27443028e-03 9.99817728e-01 1.69077061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81925976399998 meters Centerline goodness [0,1] 0.48884519811037386 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99787466e-01 1.20965999e-02 1.66941776e-02 -2.73970415e+01] [-1.19417625e-02 9.99885039e-01 -9.34366354e-03 1.50830957e+01] [-1.68052850e-02 9.14231979e-03 9.99816983e-01 1.69082025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84925976399998 meters Centerline goodness [0,1] 0.48884519811037386 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99787466e-01 1.20965999e-02 1.66941776e-02 -2.73970415e+01] [-1.19417625e-02 9.99885039e-01 -9.34366354e-03 1.50830957e+01] [-1.68052850e-02 9.14231979e-03 9.99816983e-01 1.69082025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87925976399998 meters Centerline goodness [0,1] 0.48710664335664333 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99782094e-01 1.22594787e-02 1.68958378e-02 -2.73973228e+01] [-1.21097876e-02 9.99886765e-01 -8.93366432e-03 1.50817321e+01] [-1.70034467e-02 8.72711262e-03 9.99817343e-01 1.69076862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90925976399998 meters Centerline goodness [0,1] 0.4903509731029958 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99779270e-01 1.24823572e-02 1.68997529e-02 -2.73971092e+01] [-1.23404483e-02 9.99887933e-01 -8.47550972e-03 1.50804253e+01] [-1.70036533e-02 8.26508839e-03 9.99821266e-01 1.69071291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93925976399998 meters Centerline goodness [0,1] 0.48644146481334827 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99779202e-01 1.26661358e-02 1.67665050e-02 -2.73966584e+01] [-1.25247349e-02 9.99885333e-01 -8.51184537e-03 1.50812645e+01] [-1.68723946e-02 8.29996995e-03 9.99823201e-01 1.69071978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.969259764 meters Centerline goodness [0,1] 0.48714301345880295 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99780961e-01 1.26008937e-02 1.67106807e-02 -2.73968639e+01] [-1.24556114e-02 9.99883968e-01 -8.76975018e-03 1.50823637e+01] [-1.68192484e-02 8.55968753e-03 9.99821906e-01 1.69078215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.999259764 meters Centerline goodness [0,1] 0.4893832153690597 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99783058e-01 1.25645331e-02 1.66123224e-02 -2.73969275e+01] [-1.24172582e-02 9.99882946e-01 -8.93902592e-03 1.50833087e+01] [-1.67226925e-02 8.73080718e-03 9.99822046e-01 1.69083517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.029259764 meters Centerline goodness [0,1] 0.4894182795109381 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99782614e-01 1.27595478e-02 1.64899322e-02 -2.73965845e+01] [-1.26182438e-02 9.99883016e-01 -8.64493635e-03 1.50830098e+01] [-1.65983086e-02 8.43498308e-03 9.99826659e-01 1.69082028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.059259764 meters Centerline goodness [0,1] 0.4882148430014509 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99779007e-01 1.29864748e-02 1.65314668e-02 -2.73964316e+01] [-1.28511634e-02 9.99883260e-01 -8.26516818e-03 1.50820140e+01] [-1.66368724e-02 8.05089305e-03 9.99829184e-01 1.69077354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.089259764 meters Centerline goodness [0,1] 0.48956683235920684 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99775452e-01 1.30397953e-02 1.67035568e-02 -2.73967411e+01] [-1.29076863e-02 9.99884748e-01 -7.99258171e-03 1.50811642e+01] [-1.68058533e-02 7.77518273e-03 9.99828540e-01 1.69073504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.119259764 meters Centerline goodness [0,1] 0.47810209031695416 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99774267e-01 1.26201965e-02 1.70922451e-02 -2.73980682e+01] [-1.24890235e-02 9.99891901e-01 -7.75954291e-03 1.50798913e+01] [-1.71883244e-02 7.54432588e-03 9.99823807e-01 1.69070518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.149259764 meters Centerline goodness [0,1] 0.48649976794343275 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99774798e-01 1.28567017e-02 1.68836720e-02 -2.73973236e+01] [-1.27296300e-02 9.99889998e-01 -7.61233759e-03 1.50801487e+01] [-1.69796844e-02 7.39570038e-03 9.99828482e-01 1.69068673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.179259764 meters Centerline goodness [0,1] 0.4872594050743657 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99775986e-01 1.32571233e-02 1.64992640e-02 -2.73960015e+01] [-1.31303541e-02 9.99883619e-01 -7.76808650e-03 1.50821043e+01] [-1.66003263e-02 7.54970517e-03 9.99833702e-01 1.69069180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20925976399997 meters Centerline goodness [0,1] 0.48474891846010626 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.08, Z:16.91 [[ 9.99777473e-01 1.34108935e-02 1.62835299e-02 -2.73954650e+01] [-1.32826677e-02 9.99880118e-01 -7.95735032e-03 1.50836367e+01] [-1.63882929e-02 7.73929087e-03 9.99835750e-01 1.69072381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23925976399997 meters Centerline goodness [0,1] 0.48542358006746567 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.09, Z:16.91 [[ 9.99779498e-01 1.34433541e-02 1.61316783e-02 -2.73952923e+01] [-1.33113030e-02 9.99877238e-01 -8.26547251e-03 1.50851565e+01] [-1.62408136e-02 8.04891630e-03 9.99835712e-01 1.69078291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26925976399997 meters Centerline goodness [0,1] 0.48345643757379386 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99774763e-01 1.40841899e-02 1.58763330e-02 -2.73938536e+01] [-1.39554703e-02 9.99869080e-01 -8.18948768e-03 1.50861233e+01] [-1.59895968e-02 7.96608141e-03 9.99840424e-01 1.69073506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29925976399997 meters Centerline goodness [0,1] 0.4819813628741857 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99773948e-01 1.42856562e-02 1.57471647e-02 -2.73934237e+01] [-1.41583352e-02 9.99866409e-01 -8.16738308e-03 1.50864991e+01] [-1.58617374e-02 7.94258319e-03 9.99842648e-01 1.69073597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32925976399997 meters Centerline goodness [0,1] 0.48723961925782866 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99774960e-01 1.43156491e-02 1.56553965e-02 -2.73932159e+01] [-1.41858983e-02 9.99864361e-01 -8.36781091e-03 1.50876425e+01] [-1.57730637e-02 8.14384195e-03 9.99842432e-01 1.69075636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35925976399997 meters Centerline goodness [0,1] 0.484375 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99775786e-01 1.44710124e-02 1.54585924e-02 -2.73928664e+01] [-1.43375158e-02 9.99859259e-01 -8.71196111e-03 1.50900479e+01] [-1.55824876e-02 8.48836995e-03 9.99842554e-01 1.69082670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38925976399997 meters Centerline goodness [0,1] 0.4832183143482719 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99777755e-01 1.44745605e-02 1.53273217e-02 -2.73927418e+01] [-1.43391495e-02 9.99857508e-01 -8.90797285e-03 1.50911446e+01] [-1.54540766e-02 8.68621234e-03 9.99842848e-01 1.69087036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41925976399997 meters Centerline goodness [0,1] 0.4811443793878514 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99779191e-01 1.44560493e-02 1.52509728e-02 -2.73926343e+01] [-1.43184733e-02 9.99856150e-01 -9.09176189e-03 1.50923436e+01] [-1.53802099e-02 8.87138370e-03 9.99842361e-01 1.69088995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44925976399998 meters Centerline goodness [0,1] 0.4841738645862357 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.09, Z:16.91 [[ 9.99781539e-01 1.46117375e-02 1.49456151e-02 -2.73919150e+01] [-1.44730048e-02 9.99851554e-01 -9.34892422e-03 1.50944661e+01] [-1.50800005e-02 9.13057388e-03 9.99844601e-01 1.69093209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47925976399998 meters Centerline goodness [0,1] 0.4771771520873367 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.10, Z:16.91 [[ 9.99781563e-01 1.46243819e-02 1.49316273e-02 -2.73919706e+01] [-1.44837221e-02 9.99850114e-01 -9.48534283e-03 1.50951591e+01] [-1.50681066e-02 9.26700534e-03 9.99843525e-01 1.69095593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50925976399998 meters Centerline goodness [0,1] 0.48704013377926425 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.10, Z:16.91 [[ 9.99780945e-01 1.45927005e-02 1.50038142e-02 -2.73923275e+01] [-1.44484023e-02 9.99848747e-01 -9.68127686e-03 1.50958314e+01] [-1.51428208e-02 9.46237498e-03 9.99840567e-01 1.69099245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53925976399998 meters Centerline goodness [0,1] 0.48350544236673176 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.10, Z:16.91 [[ 9.99781535e-01 1.45752971e-02 1.49814193e-02 -2.73923961e+01] [-1.44291050e-02 9.99847668e-01 -9.82044010e-03 1.50966548e+01] [-1.51222730e-02 9.60212621e-03 9.99839545e-01 1.69101621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56925976399998 meters Centerline goodness [0,1] 0.47810392590312556 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.10, Z:16.91 [[ 9.99782999e-01 1.45277979e-02 1.49297537e-02 -2.73923537e+01] [-1.43798882e-02 9.99846926e-01 -9.96709395e-03 1.50976410e+01] [-1.50722683e-02 9.75024289e-03 9.99838867e-01 1.69103222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59925976399998 meters Centerline goodness [0,1] 0.4779738763180712 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.10, Z:16.91 [[ 9.99785002e-01 1.45113963e-02 1.48111128e-02 -2.73923274e+01] [-1.43616046e-02 9.99845144e-01 -1.01702168e-02 1.50988641e+01] [-1.49564032e-02 9.95531890e-03 9.99838586e-01 1.69108122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62925976399998 meters Centerline goodness [0,1] 0.4753704892411599 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.10, Z:16.91 [[ 9.99784058e-01 1.45098851e-02 1.48761689e-02 -2.73925072e+01] [-1.43607746e-02 9.99846051e-01 -1.00817543e-02 1.50988051e+01] [-1.50201638e-02 9.86594392e-03 9.99838516e-01 1.69107228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65925976399998 meters Centerline goodness [0,1] 0.4751858268596658 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.10, Z:16.91 [[ 9.99782445e-01 1.43733343e-02 1.51152114e-02 -2.73932123e+01] [-1.42252028e-02 9.99850177e-01 -9.86243220e-03 1.50979350e+01] [-1.52547028e-02 9.64526963e-03 9.99837118e-01 1.69104188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68925976399998 meters Centerline goodness [0,1] 0.4882221602009489 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.10, Z:16.91 [[ 9.99780682e-01 1.43929142e-02 1.52128821e-02 -2.73934544e+01] [-1.42477962e-02 9.99852362e-01 -9.60487698e-03 1.50971252e+01] [-1.53488783e-02 9.38602042e-03 9.99838144e-01 1.69101520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.719259764 meters Centerline goodness [0,1] 0.4861518683099969 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.10, Z:16.91 [[ 9.99781175e-01 1.43700157e-02 1.52021001e-02 -2.73936153e+01] [-1.42261232e-02 9.99853373e-01 -9.53147757e-03 1.50970207e+01] [-1.53368386e-02 9.31312490e-03 9.99839011e-01 1.69102689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.749259764 meters Centerline goodness [0,1] 0.48839877970276246 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.10, Z:16.91 [[ 9.99782955e-01 1.43176027e-02 1.51343974e-02 -2.73935311e+01] [-1.41711243e-02 9.99852127e-01 -9.74184892e-03 1.50982572e+01] [-1.52716393e-02 9.52526307e-03 9.99838010e-01 1.69104973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.779259764 meters Centerline goodness [0,1] 0.47819747062617424 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.10, Z:16.91 [[ 9.99785882e-01 1.44473613e-02 1.48143210e-02 -2.73928292e+01] [-1.43000869e-02 9.99847747e-01 -9.99956127e-03 1.50998453e+01] [-1.49565327e-02 9.78557411e-03 9.99840260e-01 1.69109582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.809259764 meters Centerline goodness [0,1] 0.48615237988450977 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.10, Z:16.91 [[ 9.99785908e-01 1.47039890e-02 1.45578659e-02 -2.73919438e+01] [-1.45559849e-02 9.99841816e-01 -1.02209003e-02 1.51016811e+01] [-1.47058511e-02 1.00068080e-02 9.99841788e-01 1.69110786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.839259764 meters Centerline goodness [0,1] 0.48272558191963033 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.10, Z:16.91 [[ 9.99772069e-01 1.58693691e-02 1.42819251e-02 -2.73895105e+01] [-1.57270802e-02 9.99826108e-01 -1.00206374e-02 1.51044056e+01] [-1.44384628e-02 9.79374045e-03 9.99847795e-01 1.69099145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.869259764 meters Centerline goodness [0,1] 0.48276056974903914 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.11, Z:16.91 [[ 9.99773273e-01 1.60955183e-02 1.39405037e-02 -2.73884027e+01] [-1.59531228e-02 9.99820035e-01 -1.02661927e-02 1.51064571e+01] [-1.41032346e-02 1.00414705e-02 9.99850123e-01 1.69099671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.899259764 meters Centerline goodness [0,1] 0.4858894319048561 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.11, Z:16.91 [[ 9.99773379e-01 1.62789076e-02 1.37181755e-02 -2.73876699e+01] [-1.61356779e-02 9.99814807e-01 -1.04876659e-02 1.51081267e+01] [-1.38863628e-02 1.02639371e-02 9.99850899e-01 1.69100986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.929259764 meters Centerline goodness [0,1] 0.4883747274220498 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.11, Z:16.91 [[ 9.99770426e-01 1.67673895e-02 1.33397915e-02 -2.73862816e+01] [-1.66252574e-02 9.99804587e-01 -1.06952394e-02 1.51105186e+01] [-1.35165160e-02 1.04710066e-02 9.99853820e-01 1.69102472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95925976399997 meters Centerline goodness [0,1] 0.4866585552191506 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.11, Z:16.91 [[ 9.99771848e-01 1.67806775e-02 1.32159356e-02 -2.73861429e+01] [-1.66359813e-02 9.99801284e-01 -1.09834937e-02 1.51117547e+01] [-1.33976199e-02 1.07611277e-02 9.99852340e-01 1.69107250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98925976399997 meters Centerline goodness [0,1] 0.48739448189904255 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.11, Z:16.91 [[ 9.99773234e-01 1.67781512e-02 1.31138919e-02 -2.73860239e+01] [-1.66312120e-02 9.99798572e-01 -1.12347303e-02 1.51129864e+01] [-1.32997484e-02 1.10140827e-02 9.99850892e-01 1.69110937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01925976399997 meters Centerline goodness [0,1] 0.49169218555064076 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.12, Z:16.91 [[ 9.99773334e-01 1.69971808e-02 1.28209033e-02 -2.73850490e+01] [-1.68500992e-02 9.99791958e-01 -1.14941034e-02 1.51153450e+01] [-1.30136033e-02 1.12754646e-02 9.99851744e-01 1.69112309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04925976399997 meters Centerline goodness [0,1] 0.49345895172961773 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.12, Z:16.91 [[ 9.99775004e-01 1.70074216e-02 1.26763253e-02 -2.73848164e+01] [-1.68590245e-02 9.99789150e-01 -1.17229765e-02 1.51164226e+01] [-1.28730301e-02 1.15066284e-02 9.99850930e-01 1.69115731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07925976399997 meters Centerline goodness [0,1] 0.4969770940365019 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.12, Z:16.91 [[ 9.99774070e-01 1.70988807e-02 1.26268234e-02 -2.73845346e+01] [-1.69506212e-02 9.99787205e-01 -1.17567667e-02 1.51170436e+01] [-1.28251640e-02 1.15400780e-02 9.99851160e-01 1.69114497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10925976399997 meters Centerline goodness [0,1] 0.497885865092653 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.12, Z:16.91 [[ 9.99773204e-01 1.71543622e-02 1.26201627e-02 -2.73844246e+01] [-1.70052688e-02 9.99785438e-01 -1.18278519e-02 1.51175446e+01] [-1.28203541e-02 1.16105601e-02 9.99850406e-01 1.69113889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13925976399997 meters Centerline goodness [0,1] 0.4978666514961885 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.12, Z:16.91 [[ 9.99772855e-01 1.70951407e-02 1.27277071e-02 -2.73847524e+01] [-1.69425114e-02 9.99784396e-01 -1.20046671e-02 1.51182277e+01] [-1.29301845e-02 1.17863010e-02 9.99846935e-01 1.69115244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16925976399997 meters Centerline goodness [0,1] 0.49812531954780437 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.12, Z:16.91 [[ 9.99773894e-01 1.69486262e-02 1.28415255e-02 -2.73852613e+01] [-1.67928060e-02 9.99785212e-01 -1.21462817e-02 1.51186899e+01] [-1.30446300e-02 1.19278901e-02 9.99843769e-01 1.69117748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19925976399998 meters Centerline goodness [0,1] 0.49877625362855027 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.12, Z:16.91 [[ 9.99774877e-01 1.68276191e-02 1.29239054e-02 -2.73857612e+01] [-1.66697538e-02 9.99786286e-01 -1.22270880e-02 1.51189888e+01] [-1.31268961e-02 1.20088971e-02 9.99841723e-01 1.69120863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22925976399998 meters Centerline goodness [0,1] 0.4983192798541477 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.12, Z:16.91 [[ 9.99777156e-01 1.66111158e-02 1.30272596e-02 -2.73864327e+01] [-1.64509759e-02 9.99788954e-01 -1.23049845e-02 1.51191481e+01] [-1.32289098e-02 1.20879313e-02 9.99839426e-01 1.69124186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25925976399998 meters Centerline goodness [0,1] 0.49101046882111976 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.12, Z:16.91 [[ 9.99777725e-01 1.65099383e-02 1.31118877e-02 -2.73867974e+01] [-1.63499349e-02 9.99791681e-01 -1.22177828e-02 1.51190048e+01] [-1.33108711e-02 1.20006885e-02 9.99839389e-01 1.69123621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28925976399998 meters Centerline goodness [0,1] 0.4930531830087689 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.12, Z:16.91 [[ 9.99778439e-01 1.64310293e-02 1.31564940e-02 -2.73870521e+01] [-1.62685093e-02 9.99791187e-01 -1.23660161e-02 1.51195127e+01] [-1.33569331e-02 1.21492398e-02 9.99836981e-01 1.69125661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31925976399998 meters Centerline goodness [0,1] 0.4930531830087689 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.12, Z:16.91 [[ 9.99778439e-01 1.64310293e-02 1.31564940e-02 -2.73870521e+01] [-1.62685093e-02 9.99791187e-01 -1.23660161e-02 1.51195127e+01] [-1.33569331e-02 1.21492398e-02 9.99836981e-01 1.69125661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34925976399998 meters Centerline goodness [0,1] 0.4954947248360422 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.12, Z:16.91 [[ 9.99775473e-01 1.68675079e-02 1.28254296e-02 -2.73857150e+01] [-1.67084449e-02 9.99783389e-01 -1.24097853e-02 1.51211064e+01] [-1.30319737e-02 1.21927059e-02 9.99840740e-01 1.69123495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37925976399998 meters Centerline goodness [0,1] 0.4969298871912038 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.12, Z:16.91 [[ 9.99776215e-01 1.70321117e-02 1.25470026e-02 -2.73848391e+01] [-1.68728885e-02 9.99777128e-01 -1.26885408e-02 1.51233654e+01] [-1.27603189e-02 1.24739971e-02 9.99840774e-01 1.69124676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40925976399998 meters Centerline goodness [0,1] 0.4911345994099281 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.13, Z:16.91 [[ 9.99768243e-01 1.77253288e-02 1.22177336e-02 -2.73829350e+01] [-1.75677335e-02 9.99762612e-01 -1.28877346e-02 1.51268573e+01] [-1.24432726e-02 1.26701099e-02 9.99842304e-01 1.69120760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43925976399998 meters Centerline goodness [0,1] 0.49367598022306547 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.13, Z:16.91 [[ 9.99767105e-01 1.79126014e-02 1.20363407e-02 -2.73821218e+01] [-1.77552026e-02 9.99757078e-01 -1.30590016e-02 1.51285417e+01] [-1.22673375e-02 1.28422526e-02 9.99842282e-01 1.69118801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.469259764 meters Centerline goodness [0,1] 0.5069972356599861 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.13, Z:16.91 [[ 9.99764532e-01 1.81672196e-02 1.18672603e-02 -2.73812988e+01] [-1.80105124e-02 9.99750910e-01 -1.31810379e-02 1.51300675e+01] [-1.21037671e-02 1.29641988e-02 9.99842702e-01 1.69116708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.499259764 meters Centerline goodness [0,1] 0.5004605376777387 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.13, Z:16.91 [[ 9.99763921e-01 1.82758814e-02 1.17513559e-02 -2.73809053e+01] [-1.81173966e-02 9.99745337e-01 -1.34544184e-02 1.51315857e+01] [-1.19942546e-02 1.32383381e-02 9.99840429e-01 1.69118990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.529259764 meters Centerline goodness [0,1] 0.49890217830935457 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.13, Z:16.91 [[ 9.99763008e-01 1.83355739e-02 1.17360535e-02 -2.73806702e+01] [-1.81748111e-02 9.99741489e-01 -1.36613262e-02 1.51329699e+01] [-1.19835078e-02 1.34447880e-02 9.99837803e-01 1.69118323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.559259764 meters Centerline goodness [0,1] 0.5083603332561907 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99756747e-01 1.88606979e-02 1.14333525e-02 -2.73790711e+01] [-1.87030332e-02 9.99730621e-01 -1.37434431e-02 1.51351862e+01] [-1.16894835e-02 1.35262616e-02 9.99840185e-01 1.69114336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.589259764 meters Centerline goodness [0,1] 0.5122925896968118 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99756396e-01 1.90458690e-02 1.11536327e-02 -2.73782559e+01] [-1.88905060e-02 9.99725308e-01 -1.38728865e-02 1.51365802e+01] [-1.14147901e-02 1.36588093e-02 9.99841557e-01 1.69115456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.619259764 meters Centerline goodness [0,1] 0.5173283837475711 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99754290e-01 1.92225759e-02 1.10387013e-02 -2.73776087e+01] [-1.90674993e-02 9.99720373e-01 -1.39859340e-02 1.51379242e+01] [-1.13044603e-02 1.37720171e-02 9.99841258e-01 1.69113231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.649259764 meters Centerline goodness [0,1] 0.5215330483584868 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99748231e-01 1.97262998e-02 1.06933574e-02 -2.73761105e+01] [-1.95758808e-02 9.99710444e-01 -1.39933343e-02 1.51392150e+01] [-1.09662977e-02 1.37804793e-02 9.99844907e-01 1.69110347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.679259764 meters Centerline goodness [0,1] 0.52299017613207 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99749134e-01 1.96336528e-02 1.07790924e-02 -2.73765109e+01] [-1.94787469e-02 9.99708107e-01 -1.42926210e-02 1.51400573e+01] [-1.10565625e-02 1.40790722e-02 9.99839753e-01 1.69114830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70925976399997 meters Centerline goodness [0,1] 0.5150029019152641 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99749407e-01 1.96277299e-02 1.07645739e-02 -2.73767016e+01] [-1.94709861e-02 9.99705597e-01 -1.44775483e-02 1.51406413e+01] [-1.10455662e-02 1.42643235e-02 9.99837249e-01 1.69119462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73925976399997 meters Centerline goodness [0,1] 0.5262191924488726 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99751846e-01 1.95342679e-02 1.07079020e-02 -2.73770621e+01] [-1.93725495e-02 9.99699748e-01 -1.50039263e-02 1.51423420e+01] [-1.09977776e-02 1.47927637e-02 9.99830097e-01 1.69130882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76925976399997 meters Centerline goodness [0,1] 0.521010847122459 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99756139e-01 1.93313342e-02 1.06752867e-02 -2.73774887e+01] [-1.91659115e-02 9.99697914e-01 -1.53866459e-02 1.51437688e+01] [-1.09695062e-02 1.51782921e-02 9.99824629e-01 1.69138562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79925976399997 meters Centerline goodness [0,1] 0.5307829025960782 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99755992e-01 1.92752441e-02 1.07898924e-02 -2.73779958e+01] [-1.91087267e-02 9.99699898e-01 -1.53287471e-02 1.51434140e+01] [-1.10821196e-02 1.51188256e-02 9.99824288e-01 1.69139856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82925976399997 meters Centerline goodness [0,1] 0.5307829025960782 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99755992e-01 1.92752441e-02 1.07898924e-02 -2.73779958e+01] [-1.91087267e-02 9.99699898e-01 -1.53287471e-02 1.51434140e+01] [-1.10821196e-02 1.51188256e-02 9.99824288e-01 1.69139856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85925976399997 meters Centerline goodness [0,1] 0.5186989498249708 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99755847e-01 1.92206019e-02 1.09002560e-02 -2.73784808e+01] [-1.90544990e-02 9.99703766e-01 -1.51428838e-02 1.51426157e+01] [-1.11880823e-02 1.49314877e-02 9.99825924e-01 1.69139389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88925976399997 meters Centerline goodness [0,1] 0.5159846547314578 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99753256e-01 1.90451178e-02 1.14328551e-02 -2.73799876e+01] [-1.88756872e-02 9.99713047e-01 -1.47489826e-02 1.51404009e+01] [-1.17104705e-02 1.45295404e-02 9.99825864e-01 1.69134449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91925976399997 meters Centerline goodness [0,1] 0.5191731837078815 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99754250e-01 1.89424014e-02 1.15163012e-02 -2.73804991e+01] [-1.87734923e-02 9.99717125e-01 -1.46022870e-02 1.51397493e+01] [-1.17896459e-02 1.43824973e-02 9.99827059e-01 1.69135101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94925976399998 meters Centerline goodness [0,1] 0.5152816880968276 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99755641e-01 1.88100956e-02 1.16119995e-02 -2.73811249e+01] [-1.86396458e-02 9.99719421e-01 -1.46164994e-02 1.51396725e+01] [-1.18836792e-02 1.43964841e-02 9.99825745e-01 1.69138489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97925976399998 meters Centerline goodness [0,1] 0.523445671121441 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99762671e-01 1.84398114e-02 1.16006123e-02 -2.73821762e+01] [-1.82684350e-02 9.99724909e-01 -1.47095160e-02 1.51397487e+01] [-1.18686617e-02 1.44941000e-02 9.99824513e-01 1.69147882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00925976399998 meters Centerline goodness [0,1] 0.523445671121441 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99762671e-01 1.84398114e-02 1.16006123e-02 -2.73821762e+01] [-1.82684350e-02 9.99724909e-01 -1.47095160e-02 1.51397487e+01] [-1.18686617e-02 1.44941000e-02 9.99824513e-01 1.69147882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03925976399998 meters Centerline goodness [0,1] 0.5240523936478498 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99764255e-01 1.81115972e-02 1.19751614e-02 -2.73834829e+01] [-1.79381677e-02 9.99734897e-01 -1.44346165e-02 1.51384936e+01] [-1.22334207e-02 1.42164012e-02 9.99824103e-01 1.69143948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06925976399998 meters Centerline goodness [0,1] 0.5231954301540592 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99764139e-01 1.79582014e-02 1.22134884e-02 -2.73842109e+01] [-1.77821774e-02 9.99738596e-01 -1.43713020e-02 1.51381150e+01] [-1.24683785e-02 1.41507300e-02 9.99822132e-01 1.69142430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09925976399998 meters Centerline goodness [0,1] 0.5195131096945398 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99765479e-01 1.78014614e-02 1.23327001e-02 -2.73846719e+01] [-1.76229029e-02 9.99740442e-01 -1.44389255e-02 1.51384838e+01] [-1.25865330e-02 1.42182013e-02 9.99819695e-01 1.69142704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12925976399998 meters Centerline goodness [0,1] 0.5258020734066823 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99767360e-01 1.77956387e-02 1.21877795e-02 -2.73842720e+01] [-1.76151696e-02 9.99735918e-01 -1.47580301e-02 1.51404015e+01] [-1.24471895e-02 1.45399070e-02 9.99816813e-01 1.69144801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15925976399998 meters Centerline goodness [0,1] 0.5290106333795654 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99765480e-01 1.81279322e-02 1.18475282e-02 -2.73830857e+01] [-1.79483498e-02 9.99725002e-01 -1.50923046e-02 1.51430903e+01] [-1.21178624e-02 1.48761216e-02 9.99815912e-01 1.69146879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18925976399998 meters Centerline goodness [0,1] 0.5393464052287582 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.14, Z:16.91 [[ 9.99680473e-01 2.21131883e-02 1.22457982e-02 -2.73837221e+01] [-2.19765794e-02 9.99695973e-01 -1.11800019e-02 1.51441766e+01] [-1.24893006e-02 1.09073088e-02 9.99862515e-01 1.69142651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.219259764 meters Centerline goodness [0,1] 0.544701264718709 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.15, Z:16.91 [[ 9.99678225e-01 2.23178670e-02 1.20565195e-02 -2.73827648e+01] [-2.21796837e-02 9.99688134e-01 -1.14759439e-02 1.51464473e+01] [-1.23088780e-02 1.12048415e-02 9.99861462e-01 1.69140595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.249259764 meters Centerline goodness [0,1] 0.5516366922202466 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.15, Z:16.91 [[ 9.99675496e-01 2.26319864e-02 1.16917319e-02 -2.73812499e+01] [-2.24952881e-02 9.99678555e-01 -1.16939994e-02 1.51487461e+01] [-1.19526321e-02 1.14271957e-02 9.99863268e-01 1.69136857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.279259764 meters Centerline goodness [0,1] 0.5508110477860588 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.15, Z:16.91 [[ 9.99569738e-01 2.68265726e-02 1.18606303e-02 -2.73806922e+01] [-2.67345416e-02 9.99611737e-01 -7.85102868e-03 1.51509506e+01] [-1.20666414e-02 7.53056216e-03 9.99898838e-01 1.69128115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.309259764 meters Centerline goodness [0,1] 0.5282177636982284 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.15, Z:16.91 [[ 9.99570894e-01 2.69665486e-02 1.14381976e-02 -2.73794570e+01] [-2.68692883e-02 9.99602191e-01 -8.57325444e-03 1.51549177e+01] [-1.16648384e-02 8.26223938e-03 9.99897828e-01 1.69133997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.339259764 meters Centerline goodness [0,1] 0.567065463417502 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.16, Z:16.91 [[ 9.99569818e-01 2.72354599e-02 1.08815487e-02 -2.73778103e+01] [-2.71342654e-02 9.99588149e-01 -9.34151855e-03 1.51590600e+01] [-1.11314877e-02 9.04223716e-03 9.99897159e-01 1.69141566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.369259764 meters Centerline goodness [0,1] 0.5775978804827789 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.16, Z:16.91 [[ 9.99564339e-01 2.76422008e-02 1.03460442e-02 -2.73759804e+01] [-2.75402266e-02 9.99571944e-01 -9.87237202e-03 1.51627961e+01] [-1.06145096e-02 9.58313861e-03 9.99897743e-01 1.69144925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.399259764 meters Centerline goodness [0,1] 0.5864488056122902 Centerline is valid? [False, False] Translation: X:-27.37, Y:15.17, Z:16.91 [[ 9.99433221e-01 3.20536223e-02 1.02860314e-02 -2.73744861e+01] [-3.19901224e-02 9.99468457e-01 -6.27972148e-03 1.51667432e+01] [-1.04818518e-02 5.94711086e-03 9.99927379e-01 1.69138132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.429259764 meters Centerline goodness [0,1] 0.6068187903489721 Centerline is valid? [False, False] Translation: X:-27.37, Y:15.17, Z:16.91 [[ 9.99427006e-01 3.24263048e-02 9.70540169e-03 -2.73725703e+01] [-3.23590029e-02 9.99451706e-01 -7.01302741e-03 1.51710338e+01] [-9.92748684e-03 6.69495186e-03 9.99928309e-01 1.69143854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45925976399997 meters Centerline goodness [0,1] 0.6206021903255647 Centerline is valid? [False, False] Translation: X:-27.37, Y:15.18, Z:16.91 [[ 9.99270864e-01 3.69777596e-02 9.50715583e-03 -2.73705060e+01] [-3.69461559e-02 9.99311203e-01 -3.47867351e-03 1.51756745e+01] [-9.62924088e-03 3.12488422e-03 9.99948755e-01 1.69137632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48925976399997 meters Centerline goodness [0,1] 0.6404538106926899 Centerline is valid? [False, False] Translation: X:-27.37, Y:15.18, Z:16.91 [[ 9.99258676e-01 3.74528350e-02 8.90969524e-03 -2.73683794e+01] [-3.74153909e-02 9.99290406e-01 -4.33288303e-03 1.51806045e+01] [-9.06565173e-03 3.99631123e-03 9.99950921e-01 1.69145095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51925976399997 meters Centerline goodness [0,1] 0.6647267054658907 Centerline is valid? [False, False] Translation: X:-27.37, Y:15.19, Z:16.91 [[ 9.99241860e-01 3.80453888e-02 8.26163188e-03 -2.73657458e+01] [-3.80046736e-02 9.99264899e-01 -5.03058999e-03 1.51854896e+01] [-8.44694949e-03 4.71279547e-03 9.99953218e-01 1.69147558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54925976399997 meters Centerline goodness [0,1] 0.6769828833172613 Centerline is valid? [False, False] Translation: X:-27.36, Y:15.19, Z:16.91 [[ 9.99226931e-01 3.85694923e-02 7.61143269e-03 -2.73632469e+01] [-3.85268194e-02 9.99241448e-01 -5.67565085e-03 1.51900109e+01] [-7.82456599e-03 5.37801889e-03 9.99954926e-01 1.69149364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57925976399997 meters Centerline goodness [0,1] 0.708725845410628 Centerline is valid? [False, False] Translation: X:-27.36, Y:15.19, Z:16.92 [[ 9.99212429e-01 3.90708136e-02 6.92774140e-03 -2.73606819e+01] [-3.90271682e-02 9.99218118e-01 -6.32722140e-03 1.51945277e+01] [-7.16953441e-03 6.05186813e-03 9.99955985e-01 1.69151221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60925976399997 meters Centerline goodness [0,1] 0.7339560839500182 Centerline is valid? [False, False] Translation: X:-27.36, Y:15.20, Z:16.91 [[ 9.99197441e-01 3.95511473e-02 6.33888048e-03 -2.73582115e+01] [-3.95075024e-02 9.99195666e-01 -6.86868024e-03 1.51988999e+01] [-6.60544609e-03 6.61273438e-03 9.99956319e-01 1.69149634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63925976399997 meters Centerline goodness [0,1] 0.7660554657229155 Centerline is valid? [False, False] Translation: X:-27.35, Y:15.20, Z:16.91 [[ 9.98987600e-01 4.45676031e-02 6.12406596e-03 -2.73547735e+01] [-4.45507287e-02 9.99003016e-01 -2.86481037e-03 1.52030702e+01] [-6.24563809e-03 2.58907843e-03 9.99977144e-01 1.69128506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66925976399997 meters Centerline goodness [0,1] 0.7720008588693599 Centerline is valid? [False, False] Translation: X:-27.35, Y:15.21, Z:16.91 [[ 9.98965460e-01 4.51361246e-02 5.54430726e-03 -2.73521805e+01] [-4.51171185e-02 9.98975550e-01 -3.50663008e-03 1.52077149e+01] [-5.69690308e-03 3.25285916e-03 9.99978482e-01 1.69128287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69925976399998 meters Centerline goodness [0,1] 0.7742492446198433 Centerline is valid? [False, False] Translation: X:-27.35, Y:15.21, Z:16.91 [[ 9.98944183e-01 4.56688071e-02 4.98791912e-03 -2.73496836e+01] [-4.56483949e-02 9.98949022e-01 -4.13229969e-03 1.52125003e+01] [-5.17139412e-03 3.90024623e-03 9.99979022e-01 1.69128704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72925976399998 meters Centerline goodness [0,1] 0.7795968992248062 Centerline is valid? [False, False] Translation: X:-27.35, Y:15.22, Z:16.91 [[ 9.98914721e-01 4.63589020e-02 4.49814198e-03 -2.73471173e+01] [-4.63375938e-02 9.98914633e-01 -4.73107900e-03 1.52171350e+01] [-4.71258747e-03 4.51751138e-03 9.99978692e-01 1.69128249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75925976399998 meters Centerline goodness [0,1] 0.7833603794782175 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.22, Z:16.91 [[ 9.98889479e-01 4.69411892e-02 4.04142536e-03 -2.73448265e+01] [-4.69190648e-02 9.98884068e-01 -5.40548801e-03 1.52219721e+01] [-4.29065544e-03 5.20986520e-03 9.99977224e-01 1.69129646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78925976399998 meters Centerline goodness [0,1] 0.7775754912423881 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.23, Z:16.91 [[ 9.98858180e-01 4.76477035e-02 3.46883588e-03 -2.73421544e+01] [-4.76261898e-02 9.98846963e-01 -6.04082128e-03 1.52267861e+01] [-3.75266744e-03 5.86871631e-03 9.99975738e-01 1.69131273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81925976399998 meters Centerline goodness [0,1] 0.7370458511819769 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.23, Z:16.91 [[ 9.98581118e-01 5.31495349e-02 3.29802613e-03 -2.73381482e+01] [-5.31428642e-02 9.98584757e-01 -2.07839380e-03 1.52318277e+01] [-3.40382429e-03 1.90017825e-03 9.99992402e-01 1.69111351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84925976399998 meters Centerline goodness [0,1] 0.729459683064978 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.23, Z:16.91 [[ 9.98564577e-01 5.34864583e-02 2.82581823e-03 -2.73366838e+01] [-5.34795287e-02 9.98565883e-01 -2.47344385e-03 1.52340882e+01] [-2.95406143e-03 2.31876998e-03 9.99992948e-01 1.69116584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87925976399998 meters Centerline goodness [0,1] 0.7231185361972952 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.23, Z:16.91 [[ 9.98562995e-01 5.35215803e-02 2.71761774e-03 -2.73365617e+01] [-5.35143693e-02 9.98563536e-01 -2.66027792e-03 1.52348139e+01] [-2.85609626e-03 2.51102349e-03 9.99992769e-01 1.69120944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90925976399998 meters Centerline goodness [0,1] 0.7175718849840256 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.24, Z:16.91 [[ 9.98541185e-01 5.39375517e-02 2.49850004e-03 -2.73349133e+01] [-5.39308951e-02 9.98541130e-01 -2.65914511e-03 1.52367658e+01] [-2.63828283e-03 2.52051957e-03 9.99993343e-01 1.69110685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93925976399998 meters Centerline goodness [0,1] 0.716302542481155 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.24, Z:16.91 [[ 9.98698665e-01 5.09651403e-02 1.87912786e-03 -2.73328406e+01] [-5.09514749e-02 9.98678542e-01 -6.71698073e-03 1.52410868e+01] [-2.21897653e-03 6.61249535e-03 9.99975675e-01 1.69114142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.969259764 meters Centerline goodness [0,1] 0.7115378470779947 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.24, Z:16.91 [[ 9.98874630e-01 4.74158713e-02 1.09897502e-03 -2.73310537e+01] [-4.74005759e-02 9.98812787e-01 -1.12339523e-02 1.52447743e+01] [-1.63033794e-03 1.11692179e-02 9.99936293e-01 1.69123871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.999259764 meters Centerline goodness [0,1] 0.71104 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.25, Z:16.91 [[ 9.99040685e-01 4.37898773e-02 3.94432214e-04 -2.73292691e+01] [-4.37783096e-02 9.98918085e-01 -1.56882000e-02 1.52491124e+01] [-1.08098983e-03 1.56558825e-02 9.99876855e-01 1.69129471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.029259764 meters Centerline goodness [0,1] 0.7108927371082872 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.25, Z:16.91 [[ 9.99038930e-01 4.38293469e-02 4.52845290e-04 -2.73292545e+01] [-4.38169484e-02 9.98917608e-01 -1.56104836e-02 1.52493107e+01] [-1.13655243e-03 1.55756385e-02 9.99878046e-01 1.69125933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.059259764 meters Centerline goodness [0,1] 0.723731041780229 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.25, Z:16.91 [[ 9.99046215e-01 4.36618337e-02 5.52236381e-04 -2.73297779e+01] [-4.36481603e-02 9.98928189e-01 -1.54049194e-02 1.52489748e+01] [-1.22425152e-03 1.53661223e-02 9.99881185e-01 1.69122156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.089259764 meters Centerline goodness [0,1] 0.728451318914062 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.25, Z:16.91 [[ 9.99048394e-01 4.36123161e-02 5.21226367e-04 -2.73296852e+01] [-4.35992241e-02 9.98931606e-01 -1.53216849e-02 1.52494044e+01] [-1.18888366e-03 1.52843796e-02 9.99882480e-01 1.69118936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.119259764 meters Centerline goodness [0,1] 0.7340165777806336 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.25, Z:16.91 [[ 9.99052368e-01 4.35201161e-02 6.04205781e-04 -2.73299023e+01] [-4.35057593e-02 9.98935591e-01 -1.53275842e-02 1.52496849e+01] [-1.27062090e-03 1.52867728e-02 9.99882343e-01 1.69117088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.149259764 meters Centerline goodness [0,1] 0.7317073170731707 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.25, Z:16.91 [[ 9.99069060e-01 4.31267506e-02 1.04763342e-03 -2.73316206e+01] [-4.31060159e-02 9.98956058e-01 -1.51217105e-02 1.52483325e+01] [-1.69868999e-03 1.50624738e-02 9.99885112e-01 1.69116047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.179259764 meters Centerline goodness [0,1] 0.7734512707111496 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.25, Z:16.91 [[ 9.99273277e-01 3.81056780e-02 9.35387149e-04 -2.73333985e+01] [-3.80803937e-02 9.99086388e-01 -1.93977591e-02 1.52482921e+01] [-1.67369733e-03 1.93480424e-02 9.99811408e-01 1.69125351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20925976399997 meters Centerline goodness [0,1] 0.788403758869782 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.25, Z:16.91 [[ 9.99435414e-01 3.35941548e-02 5.34474812e-04 -2.73335912e+01] [-3.35715250e-02 9.99145640e-01 -2.41027481e-02 1.52507718e+01] [-1.34372963e-03 2.40711969e-02 9.99709344e-01 1.69138306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23925976399997 meters Centerline goodness [0,1] 0.788403758869782 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.25, Z:16.91 [[ 9.99435414e-01 3.35941548e-02 5.34474812e-04 -2.73335912e+01] [-3.35715250e-02 9.99145640e-01 -2.41027481e-02 1.52507718e+01] [-1.34372963e-03 2.40711969e-02 9.99709344e-01 1.69138306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26925976399997 meters Centerline goodness [0,1] 0.7958264093058929 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.25, Z:16.92 [[ 9.99581821e-01 2.89159140e-02 2.29842562e-04 -2.73342435e+01] [-2.88970610e-02 9.99160830e-01 -2.90274895e-02 1.52535149e+01] [-1.06900608e-03 2.90087091e-02 9.99578587e-01 1.69155341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29925976399997 meters Centerline goodness [0,1] 0.7835038444430323 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.25, Z:16.90 [[ 9.99813165e-01 1.87898580e-02 4.53617470e-03 -2.73299379e+01] [-1.86986357e-02 9.99637362e-01 -1.93779878e-02 1.52510069e+01] [-4.89863935e-03 1.92895470e-02 9.99801939e-01 1.69045784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32925976399997 meters Centerline goodness [0,1] 0.7635948789453669 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.25, Z:16.91 [[ 9.99891245e-01 1.40947330e-02 4.34001884e-03 -2.73307838e+01] [-1.39868168e-02 9.99614942e-01 -2.39653241e-02 1.52528425e+01] [-4.67613252e-03 2.39020147e-02 9.99703370e-01 1.69058522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35925976399997 meters Centerline goodness [0,1] 0.759646557752209 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.25, Z:16.91 [[ 9.99890784e-01 1.41443619e-02 4.28440747e-03 -2.73305629e+01] [-1.40395059e-02 9.99623184e-01 -2.35877384e-02 1.52527047e+01] [-4.61642655e-03 2.35250113e-02 9.99712590e-01 1.69052396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38925976399997 meters Centerline goodness [0,1] 0.7637507546630231 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.25, Z:16.91 [[ 9.99891339e-01 1.41283172e-02 4.20728137e-03 -2.73302804e+01] [-1.40251984e-02 9.99622961e-01 -2.36056972e-02 1.52541051e+01] [-4.53920384e-03 2.35441242e-02 9.99712494e-01 1.69050212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41925976399997 meters Centerline goodness [0,1] 0.7586898395721925 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.25, Z:16.90 [[ 9.99884951e-01 1.46551294e-02 3.91296240e-03 -2.73282463e+01] [-1.45625192e-02 9.99635557e-01 -2.27307530e-02 1.52541824e+01] [-4.24465847e-03 2.26711553e-02 9.99733965e-01 1.69026094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44925976399998 meters Centerline goodness [0,1] 0.7542289191169443 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.25, Z:16.90 [[ 9.99878524e-01 1.50484752e-02 4.05956198e-03 -2.73276079e+01] [-1.49565128e-02 9.99650366e-01 -2.18047817e-02 1.52521252e+01] [-4.38627133e-03 2.17414161e-02 9.99754005e-01 1.69004936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47925976399998 meters Centerline goodness [0,1] 0.7510402439411746 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.25, Z:16.90 [[ 9.99871764e-01 1.54232838e-02 4.31029638e-03 -2.73272189e+01] [-1.53305156e-02 9.99666425e-01 -2.07849489e-02 1.52494232e+01] [-4.62943074e-03 2.07162044e-02 9.99774678e-01 1.68982137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50925976399998 meters Centerline goodness [0,1] 0.736395580740131 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.25, Z:16.90 [[ 9.99917364e-01 1.22804592e-02 3.80203205e-03 -2.73241490e+01] [-1.21868711e-02 9.99644105e-01 -2.37306413e-02 1.52480376e+01] [-4.09210210e-03 2.36823454e-02 9.99711159e-01 1.68953903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53925976399998 meters Centerline goodness [0,1] 0.7342714709408721 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.25, Z:16.89 [[ 9.99912041e-01 1.26707777e-02 3.91941848e-03 -2.73235590e+01] [-1.25785946e-02 9.99662912e-01 -2.27121224e-02 1.52455814e+01] [-4.20587755e-03 2.26608239e-02 9.99734364e-01 1.68932748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56925976399998 meters Centerline goodness [0,1] 0.7292119608028484 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.24, Z:16.89 [[ 9.99905051e-01 1.31622262e-02 4.07987272e-03 -2.73227635e+01] [-1.30710601e-02 9.99680815e-01 -2.16197837e-02 1.52432612e+01] [-4.36313497e-03 2.15644026e-02 9.99757940e-01 1.68908529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59925976399998 meters Centerline goodness [0,1] 0.7234838953195772 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.24, Z:16.89 [[ 9.99900975e-01 1.34428743e-02 4.16283133e-03 -2.73222965e+01] [-1.33534864e-02 9.99694399e-01 -2.08036694e-02 1.52414514e+01] [-4.44122028e-03 2.07460210e-02 9.99774914e-01 1.68891792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62925976399998 meters Centerline goodness [0,1] 0.7219950940310711 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.24, Z:16.89 [[ 9.99896891e-01 1.37052931e-02 4.28640187e-03 -2.73219618e+01] [-1.36169745e-02 9.99707323e-01 -1.99961348e-02 1.52398959e+01] [-4.55920023e-03 1.99357052e-02 9.99790869e-01 1.68875147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65925976399998 meters Centerline goodness [0,1] 0.7202207380929985 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.24, Z:16.89 [[ 9.99894086e-01 1.38973355e-02 4.32217537e-03 -2.73218007e+01] [-1.38111226e-02 9.99716895e-01 -1.93747988e-02 1.52384659e+01] [-4.59020982e-03 1.93130526e-02 9.99802949e-01 1.68865516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68925976399998 meters Centerline goodness [0,1] 0.7099594130502653 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.23, Z:16.89 [[ 9.99895675e-01 1.36913932e-02 4.60280803e-03 -2.73229034e+01] [-1.36047463e-02 9.99738939e-01 -1.83565967e-02 1.52349413e+01] [-4.85293380e-03 1.82920616e-02 9.99820909e-01 1.68851820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.719259764 meters Centerline goodness [0,1] 0.7032565974171814 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.23, Z:16.88 [[ 9.99892761e-01 1.38140549e-02 4.86201322e-03 -2.73234888e+01] [-1.37268529e-02 9.99752042e-01 -1.75336328e-02 1.52324727e+01] [-5.10301821e-03 1.74650124e-02 9.99834453e-01 1.68841290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.749259764 meters Centerline goodness [0,1] 0.6909934022158596 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.23, Z:16.88 [[ 9.99891465e-01 1.37831593e-02 5.20404793e-03 -2.73246022e+01] [-1.36943182e-02 9.99766130e-01 -1.67377390e-02 1.52293216e+01] [-5.43352978e-03 1.66646565e-02 9.99846371e-01 1.68833043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.779259764 meters Centerline goodness [0,1] 0.6787056302599298 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.23, Z:16.88 [[ 9.99888612e-01 1.37954277e-02 5.69644698e-03 -2.73258669e+01] [-1.37038486e-02 9.99781034e-01 -1.58142106e-02 1.52255425e+01] [-5.91336345e-03 1.57343858e-02 9.99858721e-01 1.68821252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.809259764 meters Centerline goodness [0,1] 0.6611702948896094 Centerline is valid? [False, False] Translation: X:-27.32, Y:15.22, Z:16.88 [[ 9.99932795e-01 1.02358462e-02 5.44364037e-03 -2.73249924e+01] [-1.01324141e-02 9.99773791e-01 -1.87002706e-02 1.52217044e+01] [-5.63382206e-03 1.86438566e-02 9.99810315e-01 1.68807426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.839259764 meters Centerline goodness [0,1] 0.652321526885667 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.22, Z:16.88 [[ 9.99930954e-01 1.02191245e-02 5.80144467e-03 -2.73261523e+01] [-1.01145540e-02 9.99790818e-01 -1.77768246e-02 1.52179081e+01] [-5.98189470e-03 1.77169182e-02 9.99825149e-01 1.68797497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.869259764 meters Centerline goodness [0,1] 0.6450138079165388 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.21, Z:16.88 [[ 9.99929039e-01 1.01128158e-02 6.29672950e-03 -2.73277705e+01] [-1.00048769e-02 9.99806385e-01 -1.69438677e-02 1.52145412e+01] [-6.46686058e-03 1.68796674e-02 9.99836615e-01 1.68789795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.899259764 meters Centerline goodness [0,1] 0.6387979312666401 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.21, Z:16.88 [[ 9.99926222e-01 1.01281035e-02 6.70611185e-03 -2.73289953e+01] [-1.00190429e-02 9.99820164e-01 -1.61014815e-02 1.52110576e+01] [-6.86798332e-03 1.60331047e-02 9.99847874e-01 1.68781716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.929259764 meters Centerline goodness [0,1] 0.6329415356434132 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.21, Z:16.88 [[ 9.99923302e-01 1.00729081e-02 7.20595948e-03 -2.73305352e+01] [-9.96240559e-03 9.99834692e-01 -1.52098406e-02 1.52072373e+01] [-7.35797560e-03 1.51368854e-02 9.99858357e-01 1.68773401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95925976399997 meters Centerline goodness [0,1] 0.6202815875713072 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.20, Z:16.88 [[ 9.99954646e-01 6.53456182e-03 6.92857988e-03 -2.73298338e+01] [-6.40874139e-03 9.99816926e-01 -1.80289162e-02 1.52031847e+01] [-7.04512251e-03 1.79836950e-02 9.99813459e-01 1.68763244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98925976399997 meters Centerline goodness [0,1] 0.60824493731919 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.20, Z:16.88 [[ 9.99971763e-01 2.31362897e-03 7.14978536e-03 -2.73312477e+01] [-2.16396667e-03 9.99779862e-01 -2.08697299e-02 1.51975521e+01] [-7.19649623e-03 2.08536687e-02 9.99756638e-01 1.68755584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01925976399997 meters Centerline goodness [0,1] 0.5972005754705672 Centerline is valid? [False, False] Translation: X:-27.33, Y:15.19, Z:16.87 [[ 9.99969458e-01 1.64414395e-03 7.64073205e-03 -2.73336468e+01] [-1.49140129e-03 9.99799798e-01 -1.99534608e-02 1.51919586e+01] [-7.67200872e-03 1.99414559e-02 9.99771713e-01 1.68749383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04925976399997 meters Centerline goodness [0,1] 0.5876699693534471 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.19, Z:16.87 [[ 9.99967489e-01 7.52472234e-04 8.02838518e-03 -2.73362257e+01] [-5.97964482e-04 9.99814903e-01 -1.92302572e-02 1.51861618e+01] [-8.04136938e-03 1.92248314e-02 9.99782848e-01 1.68748325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07925976399997 meters Centerline goodness [0,1] 0.5840395898773187 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.18, Z:16.87 [[ 9.99961885e-01 3.38234202e-04 8.72437612e-03 -2.73389019e+01] [-1.79070957e-04 9.99833661e-01 -1.82378438e-02 1.51810651e+01] [-8.72909358e-03 1.82355863e-02 9.99795612e-01 1.68743268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10925976399997 meters Centerline goodness [0,1] 0.5747611183201604 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.18, Z:16.87 [[ 9.99956177e-01 5.47964802e-05 9.36170418e-03 -2.73414433e+01] [ 1.09185715e-04 9.99846597e-01 -1.75148671e-02 1.51768836e+01] [-9.36122782e-03 1.75151217e-02 9.99802775e-01 1.68744408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13925976399997 meters Centerline goodness [0,1] 0.5592614132015121 Centerline is valid? [False, False] Translation: X:-27.34, Y:15.17, Z:16.88 [[ 9.99942943e-01 -4.51018775e-03 9.68340183e-03 -2.73441746e+01] [ 4.70980235e-03 9.99774820e-01 -2.06912280e-02 1.51712016e+01] [-9.58790000e-03 2.07356544e-02 9.99739018e-01 1.68752927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16925976399997 meters Centerline goodness [0,1] 0.5562800672346838 Centerline is valid? [False, False] Translation: X:-27.35, Y:15.17, Z:16.87 [[ 9.99933310e-01 -5.02162953e-03 1.03999885e-02 -2.73469482e+01] [ 5.22551359e-03 9.99792856e-01 -1.96707689e-02 1.51654994e+01] [-1.02990549e-02 1.97238023e-02 9.99752420e-01 1.68747085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19925976399998 meters Centerline goodness [0,1] 0.5585346122732 Centerline is valid? [False, False] Translation: X:-27.35, Y:15.16, Z:16.87 [[ 9.99925384e-01 -5.11641498e-03 1.10927577e-02 -2.73488580e+01] [ 5.32155087e-03 9.99813905e-01 -1.85428153e-02 1.51604585e+01] [-1.09958207e-02 1.86004624e-02 9.99766530e-01 1.68735204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22925976399998 meters Centerline goodness [0,1] 0.5508026005408204 Centerline is valid? [False, False] Translation: X:-27.35, Y:15.16, Z:16.87 [[ 9.99922994e-01 -4.76603944e-03 1.14582422e-02 -2.73493382e+01] [ 4.96605002e-03 9.99834688e-01 -1.74909936e-02 1.51568041e+01] [-1.13729853e-02 1.75465489e-02 9.99781363e-01 1.68721820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25925976399998 meters Centerline goodness [0,1] 0.5463461647485686 Centerline is valid? [False, False] Translation: X:-27.35, Y:15.15, Z:16.87 [[ 9.99897036e-01 -8.54493106e-03 1.15282946e-02 -2.73496897e+01] [ 8.78140907e-03 9.99748807e-01 -2.06205930e-02 1.51529179e+01] [-1.13491972e-02 2.07197045e-02 9.99720906e-01 1.68717863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28925976399998 meters Centerline goodness [0,1] 0.5463461647485686 Centerline is valid? [False, False] Translation: X:-27.35, Y:15.15, Z:16.87 [[ 9.99915511e-01 -5.76981917e-03 1.16481613e-02 -2.73513899e+01] [ 5.97030404e-03 9.99833366e-01 -1.72509543e-02 1.51498132e+01] [-1.15466854e-02 1.73190398e-02 9.99783339e-01 1.68727612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31925976399998 meters Centerline goodness [0,1] 0.537009914375845 Centerline is valid? [False, False] Translation: X:-27.36, Y:15.15, Z:16.88 [[ 9.99871665e-01 -1.05057847e-02 1.20947024e-02 -2.73550541e+01] [ 1.07597781e-02 9.99718826e-01 -2.11304532e-02 1.51456780e+01] [-1.18693097e-02 2.12578777e-02 9.99703567e-01 1.68752417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34925976399998 meters Centerline goodness [0,1] 0.5337609723160027 Centerline is valid? [False, False] Translation: X:-27.36, Y:15.14, Z:16.88 [[ 9.99848306e-01 -1.16023086e-02 1.29904607e-02 -2.73594842e+01] [ 1.18744230e-02 9.99707487e-01 -2.10698426e-02 1.51415647e+01] [-1.27422020e-02 2.12209006e-02 9.99693608e-01 1.68768405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37925976399998 meters Centerline goodness [0,1] 0.530438912636549 Centerline is valid? [False, False] Translation: X:-27.36, Y:15.14, Z:16.88 [[ 9.99828170e-01 -1.26022036e-02 1.35946804e-02 -2.73641821e+01] [ 1.28850413e-02 9.99698076e-01 -2.09220467e-02 1.51365823e+01] [-1.33269120e-02 2.10936197e-02 9.99688678e-01 1.68798227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40925976399998 meters Centerline goodness [0,1] 0.5378935636667596 Centerline is valid? [False, False] Translation: X:-27.37, Y:15.13, Z:16.88 [[ 9.99817249e-01 -1.29347545e-02 1.40769680e-02 -2.73664558e+01] [ 1.32260566e-02 9.99696148e-01 -2.08010149e-02 1.51349434e+01] [-1.38036347e-02 2.09833963e-02 9.99684529e-01 1.68807993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43925976399998 meters Centerline goodness [0,1] 0.5371668614032159 Centerline is valid? [False, False] Translation: X:-27.37, Y:15.13, Z:16.88 [[ 9.99805617e-01 -1.31622554e-02 1.46793279e-02 -2.73685947e+01] [ 1.34596190e-02 9.99702397e-01 -2.03459176e-02 1.51321463e+01] [-1.44071611e-02 2.05395409e-02 9.99685231e-01 1.68809533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.469259764 meters Centerline goodness [0,1] 0.5346534653465347 Centerline is valid? [False, False] Translation: X:-27.37, Y:15.13, Z:16.88 [[ 9.99794313e-01 -1.32052248e-02 1.53933056e-02 -2.73703803e+01] [ 1.35034058e-02 9.99720016e-01 -1.94305738e-02 1.51279432e+01] [-1.51324106e-02 1.96344393e-02 9.99692702e-01 1.68799448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.499259764 meters Centerline goodness [0,1] 0.5241031853095834 Centerline is valid? [False, False] Translation: X:-27.37, Y:15.12, Z:16.88 [[ 9.99781420e-01 -1.33630174e-02 1.60792681e-02 -2.73724206e+01] [ 1.36606120e-02 9.99734743e-01 -1.85427150e-02 1.51228039e+01] [-1.58272163e-02 1.87583146e-02 9.99698767e-01 1.68792677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.529259764 meters Centerline goodness [0,1] 0.5135349447664881 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.12, Z:16.88 [[ 9.99691668e-01 -1.81490182e-02 1.69464482e-02 -2.73765214e+01] [ 1.85237399e-02 9.99581409e-01 -2.22233772e-02 1.51168916e+01] [-1.65360221e-02 2.25304366e-02 9.99609393e-01 1.68807773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.559259764 meters Centerline goodness [0,1] 0.5069750967249741 Centerline is valid? [False, False] Translation: X:-27.38, Y:15.11, Z:16.88 [[ 9.99653824e-01 -1.92106907e-02 1.79772675e-02 -2.73811973e+01] [ 1.96079598e-02 9.99561482e-01 -2.21894412e-02 1.51132561e+01] [-1.75431097e-02 2.25342572e-02 9.99592140e-01 1.68825115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.589259764 meters Centerline goodness [0,1] 0.505322751036108 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.11, Z:16.89 [[ 9.99577025e-01 -2.22739023e-02 1.86987668e-02 -2.73884426e+01] [ 2.27135411e-02 9.99462523e-01 -2.36380970e-02 1.51100863e+01] [-1.81622040e-02 2.40528139e-02 9.99545695e-01 1.68876971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.619259764 meters Centerline goodness [0,1] 0.48613063696333947 Centerline is valid? [False, False] Translation: X:-27.39, Y:15.11, Z:16.89 [[ 9.99622055e-01 -1.95056618e-02 1.93720350e-02 -2.73924536e+01] [ 1.98805598e-02 9.99615052e-01 -1.93522714e-02 1.51059508e+01] [-1.89870989e-02 1.97300842e-02 9.99625037e-01 1.68888319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.649259764 meters Centerline goodness [0,1] 0.47481217231501005 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.10, Z:16.89 [[ 9.99602908e-01 -1.99292707e-02 1.99210946e-02 -2.73951400e+01] [ 2.03159641e-02 9.99605352e-01 -1.94010995e-02 1.51042793e+01] [-1.95265830e-02 1.97981117e-02 9.99613299e-01 1.68903075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.679259764 meters Centerline goodness [0,1] 0.4763184052870537 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.10, Z:16.89 [[ 9.99555852e-01 -2.13625599e-02 2.07783572e-02 -2.73999513e+01] [ 2.17711263e-02 9.99570057e-01 -1.96397382e-02 1.50989276e+01] [-2.03498686e-02 2.00833835e-02 9.99591187e-01 1.68925109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70925976399997 meters Centerline goodness [0,1] 0.4878212350447986 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.10, Z:16.89 [[ 9.99533793e-01 -2.16512071e-02 2.15272251e-02 -2.74024673e+01] [ 2.20672872e-02 9.99570525e-01 -1.92821335e-02 1.50959807e+01] [-2.11004982e-02 1.97481915e-02 9.99582302e-01 1.68928107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73925976399997 meters Centerline goodness [0,1] 0.44159704370179953 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.09, Z:16.89 [[ 9.99518341e-01 -2.18045293e-02 2.20827783e-02 -2.74043329e+01] [ 2.22259922e-02 9.99571965e-01 -1.90234475e-02 1.50937809e+01] [-2.16585288e-02 1.95050964e-02 9.99575139e-01 1.68930832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76925976399997 meters Centerline goodness [0,1] 0.46252006420545744 Centerline is valid? [False, False] Translation: X:-27.41, Y:15.09, Z:16.89 [[ 9.99563668e-01 -1.87907690e-02 2.27899302e-02 -2.74073157e+01] [ 1.91256286e-02 9.99710987e-01 -1.45654318e-02 1.50885551e+01] [-2.25096479e-02 1.49949482e-02 9.99634167e-01 1.68928683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79925976399997 meters Centerline goodness [0,1] 0.47213377926421407 Centerline is valid? [False, False] Translation: X:-27.41, Y:15.08, Z:16.89 [[ 9.99601195e-01 -1.58348650e-02 2.33817740e-02 -2.74100695e+01] [ 1.60785836e-02 9.99817961e-01 -1.02724844e-02 1.50835270e+01] [-2.32148542e-02 1.06443335e-02 9.99673831e-01 1.68929140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82925976399997 meters Centerline goodness [0,1] 0.46168659231324716 Centerline is valid? [False, False] Translation: X:-27.41, Y:15.08, Z:16.89 [[ 9.99622100e-01 -1.32400750e-02 2.40906103e-02 -2.74136076e+01] [ 1.33965175e-02 9.99890136e-01 -6.34415418e-03 1.50791622e+01] [-2.40039665e-02 6.66448701e-03 9.99689649e-01 1.68936641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85925976399997 meters Centerline goodness [0,1] 0.4739035786343846 Centerline is valid? [False, False] Translation: X:-27.42, Y:15.08, Z:16.89 [[ 9.99610987e-01 -1.33831748e-02 2.44696960e-02 -2.74155945e+01] [ 1.35319304e-02 9.99890892e-01 -5.92372384e-03 1.50763167e+01] [-2.43877480e-02 6.25254166e-03 9.99683021e-01 1.68945465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88925976399997 meters Centerline goodness [0,1] 0.4649385795017378 Centerline is valid? [False, False] Translation: X:-27.43, Y:15.08, Z:16.90 [[ 9.99758316e-01 -1.19311370e-02 1.84650363e-02 -2.74345488e+01] [ 1.21945039e-02 9.99824574e-01 -1.42167470e-02 1.50803323e+01] [-1.82921751e-02 1.44384830e-02 9.99728426e-01 1.69034976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91925976399997 meters Centerline goodness [0,1] 0.4442152039358832 Centerline is valid? [False, False] Translation: X:-27.44, Y:15.08, Z:16.90 [[ 9.99780075e-01 -8.78823917e-03 1.90412388e-02 -2.74372188e+01] [ 8.97722164e-03 9.99911069e-01 -9.86226269e-03 1.50759983e+01] [-1.89528736e-02 1.00310311e-02 9.99770057e-01 1.69037222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94925976399998 meters Centerline goodness [0,1] 0.46052978039917847 Centerline is valid? [False, False] Translation: X:-27.44, Y:15.07, Z:16.90 [[ 9.99792199e-01 -5.88333512e-03 1.95177927e-02 -2.74402519e+01] [ 5.99891699e-03 9.99964786e-01 -5.86861803e-03 1.50716032e+01] [-1.94825783e-02 5.98448415e-03 9.99792286e-01 1.69048169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97925976399998 meters Centerline goodness [0,1] 0.4677296086440901 Centerline is valid? [False, False] Translation: X:-27.44, Y:15.07, Z:16.91 [[ 9.99789461e-01 -6.05170813e-03 1.96064014e-02 -2.74411427e+01] [ 6.17282316e-03 9.99962204e-01 -6.12270143e-03 1.50720117e+01] [-1.95686076e-02 6.24243921e-03 9.99789029e-01 1.69057774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00925976399998 meters Centerline goodness [0,1] 0.46587138568494235 Centerline is valid? [False, False] Translation: X:-27.44, Y:15.07, Z:16.91 [[ 9.99785319e-01 -2.89055713e-03 2.05173248e-02 -2.74447037e+01] [ 2.93754718e-03 9.99993130e-01 -2.26049296e-03 1.50694424e+01] [-2.05106498e-02 2.32027828e-03 9.99786942e-01 1.69068662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03925976399998 meters Centerline goodness [0,1] 0.43682452864918875 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.07, Z:16.91 [[ 9.99783994e-01 -3.00445199e-03 2.05654732e-02 -2.74455171e+01] [ 3.05687547e-03 9.99992157e-01 -2.51813982e-03 1.50700332e+01] [-2.05577462e-02 2.58046198e-03 9.99785337e-01 1.69079033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06925976399998 meters Centerline goodness [0,1] 0.4570328975115985 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.07, Z:16.91 [[ 9.99786289e-01 -3.08905897e-03 2.04409775e-02 -2.74461641e+01] [ 3.15244756e-03 9.99990320e-01 -3.06955851e-03 1.50719995e+01] [-2.04312976e-02 3.13334162e-03 9.99786349e-01 1.69095530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09925976399998 meters Centerline goodness [0,1] 0.4745378306389937 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.07, Z:16.91 [[ 9.99786854e-01 -3.16232149e-03 2.04021287e-02 -2.74464267e+01] [ 3.23090806e-03 9.99989237e-01 -3.32965036e-03 1.50730799e+01] [-2.03913797e-02 3.39485806e-03 9.99786310e-01 1.69101145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12925976399998 meters Centerline goodness [0,1] 0.4745378306389937 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.07, Z:16.91 [[ 9.99786854e-01 -3.16232149e-03 2.04021287e-02 -2.74464267e+01] [ 3.23090806e-03 9.99989237e-01 -3.32965036e-03 1.50730799e+01] [-2.03913797e-02 3.39485806e-03 9.99786310e-01 1.69101145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15925976399998 meters Centerline goodness [0,1] 0.4639270613107822 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.07, Z:16.91 [[ 9.99786185e-01 -3.28767979e-03 2.04150705e-02 -2.74469660e+01] [ 3.36421372e-03 9.99987438e-01 -3.71568191e-03 1.50742040e+01] [-2.04025980e-02 3.78356810e-03 9.99784686e-01 1.69109541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18925976399998 meters Centerline goodness [0,1] 0.4746031746031746 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.07, Z:16.91 [[ 9.99785669e-01 -3.35532074e-03 2.04293260e-02 -2.74473307e+01] [ 3.43658236e-03 9.99986318e-01 -3.94388783e-03 1.50749466e+01] [-2.04158134e-02 4.01324960e-03 9.99783521e-01 1.69114831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.219259764 meters Centerline goodness [0,1] 0.4629973474801061 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.08, Z:16.91 [[ 9.99785393e-01 -3.28635866e-03 2.04540339e-02 -2.74476154e+01] [ 3.37043557e-03 9.99986007e-01 -4.07741433e-03 1.50756036e+01] [-2.04403479e-02 4.14547830e-03 9.99782480e-01 1.69119004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.249259764 meters Centerline goodness [0,1] 0.4615934356802541 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.08, Z:16.91 [[ 9.99785321e-01 -3.29882519e-03 2.04555502e-02 -2.74479402e+01] [ 3.38457432e-03 9.99985625e-01 -4.15877117e-03 1.50760060e+01] [-2.04415371e-02 4.22711169e-03 9.99782114e-01 1.69123644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.279259764 meters Centerline goodness [0,1] 0.4731669845306209 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.08, Z:16.91 [[ 9.99784802e-01 -3.25744075e-03 2.04875246e-02 -2.74485899e+01] [ 3.34820900e-03 9.99984725e-01 -4.39767508e-03 1.50768282e+01] [-2.04728865e-02 4.46532523e-03 9.99780437e-01 1.69133711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.309259764 meters Centerline goodness [0,1] 0.4615507000424268 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.08, Z:16.92 [[ 9.99896525e-01 -9.55833116e-04 1.43535813e-02 -2.74666956e+01] [ 1.12979906e-03 9.99925950e-01 -1.21168241e-02 1.50822929e+01] [-1.43409367e-02 1.21317870e-02 9.99823563e-01 1.69219554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.339259764 meters Centerline goodness [0,1] 0.48574610835609533 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.08, Z:16.92 [[ 9.99897497e-01 -1.01828539e-03 1.42814051e-02 -2.74669292e+01] [ 1.19497568e-03 9.99922787e-01 -1.23689810e-02 1.50834264e+01] [-1.42677072e-02 1.23847791e-02 9.99821509e-01 1.69226404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.369259764 meters Centerline goodness [0,1] 0.4683766130317031 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.08, Z:16.92 [[ 9.99882050e-01 2.90291760e-03 1.50817637e-02 -2.74687270e+01] [-2.78661761e-03 9.99966267e-01 -7.72659921e-03 1.50806798e+01] [-1.51036847e-02 7.68366075e-03 9.99856410e-01 1.69218117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.399259764 meters Centerline goodness [0,1] 0.4614424226324877 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.08, Z:16.92 [[ 9.99883564e-01 3.75445260e-03 1.47906012e-02 -2.74668741e+01] [-3.64820075e-03 9.99967395e-01 -7.20418416e-03 1.50808199e+01] [-1.48171667e-02 7.14938626e-03 9.99864660e-01 1.69205457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.429259764 meters Centerline goodness [0,1] 0.4643151650573245 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.08, Z:16.92 [[ 9.99884398e-01 3.97417647e-03 1.46764160e-02 -2.74664011e+01] [-3.86893819e-03 9.99966653e-01 -7.19201510e-03 1.50812069e+01] [-1.47045089e-02 7.13440154e-03 9.99866430e-01 1.69204406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45925976399997 meters Centerline goodness [0,1] 0.4694775921506231 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.08, Z:16.92 [[ 9.99885202e-01 4.30661576e-03 1.45270689e-02 -2.74656648e+01] [-4.20375304e-03 9.99965931e-01 -7.10388169e-03 1.50817209e+01] [-1.45571677e-02 7.04199797e-03 9.99869241e-01 1.69201414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48925976399997 meters Centerline goodness [0,1] 0.4815613026819924 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.08, Z:16.92 [[ 9.99885510e-01 4.47281132e-03 1.44554905e-02 -2.74654494e+01] [-4.36993367e-03 9.99964957e-01 -7.14062450e-03 1.50824018e+01] [-1.44869226e-02 7.07663743e-03 9.99870017e-01 1.69202095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51925976399997 meters Centerline goodness [0,1] 0.4833897221408211 Centerline is valid? [False, False] Translation: X:-27.46, Y:15.08, Z:16.92 [[ 9.99887746e-01 4.66717949e-03 1.42377083e-02 -2.74649848e+01] [-4.56558709e-03 9.99963947e-01 -7.15962418e-03 1.50830326e+01] [-1.42706102e-02 7.09381699e-03 9.99873006e-01 1.69204170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54925976399997 meters Centerline goodness [0,1] 0.4782030834662414 Centerline is valid? [False, False] Translation: X:-27.46, Y:15.08, Z:16.92 [[ 9.99888760e-01 4.78061757e-03 1.41284829e-02 -2.74647747e+01] [-4.67887537e-03 9.99962949e-01 -7.22551423e-03 1.50838333e+01] [-1.41625018e-02 7.15860505e-03 9.99874081e-01 1.69206355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57925976399997 meters Centerline goodness [0,1] 0.4780314939649889 Centerline is valid? [False, False] Translation: X:-27.46, Y:15.08, Z:16.92 [[ 9.99891015e-01 5.19312272e-03 1.38198679e-02 -2.74640777e+01] [-5.09345682e-03 9.99960839e-01 -7.23723564e-03 1.50849008e+01] [-1.38569106e-02 7.16605599e-03 9.99878309e-01 1.69211690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60925976399997 meters Centerline goodness [0,1] 0.49117937494995867 Centerline is valid? [False, False] Translation: X:-27.46, Y:15.09, Z:16.92 [[ 9.99891991e-01 5.47311807e-03 1.36400344e-02 -2.74634336e+01] [-5.37592252e-03 9.99959971e-01 -7.15226337e-03 1.50853715e+01] [-1.36786336e-02 7.07816310e-03 9.99881390e-01 1.69210333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63925976399997 meters Centerline goodness [0,1] 0.48790279413339044 Centerline is valid? [False, False] Translation: X:-27.46, Y:15.09, Z:16.92 [[ 9.99892673e-01 5.73737092e-03 1.34805433e-02 -2.74626525e+01] [-5.64220535e-03 9.99958970e-01 -7.08693429e-03 1.50861417e+01] [-1.35206505e-02 7.01011368e-03 9.99884018e-01 1.69206615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66925976399997 meters Centerline goodness [0,1] 0.4924248496993988 Centerline is valid? [False, False] Translation: X:-27.46, Y:15.09, Z:16.92 [[ 9.99894325e-01 6.87402853e-03 1.28096427e-02 -2.74596524e+01] [-6.79035398e-03 9.99955400e-01 -6.56423790e-03 1.50876820e+01] [-1.28541942e-02 6.47656221e-03 9.99896407e-01 1.69194016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69925976399998 meters Centerline goodness [0,1] 0.49289582328025305 Centerline is valid? [False, False] Translation: X:-27.46, Y:15.09, Z:16.92 [[ 9.99895403e-01 7.16947664e-03 1.25611242e-02 -2.74585532e+01] [-7.08770256e-03 9.99953479e-01 -6.54255984e-03 1.50889118e+01] [-1.26074466e-02 6.45284600e-03 9.99899702e-01 1.69189244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72925976399998 meters Centerline goodness [0,1] 0.4973862692008686 Centerline is valid? [False, False] Translation: X:-27.46, Y:15.09, Z:16.92 [[ 9.99895406e-01 7.51106121e-03 1.23596600e-02 -2.74575432e+01] [-7.43199485e-03 9.99951705e-01 -6.43067436e-03 1.50897036e+01] [-1.24073643e-02 6.33814482e-03 9.99902938e-01 1.69183729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75925976399998 meters Centerline goodness [0,1] 0.4956631488493246 Centerline is valid? [False, False] Translation: X:-27.46, Y:15.09, Z:16.92 [[ 9.99897083e-01 7.61496181e-03 1.21587653e-02 -2.74571444e+01] [-7.53463339e-03 9.99949576e-01 -6.63882227e-03 1.50908860e+01] [-1.22087066e-02 6.54652719e-03 9.99904041e-01 1.69187126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78925976399998 meters Centerline goodness [0,1] 0.49637272287602774 Centerline is valid? [False, False] Translation: X:-27.46, Y:15.09, Z:16.92 [[ 9.99896306e-01 8.33300840e-03 1.17447398e-02 -2.74555825e+01] [-8.25539090e-03 9.99943866e-01 -6.64176289e-03 1.50933438e+01] [-1.17994264e-02 6.54411675e-03 9.99908970e-01 1.69187615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81925976399998 meters Centerline goodness [0,1] 0.5010908503245617 Centerline is valid? [False, False] Translation: X:-27.46, Y:15.09, Z:16.92 [[ 9.99897202e-01 8.48826576e-03 1.15556940e-02 -2.74550387e+01] [-8.41033892e-03 9.99941677e-01 -6.77556354e-03 1.50947812e+01] [-1.16125328e-02 6.67767972e-03 9.99910275e-01 1.69188414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84925976399998 meters Centerline goodness [0,1] 0.5018820239823627 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.10, Z:16.92 [[ 9.99897152e-01 8.81101365e-03 1.13159992e-02 -2.74540831e+01] [-8.73484979e-03 9.99938984e-01 -6.76251411e-03 1.50958049e+01] [-1.13748933e-02 6.66297505e-03 9.99913105e-01 1.69186047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87925976399998 meters Centerline goodness [0,1] 0.49936778671545023 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.10, Z:16.92 [[ 9.99896575e-01 9.18964130e-03 1.10630234e-02 -2.74530829e+01] [-9.11487921e-03 9.99935409e-01 -6.78939522e-03 1.50968119e+01] [-1.11247009e-02 6.68785490e-03 9.99915753e-01 1.69184395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90925976399998 meters Centerline goodness [0,1] 0.5118335220227506 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.10, Z:16.92 [[ 9.99872814e-01 1.13330130e-02 1.12213381e-02 -2.74511059e+01] [-1.12645260e-02 9.99917654e-01 -6.14779064e-03 1.50992168e+01] [-1.12900870e-02 6.02060567e-03 9.99918140e-01 1.69174224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93925976399998 meters Centerline goodness [0,1] 0.5120915386280026 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.10, Z:16.92 [[ 9.99870457e-01 1.19157091e-02 1.08205877e-02 -2.74497536e+01] [-1.18464275e-02 9.99909062e-01 -6.44444013e-03 1.51021918e+01] [-1.08963937e-02 6.31541999e-03 9.99920689e-01 1.69178081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.969259764 meters Centerline goodness [0,1] 0.5169399500488652 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.11, Z:16.92 [[ 9.99867238e-01 1.26018332e-02 1.03295321e-02 -2.74482108e+01] [-1.25315087e-02 9.99898050e-01 -6.84478534e-03 1.51055976e+01] [-1.04147358e-02 6.71443200e-03 9.99923222e-01 1.69184601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.999259764 meters Centerline goodness [0,1] 0.5401418052904281 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.11, Z:16.92 [[ 9.99786161e-01 1.79296787e-02 1.03033601e-02 -2.74466824e+01] [-1.78993107e-02 9.99835197e-01 -3.03209073e-03 1.51080997e+01] [-1.03560265e-02 2.84701930e-03 9.99942322e-01 1.69184732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.029259764 meters Centerline goodness [0,1] 0.5566546762589928 Centerline is valid? [False, False] Translation: X:-27.44, Y:15.11, Z:16.92 [[ 9.99770111e-01 1.90347146e-02 9.86935022e-03 -2.74441182e+01] [-1.90055133e-02 9.99814745e-01 -3.04418675e-03 1.51105918e+01] [-9.92546710e-03 2.85591486e-03 9.99946663e-01 1.69176430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.059259764 meters Centerline goodness [0,1] 0.5668732425127632 Centerline is valid? [False, False] Translation: X:-27.44, Y:15.11, Z:16.92 [[ 9.99751364e-01 2.01149208e-02 9.62294273e-03 -2.74418452e+01] [-2.00867908e-02 9.99793706e-01 -3.01100956e-03 1.51125998e+01] [-9.68152380e-03 2.81696688e-03 9.99949165e-01 1.69165285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.089259764 meters Centerline goodness [0,1] 0.6007935422082364 Centerline is valid? [False, False] Translation: X:-27.44, Y:15.11, Z:16.91 [[ 9.99602567e-01 2.65296017e-02 9.53351758e-03 -2.74375470e+01] [-2.65565859e-02 9.99643625e-01 2.71508527e-03 1.51098933e+01] [-9.45808994e-03 -2.96718389e-03 9.99950869e-01 1.69122404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.119259764 meters Centerline goodness [0,1] 0.6167546715548138 Centerline is valid? [False, False] Translation: X:-27.44, Y:15.11, Z:16.91 [[ 9.99582282e-01 2.74150557e-02 9.14751484e-03 -2.74354884e+01] [-2.74418855e-02 9.99619421e-01 2.82048752e-03 1.51110297e+01] [-9.06670967e-03 -3.07033440e-03 9.99954183e-01 1.69114859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.149259764 meters Centerline goodness [0,1] 0.6313949359482123 Centerline is valid? [False, False] Translation: X:-27.43, Y:15.11, Z:16.91 [[ 9.99562697e-01 2.82675824e-02 8.68092583e-03 -2.74335531e+01] [-2.82937483e-02 9.99595427e-01 2.90628698e-03 1.51122003e+01] [-8.59526005e-03 -3.15063198e-03 9.99958097e-01 1.69111837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.179259764 meters Centerline goodness [0,1] 0.6479045829589085 Centerline is valid? [False, False] Translation: X:-27.43, Y:15.11, Z:16.91 [[ 9.99547104e-01 2.89402715e-02 8.24904237e-03 -2.74320687e+01] [-2.89650245e-02 9.99576227e-01 2.89717932e-03 1.51133840e+01] [-8.16170149e-03 -3.13480092e-03 9.99961779e-01 1.69113097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20925976399997 meters Centerline goodness [0,1] 0.6856155437030587 Centerline is valid? [False, False] Translation: X:-27.43, Y:15.11, Z:16.91 [[ 9.99488051e-01 3.08640973e-02 8.42867850e-03 -2.74310511e+01] [-3.08919033e-02 9.99517644e-01 3.18892915e-03 1.51142245e+01] [-8.32618946e-03 -3.44767451e-03 9.99959393e-01 1.69117144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23925976399997 meters Centerline goodness [0,1] 0.7239222270363952 Centerline is valid? [False, False] Translation: X:-27.43, Y:15.11, Z:16.91 [[ 9.99469308e-01 3.14779632e-02 8.38090902e-03 -2.74305652e+01] [-3.15057106e-02 9.99498451e-01 3.19956843e-03 1.51142697e+01] [-8.27598968e-03 -3.46191694e-03 9.99959761e-01 1.69119009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26925976399997 meters Centerline goodness [0,1] 0.7477059268055706 Centerline is valid? [False, False] Translation: X:-27.43, Y:15.11, Z:16.91 [[ 9.99446379e-01 3.22075991e-02 8.34297609e-03 -2.74298552e+01] [-3.22364424e-02 9.99474670e-01 3.34607799e-03 1.51140320e+01] [-8.23082413e-03 -3.61317340e-03 9.99959598e-01 1.69117273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29925976399997 meters Centerline goodness [0,1] 0.7615463472536959 Centerline is valid? [False, False] Translation: X:-27.43, Y:15.11, Z:16.91 [[ 9.99420117e-01 3.30261063e-02 8.28894107e-03 -2.74289516e+01] [-3.30563031e-02 9.99447247e-01 3.53281181e-03 1.51139417e+01] [-8.16768432e-03 -3.80476494e-03 9.99959406e-01 1.69114010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32925976399997 meters Centerline goodness [0,1] 0.7714938819416431 Centerline is valid? [False, False] Translation: X:-27.43, Y:15.11, Z:16.91 [[ 9.99391986e-01 3.39015844e-02 8.14495215e-03 -2.74276997e+01] [-3.39323535e-02 9.99417395e-01 3.66963334e-03 1.51147161e+01] [-8.01580048e-03 -3.94377955e-03 9.99960096e-01 1.69109816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35925976399997 meters Centerline goodness [0,1] 0.7767391888262154 Centerline is valid? [False, False] Translation: X:-27.43, Y:15.12, Z:16.91 [[ 9.99358921e-01 3.48994096e-02 7.98610469e-03 -2.74263979e+01] [-3.49294737e-02 9.99383091e-01 3.65652605e-03 1.51160933e+01] [-7.85356739e-03 -3.93313236e-03 9.99961425e-01 1.69109133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38925976399997 meters Centerline goodness [0,1] 0.7270829430184942 Centerline is valid? [False, False] Translation: X:-27.42, Y:15.11, Z:16.91 [[ 9.99080125e-01 4.21722492e-02 7.77203314e-03 -2.74220634e+01] [-4.22433931e-02 9.99064723e-01 9.22898700e-03 1.51136862e+01] [-7.37555700e-03 -9.54881454e-03 9.99927208e-01 1.69087864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41925976399997 meters Centerline goodness [0,1] 0.6922727029485738 Centerline is valid? [False, False] Translation: X:-27.42, Y:15.11, Z:16.91 [[ 9.99015652e-01 4.36120081e-02 8.10681137e-03 -2.74212021e+01] [-4.36871386e-02 9.99001659e-01 9.33372621e-03 1.51146814e+01] [-7.69165547e-03 -9.67870197e-03 9.99923578e-01 1.69082126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44925976399998 meters Centerline goodness [0,1] 0.6816857746064833 Centerline is valid? [False, False] Translation: X:-27.42, Y:15.12, Z:16.91 [[ 9.98943434e-01 4.51967884e-02 8.32260315e-03 -2.74198460e+01] [-4.52760498e-02 9.98928433e-01 9.59504013e-03 1.51156477e+01] [-7.88001993e-03 -9.96171694e-03 9.99919331e-01 1.69073581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47925976399998 meters Centerline goodness [0,1] 0.6767153985700566 Centerline is valid? [False, False] Translation: X:-27.42, Y:15.12, Z:16.91 [[ 9.98860968e-01 4.69807897e-02 8.34099967e-03 -2.74179451e+01] [-4.70632447e-02 9.98842047e-01 9.98081744e-03 1.51165887e+01] [-7.86243450e-03 -1.03620035e-02 9.99915402e-01 1.69064937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50925976399998 meters Centerline goodness [0,1] 0.664402822730408 Centerline is valid? [False, False] Translation: X:-27.41, Y:15.11, Z:16.90 [[ 9.98250402e-01 5.85697103e-02 8.10708116e-03 -2.74123704e+01] [-5.87254495e-02 9.98063039e-01 2.05302583e-02 1.51109442e+01] [-6.88892677e-03 -2.09704306e-02 9.99756362e-01 1.69028573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53925976399998 meters Centerline goodness [0,1] 0.6564121571534469 Centerline is valid? [False, False] Translation: X:-27.41, Y:15.11, Z:16.90 [[ 9.98113270e-01 6.08072192e-02 8.50780259e-03 -2.74107520e+01] [-6.09766408e-02 9.97911513e-01 2.13181043e-02 1.51128767e+01] [-7.19373951e-03 -2.17966601e-02 9.99736543e-01 1.69014943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56925976399998 meters Centerline goodness [0,1] 0.6365933921284718 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.11, Z:16.90 [[ 9.97329841e-01 7.25962033e-02 7.93598350e-03 -2.74004428e+01] [-7.28025887e-02 9.96898633e-01 2.98814122e-02 1.51084238e+01] [-5.74209403e-03 -3.03793842e-02 9.99521946e-01 1.68970203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59925976399998 meters Centerline goodness [0,1] 0.6165813983995803 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.11, Z:16.89 [[ 9.97172106e-01 7.47037170e-02 8.19430116e-03 -2.73981320e+01] [-7.49224785e-02 9.96713532e-01 3.08018909e-02 1.51082505e+01] [-5.86635511e-03 -3.13287238e-02 9.99491919e-01 1.68947581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62925976399998 meters Centerline goodness [0,1] 0.6167683403722821 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.11, Z:16.89 [[ 9.97003575e-01 7.68935380e-02 8.44122874e-03 -2.73956766e+01] [-7.71249544e-02 9.96514582e-01 3.17872573e-02 1.51076767e+01] [-5.96757285e-03 -3.23430386e-02 9.99459012e-01 1.68923392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65925976399998 meters Centerline goodness [0,1] 0.5644255891559097 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.10, Z:16.90 [[ 9.95772727e-01 9.18179164e-02 2.47939129e-03 -2.74034094e+01] [-9.18498204e-02 9.95235288e-01 3.27159405e-02 1.51019340e+01] [ 5.36331784e-04 -3.28053729e-02 9.99461615e-01 1.68971951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68925976399998 meters Centerline goodness [0,1] 0.5516601839210736 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.10, Z:16.90 [[ 9.95279915e-01 9.69860906e-02 3.40412932e-03 -2.74034712e+01] [-9.70455112e-02 9.94576799e-01 3.74053300e-02 1.51007627e+01] [ 2.42128676e-04 -3.75591291e-02 9.99294378e-01 1.68962476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.719259764 meters Centerline goodness [0,1] 0.537212832188521 Centerline is valid? [False, False] Translation: X:-27.40, Y:15.10, Z:16.90 [[ 9.94748703e-01 1.02250537e-01 4.45476801e-03 -2.74036242e+01] [-1.02347438e-01 9.93864097e-01 4.19423196e-02 1.51004245e+01] [-1.38809285e-04 -4.21780021e-02 9.99110102e-01 1.68954505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.749259764 meters Centerline goodness [0,1] 0.5535599578611989 Centerline is valid? [False, False] Translation: X:-27.42, Y:15.10, Z:16.90 [[ 9.93709846e-01 1.11977524e-01 -1.33294350e-03 -2.74164596e+01] [-1.11839460e-01 9.92951621e-01 3.92302535e-02 1.50996771e+01] [ 5.71645506e-03 -3.88344135e-02 9.99229308e-01 1.69029352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.779259764 meters Centerline goodness [0,1] 0.5388186411551976 Centerline is valid? [False, False] Translation: X:-27.43, Y:15.10, Z:16.91 [[ 9.92522821e-01 1.21827617e-01 -7.51541866e-03 -2.74269774e+01] [-1.21479291e-01 9.91927881e-01 3.63573905e-02 1.50980173e+01] [ 1.18840875e-02 -3.51725721e-02 9.99310592e-01 1.69088868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.809259764 meters Centerline goodness [0,1] 0.5148781541432674 Centerline is valid? [False, False] Translation: X:-27.44, Y:15.09, Z:16.91 [[ 9.89411363e-01 1.44357670e-01 -1.50338550e-02 -2.74399015e+01] [-1.43885499e-01 9.89175021e-01 2.88052238e-02 1.50926169e+01] [ 1.90293689e-02 -2.63370620e-02 9.99471982e-01 1.69134827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.839259764 meters Centerline goodness [0,1] 0.4808076213579966 Centerline is valid? [False, False] Translation: X:-27.45, Y:15.09, Z:16.92 [[ 9.87481543e-01 1.56324695e-01 -2.10426049e-02 -2.74485575e+01] [-1.55724100e-01 9.87412853e-01 2.76742331e-02 1.50899041e+01] [ 2.51039046e-02 -2.40509537e-02 9.99395490e-01 1.69179676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.869259764 meters Centerline goodness [0,1] 0.4675193876523316 Centerline is valid? [False, False] Translation: X:-27.46, Y:15.09, Z:16.92 [[ 9.85148946e-01 1.69648869e-01 -2.64729206e-02 -2.74586896e+01] [-1.68903813e-01 9.85228086e-01 2.82333097e-02 1.50876303e+01] [ 3.08716140e-02 -2.33426381e-02 9.99250752e-01 1.69228731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.899259764 meters Centerline goodness [0,1] 0.4584420144462279 Centerline is valid? [False, False] Translation: X:-27.47, Y:15.09, Z:16.93 [[ 9.82390329e-01 1.84189797e-01 -3.13585734e-02 -2.74694732e+01] [-1.83275141e-01 9.82606180e-01 2.99218572e-02 1.50855917e+01] [ 3.63244289e-02 -2.36476961e-02 9.99060220e-01 1.69278909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.929259764 meters Centerline goodness [0,1] 0.45863179174882074 Centerline is valid? [False, False] Translation: X:-27.48, Y:15.08, Z:16.93 [[ 9.79187188e-01 1.99845154e-01 -3.54170202e-02 -2.74786430e+01] [-1.98781389e-01 9.79540570e-01 3.14043025e-02 1.50836556e+01] [ 4.09684059e-02 -2.37104462e-02 9.98879074e-01 1.69320273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95925976399997 meters Centerline goodness [0,1] 0.4317661256557397 Centerline is valid? [False, False] Translation: X:-27.50, Y:15.08, Z:16.93 [[ 9.70820952e-01 2.37589919e-01 -3.25224501e-02 -2.75045954e+01] [-2.36702418e-01 9.71151962e-01 2.89107569e-02 1.50786226e+01] [ 3.84531456e-02 -2.03690259e-02 9.99052781e-01 1.69315761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98925976399997 meters Centerline goodness [0,1] 0.44941814981419914 Centerline is valid? [False, False] Translation: X:-27.52, Y:15.08, Z:16.93 [[ 9.65747420e-01 2.58010478e-01 -2.76136383e-02 -2.75234254e+01] [-2.57382798e-01 9.66002938e-01 2.43396781e-02 1.50761321e+01] [ 3.29547477e-02 -1.63987058e-02 9.99322304e-01 1.69293180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01925976399997 meters Centerline goodness [0,1] 0.45623284176769274 Centerline is valid? [False, False] Translation: X:-27.55, Y:15.07, Z:16.93 [[ 9.60126383e-01 2.78370961e-01 -2.58251187e-02 -2.75497685e+01] [-2.77885383e-01 9.60387549e-01 2.08679254e-02 1.50731368e+01] [ 3.06111468e-02 -1.28594227e-02 9.99448644e-01 1.69275997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04925976399997 meters Centerline goodness [0,1] 0.45623284176769274 Centerline is valid? [False, False] Translation: X:-27.55, Y:15.07, Z:16.93 [[ 9.60159153e-01 2.78263005e-01 -2.57701487e-02 -2.75500058e+01] [-2.77778705e-01 9.60418835e-01 2.08483315e-02 1.50732178e+01] [ 3.05514555e-02 -1.28593178e-02 9.99450472e-01 1.69275720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07925976399997 meters Centerline goodness [0,1] 0.44791942751126423 Centerline is valid? [False, False] Translation: X:-27.59, Y:15.07, Z:16.93 [[ 9.53755839e-01 2.99462559e-01 -2.59225066e-02 -2.75927686e+01] [-2.99117401e-01 9.54075510e-01 1.63921371e-02 1.50693311e+01] [ 2.96408600e-02 -7.88022370e-03 9.99529550e-01 1.69279588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10925976399997 meters Centerline goodness [0,1] 0.46143778407062797 Centerline is valid? [False, False] Translation: X:-27.65, Y:15.06, Z:16.93 [[ 9.38893195e-01 3.43192974e-01 -2.64225430e-02 -2.76468381e+01] [-3.42903656e-01 9.39251793e-01 1.49382398e-02 1.50593764e+01] [ 2.99441198e-02 -4.96502513e-03 9.99539243e-01 1.69311912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13925976399997 meters Centerline goodness [0,1] 0.4573632439317812 Centerline is valid? [False, False] Translation: X:-27.71, Y:15.05, Z:16.93 [[ 9.31334133e-01 3.63314431e-01 -2.48868968e-02 -2.77143733e+01] [-3.63014792e-01 9.31649193e-01 1.58127094e-02 1.50525994e+01] [ 2.89308428e-02 -5.69260429e-03 9.99565206e-01 1.69300357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16925976399997 meters Centerline goodness [0,1] 0.45542784163473815 Centerline is valid? [False, False] Translation: X:-27.81, Y:15.04, Z:16.93 [[ 9.13111722e-01 4.07120696e-01 -2.19025713e-02 -2.78102264e+01] [-4.06964968e-01 9.13373214e-01 1.13528168e-02 1.50397318e+01] [ 2.46271886e-02 -1.45281082e-03 9.99695649e-01 1.69314016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19925976399998 meters Centerline goodness [0,1] 0.44819133582277615 Centerline is valid? [False, False] Translation: X:-27.94, Y:15.03, Z:16.94 [[ 9.03637265e-01 4.27762404e-01 -2.14247158e-02 -2.79367860e+01] [-4.27706806e-01 9.03887683e-01 7.34475649e-03 1.50299189e+01] [ 2.25073474e-02 2.52650108e-03 9.99743485e-01 1.69358088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22925976399998 meters Centerline goodness [0,1] 0.45479036493706415 Centerline is valid? [False, False] Translation: X:-28.08, Y:15.02, Z:16.93 [[ 8.94694883e-01 4.46355218e-01 -1.69730937e-02 -2.80809222e+01] [-4.46314231e-01 8.94853843e-01 6.34081085e-03 1.50184694e+01] [ 1.80186921e-02 1.90224225e-03 9.99835841e-01 1.69333822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25925976399998 meters Centerline goodness [0,1] 0.45143215742525433 Centerline is valid? [False, False] Translation: X:-28.26, Y:15.01, Z:16.92 [[ 8.86831829e-01 4.62043865e-01 -6.69129006e-03 -2.82567051e+01] [-4.62032022e-01 8.86857059e-01 3.31182265e-03 1.50059608e+01] [ 7.46442516e-03 1.54560537e-04 9.99972129e-01 1.69246860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28925976399998 meters Centerline goodness [0,1] 0.4209338998642078 Centerline is valid? [False, False] Translation: X:-28.48, Y:14.98, Z:16.91 [[ 8.68358554e-01 4.95924883e-01 3.45419884e-03 -2.84764716e+01] [-4.95932798e-01 8.68358658e-01 1.97510105e-03 1.49782316e+01] [-2.01998171e-03 -3.42814639e-03 9.99992084e-01 1.69100335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31925976399998 meters Centerline goodness [0,1] 0.39031314145957985 Centerline is valid? [False, False] Translation: X:-28.72, Y:14.95, Z:16.89 [[ 8.62422972e-01 5.05815234e-01 1.94310728e-02 -2.87214714e+01] [-5.06008401e-01 8.62504404e-01 6.45371857e-03 1.49548878e+01] [-1.34949967e-02 -1.53981212e-02 9.99790369e-01 1.68943965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34925976399998 meters Centerline goodness [0,1] 0.3890805099545931 Centerline is valid? [False, False] Translation: X:-28.99, Y:14.93, Z:16.88 [[ 8.56876649e-01 5.14257889e-01 3.60725959e-02 -2.89899204e+01] [-5.14973201e-01 8.57093590e-01 1.38989229e-02 1.49259733e+01] [-2.37699599e-02 -3.04860827e-02 9.99252515e-01 1.68843105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37925976399998 meters Centerline goodness [0,1] 0.3980635453693002 Centerline is valid? [False, False] Translation: X:-29.30, Y:14.88, Z:16.88 [[ 8.41822304e-01 5.36925143e-01 5.51960056e-02 -2.93011446e+01] [-5.38775331e-01 8.42047260e-01 2.60298706e-02 1.48781437e+01] [-3.25015533e-02 -5.16507718e-02 9.98136187e-01 1.68802186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40925976399998 meters Centerline goodness [0,1] 0.40271572110459664 Centerline is valid? [False, False] Translation: X:-29.64, Y:14.84, Z:16.88 [[ 0.8383277 0.53867707 0.08386703 -29.64234941] [ -0.5427789 0.8391027 0.0360238 14.83809718] [ -0.05096785 -0.07572101 0.99582559 16.87656117] [ 0. 0. 0. 1. ]] SLAMing on 226.43925976399998 meters Centerline goodness [0,1] 0.4036545212707965 Centerline is valid? [False, False] Translation: X:-30.02, Y:14.79, Z:16.89 [[ 0.83414361 0.53991892 0.11265878 -30.0160812 ] [ -0.5471985 0.83571844 0.04635177 14.78871445] [ -0.06912483 -0.10031075 0.99255202 16.88555459] [ 0. 0. 0. 1. ]] SLAMing on 226.469259764 meters Centerline goodness [0,1] 0.40702619011274177 Centerline is valid? [False, False] Translation: X:-30.42, Y:14.73, Z:16.91 [[ 0.82962735 0.54101847 0.13790385 -30.41702198] [ -0.5521401 0.83166819 0.05890104 14.72826214] [ -0.08282369 -0.12500816 0.98869267 16.90907385] [ 0. 0. 0. 1. ]] SLAMing on 226.499259764 meters Centerline goodness [0,1] 0.4045453554057886 Centerline is valid? [False, False] Translation: X:-30.84, Y:14.66, Z:16.95 [[ 0.82500943 0.5417198 0.16093196 -30.84388771] [ -0.55727329 0.82715767 0.07250288 14.65762207] [ -0.09383986 -0.14949864 0.98429886 16.94720782] [ 0. 0. 0. 1. ]] SLAMing on 226.529259764 meters Centerline goodness [0,1] 0.3988838750463235 Centerline is valid? [False, False] Translation: X:-31.30, Y:14.58, Z:17.00 [[ 0.82109136 0.53971191 0.18579567 -31.29709484] [ -0.56080744 0.82341875 0.08646722 14.57778927] [ -0.10632025 -0.17519308 0.97877648 16.99808512] [ 0. 0. 0. 1. ]] SLAMing on 226.559259764 meters Centerline goodness [0,1] 0.4219770617149099 Centerline is valid? [False, False] Translation: X:-31.80, Y:14.47, Z:17.07 [[ 0.80966554 0.54670723 0.2134313 -31.79727102] [ -0.57544445 0.81099231 0.10561799 14.46982619] [ -0.11534903 -0.2083331 0.97123217 17.06530316] [ 0. 0. 0. 1. ]] SLAMing on 226.589259764 meters Centerline goodness [0,1] 0.3956377450766342 Centerline is valid? [False, False] Translation: X:-32.33, Y:14.36, Z:17.15 [[ 0.8088432 0.53405502 0.24608516 -32.32910813] [ -0.57332717 0.80922695 0.12824855 14.35912884] [ -0.13064696 -0.24482028 0.96072598 17.15227077] [ 0. 0. 0. 1. ]] SLAMing on 226.619259764 meters Centerline goodness [0,1] 0.3406230883509569 Centerline is valid? [False, False] Translation: X:-32.88, Y:14.23, Z:17.27 [[ 0.80885504 0.51901123 0.27637088 -32.8824952 ] [ -0.57017622 0.80716469 0.15291905 14.23144892] [ -0.14371011 -0.28126944 0.9488071 17.26899558] [ 0. 0. 0. 1. ]] SLAMing on 226.649259764 meters Centerline goodness [0,1] 0.3433911182917776 Centerline is valid? [False, False] Translation: X:-33.47, Y:14.07, Z:17.41 [[ 0.80303915 0.50595099 0.31486779 -33.47133474] [ -0.57419306 0.79831889 0.1816295 14.07095129] [ -0.15946928 -0.3266505 0.93159487 17.41154099] [ 0. 0. 0. 1. ]] SLAMing on 226.679259764 meters Centerline goodness [0,1] 0.34876098072636685 Centerline is valid? [False, False] Translation: X:-34.08, Y:13.91, Z:17.60 [[ 0.80477604 0.48122681 0.34750005 -34.07787253] [ -0.56796878 0.79440548 0.21524729 13.90567679] [ -0.17247318 -0.37059504 0.9126403 17.59832649] [ 0. 0. 0. 1. ]] SLAMing on 226.70925976399997 meters Centerline goodness [0,1] 0.34981005196279635 Centerline is valid? [False, False] Translation: X:-34.69, Y:13.73, Z:17.82 [[ 0.80710728 0.45225768 0.3795271 -34.69035246] [ -0.56064479 0.7886054 0.25254493 13.72594278] [ -0.18508174 -0.41661074 0.89004508 17.81698908] [ 0. 0. 0. 1. ]] SLAMing on 226.73925976399997 meters Centerline goodness [0,1] 0.38624558033960454 Centerline is valid? [False, False] Translation: X:-35.29, Y:13.54, Z:18.06 [[ 0.81011942 0.41423184 0.41487168 -35.29367136] [ -0.55059336 0.78064572 0.29570121 13.53525753] [ -0.20137895 -0.46797888 0.86048956 18.06097661] [ 0. 0. 0. 1. ]] SLAMing on 226.76925976399997 meters Centerline goodness [0,1] 0.3868904701619592 Centerline is valid? [False, False] Translation: X:-35.89, Y:13.31, Z:18.35 [[ 0.81425728 0.37550416 0.44269821 -35.89090955] [ -0.54094619 0.767514 0.34394691 13.31197228] [ -0.21062358 -0.51953719 0.82808141 18.3497351 ] [ 0. 0. 0. 1. ]] SLAMing on 226.79925976399997 meters Centerline goodness [0,1] 0.40466263561153437 Centerline is valid? [False, False] Translation: X:-36.47, Y:13.09, Z:18.67 [[ 0.8223163 0.32954801 0.46389008 -36.46698253] [ -0.52396794 0.75647409 0.39141352 13.09402298] [ -0.22193127 -0.56492925 0.79473357 18.66964245] [ 0. 0. 0. 1. ]] SLAMing on 226.82925976399997 meters Centerline goodness [0,1] 0.3932613730717126 Centerline is valid? [False, False] Translation: X:-37.02, Y:12.87, Z:19.02 [[ 0.83066469 0.28108133 0.48061362 -37.01620291] [ -0.5058407 0.74167309 0.44050676 12.86970312] [ -0.23263996 -0.60902735 0.75826403 19.02134938] [ 0. 0. 0. 1. ]] SLAMing on 226.85925976399997 meters Centerline goodness [0,1] 0.35419260424174914 Centerline is valid? [False, False] Translation: X:-37.53, Y:12.62, Z:19.41 [[ 0.84054818 0.23010893 0.49043719 -37.53239506] [ -0.48578466 0.72084902 0.49435813 12.62201136] [ -0.23977495 -0.65377869 0.71769172 19.40745465] [ 0. 0. 0. 1. ]] SLAMing on 226.88925976399997 meters Centerline goodness [0,1] 0.3817014025429283 Centerline is valid? [False, False] Translation: X:-38.03, Y:12.39, Z:19.83 [[ 0.8544013 0.18100128 0.48706977 -38.02702545] [ -0.46012188 0.69907029 0.54734686 12.38677762] [ -0.24142552 -0.69176532 0.68056921 19.83453719] [ 0. 0. 0. 1. ]] SLAMing on 226.91925976399997 meters Centerline goodness [0,1] 0.3949029285230722 Centerline is valid? [False, False] Translation: X:-38.49, Y:12.15, Z:20.30 [[ 0.86863029 0.13833128 0.47575821 -38.49140722] [ -0.43401657 0.67559971 0.59598208 12.15309012] [ -0.23897915 -0.72417504 0.64688444 20.2968815 ] [ 0. 0. 0. 1. ]] SLAMing on 226.94925976399998 meters Centerline goodness [0,1] 0.376149193108117 Centerline is valid? [False, False] Translation: X:-38.93, Y:11.93, Z:20.78 [[ 0.88294499 0.10266059 0.45811456 -38.92583774] [ -0.4075114 0.65211611 0.63928009 11.92696624] [ -0.23311501 -0.75113606 0.61761801 20.78347965] [ 0. 0. 0. 1. ]] SLAMing on 226.97925976399998 meters Centerline goodness [0,1] 0.36307900421093975 Centerline is valid? [False, False] Translation: X:-39.33, Y:11.69, Z:21.29 [[ 0.89662821 0.07098281 0.43705755 -39.32823654] [ -0.38097542 0.62668761 0.67979436 11.69450533] [ -0.22564483 -0.77603098 0.58894849 21.28995448] [ 0. 0. 0. 1. ]] SLAMing on 227.00925976399998 meters Centerline goodness [0,1] 0.39311953607011274 Centerline is valid? [False, False] Translation: X:-39.70, Y:11.49, Z:21.78 [[ 0.90907779 0.04794405 0.4138586 -39.70202941] [ -0.35591258 0.6057404 0.71162125 11.49245604] [ -0.21657287 -0.79421655 0.56772904 21.78142421] [ 0. 0. 0. 1. ]] SLAMing on 227.03925976399998 meters Centerline goodness [0,1] 0.3802641904263667 Centerline is valid? [False, False] Translation: X:-40.05, Y:11.31, Z:22.26 [[ 9.18652971e-01 3.07551788e-02 3.93866524e-01 -4.00488643e+01] [-3.35133767e-01 5.88576644e-01 7.35705711e-01 1.13059315e+01] [-2.09193876e-01 -8.07856208e-01 5.51004781e-01 2.22621666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06925976399998 meters Centerline goodness [0,1] 0.3775356792678941 Centerline is valid? [False, False] Translation: X:-40.37, Y:11.12, Z:22.75 [[ 9.26887443e-01 1.84349921e-02 3.74886409e-01 -4.03679091e+01] [-3.16783899e-01 5.74128997e-01 7.54999243e-01 1.11205015e+01] [-2.01314753e-01 -8.18557296e-01 5.37992866e-01 2.27472873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09925976399998 meters Centerline goodness [0,1] 0.3792367343382417 Centerline is valid? [False, False] Translation: X:-40.67, Y:10.96, Z:23.19 [[ 9.33404951e-01 1.19489860e-02 3.58625736e-01 -4.06660313e+01] [-3.01897395e-01 5.66341519e-01 7.66886724e-01 1.09645978e+01] [-1.93941125e-01 -8.24084041e-01 5.32233345e-01 2.31926868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12925976399998 meters Centerline goodness [0,1] 0.31494913851314554 Centerline is valid? [False, False] Translation: X:-40.95, Y:10.82, Z:23.62 [[ 9.38625735e-01 8.73932647e-03 3.44826557e-01 -4.09480163e+01] [-2.89857714e-01 5.61900250e-01 7.74758424e-01 1.08179279e+01] [-1.86987262e-01 -8.27158832e-01 5.29947196e-01 2.36172521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15925976399998 meters Centerline goodness [0,1] 0.3106171013420921 Centerline is valid? [False, False] Translation: X:-41.22, Y:10.68, Z:24.02 [[ 9.42291295e-01 9.06118912e-03 3.34671495e-01 -4.12172381e+01] [-2.81737763e-01 5.61481175e-01 7.78050591e-01 1.06798159e+01] [-1.80861681e-01 -8.27439898e-01 5.31631703e-01 2.40241014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18925976399998 meters Centerline goodness [0,1] 0.359807591850949 Centerline is valid? [False, False] Translation: X:-41.47, Y:10.54, Z:24.42 [[ 9.45541035e-01 1.18944423e-02 3.25285527e-01 -4.14716300e+01] [-2.75784577e-01 5.60102850e-01 7.81170701e-01 1.05363404e+01] [-1.72901761e-01 -8.28337685e-01 5.32880532e-01 2.44193133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.219259764 meters Centerline goodness [0,1] 0.32210398032686993 Centerline is valid? [False, False] Translation: X:-41.72, Y:10.41, Z:24.79 [[ 9.47456056e-01 1.43580280e-02 3.19563561e-01 -4.17211775e+01] [-2.72063838e-01 5.61609553e-01 7.81393613e-01 1.04101521e+01] [-1.68250677e-01 -8.27277799e-01 5.36006672e-01 2.47923711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.249259764 meters Centerline goodness [0,1] 0.33524779184614717 Centerline is valid? [False, False] Translation: X:-41.97, Y:10.29, Z:25.15 [[ 9.49222745e-01 1.60108297e-02 3.14197126e-01 -4.19653127e+01] [-2.68406049e-01 5.62198570e-01 7.82234595e-01 1.02854222e+01] [-1.64116950e-01 -8.26847278e-01 5.37949073e-01 2.51529794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.279259764 meters Centerline goodness [0,1] 0.3266669568245125 Centerline is valid? [False, False] Translation: X:-42.21, Y:10.16, Z:25.51 [[ 9.50315024e-01 1.96923050e-02 3.10666329e-01 -4.22070321e+01] [-2.66937886e-01 5.64968698e-01 7.80739736e-01 1.01628931e+01] [-1.60142186e-01 -8.24877314e-01 5.42154864e-01 2.55100992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.309259764 meters Centerline goodness [0,1] 0.3521234009224611 Centerline is valid? [False, False] Translation: X:-42.44, Y:10.03, Z:25.86 [[ 9.51871154e-01 2.41324691e-02 3.05546936e-01 -4.24444886e+01] [-2.65871603e-01 5.60994826e-01 7.83962433e-01 1.00300887e+01] [-1.52491301e-01 -8.27467479e-01 5.40410931e-01 2.58638357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.339259764 meters Centerline goodness [0,1] 0.3472512178148921 Centerline is valid? [False, False] Translation: X:-42.68, Y:9.90, Z:26.21 [[ 9.52955021e-01 2.55003570e-02 3.02037184e-01 -4.26815932e+01] [-2.63986790e-01 5.59501025e-01 7.85665054e-01 9.90477138e+00] [-1.48955375e-01 -8.28437285e-01 5.39911068e-01 2.62055939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.369259764 meters Centerline goodness [0,1] 0.31950938390274664 Centerline is valid? [False, False] Translation: X:-42.92, Y:9.78, Z:26.55 [[ 9.54097903e-01 2.70372410e-02 2.98271988e-01 -4.29159725e+01] [-2.61981296e-01 5.57950709e-01 7.87436859e-01 9.77838580e+00] [-1.45130947e-01 -8.29433538e-01 5.39422853e-01 2.65450484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.399259764 meters Centerline goodness [0,1] 0.3229910762750505 Centerline is valid? [False, False] Translation: X:-43.15, Y:9.64, Z:26.89 [[ 9.56047999e-01 2.97338902e-02 2.91698678e-01 -4.31462462e+01] [-2.58895901e-01 5.52613767e-01 7.92206372e-01 9.63998733e+00] [-1.37641328e-01 -8.32906909e-01 5.36023269e-01 2.68876346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.429259764 meters Centerline goodness [0,1] 0.32811990876507 Centerline is valid? [False, False] Translation: X:-43.37, Y:9.51, Z:27.22 [[ 9.56343455e-01 3.12656890e-02 2.90567812e-01 -4.33731590e+01] [-2.58294745e-01 5.55552874e-01 7.90344753e-01 9.51402618e+00] [-1.36715110e-01 -8.30893171e-01 5.39375118e-01 2.72220029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45925976399997 meters Centerline goodness [0,1] 0.3230295005101266 Centerline is valid? [False, False] Translation: X:-43.60, Y:9.38, Z:27.56 [[ 9.57110216e-01 3.09435924e-02 2.88066882e-01 -4.36004044e+01] [-2.55916533e-01 5.56400164e-01 7.90522350e-01 9.38426317e+00] [-1.35818859e-01 -8.30338095e-01 5.40455258e-01 2.75564549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48925976399997 meters Centerline goodness [0,1] 0.32723881406294053 Centerline is valid? [False, False] Translation: X:-43.82, Y:9.25, Z:27.88 [[ 9.58225960e-01 2.84219688e-02 2.84596560e-01 -4.38234798e+01] [-2.51985626e-01 5.54610794e-01 7.93038531e-01 9.25369270e+00] [-1.35300608e-01 -8.31624350e-01 5.38604388e-01 2.78844793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51925976399997 meters Centerline goodness [0,1] 0.3293008130081301 Centerline is valid? [False, False] Translation: X:-44.04, Y:9.12, Z:28.22 [[ 9.59372485e-01 2.85040210e-02 2.80699050e-01 -4.40400313e+01] [-2.49226032e-01 5.51961484e-01 7.95754300e-01 9.11784832e+00] [-1.32252867e-01 -8.33382290e-01 5.36640604e-01 2.82195725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54925976399997 meters Centerline goodness [0,1] 0.303132718055375 Centerline is valid? [False, False] Translation: X:-44.25, Y:8.99, Z:28.54 [[ 9.60159046e-01 2.65695293e-02 2.78188186e-01 -4.42547147e+01] [-2.46217374e-01 5.51282904e-01 7.97160062e-01 8.99051605e+00] [-1.32180223e-01 -8.33895209e-01 5.35861147e-01 2.85411397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57925976399997 meters Centerline goodness [0,1] 0.334849075397341 Centerline is valid? [False, False] Translation: X:-44.47, Y:8.86, Z:28.86 [[ 9.60494326e-01 2.51911721e-02 2.77157095e-01 -4.44672691e+01] [-2.44547782e-01 5.51773453e-01 7.97334584e-01 8.86420263e+00] [-1.32842135e-01 -8.33613496e-01 5.36135716e-01 2.88620121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60925976399997 meters Centerline goodness [0,1] 0.3253827523570625 Centerline is valid? [False, False] Translation: X:-44.67, Y:8.73, Z:29.19 [[ 9.61025868e-01 2.33344278e-02 2.75471932e-01 -4.46727485e+01] [-2.42261960e-01 5.51119100e-01 7.98484114e-01 8.73202067e+00] [-1.33185673e-01 -8.34100259e-01 5.35292755e-01 2.91866595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63925976399997 meters Centerline goodness [0,1] 0.3345150342621215 Centerline is valid? [False, False] Translation: X:-44.88, Y:8.61, Z:29.50 [[ 9.61517464e-01 2.17013796e-02 2.73885406e-01 -4.48775652e+01] [-2.39714300e-01 5.53350170e-01 7.97709624e-01 8.60623735e+00] [-1.34243137e-01 -8.32665983e-01 5.37257983e-01 2.94987132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66925976399997 meters Centerline goodness [0,1] 0.3270419855580058 Centerline is valid? [False, False] Translation: X:-45.08, Y:8.48, Z:29.81 [[ 9.61919540e-01 2.07719070e-02 2.72542337e-01 -4.50788563e+01] [-2.37519251e-01 5.56948437e-01 7.95859940e-01 8.48165646e+00] [-1.35260500e-01 -8.30287280e-01 5.40673312e-01 2.98058063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69925976399998 meters Centerline goodness [0,1] 0.3373840465327481 Centerline is valid? [False, False] Translation: X:-45.28, Y:8.36, Z:30.11 [[ 9.62507174e-01 2.00165391e-02 2.70516689e-01 -4.52780633e+01] [-2.34838678e-01 5.60610957e-01 7.94081954e-01 8.35735254e+00] [-1.35759848e-01 -8.27837359e-01 5.44292726e-01 3.01108457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72925976399998 meters Centerline goodness [0,1] 0.2825343947391191 Centerline is valid? [False, False] Translation: X:-45.47, Y:8.23, Z:30.42 [[ 9.63246398e-01 1.85549914e-02 2.67977777e-01 -4.54721751e+01] [-2.31221310e-01 5.65040240e-01 7.92001409e-01 8.23113916e+00] [-1.36722648e-01 -8.24854678e-01 5.48563286e-01 3.04161523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75925976399998 meters Centerline goodness [0,1] 0.3407389780642929 Centerline is valid? [False, False] Translation: X:-45.67, Y:8.11, Z:30.71 [[ 9.63506996e-01 1.66143044e-02 2.67167052e-01 -4.56666121e+01] [-2.29017225e-01 5.67880274e-01 7.90609325e-01 8.11108259e+00] [-1.38583475e-01 -8.22943472e-01 5.50961579e-01 3.07122409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78925976399998 meters Centerline goodness [0,1] 0.307195053400787 Centerline is valid? [False, False] Translation: X:-45.86, Y:7.99, Z:31.01 [[ 9.63369271e-01 1.59268193e-02 2.67705032e-01 -4.58591943e+01] [-2.28411027e-01 5.71813025e-01 7.87945599e-01 7.99203884e+00] [-1.40527757e-01 -8.20229358e-01 5.54504959e-01 3.10058303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81925976399998 meters Centerline goodness [0,1] 0.28364854641737813 Centerline is valid? [False, False] Translation: X:-46.05, Y:7.87, Z:31.30 [[ 9.63206224e-01 1.34669886e-02 2.68425799e-01 -4.60524577e+01] [-2.27365780e-01 5.73390222e-01 7.87101299e-01 7.86791530e+00] [-1.43312844e-01 -8.19171712e-01 5.55354963e-01 3.13038919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84925976399998 meters Centerline goodness [0,1] 0.2850500637961981 Centerline is valid? [False, False] Translation: X:-46.25, Y:7.75, Z:31.60 [[ 9.62946626e-01 1.23971071e-02 2.69406954e-01 -4.62465725e+01] [-2.26833499e-01 5.77563707e-01 7.84198143e-01 7.74560734e+00] [-1.45877891e-01 -8.16251478e-01 5.58975102e-01 3.15952720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87925976399998 meters Centerline goodness [0,1] 0.2848589646601102 Centerline is valid? [False, False] Translation: X:-46.44, Y:7.62, Z:31.88 [[ 9.62776836e-01 1.18036042e-02 2.70039697e-01 -4.64380403e+01] [-2.26167301e-01 5.82265476e-01 7.80906695e-01 7.62368242e+00] [-1.48017279e-01 -8.12913027e-01 5.63261303e-01 3.18811790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90925976399998 meters Centerline goodness [0,1] 0.2816861786154812 Centerline is valid? [False, False] Translation: X:-46.63, Y:7.50, Z:32.17 [[ 9.63164679e-01 1.28442760e-02 2.68605334e-01 -4.66297232e+01] [-2.24479087e-01 5.88377845e-01 7.76801552e-01 7.49834199e+00] [-1.48063974e-01 -8.08484097e-01 5.69588030e-01 3.21660869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93925976399998 meters Centerline goodness [0,1] 0.2816861786154812 Centerline is valid? [False, False] Translation: X:-46.82, Y:7.37, Z:32.45 [[ 9.63266892e-01 1.21813955e-02 2.68269468e-01 -4.68229308e+01] [-2.23206785e-01 5.91766181e-01 7.74591195e-01 7.37406665e+00] [-1.49317197e-01 -8.06017618e-01 5.72747740e-01 3.24502379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.969259764 meters Centerline goodness [0,1] 0.3004297406439631 Centerline is valid? [False, False] Translation: X:-47.01, Y:7.25, Z:32.73 [[ 9.63848306e-01 1.24465335e-02 2.66160716e-01 -4.70116320e+01] [-2.21061521e-01 5.95028309e-01 7.72705064e-01 7.24951267e+00] [-1.48755661e-01 -8.03608359e-01 5.76268477e-01 3.27272035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.999259764 meters Centerline goodness [0,1] 0.30787347132794607 Centerline is valid? [False, False] Translation: X:-47.20, Y:7.12, Z:33.00 [[ 9.64219110e-01 1.30234679e-02 2.64786514e-01 -4.72018435e+01] [-2.19809810e-01 5.97644107e-01 7.71041613e-01 7.12369849e+00] [-1.48206464e-01 -8.01655731e-01 5.79122555e-01 3.30048273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.029259764 meters Centerline goodness [0,1] 0.31427521507933076 Centerline is valid? [False, False] Translation: X:-47.39, Y:7.00, Z:33.28 [[ 9.64092442e-01 1.44526911e-02 2.65173306e-01 -4.73934232e+01] [-2.20491968e-01 6.00099189e-01 7.68937095e-01 6.99718982e+00] [-1.48017076e-01 -7.99795026e-01 5.81737795e-01 3.32847364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.059259764 meters Centerline goodness [0,1] 0.3157837884548911 Centerline is valid? [False, False] Translation: X:-47.59, Y:6.87, Z:33.57 [[ 9.63856828e-01 1.67720050e-02 2.65892301e-01 -4.75870600e+01] [-2.21935003e-01 6.02684848e-01 7.66495811e-01 6.86836108e+00] [-1.47393589e-01 -7.97803030e-01 5.84624201e-01 3.35674421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.089259764 meters Centerline goodness [0,1] 0.3332829243000346 Centerline is valid? [False, False] Translation: X:-47.78, Y:6.74, Z:33.84 [[ 9.64281390e-01 2.07155491e-02 2.64068680e-01 -4.77800373e+01] [-2.23121927e-01 6.00803478e-01 7.67627375e-01 6.73698569e+00] [-1.42751559e-01 -7.99128305e-01 5.83965706e-01 3.38449352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.119259764 meters Centerline goodness [0,1] 0.3398647626865994 Centerline is valid? [False, False] Translation: X:-47.97, Y:6.61, Z:34.12 [[ 9.64476562e-01 2.27016999e-02 2.63191176e-01 -4.79707654e+01] [-2.23411624e-01 6.01754353e-01 7.66797851e-01 6.60526461e+00] [-1.40968821e-01 -7.98358523e-01 5.85449793e-01 3.41224282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.149259764 meters Centerline goodness [0,1] 0.3387779794313369 Centerline is valid? [False, False] Translation: X:-48.16, Y:6.47, Z:34.40 [[ 9.65082513e-01 2.36325075e-02 2.60877841e-01 -4.81605944e+01] [-2.22153750e-01 6.01534113e-01 7.67335926e-01 6.47190865e+00] [-1.38792849e-01 -7.98497474e-01 5.85780103e-01 3.44003927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.179259764 meters Centerline goodness [0,1] 0.3166158437682476 Centerline is valid? [False, False] Translation: X:-48.35, Y:6.34, Z:34.68 [[ 9.65307537e-01 2.50407465e-02 2.59912137e-01 -4.83502064e+01] [-2.22104191e-01 6.02136013e-01 7.66878055e-01 6.33819527e+00] [-1.37299259e-01 -7.98000741e-01 5.86808086e-01 3.46804248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20925976399997 meters Centerline goodness [0,1] 0.34815566689702837 Centerline is valid? [False, False] Translation: X:-48.54, Y:6.20, Z:34.96 [[ 9.65860386e-01 2.48556965e-02 2.57868006e-01 -4.85379437e+01] [-2.20486749e-01 6.01463350e-01 7.67872015e-01 6.20304258e+00] [-1.36012161e-01 -7.98513640e-01 5.86409976e-01 3.49582294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23925976399997 meters Centerline goodness [0,1] 0.3523196266125024 Centerline is valid? [False, False] Translation: X:-48.72, Y:6.07, Z:35.23 [[ 9.66468818e-01 2.67439280e-02 2.55387522e-01 -4.87249885e+01] [-2.20067563e-01 5.98754988e-01 7.70105663e-01 6.06639748e+00] [-1.32318902e-01 -8.00485619e-01 5.84563496e-01 3.52343249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26925976399997 meters Centerline goodness [0,1] 0.2713335636552081 Centerline is valid? [False, False] Translation: X:-48.91, Y:5.93, Z:35.50 [[ 9.67552102e-01 2.50259159e-02 2.51429181e-01 -4.89057344e+01] [-2.16270725e-01 5.96564696e-01 7.72876146e-01 5.93163384e+00] [-1.30651839e-01 -8.02174711e-01 5.82619798e-01 3.55039479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29925976399997 meters Centerline goodness [0,1] 0.34300529329156315 Centerline is valid? [False, False] Translation: X:-49.09, Y:5.80, Z:35.78 [[ 9.68171710e-01 2.39101851e-02 2.49142215e-01 -4.90862101e+01] [-2.13857985e-01 5.96183999e-01 7.73840683e-01 5.79724366e+00] [-1.30031928e-01 -8.02491709e-01 5.82321865e-01 3.57761906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32925976399997 meters Centerline goodness [0,1] 0.3461820851688693 Centerline is valid? [False, False] Translation: X:-49.26, Y:5.66, Z:36.05 [[ 9.68718061e-01 2.20999989e-02 2.47177887e-01 -4.92628175e+01] [-2.11128962e-01 5.96853401e-01 7.74074014e-01 5.66397253e+00] [-1.30421927e-01 -8.02045889e-01 5.82848619e-01 3.60452629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35925976399997 meters Centerline goodness [0,1] 0.3410407122482496 Centerline is valid? [False, False] Translation: X:-49.43, Y:5.53, Z:36.31 [[ 9.69447931e-01 1.64846015e-02 2.44742654e-01 -4.94335788e+01] [-2.05437171e-01 5.99759994e-01 7.73358597e-01 5.53137896e+00] [-1.34038344e-01 -8.00010130e-01 5.84822635e-01 3.63101982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38925976399997 meters Centerline goodness [0,1] 0.320374090153135 Centerline is valid? [False, False] Translation: X:-49.60, Y:5.40, Z:36.57 [[ 9.69344928e-01 1.13567903e-02 2.45441306e-01 -4.96013808e+01] [-2.02460232e-01 6.02901965e-01 7.71698824e-01 5.40188669e+00] [-1.39213024e-01 -7.97734445e-01 5.86719260e-01 3.65716611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41925976399997 meters Centerline goodness [0,1] 0.3428824507961199 Centerline is valid? [False, False] Translation: X:-49.77, Y:5.27, Z:36.84 [[ 9.68238563e-01 6.61226712e-03 2.49940719e-01 -4.97710848e+01] [-2.02361295e-01 6.07840143e-01 7.67841303e-01 5.27127190e+00] [-1.46846831e-01 -7.94031887e-01 5.89872334e-01 3.68364554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44925976399998 meters Centerline goodness [0,1] 0.33044060186084667 Centerline is valid? [False, False] Translation: X:-49.94, Y:5.14, Z:37.10 [[ 9.66865030e-01 -3.21436499e-03 2.55267862e-01 -4.99386956e+01] [-1.99326620e-01 6.15237627e-01 7.62726399e-01 5.13885836e+00] [-1.59502075e-01 -7.88335163e-01 5.94211039e-01 3.71042498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47925976399998 meters Centerline goodness [0,1] 0.33080159672025033 Centerline is valid? [False, False] Translation: X:-50.11, Y:5.01, Z:37.36 [[ 9.66627275e-01 -7.56854437e-03 2.56075046e-01 -5.01051972e+01] [-1.96166113e-01 6.21032728e-01 7.58839381e-01 5.00846630e+00] [-1.64774294e-01 -7.83748089e-01 5.98822482e-01 3.73633633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50925976399998 meters Centerline goodness [0,1] 0.32872808911147566 Centerline is valid? [False, False] Translation: X:-50.27, Y:4.88, Z:37.62 [[ 9.66205091e-01 -1.10622545e-02 2.57537083e-01 -5.02720441e+01] [-1.93714902e-01 6.27977242e-01 7.53736771e-01 4.87750153e+00] [-1.70065455e-01 -7.78153076e-01 6.04611885e-01 3.76226296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53925976399998 meters Centerline goodness [0,1] 0.341490809339698 Centerline is valid? [False, False] Translation: X:-50.44, Y:4.75, Z:37.88 [[ 9.65620549e-01 -1.44328984e-02 2.59554710e-01 -5.04379291e+01] [-1.91694619e-01 6.34866568e-01 7.48463502e-01 4.74607867e+00] [-1.75585106e-01 -7.72486978e-01 6.10273495e-01 3.78794562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56925976399998 meters Centerline goodness [0,1] 0.3158951550220226 Centerline is valid? [False, False] Translation: X:-50.60, Y:4.61, Z:38.14 [[ 9.64712195e-01 -2.33889197e-02 2.62265779e-01 -5.06049456e+01] [-1.86252446e-01 6.43443911e-01 7.42489030e-01 4.60951409e+00] [-1.86119335e-01 -7.65135865e-01 6.16381944e-01 3.81414074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59925976399998 meters Centerline goodness [0,1] 0.3163961319288551 Centerline is valid? [False, False] Translation: X:-50.77, Y:4.48, Z:38.39 [[ 9.64013329e-01 -2.58899067e-02 2.64590275e-01 -5.07679377e+01] [-1.84467657e-01 6.51539005e-01 7.35845506e-01 4.47825009e+00] [-1.91441856e-01 -7.58173224e-01 6.23316435e-01 3.83878186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62925976399998 meters Centerline goodness [0,1] 0.30938808999438616 Centerline is valid? [False, False] Translation: X:-50.94, Y:4.34, Z:38.64 [[ 9.63416399e-01 -2.70316445e-02 2.66642330e-01 -5.09360605e+01] [-1.83090205e-01 6.60172262e-01 7.28457659e-01 4.34232753e+00] [-1.95721279e-01 -7.50627654e-01 6.31071554e-01 3.86413853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65925976399998 meters Centerline goodness [0,1] 0.3197356771114518 Centerline is valid? [False, False] Translation: X:-51.11, Y:4.20, Z:38.90 [[ 9.62954654e-01 -3.03975765e-02 2.67944625e-01 -5.11072001e+01] [-1.79775370e-01 6.68240614e-01 7.21897014e-01 4.20067470e+00] [-2.00995400e-01 -7.43323933e-01 6.38020673e-01 3.89001957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68925976399998 meters Centerline goodness [0,1] 0.32009507346585997 Centerline is valid? [False, False] Translation: X:-51.28, Y:4.06, Z:39.16 [[ 9.61963019e-01 -2.91805873e-02 2.71616723e-01 -5.12828537e+01] [-1.81233850e-01 6.75792790e-01 7.14463713e-01 4.05983018e+00] [-2.04405094e-01 -7.36513814e-01 6.44799162e-01 3.91570833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.719259764 meters Centerline goodness [0,1] 0.3257230490096551 Centerline is valid? [False, False] Translation: X:-51.46, Y:3.92, Z:39.41 [[ 9.61115775e-01 -2.97329633e-02 2.74540375e-01 -5.14614208e+01] [-1.81090603e-01 6.82700927e-01 7.07902279e-01 3.91573146e+00] [-2.08477001e-01 -7.30092730e-01 6.50770271e-01 3.94137366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.749259764 meters Centerline goodness [0,1] 0.3045881463888589 Centerline is valid? [False, False] Translation: X:-51.64, Y:3.77, Z:39.67 [[ 9.60104856e-01 -3.06302339e-02 2.77957650e-01 -5.16431971e+01] [-1.81065354e-01 6.89391857e-01 7.01394472e-01 3.76900701e+00] [-2.13105617e-01 -7.23740738e-01 6.56342395e-01 3.96679432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.779259764 meters Centerline goodness [0,1] 0.28802470202107444 Centerline is valid? [False, False] Translation: X:-51.83, Y:3.62, Z:39.92 [[ 9.59467705e-01 -3.07520799e-02 2.80135741e-01 -5.18270494e+01] [-1.80993881e-01 6.94690051e-01 6.96165891e-01 3.62046692e+00] [-2.16016062e-01 -7.18651544e-01 6.60966731e-01 3.99225359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.809259764 meters Centerline goodness [0,1] 0.3153608536927829 Centerline is valid? [False, False] Translation: X:-52.01, Y:3.47, Z:40.18 [[ 9.59150802e-01 -2.77347129e-02 2.81532458e-01 -5.20130722e+01] [-1.82899634e-01 6.98419778e-01 6.91923072e-01 3.46964294e+00] [-2.15818124e-01 -7.15150753e-01 6.64817221e-01 4.01781399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.839259764 meters Centerline goodness [0,1] 0.25198057204533186 Centerline is valid? [False, False] Translation: X:-52.20, Y:3.32, Z:40.43 [[ 9.59401317e-01 -2.48470205e-02 2.80947929e-01 -5.21965960e+01] [-1.83712695e-01 7.00765523e-01 6.89331072e-01 3.31921474e+00] [-2.14006446e-01 -7.12958840e-01 6.67750652e-01 4.04278601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.869259764 meters Centerline goodness [0,1] 0.31036420620339344 Centerline is valid? [False, False] Translation: X:-52.38, Y:3.17, Z:40.67 [[ 9.60107871e-01 -2.15467733e-02 2.78798516e-01 -5.23787219e+01] [-1.83730934e-01 7.02996287e-01 6.87051064e-01 3.16893791e+00] [-2.10798055e-01 -7.10867046e-01 6.70993459e-01 4.06737951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.899259764 meters Centerline goodness [0,1] 0.3502611473216213 Centerline is valid? [False, False] Translation: X:-52.56, Y:3.02, Z:40.91 [[ 9.60802462e-01 -1.45218691e-02 2.76853291e-01 -5.25590162e+01] [-1.86870519e-01 7.03744462e-01 6.85436460e-01 3.02259035e+00] [-2.04787789e-01 -7.10304756e-01 6.73445703e-01 4.09099702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.929259764 meters Centerline goodness [0,1] 0.33334052281942883 Centerline is valid? [False, False] Translation: X:-52.74, Y:2.87, Z:41.15 [[ 9.61212079e-01 -1.12634080e-02 2.75580250e-01 -5.27403058e+01] [-1.88173679e-01 7.03721025e-01 6.85103924e-01 2.87160251e+00] [-2.01648221e-01 -7.10387116e-01 6.74305672e-01 4.11493119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95925976399997 meters Centerline goodness [0,1] 0.3167105433516033 Centerline is valid? [False, False] Translation: X:-52.92, Y:2.72, Z:41.39 [[ 9.61598032e-01 -6.94097682e-03 2.74373918e-01 -5.29220609e+01] [-1.90044939e-01 7.04417682e-01 6.83870346e-01 2.71997619e+00] [-1.98020568e-01 -7.09751754e-01 6.76047560e-01 4.13895266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98925976399997 meters Centerline goodness [0,1] 0.3215604153623627 Centerline is valid? [False, False] Translation: X:-53.10, Y:2.57, Z:41.62 [[ 9.63151639e-01 1.53477365e-03 2.68954578e-01 -5.31023714e+01] [-1.92561448e-01 7.02074035e-01 6.85574312e-01 2.57009768e+00] [-1.87773824e-01 -7.12102305e-01 6.76499296e-01 4.16221159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01925976399997 meters Centerline goodness [0,1] 0.30406704248471894 Centerline is valid? [False, False] Translation: X:-53.28, Y:2.42, Z:41.86 [[ 9.63452116e-01 4.42981505e-03 2.67843978e-01 -5.32834561e+01] [-1.93955130e-01 7.01203603e-01 6.86072091e-01 2.41745076e+00] [-1.84773990e-01 -7.12947322e-01 6.76435281e-01 4.18596171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04925976399997 meters Centerline goodness [0,1] 0.3183908790568115 Centerline is valid? [False, False] Translation: X:-53.46, Y:2.26, Z:42.10 [[ 9.63998983e-01 9.24243379e-03 2.65745249e-01 -5.34646359e+01] [-1.97042035e-01 6.95904812e-01 6.90572900e-01 2.26361461e+00] [-1.78550823e-01 -7.18074558e-01 6.72672679e-01 4.20963814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07925976399997 meters Centerline goodness [0,1] 0.3183908790568115 Centerline is valid? [False, False] Translation: X:-53.64, Y:2.11, Z:42.33 [[ 9.64685027e-01 5.95899337e-03 2.63338734e-01 -5.36409950e+01] [-1.93257499e-01 6.95326278e-01 6.92223163e-01 2.10733747e+00] [-1.78981389e-01 -7.18669506e-01 6.71922469e-01 4.23333819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10925976399997 meters Centerline goodness [0,1] 0.33111380145278446 Centerline is valid? [False, False] Translation: X:-53.82, Y:1.95, Z:42.57 [[ 9.65138007e-01 1.23618795e-02 2.61449444e-01 -5.38174430e+01] [-1.96407416e-01 6.94465988e-01 6.92200201e-01 1.95226679e+00] [-1.73010851e-01 -7.19419332e-01 6.72683484e-01 4.25679603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13925976399997 meters Centerline goodness [0,1] 0.33360726643598615 Centerline is valid? [False, False] Translation: X:-53.99, Y:1.80, Z:42.80 [[ 9.66126389e-01 1.32489986e-02 2.57729054e-01 -5.39889987e+01] [-1.94573445e-01 6.93452649e-01 6.93732367e-01 1.79804588e+00] [-1.69531636e-01 -7.20380377e-01 6.72540807e-01 4.27993811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16925976399997 meters Centerline goodness [0,1] 0.32208774583963695 Centerline is valid? [False, False] Translation: X:-54.16, Y:1.65, Z:43.03 [[ 9.66942629e-01 1.41679069e-02 2.54600123e-01 -5.41573234e+01] [-1.93157003e-01 6.92527587e-01 6.95051015e-01 1.64576481e+00] [-1.66470190e-01 -7.21252253e-01 6.72371076e-01 4.30297872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19925976399998 meters Centerline goodness [0,1] 0.340244297913739 Centerline is valid? [False, False] Translation: X:-54.32, Y:1.49, Z:43.26 [[ 9.67599748e-01 1.41366500e-02 2.52093003e-01 -5.43246662e+01] [-1.91788599e-01 6.90530932e-01 6.97412479e-01 1.49340290e+00] [-1.64218940e-01 -7.23164703e-01 6.70868804e-01 4.32605654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22925976399998 meters Centerline goodness [0,1] 0.34593613619669017 Centerline is valid? [False, False] Translation: X:-54.49, Y:1.34, Z:43.49 [[ 9.68099464e-01 1.51797329e-02 2.50105983e-01 -5.44892352e+01] [-1.91909607e-01 6.86693858e-01 7.01157791e-01 1.34234563e+00] [-1.61102855e-01 -7.26788223e-01 6.67701093e-01 4.34905689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25925976399998 meters Centerline goodness [0,1] 0.3394584556918293 Centerline is valid? [False, False] Translation: X:-54.65, Y:1.19, Z:43.72 [[ 9.68498509e-01 1.31691294e-02 2.48670891e-01 -5.46540501e+01] [-1.90055371e-01 6.84330517e-01 7.03967826e-01 1.18897873e+00] [-1.60902436e-01 -7.29053028e-01 6.65275949e-01 4.37223002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28925976399998 meters Centerline goodness [0,1] 0.3454698493546855 Centerline is valid? [False, False] Translation: X:-54.82, Y:1.04, Z:43.95 [[ 9.68775973e-01 1.16252414e-02 2.47665032e-01 -5.48157803e+01] [-1.88415815e-01 6.83806600e-01 7.04917027e-01 1.03698839e+00] [-1.61160153e-01 -7.29570688e-01 6.64645783e-01 4.39535911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31925976399998 meters Centerline goodness [0,1] 0.3455503032657731 Centerline is valid? [False, False] Translation: X:-54.97, Y:0.88, Z:44.18 [[ 9.68834706e-01 1.14328889e-02 2.47444137e-01 -5.49747437e+01] [-1.87626804e-01 6.86066415e-01 7.02928913e-01 8.84121213e-01] [-1.61726604e-01 -7.27449080e-01 6.66830070e-01 4.41839830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34925976399998 meters Centerline goodness [0,1] 0.34808049401908714 Centerline is valid? [False, False] Translation: X:-55.13, Y:0.73, Z:44.41 [[ 9.69132547e-01 9.98416033e-03 2.46338025e-01 -5.51307555e+01] [-1.85381148e-01 6.88212632e-01 7.01425123e-01 7.34350935e-01] [-1.62529799e-01 -7.25440342e-01 6.68820137e-01 4.44113264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37925976399998 meters Centerline goodness [0,1] 0.3398290819629678 Centerline is valid? [False, False] Translation: X:-55.29, Y:0.58, Z:44.64 [[ 9.69705757e-01 7.78959586e-03 2.44151728e-01 -5.52850570e+01] [-1.82033379e-01 6.89550060e-01 7.00988277e-01 5.84389279e-01] [-1.62894423e-01 -7.24196132e-01 6.70078630e-01 4.46368660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40925976399998 meters Centerline goodness [0,1] 0.35007452530620176 Centerline is valid? [False, False] Translation: X:-55.44, Y:0.43, Z:44.86 [[ 9.69866892e-01 5.45896210e-03 2.43574242e-01 -5.54397560e+01] [-1.79644919e-01 6.91363201e-01 6.99817568e-01 4.33681947e-01] [-1.64577990e-01 -7.22486764e-01 6.71510954e-01 4.48647443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43925976399998 meters Centerline goodness [0,1] 0.3486278150843176 Centerline is valid? [False, False] Translation: X:-55.59, Y:0.28, Z:45.09 [[ 9.70156517e-01 -9.08996476e-05 2.42479533e-01 -5.55897601e+01] [-1.74631121e-01 6.93515879e-01 6.98956148e-01 2.82270922e-01] [-1.68226941e-01 -7.20441335e-01 6.72803076e-01 4.50915552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.469259764 meters Centerline goodness [0,1] 0.3560079443892751 Centerline is valid? [False, False] Translation: X:-55.74, Y:0.13, Z:45.31 [[ 9.69844467e-01 -2.65737445e-03 2.43710171e-01 -5.57400126e+01] [-1.73007013e-01 6.96808688e-01 6.96079181e-01 1.34256122e-01] [-1.71669107e-01 -7.17252111e-01 6.75336306e-01 4.53138606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.499259764 meters Centerline goodness [0,1] 0.3502547935740197 Centerline is valid? [False, False] Translation: X:-55.89, Y:-0.01, Z:45.54 [[ 9.69827205e-01 -5.16623822e-03 2.43738593e-01 -5.58898029e+01] [-1.70520434e-01 7.00149535e-01 6.93334992e-01 -1.43300486e-02] [-1.74235396e-01 -7.13977548e-01 6.78143117e-01 4.55363942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.529259764 meters Centerline goodness [0,1] 0.3331102234697182 Centerline is valid? [False, False] Translation: X:-56.04, Y:-0.16, Z:45.76 [[ 9.69405543e-01 -1.35933240e-02 2.45087972e-01 -5.60377134e+01] [-1.64593408e-01 7.04739673e-01 6.90109414e-01 -1.62746625e-01] [-1.82104098e-01 -7.09335756e-01 6.80941174e-01 4.57555834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.559259764 meters Centerline goodness [0,1] 0.25643517318821807 Centerline is valid? [False, False] Translation: X:-56.19, Y:-0.31, Z:45.97 [[ 9.68609649e-01 -1.94294529e-02 2.47826238e-01 -5.61871982e+01] [-1.61183950e-01 7.09881766e-01 6.85629355e-01 -3.08070452e-01] [-1.89248731e-01 -7.04052820e-01 6.84466613e-01 4.59714578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.589259764 meters Centerline goodness [0,1] 0.30466825156689004 Centerline is valid? [False, False] Translation: X:-56.34, Y:-0.46, Z:46.19 [[ 9.67556169e-01 -2.26569041e-02 2.51638081e-01 -5.63400932e+01] [-1.59990802e-01 7.15897791e-01 6.79627322e-01 -4.57043331e-01] [-1.95545397e-01 -6.97837387e-01 6.89046428e-01 4.61924568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.619259764 meters Centerline goodness [0,1] 0.22254603544675433 Centerline is valid? [False, False] Translation: X:-56.49, Y:-0.61, Z:46.42 [[ 9.66725717e-01 -2.98286808e-02 2.54070143e-01 -5.64933011e+01] [-1.55270934e-01 7.20888444e-01 6.75433778e-01 -6.08887675e-01] [-2.03303528e-01 -6.92408912e-01 6.92269871e-01 4.64152690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.649259764 meters Centerline goodness [0,1] 0.2302060386160425 Centerline is valid? [False, False] Translation: X:-56.65, Y:-0.76, Z:46.64 [[ 9.65988145e-01 -3.12717045e-02 2.56688497e-01 -5.66486439e+01] [-1.54710090e-01 7.25504917e-01 6.70602269e-01 -7.61417044e-01] [-2.07199643e-01 -6.87506143e-01 6.95991100e-01 4.66370483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.679259764 meters Centerline goodness [0,1] 0.24665226781857452 Centerline is valid? [False, False] Translation: X:-56.80, Y:-0.91, Z:46.85 [[ 9.65680841e-01 -3.20645980e-02 2.57744786e-01 -5.68028361e+01] [-1.53751523e-01 7.29228346e-01 6.66773191e-01 -9.13639564e-01] [-2.09334619e-01 -6.83518749e-01 6.99271862e-01 4.68549345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70925976399997 meters Centerline goodness [0,1] 0.3294521731616694 Centerline is valid? [False, False] Translation: X:-56.96, Y:-1.07, Z:47.07 [[ 9.65524684e-01 -3.18184190e-02 2.58359580e-01 -5.69571804e+01] [-1.53338957e-01 7.32510605e-01 6.63261169e-01 -1.06641677e+00] [-2.10355054e-01 -6.80011619e-01 7.02378067e-01 4.70709199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73925976399997 meters Centerline goodness [0,1] 0.21598444756453183 Centerline is valid? [False, False] Translation: X:-57.11, Y:-1.22, Z:47.29 [[ 9.65087208e-01 -2.96153616e-02 2.60249133e-01 -5.71144298e+01] [-1.55230451e-01 7.35630897e-01 6.59356270e-01 -1.21885197e+00] [-2.10974377e-01 -6.76734892e-01 7.05350763e-01 4.72876684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76925976399997 meters Centerline goodness [0,1] 0.25492060062655286 Centerline is valid? [False, False] Translation: X:-57.27, Y:-1.38, Z:47.51 [[ 9.65194092e-01 -2.77126338e-02 2.60062251e-01 -5.72730709e+01] [-1.55683370e-01 7.38122838e-01 6.56458197e-01 -1.37578149e+00] [-2.10150072e-01 -6.74096941e-01 7.08117406e-01 4.75065358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79925976399997 meters Centerline goodness [0,1] 0.25550146056475176 Centerline is valid? [False, False] Translation: X:-57.43, Y:-1.53, Z:47.72 [[ 9.65563686e-01 -2.60829851e-02 2.58856034e-01 -5.74276936e+01] [-1.54527851e-01 7.42947220e-01 6.51268432e-01 -1.52831488e+00] [-2.09303395e-01 -6.68841615e-01 7.13332309e-01 4.77171871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82925976399997 meters Centerline goodness [0,1] 0.2598672116611518 Centerline is valid? [False, False] Translation: X:-57.58, Y:-1.68, Z:47.93 [[ 9.65813622e-01 -2.52191052e-02 2.58007836e-01 -5.75817782e+01] [-1.53414591e-01 7.46664960e-01 6.47267642e-01 -1.68191943e+00] [-2.08968921e-01 -6.64722073e-01 7.17270211e-01 4.79264667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85925976399997 meters Centerline goodness [0,1] 0.2598672116611518 Centerline is valid? [False, False] Translation: X:-57.74, Y:-1.84, Z:48.14 [[ 9.65681630e-01 -2.36114433e-02 2.58653221e-01 -5.77385913e+01] [-1.54124948e-01 7.49475095e-01 6.43842048e-01 -1.83940250e+00] [-2.09056188e-01 -6.61611352e-01 7.20115219e-01 4.81388578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88925976399997 meters Centerline goodness [0,1] 0.25948203119929036 Centerline is valid? [False, False] Translation: X:-57.90, Y:-2.00, Z:48.35 [[ 9.65601099e-01 -2.33488316e-02 2.58977509e-01 -5.78960043e+01] [-1.53484822e-01 7.52771690e-01 6.40138416e-01 -1.99603510e+00] [-2.09897421e-01 -6.57867475e-01 7.23293480e-01 4.83490872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91925976399997 meters Centerline goodness [0,1] 0.2693389287877477 Centerline is valid? [False, False] Translation: X:-58.06, Y:-2.15, Z:48.56 [[ 9.65320803e-01 -2.36344443e-02 2.59994538e-01 -5.80555588e+01] [-1.53003642e-01 7.55714981e-01 6.36776847e-01 -2.15485933e+00] [-2.11531635e-01 -6.54474049e-01 7.25891236e-01 4.85612914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94925976399998 meters Centerline goodness [0,1] 0.26655267202008615 Centerline is valid? [False, False] Translation: X:-58.21, Y:-2.31, Z:48.77 [[ 9.65139964e-01 -2.42506212e-02 2.60608436e-01 -5.82148339e+01] [-1.52121464e-01 7.58282710e-01 6.33929327e-01 -2.31381856e+00] [-2.12988051e-01 -6.51474665e-01 7.28159908e-01 4.87710574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97925976399998 meters Centerline goodness [0,1] 0.2790420717580062 Centerline is valid? [False, False] Translation: X:-58.38, Y:-2.47, Z:48.98 [[ 9.64694104e-01 -2.39938038e-02 2.62277682e-01 -5.83762109e+01] [-1.52226778e-01 7.61853768e-01 6.29607691e-01 -2.47467828e+00] [-2.14923923e-01 -6.47304514e-01 7.31303339e-01 4.89834664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00925976399998 meters Centerline goodness [0,1] 0.27207554525568 Centerline is valid? [False, False] Translation: X:-58.54, Y:-2.64, Z:49.20 [[ 9.63660424e-01 -2.57574415e-02 2.65885580e-01 -5.85418936e+01] [-1.52040522e-01 7.65508027e-01 6.25204879e-01 -2.63798487e+00] [-2.19641223e-01 -6.42910581e-01 7.33773615e-01 4.91976928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03925976399998 meters Centerline goodness [0,1] 0.26614282312704285 Centerline is valid? [False, False] Translation: X:-58.71, Y:-2.80, Z:49.41 [[ 9.63474134e-01 -2.66174361e-02 2.66475338e-01 -5.87050074e+01] [-1.51072875e-01 7.67580798e-01 6.22893815e-01 -2.80290619e+00] [-2.21121189e-01 -6.40399275e-01 7.35523072e-01 4.94103294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06925976399998 meters Centerline goodness [0,1] 0.27658423660241016 Centerline is valid? [False, False] Translation: X:-58.87, Y:-2.97, Z:49.62 [[ 9.63562737e-01 -2.88311815e-02 2.65924075e-01 -5.88682312e+01] [-1.48330070e-01 7.69713501e-01 6.20918124e-01 -2.96831818e+00] [-2.22587154e-01 -6.37738104e-01 7.37390717e-01 4.96212062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09925976399998 meters Centerline goodness [0,1] 0.2821888179950254 Centerline is valid? [False, False] Translation: X:-59.03, Y:-3.13, Z:49.83 [[ 9.63892310e-01 -2.82778471e-02 2.64786665e-01 -5.90283116e+01] [-1.47244930e-01 7.71909189e-01 6.18445740e-01 -3.13233137e+00] [-2.21879574e-01 -6.35103587e-01 7.39873562e-01 4.98272212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12925976399998 meters Centerline goodness [0,1] 0.28166695546699017 Centerline is valid? [False, False] Translation: X:-59.19, Y:-3.30, Z:50.03 [[ 9.64170763e-01 -2.73352781e-02 2.63870275e-01 -5.91894074e+01] [-1.46519423e-01 7.74325433e-01 6.15590921e-01 -3.29754875e+00] [-2.21148814e-01 -6.32196889e-01 7.42576795e-01 5.00341434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15925976399998 meters Centerline goodness [0,1] 0.28779981400177346 Centerline is valid? [False, False] Translation: X:-59.35, Y:-3.46, Z:50.24 [[ 9.64615902e-01 -2.74076460e-02 2.62230781e-01 -5.93489994e+01] [-1.45035275e-01 7.75424915e-01 6.14557540e-01 -3.46311081e+00] [-2.20183857e-01 -6.30844689e-01 7.44012129e-01 5.02388763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18925976399998 meters Centerline goodness [0,1] 0.30139033264033266 Centerline is valid? [False, False] Translation: X:-59.51, Y:-3.63, Z:50.45 [[ 9.64560799e-01 -2.79583648e-02 2.62375294e-01 -5.95077319e+01] [-1.44216441e-01 7.76843135e-01 6.12957064e-01 -3.62973270e+00] [-2.20961723e-01 -6.29073187e-01 7.45280379e-01 5.04454441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.219259764 meters Centerline goodness [0,1] 0.3000995498614959 Centerline is valid? [False, False] Translation: X:-59.67, Y:-3.80, Z:50.65 [[ 9.64227855e-01 -2.71084120e-02 2.63684997e-01 -5.96677384e+01] [-1.44998507e-01 7.78797200e-01 6.10287108e-01 -3.79583162e+00] [-2.21901052e-01 -6.26689760e-01 7.47007275e-01 5.06505290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.249259764 meters Centerline goodness [0,1] 0.3018819004818184 Centerline is valid? [False, False] Translation: X:-59.83, Y:-3.97, Z:50.86 [[ 9.64196399e-01 -2.65326455e-02 2.63858527e-01 -5.98303966e+01] [-1.45137810e-01 7.79939816e-01 6.08792986e-01 -3.96623478e+00] [-2.21946660e-01 -6.25291854e-01 7.48164272e-01 5.08589305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.279259764 meters Centerline goodness [0,1] 0.30281872811378674 Centerline is valid? [False, False] Translation: X:-59.99, Y:-4.14, Z:51.07 [[ 9.64116887e-01 -2.58741652e-02 2.64214224e-01 -5.99941544e+01] [-1.45426935e-01 7.81157771e-01 6.07160229e-01 -4.13700508e+00] [-2.22102758e-01 -6.23797294e-01 7.49364598e-01 5.10666160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.309259764 meters Centerline goodness [0,1] 0.31308653721402935 Centerline is valid? [False, False] Translation: X:-60.16, Y:-4.31, Z:51.27 [[ 9.64221192e-01 -2.48676651e-02 2.63930088e-01 -6.01572154e+01] [-1.45412118e-01 7.82837481e-01 6.04996525e-01 -4.30735901e+00] [-2.21659216e-01 -6.21729103e-01 7.51212429e-01 5.12732507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.339259764 meters Centerline goodness [0,1] 0.3164871761602007 Centerline is valid? [False, False] Translation: X:-60.32, Y:-4.48, Z:51.48 [[ 9.64639119e-01 -2.41352487e-02 2.62466876e-01 -6.03166712e+01] [-1.44463603e-01 7.84488545e-01 6.03082076e-01 -4.47692032e+00] [-2.20457793e-01 -6.19673473e-01 7.53261673e-01 5.14756514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.369259764 meters Centerline goodness [0,1] 0.29972970050816305 Centerline is valid? [False, False] Translation: X:-60.48, Y:-4.64, Z:51.68 [[ 9.64912683e-01 -2.25139656e-02 2.61603967e-01 -6.04758967e+01] [-1.44345012e-01 7.86778379e-01 6.00120237e-01 -4.64432213e+00] [-2.19335431e-01 -6.16824856e-01 7.55922658e-01 5.16759565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.399259764 meters Centerline goodness [0,1] 0.2971681798530048 Centerline is valid? [False, False] Translation: X:-60.63, Y:-4.81, Z:51.87 [[ 9.65121809e-01 -2.09475213e-02 2.60961866e-01 -6.06329959e+01] [-1.44446527e-01 7.88734636e-01 5.97522279e-01 -4.81038205e+00] [-2.18346273e-01 -6.14376818e-01 7.58199202e-01 5.18724536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42925976399997 meters Centerline goodness [0,1] 0.3134086188992731 Centerline is valid? [False, False] Translation: X:-60.79, Y:-4.97, Z:52.07 [[ 9.65281773e-01 -2.33313810e-02 2.60166766e-01 -6.07883992e+01] [-1.41226635e-01 7.91262461e-01 5.94944330e-01 -4.97481836e+00] [-2.19741069e-01 -6.11031394e-01 7.60496219e-01 5.20666305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45925976399997 meters Centerline goodness [0,1] 0.2922667704684053 Centerline is valid? [False, False] Translation: X:-60.95, Y:-5.14, Z:52.26 [[ 9.64141113e-01 -3.25713542e-02 2.63383789e-01 -6.09459070e+01] [-1.33222883e-01 7.98935802e-01 5.86475274e-01 -5.13896706e+00] [-2.29529033e-01 -6.00533671e-01 7.65947604e-01 5.22611884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48925976399997 meters Centerline goodness [0,1] 0.32491240212830386 Centerline is valid? [False, False] Translation: X:-61.10, Y:-5.30, Z:52.45 [[ 9.63770931e-01 -3.21852164e-02 2.64782370e-01 -6.11023968e+01] [-1.32648795e-01 8.03398081e-01 5.80478957e-01 -5.30267697e+00] [-2.31408489e-01 -5.94571808e-01 7.70022387e-01 5.24539779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51925976399997 meters Centerline goodness [0,1] 0.27238144641853634 Centerline is valid? [False, False] Translation: X:-61.26, Y:-5.47, Z:52.64 [[ 9.63580808e-01 -3.16607047e-02 2.65536487e-01 -6.12594656e+01] [-1.32450503e-01 8.06110196e-01 5.76752300e-01 -5.46620466e+00] [-2.32312054e-01 -5.90917889e-01 7.72558838e-01 5.26441574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54925976399997 meters Centerline goodness [0,1] 0.2809642200843152 Centerline is valid? [False, False] Translation: X:-61.42, Y:-5.63, Z:52.83 [[ 9.63745979e-01 -2.98206923e-02 2.65149796e-01 -6.14166148e+01] [-1.33558640e-01 8.06366254e-01 5.76138485e-01 -5.63011844e+00] [-2.30988696e-01 -5.90664194e-01 7.73149424e-01 5.28324989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57925976399997 meters Centerline goodness [0,1] 0.2906594594594595 Centerline is valid? [False, False] Translation: X:-61.58, Y:-5.80, Z:53.02 [[ 9.64250762e-01 -2.70843437e-02 2.63603692e-01 -6.15756477e+01] [-1.34730341e-01 8.06483760e-01 5.75701033e-01 -5.79503532e+00] [-2.28184581e-01 -5.90635575e-01 7.74003498e-01 5.30199723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60925976399997 meters Centerline goodness [0,1] 0.2815942968243681 Centerline is valid? [False, False] Translation: X:-61.73, Y:-5.96, Z:53.20 [[ 9.65101277e-01 -2.55336787e-02 2.60629153e-01 -6.17303885e+01] [-1.34263353e-01 8.06234465e-01 5.76159127e-01 -5.95597742e+00] [-2.24839668e-01 -5.91044853e-01 7.74669675e-01 5.32016274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63925976399997 meters Centerline goodness [0,1] 0.2790969248734916 Centerline is valid? [False, False] Translation: X:-61.89, Y:-6.11, Z:53.38 [[ 9.64984736e-01 -2.61264722e-02 2.61001662e-01 -6.18867332e+01] [-1.32776031e-01 8.09482458e-01 5.71934153e-01 -6.11491930e+00] [-2.26218889e-01 -5.86562492e-01 7.77669247e-01 5.33836050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66925976399997 meters Centerline goodness [0,1] 0.2742273838102035 Centerline is valid? [False, False] Translation: X:-62.04, Y:-6.27, Z:53.56 [[ 9.64796787e-01 -2.70961350e-02 2.61596942e-01 -6.20409892e+01] [-1.31251948e-01 8.12346232e-01 5.68213451e-01 -6.27294457e+00] [-2.27903679e-01 -5.82545620e-01 7.80192614e-01 5.35626112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69925976399998 meters Centerline goodness [0,1] 0.29099796686421253 Centerline is valid? [False, False] Translation: X:-62.20, Y:-6.43, Z:53.74 [[ 9.64160097e-01 -2.54394996e-02 2.64098729e-01 -6.21960943e+01] [-1.32303590e-01 8.16708839e-01 5.61678229e-01 -6.43335497e+00] [-2.29980579e-01 -5.76488946e-01 7.84072336e-01 5.37429826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72925976399998 meters Centerline goodness [0,1] 0.29444588632234625 Centerline is valid? [False, False] Translation: X:-62.35, Y:-6.60, Z:53.92 [[ 9.64264486e-01 -2.37912877e-02 2.63871136e-01 -6.23521677e+01] [-1.32996198e-01 8.17916849e-01 5.59753552e-01 -6.59510002e+00] [-2.29141906e-01 -5.74844329e-01 7.85524019e-01 5.39232521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75925976399998 meters Centerline goodness [0,1] 0.2771749723864596 Centerline is valid? [False, False] Translation: X:-62.51, Y:-6.76, Z:54.10 [[ 9.64042163e-01 -2.38713160e-02 2.64675023e-01 -6.25095864e+01] [-1.32763408e-01 8.19503058e-01 5.57484184e-01 -6.75554179e+00] [-2.30209872e-01 -5.72577417e-01 7.86866264e-01 5.41018031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78925976399998 meters Centerline goodness [0,1] 0.2857976653696498 Centerline is valid? [False, False] Translation: X:-62.67, Y:-6.92, Z:54.28 [[ 9.64156493e-01 -2.26533224e-02 2.64365437e-01 -6.26659613e+01] [-1.33516968e-01 8.19591150e-01 5.57174628e-01 -6.91562520e+00] [-2.29293429e-01 -5.72500807e-01 7.87189526e-01 5.42791236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81925976399998 meters Centerline goodness [0,1] 0.28787485956269987 Centerline is valid? [False, False] Translation: X:-62.82, Y:-7.08, Z:54.46 [[ 9.64461574e-01 -2.01143704e-02 2.63456419e-01 -6.28213614e+01] [-1.35376842e-01 8.18662103e-01 5.58090918e-01 -7.07556001e+00] [-2.26907433e-01 -5.73923143e-01 7.86845120e-01 5.44551648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84925976399998 meters Centerline goodness [0,1] 0.29599048957095 Centerline is valid? [False, False] Translation: X:-62.98, Y:-7.24, Z:54.63 [[ 9.64692851e-01 -2.00146078e-02 2.62615916e-01 -6.29758834e+01] [-1.35260279e-01 8.17923627e-01 5.59200856e-01 -7.23549586e+00] [-2.25991948e-01 -5.74978570e-01 7.86337894e-01 5.46305749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87925976399998 meters Centerline goodness [0,1] 0.29016294247309504 Centerline is valid? [False, False] Translation: X:-63.13, Y:-7.39, Z:54.80 [[ 9.64264393e-01 -2.39657490e-02 2.63855686e-01 -6.31294892e+01] [-1.31651460e-01 8.20903861e-01 5.55684032e-01 -7.39385369e+00] [-2.29917535e-01 -5.70563313e-01 7.88413238e-01 5.48037382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90925976399998 meters Centerline goodness [0,1] 0.2899136942744046 Centerline is valid? [False, False] Translation: X:-63.28, Y:-7.55, Z:54.98 [[ 9.63970401e-01 -2.60301190e-02 2.64732884e-01 -6.32828482e+01] [-1.29196375e-01 8.24125948e-01 5.51475039e-01 -7.55360776e+00] [-2.32528200e-01 -5.65808143e-01 7.91070023e-01 5.49769274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93925976399998 meters Centerline goodness [0,1] 0.2815494084823842 Centerline is valid? [False, False] Translation: X:-63.44, Y:-7.71, Z:55.15 [[ 9.63605295e-01 -2.61305295e-02 2.66048926e-01 -6.34357906e+01] [-1.28549420e-01 8.27303132e-01 5.46849681e-01 -7.71322731e+00] [-2.34392582e-01 -5.61147683e-01 7.93834614e-01 5.51496531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.969259764 meters Centerline goodness [0,1] 0.3101747707215782 Centerline is valid? [False, False] Translation: X:-63.59, Y:-7.87, Z:55.32 [[ 9.63789245e-01 -2.66880823e-02 2.65326287e-01 -6.35881040e+01] [-1.27041133e-01 8.28857820e-01 5.44844258e-01 -7.87454584e+00] [-2.34458616e-01 -5.58822388e-01 7.95453768e-01 5.53206720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.999259764 meters Centerline goodness [0,1] 0.2761663746674453 Centerline is valid? [False, False] Translation: X:-63.74, Y:-8.03, Z:55.49 [[ 9.63802495e-01 -2.71145626e-02 2.65234897e-01 -6.37403808e+01] [-1.25727477e-01 8.31037468e-01 5.41820384e-01 -8.03168876e+00] [-2.35111360e-01 -5.55555152e-01 7.97546940e-01 5.54906306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.029259764 meters Centerline goodness [0,1] 0.2963227341553104 Centerline is valid? [False, False] Translation: X:-63.89, Y:-8.19, Z:55.66 [[ 9.63134521e-01 -3.53141374e-02 2.66692342e-01 -6.38927144e+01] [-1.18398666e-01 8.34530174e-01 5.38090276e-01 -8.19273719e+00] [-2.41565001e-01 -5.49829338e-01 7.99583673e-01 5.56620566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.059259764 meters Centerline goodness [0,1] 0.26366469035357254 Centerline is valid? [False, False] Translation: X:-64.05, Y:-8.35, Z:55.83 [[ 9.61834410e-01 -4.03994528e-02 2.70633427e-01 -6.40500544e+01] [-1.14445954e-01 8.38984761e-01 5.31983735e-01 -8.35399315e+00] [-2.48549173e-01 -5.42653163e-01 8.02340858e-01 5.58342408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.089259764 meters Centerline goodness [0,1] 0.2817389046372233 Centerline is valid? [False, False] Translation: X:-64.21, Y:-8.51, Z:56.00 [[ 9.60854956e-01 -4.26798680e-02 2.73744738e-01 -6.42069210e+01] [-1.13030810e-01 8.41705167e-01 5.27973908e-01 -8.51445330e+00] [-2.52946217e-01 -5.38247936e-01 8.03932441e-01 5.60044610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.119259764 meters Centerline goodness [0,1] 0.24509613097169058 Centerline is valid? [False, False] Translation: X:-64.37, Y:-8.68, Z:56.18 [[ 9.60313502e-01 -4.37360254e-02 2.75472571e-01 -6.43673195e+01] [-1.12016364e-01 8.44011406e-01 5.24496978e-01 -8.67992729e+00] [-2.55441406e-01 -5.34538966e-01 8.05616399e-01 5.61799612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.149259764 meters Centerline goodness [0,1] 0.26410073343285523 Centerline is valid? [False, False] Translation: X:-64.53, Y:-8.84, Z:56.35 [[ 9.59698256e-01 -4.67073055e-02 2.77123953e-01 -6.45282530e+01] [-1.08206182e-01 8.48655421e-01 5.17759981e-01 -8.84393949e+00] [-2.59365918e-01 -5.26879876e-01 8.09399109e-01 5.63515826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17925976399997 meters Centerline goodness [0,1] 0.24373295233147163 Centerline is valid? [False, False] Translation: X:-64.69, Y:-9.00, Z:56.52 [[ 9.59475709e-01 -4.76729304e-02 2.77729463e-01 -6.46877863e+01] [-1.05850571e-01 8.52435095e-01 5.12005924e-01 -9.00469431e+00] [-2.61155164e-01 -5.20655069e-01 8.12844561e-01 5.65190610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20925976399997 meters Centerline goodness [0,1] 0.25155407307933897 Centerline is valid? [False, False] Translation: X:-64.85, Y:-9.17, Z:56.69 [[ 9.59712906e-01 -4.85166039e-02 2.76762130e-01 -6.48459471e+01] [-1.03477033e-01 8.54728809e-01 5.08656236e-01 -9.16677243e+00] [-2.61234839e-01 -5.16802478e-01 8.15273916e-01 5.66863494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23925976399997 meters Centerline goodness [0,1] 0.25451001624255554 Centerline is valid? [False, False] Translation: X:-65.01, Y:-9.33, Z:56.85 [[ 9.59146865e-01 -5.38012872e-02 2.77745770e-01 -6.50052266e+01] [-9.67679734e-02 8.60144179e-01 5.00787330e-01 -9.32803246e+00] [-2.65844410e-01 -5.07205493e-01 8.19798352e-01 5.68528685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26925976399997 meters Centerline goodness [0,1] 0.25269201603293256 Centerline is valid? [False, False] Translation: X:-65.16, Y:-9.49, Z:57.01 [[ 9.58775896e-01 -5.61372661e-02 2.78563078e-01 -6.51613131e+01] [-9.25262452e-02 8.65197276e-01 4.92821031e-01 -9.48537592e+00] [-2.68677642e-01 -4.98279321e-01 8.24336123e-01 5.70146875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29925976399997 meters Centerline goodness [0,1] 0.2536602269773889 Centerline is valid? [False, False] Translation: X:-65.32, Y:-9.64, Z:57.18 [[ 9.58167600e-01 -5.59460572e-02 2.80686460e-01 -6.53200872e+01] [-9.13905314e-02 8.69560710e-01 4.85295726e-01 -9.64409396e+00] [-2.71224300e-01 -4.90646726e-01 8.28071959e-01 5.71753733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32925976399997 meters Centerline goodness [0,1] 0.24336149014511588 Centerline is valid? [False, False] Translation: X:-65.48, Y:-9.80, Z:57.33 [[ 9.57999087e-01 -5.44589708e-02 2.81552783e-01 -6.54771585e+01] [-9.18229793e-02 8.71859587e-01 4.81071098e-01 -9.80049104e+00] [-2.71673130e-01 -4.86718688e-01 8.30240104e-01 5.73310594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35925976399997 meters Centerline goodness [0,1] 0.2581071134779409 Centerline is valid? [False, False] Translation: X:-65.64, Y:-9.96, Z:57.49 [[ 9.58265795e-01 -5.02198808e-02 2.81433171e-01 -6.56365692e+01] [-9.41022629e-02 8.74175977e-01 4.76404372e-01 -9.95803516e+00] [-2.69947088e-01 -4.83005512e-01 8.32967133e-01 5.74878376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38925976399997 meters Centerline goodness [0,1] 0.26838514025777105 Centerline is valid? [False, False] Translation: X:-65.79, Y:-10.11, Z:57.64 [[ 9.59128884e-01 -4.66439426e-02 2.79098777e-01 -6.57929627e+01] [-9.48959396e-02 8.76183831e-01 4.72542754e-01 -1.01126541e+01] [-2.66583093e-01 -4.79714745e-01 8.35946899e-01 5.76378607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41925976399997 meters Centerline goodness [0,1] 0.26936406168774907 Centerline is valid? [False, False] Translation: X:-65.95, Y:-10.26, Z:57.78 [[ 9.59497039e-01 -4.49611599e-02 2.78107760e-01 -6.59477499e+01] [-9.39889283e-02 8.79533130e-01 4.66462812e-01 -1.02632347e+01] [-2.65577698e-01 -4.73708738e-01 8.39683582e-01 5.77844356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44925976399998 meters Centerline goodness [0,1] 0.27313109425785487 Centerline is valid? [False, False] Translation: X:-66.10, Y:-10.41, Z:57.93 [[ 9.59835711e-01 -4.15677928e-02 2.77466260e-01 -6.61030173e+01] [-9.55121904e-02 8.81480371e-01 4.62460569e-01 -1.04139867e+01] [-2.63804527e-01 -4.70387579e-01 8.42106108e-01 5.79291623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47925976399998 meters Centerline goodness [0,1] 0.2812831676305586 Centerline is valid? [False, False] Translation: X:-66.26, Y:-10.56, Z:58.07 [[ 9.60210755e-01 -3.45911898e-02 2.77125884e-01 -6.62569050e+01] [-1.01329301e-01 8.81528773e-01 4.61128394e-01 -1.05624218e+01] [-2.60245420e-01 -4.70861415e-01 8.42948308e-01 5.80704710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50925976399998 meters Centerline goodness [0,1] 0.27539434910729765 Centerline is valid? [False, False] Translation: X:-66.41, Y:-10.71, Z:58.21 [[ 9.60511220e-01 -3.01099939e-02 2.76607275e-01 -6.64110737e+01] [-1.04418967e-01 8.82459708e-01 4.58651876e-01 -1.07110033e+01] [-2.57904781e-01 -4.69423318e-01 8.44468396e-01 5.82102651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53925976399998 meters Centerline goodness [0,1] 0.27689475963620613 Centerline is valid? [False, False] Translation: X:-66.56, Y:-10.86, Z:58.35 [[ 9.61176163e-01 -2.92502585e-02 2.74380769e-01 -6.65609930e+01] [-1.03669131e-01 8.83239976e-01 4.57318113e-01 -1.08564958e+01] [-2.55720737e-01 -4.68008085e-01 8.45916862e-01 5.83457616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56925976399998 meters Centerline goodness [0,1] 0.2740761599445479 Centerline is valid? [False, False] Translation: X:-66.71, Y:-11.00, Z:58.48 [[ 9.61505348e-01 -2.54022831e-02 2.73609556e-01 -6.67119715e+01] [-1.06681827e-01 8.83105476e-01 4.56884784e-01 -1.09983217e+01] [-2.53232014e-01 -4.68486330e-01 8.46400677e-01 5.84778630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59925976399998 meters Centerline goodness [0,1] 0.28284315848746044 Centerline is valid? [False, False] Translation: X:-66.86, Y:-11.14, Z:58.61 [[ 9.61892028e-01 -1.97022090e-02 2.72718809e-01 -6.68635642e+01] [-1.11469865e-01 8.82498565e-01 4.56914382e-01 -1.11431427e+01] [-2.49676180e-01 -4.69902230e-01 8.46672132e-01 5.86106452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62925976399998 meters Centerline goodness [0,1] 0.282991900905193 Centerline is valid? [False, False] Translation: X:-67.01, Y:-11.29, Z:58.74 [[ 9.62583274e-01 -1.46315743e-02 2.70590758e-01 -6.70143802e+01] [-1.15469772e-01 8.81205420e-01 4.58414376e-01 -1.12879343e+01] [-2.45153367e-01 -4.72507064e-01 8.46544093e-01 5.87419679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65925976399998 meters Centerline goodness [0,1] 0.2152852995970712 Centerline is valid? [False, False] Translation: X:-67.17, Y:-11.43, Z:58.87 [[ 9.63147352e-01 -1.36708242e-02 2.68626669e-01 -6.71654278e+01] [-1.15328668e-01 8.81255532e-01 4.58353560e-01 -1.14326905e+01] [-2.42994809e-01 -4.72442373e-01 8.47202294e-01 5.88739292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68925976399998 meters Centerline goodness [0,1] 0.26097402597402597 Centerline is valid? [False, False] Translation: X:-67.32, Y:-11.58, Z:59.01 [[ 9.63540629e-01 -1.04652229e-02 2.67357319e-01 -6.73171411e+01] [-1.17414482e-01 8.81343788e-01 4.57653762e-01 -1.15773702e+01] [-2.40423161e-01 -4.72359615e-01 8.47981779e-01 5.90068393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.719259764 meters Centerline goodness [0,1] 0.2783333333333333 Centerline is valid? [False, False] Translation: X:-67.47, Y:-11.72, Z:59.14 [[ 9.63954036e-01 9.74451825e-04 2.66067036e-01 -6.74723551e+01] [-1.27898551e-01 8.78577792e-01 4.60155435e-01 -1.17211907e+01] [-2.33312190e-01 -4.77598277e-01 8.47033239e-01 5.91377683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.749259764 meters Centerline goodness [0,1] 0.2783333333333333 Centerline is valid? [False, False] Translation: X:-67.63, Y:-11.87, Z:59.27 [[ 9.64029071e-01 -7.75097023e-04 2.65795692e-01 -6.76290703e+01] [-1.26558991e-01 8.78022109e-01 4.61584226e-01 -1.18736378e+01] [-2.33732267e-01 -4.78619447e-01 8.46340742e-01 5.92740305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.779259764 meters Centerline goodness [0,1] 0.29555277033451466 Centerline is valid? [False, False] Translation: X:-67.79, Y:-12.02, Z:59.41 [[ 9.64689580e-01 5.16690293e-03 2.63338789e-01 -6.77855291e+01] [-1.32255851e-01 8.74127986e-01 4.67342117e-01 -1.20227683e+01] [-2.27777094e-01 -4.85668167e-01 8.43945512e-01 5.94068193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.809259764 meters Centerline goodness [0,1] 0.2681635475645071 Centerline is valid? [False, False] Translation: X:-67.94, Y:-12.18, Z:59.54 [[ 9.65273996e-01 1.07241914e-02 2.61019356e-01 -6.79446666e+01] [-1.38085520e-01 8.69114334e-01 4.74944906e-01 -1.21755942e+01] [-2.21762263e-01 -4.94494961e-01 8.40414322e-01 5.95422642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.839259764 meters Centerline goodness [0,1] 0.27814397786950795 Centerline is valid? [False, False] Translation: X:-68.10, Y:-12.33, Z:59.68 [[ 9.66028144e-01 1.99101154e-02 2.57668805e-01 -6.81049181e+01] [-1.46336440e-01 8.63934244e-01 4.81874743e-01 -1.23264503e+01] [-2.13014722e-01 -5.03210900e-01 8.37498369e-01 5.96768579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.869259764 meters Centerline goodness [0,1] 0.2830025698058609 Centerline is valid? [False, False] Translation: X:-68.26, Y:-12.48, Z:59.81 [[ 9.66847826e-01 2.13102364e-02 2.54462482e-01 -6.82617975e+01] [-1.47873372e-01 8.59142760e-01 4.89905280e-01 -1.24808328e+01] [-2.08179601e-01 -5.11292081e-01 8.33811526e-01 5.98123204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.899259764 meters Centerline goodness [0,1] 0.2830025698058609 Centerline is valid? [False, False] Translation: X:-68.42, Y:-12.64, Z:59.95 [[ 9.67538600e-01 1.71281100e-02 2.52142191e-01 -6.84165851e+01] [-1.44199572e-01 8.56767222e-01 4.95132720e-01 -1.26368883e+01] [-2.07546477e-01 -5.15418815e-01 8.31425225e-01 5.99524310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92925976399997 meters Centerline goodness [0,1] 0.3093407068175926 Centerline is valid? [False, False] Translation: X:-68.57, Y:-12.79, Z:60.09 [[ 9.67957080e-01 2.78219013e-02 2.49569697e-01 -6.85719193e+01] [-1.53775047e-01 8.51378320e-01 5.01505924e-01 -1.27897133e+01] [-1.98525381e-01 -5.23813802e-01 8.28375986e-01 6.00895341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95925976399997 meters Centerline goodness [0,1] 0.3114977307110439 Centerline is valid? [False, False] Translation: X:-68.73, Y:-12.95, Z:60.23 [[ 9.69014598e-01 2.79458109e-02 2.45417484e-01 -6.87274450e+01] [-1.53165362e-01 8.47473364e-01 5.08261024e-01 -1.29457395e+01] [-1.93781014e-01 -5.30101809e-01 8.25494391e-01 6.02309735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98925976399997 meters Centerline goodness [0,1] 0.3034290529590977 Centerline is valid? [False, False] Translation: X:-68.88, Y:-13.10, Z:60.37 [[ 9.70108785e-01 2.92087900e-02 2.40906188e-01 -6.88785819e+01] [-1.53227769e-01 8.43529672e-01 5.14761054e-01 -1.30981380e+01] [-1.88175971e-01 -5.36287738e-01 8.22791143e-01 6.03706225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01925976399997 meters Centerline goodness [0,1] 0.2881125226860254 Centerline is valid? [False, False] Translation: X:-69.03, Y:-13.25, Z:60.51 [[ 9.71091464e-01 3.75746888e-02 2.35731861e-01 -6.90309847e+01] [-1.59555613e-01 8.36689521e-01 5.23920463e-01 -1.32512019e+01] [-1.77548230e-01 -5.46387031e-01 8.18497305e-01 6.05087484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04925976399997 meters Centerline goodness [0,1] 0.3172643077653764 Centerline is valid? [False, False] Translation: X:-69.18, Y:-13.41, Z:60.65 [[ 9.71837050e-01 3.91017531e-02 2.32387181e-01 -6.91816150e+01] [-1.60819727e-01 8.30856151e-01 5.32742969e-01 -1.34071918e+01] [-1.72249135e-01 -5.55111798e-01 8.13745124e-01 6.06521636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07925976399997 meters Centerline goodness [0,1] 0.33465171064859844 Centerline is valid? [False, False] Translation: X:-69.34, Y:-13.57, Z:60.80 [[ 9.72289081e-01 3.85693195e-02 2.30578296e-01 -6.93359686e+01] [-1.60425196e-01 8.27503725e-01 5.38053289e-01 -1.35663037e+01] [-1.70052050e-01 -5.60133907e-01 8.10760326e-01 6.08027426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10925976399997 meters Centerline goodness [0,1] 0.3360586593991305 Centerline is valid? [False, False] Translation: X:-69.49, Y:-13.72, Z:60.95 [[ 9.72785966e-01 3.80442839e-02 2.28560927e-01 -6.94883492e+01] [-1.59659791e-01 8.24925741e-01 5.42223453e-01 -1.37240966e+01] [-1.67917289e-01 -5.63959356e-01 8.08550326e-01 6.09539626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13925976399997 meters Centerline goodness [0,1] 0.34687655415486407 Centerline is valid? [False, False] Translation: X:-69.64, Y:-13.88, Z:61.10 [[ 9.73312135e-01 4.26263183e-02 2.25491651e-01 -6.96365482e+01] [-1.62710755e-01 8.21096375e-01 5.47106894e-01 -1.38790925e+01] [-1.61829224e-01 -5.69195696e-01 8.06118826e-01 6.10991937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16925976399997 meters Centerline goodness [0,1] 0.3444725082572372 Centerline is valid? [False, False] Translation: X:-69.78, Y:-14.04, Z:61.25 [[ 9.74043331e-01 4.22051254e-02 2.22392258e-01 -6.97842947e+01] [-1.61845126e-01 8.16728855e-01 5.53859308e-01 -1.40361326e+01] [-1.58258473e-01 -5.75476068e-01 8.02359988e-01 6.12487138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19925976399998 meters Centerline goodness [0,1] 0.2980796232691768 Centerline is valid? [False, False] Translation: X:-69.93, Y:-14.19, Z:61.40 [[ 9.74613190e-01 4.11530120e-02 2.20080800e-01 -6.99312348e+01] [-1.60656915e-01 8.13178265e-01 5.59401882e-01 -1.41926206e+01] [-1.55943851e-01 -5.80557955e-01 7.99145779e-01 6.13999648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22925976399998 meters Centerline goodness [0,1] 0.3495476822764859 Centerline is valid? [False, False] Translation: X:-70.08, Y:-14.35, Z:61.55 [[ 9.74798537e-01 4.08842728e-02 2.19308662e-01 -7.00772401e+01] [-1.60894241e-01 8.09820249e-01 5.64184551e-01 -1.43475908e+01] [-1.54534320e-01 -5.85251776e-01 7.95989638e-01 6.15517242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25925976399998 meters Centerline goodness [0,1] 0.3358681328177321 Centerline is valid? [False, False] Translation: X:-70.22, Y:-14.50, Z:61.70 [[ 9.74720572e-01 3.70371557e-02 2.20336232e-01 -7.02202042e+01] [-1.58948941e-01 8.08000393e-01 5.67336407e-01 -1.45005690e+01] [-1.57019235e-01 -5.88016678e-01 7.93461622e-01 6.17031779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28925976399998 meters Centerline goodness [0,1] 0.3478664794209787 Centerline is valid? [False, False] Translation: X:-70.36, Y:-14.65, Z:61.86 [[ 9.74428769e-01 3.31954475e-02 2.22231043e-01 -7.03619934e+01] [-1.57590381e-01 8.05961650e-01 5.70605897e-01 -1.46519610e+01] [-1.60168180e-01 -5.91036277e-01 7.90583502e-01 6.18552667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31925976399998 meters Centerline goodness [0,1] 0.31554499297828675 Centerline is valid? [False, False] Translation: X:-70.50, Y:-14.80, Z:62.01 [[ 9.74576355e-01 2.94832187e-02 2.22107337e-01 -7.05008843e+01] [-1.54694513e-01 8.05652678e-01 5.71833342e-01 -1.48005049e+01] [-1.62081883e-01 -5.91654040e-01 7.89730942e-01 6.20056389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34925976399998 meters Centerline goodness [0,1] 0.3074463027788582 Centerline is valid? [False, False] Translation: X:-70.64, Y:-14.95, Z:62.16 [[ 9.74750836e-01 2.70203916e-02 2.21654474e-01 -7.06379832e+01] [-1.52286451e-01 8.06424729e-01 5.71391278e-01 -1.49483038e+01] [-1.63308433e-01 -5.90719099e-01 7.90178019e-01 6.21567270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37925976399998 meters Centerline goodness [0,1] 0.32157761584535216 Centerline is valid? [False, False] Translation: X:-70.77, Y:-15.09, Z:62.31 [[ 9.74751359e-01 2.58215263e-02 2.21795036e-01 -7.07732767e+01] [-1.51022284e-01 8.07884013e-01 5.69662787e-01 -1.50946982e+01] [-1.64475101e-01 -5.88775568e-01 7.91385665e-01 6.23075816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40925976399998 meters Centerline goodness [0,1] 0.3170584037883538 Centerline is valid? [False, False] Translation: X:-70.91, Y:-15.24, Z:62.46 [[ 9.74686337e-01 2.44501149e-02 2.22235769e-01 -7.09058967e+01] [-1.50010560e-01 8.08566055e-01 5.68962009e-01 -1.52391038e+01] [-1.65781113e-01 -5.87897208e-01 7.91766061e-01 6.24562301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43925976399998 meters Centerline goodness [0,1] 0.31090055595214916 Centerline is valid? [False, False] Translation: X:-71.04, Y:-15.39, Z:62.61 [[ 9.74522613e-01 2.27380818e-02 2.23133717e-01 -7.10399535e+01] [-1.49271009e-01 8.08277935e-01 5.69565576e-01 -1.53882472e+01] [-1.67403232e-01 -5.88361929e-01 7.91079262e-01 6.26091071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.469259764 meters Centerline goodness [0,1] 0.3288407956975312 Centerline is valid? [False, False] Translation: X:-71.17, Y:-15.54, Z:62.76 [[ 9.74266103e-01 2.11712077e-02 2.24404413e-01 -7.11730894e+01] [-1.49003119e-01 8.07510728e-01 5.70722782e-01 -1.55359015e+01] [-1.69126080e-01 -5.89472818e-01 7.89884906e-01 6.27604827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.499259764 meters Centerline goodness [0,1] 0.2775497861678691 Centerline is valid? [False, False] Translation: X:-71.31, Y:-15.69, Z:62.92 [[ 9.74108930e-01 1.92415163e-02 2.25258865e-01 -7.13089729e+01] [-1.47883919e-01 8.07873324e-01 5.70500691e-01 -1.56864966e+01] [-1.71003329e-01 -5.89041982e-01 7.89802130e-01 6.29173992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.529259764 meters Centerline goodness [0,1] 0.299772899318698 Centerline is valid? [False, False] Translation: X:-71.44, Y:-15.83, Z:63.07 [[ 9.74005994e-01 1.68872766e-02 2.25891885e-01 -7.14420595e+01] [-1.46034750e-01 8.09135661e-01 5.69186554e-01 -1.58332607e+01] [-1.73165169e-01 -5.87379180e-01 7.90569113e-01 6.30711998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.559259764 meters Centerline goodness [0,1] 0.3290714780200762 Centerline is valid? [False, False] Translation: X:-71.58, Y:-15.98, Z:63.22 [[ 9.73813796e-01 1.37041136e-02 2.26933663e-01 -7.15754412e+01] [-1.43530776e-01 8.11163959e-01 5.66932049e-01 -1.59802641e+01] [-1.76311107e-01 -5.84658215e-01 7.91889616e-01 6.32241557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.589259764 meters Centerline goodness [0,1] 0.3171740354219893 Centerline is valid? [False, False] Translation: X:-71.71, Y:-16.13, Z:63.38 [[ 9.73540013e-01 1.09549171e-02 2.28253876e-01 -7.17075160e+01] [-1.41365727e-01 8.13655941e-01 5.63896924e-01 -1.61261040e+01] [-1.79542678e-01 -5.81243494e-01 7.93675266e-01 6.33762764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.619259764 meters Centerline goodness [0,1] 0.31164028030106405 Centerline is valid? [False, False] Translation: X:-71.84, Y:-16.27, Z:63.53 [[ 9.73055735e-01 6.23904114e-03 2.30485597e-01 -7.18379433e+01] [-1.37893252e-01 8.16909400e-01 5.60039716e-01 -1.62695990e+01] [-1.84791740e-01 -5.76732266e-01 7.95758698e-01 6.35265318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.649259764 meters Centerline goodness [0,1] 0.28591829669378566 Centerline is valid? [False, False] Translation: X:-71.97, Y:-16.41, Z:63.68 [[ 9.72666159e-01 4.56262198e-03 2.32163142e-01 -7.19684329e+01] [-1.37168983e-01 8.18013354e-01 5.58604352e-01 -1.64135634e+01] [-1.87363850e-01 -5.75181132e-01 7.96279758e-01 6.36762717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67925976399997 meters Centerline goodness [0,1] 0.3375102800502099 Centerline is valid? [False, False] Translation: X:-72.10, Y:-16.56, Z:63.83 [[ 9.72194349e-01 4.06168347e-03 2.34140236e-01 -7.20995200e+01] [-1.37450269e-01 8.19395774e-01 5.56505156e-01 -1.65572120e+01] [-1.89593173e-01 -5.73213807e-01 7.97170221e-01 6.38258458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70925976399997 meters Centerline goodness [0,1] 0.3322305114066385 Centerline is valid? [False, False] Translation: X:-72.23, Y:-16.70, Z:63.97 [[ 9.72300905e-01 3.53457296e-03 2.33705920e-01 -7.22288036e+01] [-1.36665433e-01 8.19748018e-01 5.56179599e-01 -1.67008268e+01] [-1.89614107e-01 -5.72713448e-01 7.97524794e-01 6.39734892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73925976399997 meters Centerline goodness [0,1] 0.26742978318258537 Centerline is valid? [False, False] Translation: X:-72.36, Y:-16.85, Z:64.12 [[ 9.72521999e-01 5.25980117e-03 2.32751575e-01 -7.23590029e+01] [-1.37106162e-01 8.20927375e-01 5.54328554e-01 -1.68470755e+01] [-1.88156482e-01 -5.71008388e-01 7.99091083e-01 6.41223515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76925976399997 meters Centerline goodness [0,1] 0.2967972300367886 Centerline is valid? [False, False] Translation: X:-72.49, Y:-17.00, Z:64.28 [[ 9.72566911e-01 7.33397751e-03 2.32507670e-01 -7.24922995e+01] [-1.38167992e-01 8.22309761e-01 5.52011107e-01 -1.69963549e+01] [-1.87144889e-01 -5.68992855e-01 8.00764585e-01 6.42753651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79925976399997 meters Centerline goodness [0,1] 0.2919660635442819 Centerline is valid? [False, False] Translation: X:-72.63, Y:-17.15, Z:64.43 [[ 9.72680320e-01 8.60583298e-03 2.31989082e-01 -7.26264778e+01] [-1.38592478e-01 8.23217018e-01 5.50550512e-01 -1.71459551e+01] [-1.86239415e-01 -5.67661590e-01 8.01919696e-01 6.44271008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82925976399997 meters Centerline goodness [0,1] 0.28790106373778435 Centerline is valid? [False, False] Translation: X:-72.76, Y:-17.29, Z:64.57 [[ 9.72868162e-01 9.88327836e-03 2.31148999e-01 -7.27585124e+01] [-1.39152678e-01 8.23173557e-01 5.50474184e-01 -1.72920334e+01] [-1.84835254e-01 -5.67703810e-01 8.02214630e-01 6.45743236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85925976399997 meters Centerline goodness [0,1] 0.29906643039287717 Centerline is valid? [False, False] Translation: X:-72.89, Y:-17.44, Z:64.73 [[ 9.73007635e-01 1.06512573e-02 2.30526988e-01 -7.28934696e+01] [-1.39615746e-01 8.22552601e-01 5.51284556e-01 -1.74428010e+01] [-1.83748700e-01 -5.68589280e-01 8.01837045e-01 6.47265390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88925976399997 meters Centerline goodness [0,1] 0.29450544699982706 Centerline is valid? [False, False] Translation: X:-73.03, Y:-17.60, Z:64.88 [[ 9.72979049e-01 1.17854306e-02 2.30592443e-01 -7.30301275e+01] [-1.40664945e-01 8.22223382e-01 5.51508915e-01 -1.75952168e+01] [-1.83098728e-01 -5.69042893e-01 8.01663921e-01 6.48803916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91925976399997 meters Centerline goodness [0,1] 0.2887789491876944 Centerline is valid? [False, False] Translation: X:-73.17, Y:-17.75, Z:65.03 [[ 9.73386703e-01 1.21849942e-02 2.28844601e-01 -7.31664059e+01] [-1.40164397e-01 8.21686560e-01 5.52435642e-01 -1.77484642e+01] [-1.81307108e-01 -5.69809374e-01 8.01526674e-01 6.50327068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94925976399998 meters Centerline goodness [0,1] 0.2954275470312534 Centerline is valid? [False, False] Translation: X:-73.30, Y:-17.90, Z:65.18 [[ 9.73686171e-01 1.39871493e-02 2.27463404e-01 -7.33000581e+01] [-1.40662010e-01 8.22187000e-01 5.51563900e-01 -1.78978382e+01] [-1.79302647e-01 -5.69045601e-01 8.02519573e-01 6.51813814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97925976399998 meters Centerline goodness [0,1] 0.31516710623027366 Centerline is valid? [False, False] Translation: X:-73.43, Y:-18.05, Z:65.33 [[ 9.73938525e-01 1.43423189e-02 2.26358230e-01 -7.34327920e+01] [-1.40134866e-01 8.22776765e-01 5.50818132e-01 -1.80468620e+01] [-1.78342283e-01 -5.68183679e-01 8.03343847e-01 6.53292746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00925976399998 meters Centerline goodness [0,1] 0.31150656530753285 Centerline is valid? [False, False] Translation: X:-73.56, Y:-18.19, Z:65.47 [[ 9.74070646e-01 1.43814281e-02 2.25786515e-01 -7.35629665e+01] [-1.39810041e-01 8.22881408e-01 5.50744351e-01 -1.81937091e+01] [-1.77875035e-01 -5.68031128e-01 8.03555293e-01 6.54740245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03925976399998 meters Centerline goodness [0,1] 0.3244422366687545 Centerline is valid? [False, False] Translation: X:-73.69, Y:-18.34, Z:65.62 [[ 9.74400609e-01 1.36236387e-02 2.24405547e-01 -7.36902338e+01] [-1.38415142e-01 8.22906197e-01 5.51059560e-01 -1.83383097e+01] [-1.77157279e-01 -5.68013897e-01 8.03726018e-01 6.56163795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06925976399998 meters Centerline goodness [0,1] 0.3147752068615378 Centerline is valid? [False, False] Translation: X:-73.82, Y:-18.48, Z:65.76 [[ 9.74421517e-01 1.20244451e-02 2.24406148e-01 -7.38180674e+01] [-1.36817770e-01 8.23918380e-01 5.49944907e-01 -1.84825134e+01] [-1.78279568e-01 -5.66580900e-01 8.04488956e-01 6.57594810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09925976399998 meters Centerline goodness [0,1] 0.32609869344563225 Centerline is valid? [False, False] Translation: X:-73.94, Y:-18.62, Z:65.90 [[ 9.74624098e-01 1.04620674e-02 2.23603248e-01 -7.39419171e+01] [-1.34874657e-01 8.24671425e-01 5.49295793e-01 -1.86231203e+01] [-1.78652439e-01 -5.65515328e-01 8.05155712e-01 6.58988866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12925976399998 meters Centerline goodness [0,1] 0.3356375969410901 Centerline is valid? [False, False] Translation: X:-74.07, Y:-18.76, Z:66.04 [[ 9.74606974e-01 9.32122414e-03 2.23728320e-01 -7.40662584e+01] [-1.33846786e-01 8.25247316e-01 5.48681971e-01 -1.87646675e+01] [-1.79516808e-01 -5.64694591e-01 8.05539406e-01 6.60390087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15925976399998 meters Centerline goodness [0,1] 0.33048925369910354 Centerline is valid? [False, False] Translation: X:-74.19, Y:-18.91, Z:66.18 [[ 9.74339264e-01 8.43000286e-03 2.24926505e-01 -7.41914129e+01] [-1.33599162e-01 8.25891102e-01 5.47772902e-01 -1.89073732e+01] [-1.81147072e-01 -5.63766639e-01 8.05824370e-01 6.61796606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18925976399998 meters Centerline goodness [0,1] 0.32831435916268825 Centerline is valid? [False, False] Translation: X:-74.32, Y:-19.06, Z:66.33 [[ 9.74073667e-01 5.88976979e-03 2.26154375e-01 -7.43193675e+01] [-1.32041409e-01 8.26526025e-01 5.47192650e-01 -1.90564377e+01] [-1.83699638e-01 -5.62867694e-01 8.05874930e-01 6.63274597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.219259764 meters Centerline goodness [0,1] 0.3325268410706185 Centerline is valid? [False, False] Translation: X:-74.45, Y:-19.20, Z:66.47 [[ 9.73965029e-01 3.18070200e-03 2.26675992e-01 -7.44469215e+01] [-1.29391959e-01 8.28830789e-01 5.44331924e-01 -1.92019455e+01] [-1.86144684e-01 -5.59490309e-01 8.07663761e-01 6.64722752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.249259764 meters Centerline goodness [0,1] 0.3339949515652305 Centerline is valid? [False, False] Translation: X:-74.57, Y:-19.34, Z:66.61 [[ 9.74009177e-01 1.04681998e-03 2.26506132e-01 -7.45715074e+01] [-1.27024684e-01 8.30470757e-01 5.42386441e-01 -1.93444856e+01] [-1.87538938e-01 -5.57061241e-01 8.09019110e-01 6.66122463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.279259764 meters Centerline goodness [0,1] 0.3088775554306954 Centerline is valid? [False, False] Translation: X:-74.70, Y:-19.49, Z:66.75 [[ 9.73914196e-01 7.73426654e-04 2.26915273e-01 -7.46965266e+01] [-1.26150001e-01 8.33068931e-01 5.38592920e-01 -1.94878663e+01] [-1.88619502e-01 -5.53168653e-01 8.11435225e-01 6.67522696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.309259764 meters Centerline goodness [0,1] 0.3230526838322578 Centerline is valid? [False, False] Translation: X:-74.82, Y:-19.63, Z:66.89 [[ 9.74295372e-01 1.11284856e-03 2.25271589e-01 -7.48173603e+01] [-1.25229216e-01 8.33916897e-01 5.37494421e-01 -1.96289378e+01] [-1.87259635e-01 -5.51888912e-01 8.12620735e-01 6.68885219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.339259764 meters Centerline goodness [0,1] 0.3263603751566755 Centerline is valid? [False, False] Translation: X:-74.94, Y:-19.77, Z:67.03 [[ 9.74151905e-01 5.10096121e-04 2.25893352e-01 -7.49396210e+01] [-1.24308794e-01 8.36177252e-01 5.34186229e-01 -1.97706222e+01] [-1.88614396e-01 -5.48459063e-01 8.14627072e-01 6.70266494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.369259764 meters Centerline goodness [0,1] 0.328859785615491 Centerline is valid? [False, False] Translation: X:-75.06, Y:-19.91, Z:67.16 [[ 9.73929190e-01 -8.35879206e-04 2.26850685e-01 -7.50624468e+01] [-1.22831923e-01 8.38776233e-01 5.30440147e-01 -1.99114839e+01] [-1.90720347e-01 -5.44475649e-01 8.16805985e-01 6.71635164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.399259764 meters Centerline goodness [0,1] 0.3268164260589974 Centerline is valid? [False, False] Translation: X:-75.18, Y:-20.05, Z:67.30 [[ 9.73850269e-01 -1.80969921e-03 2.27183580e-01 -7.51825636e+01] [-1.21727282e-01 8.40166165e-01 5.28491517e-01 -2.00500255e+01] [-1.91828368e-01 -5.42326046e-01 8.17975756e-01 6.72958963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42925976399997 meters Centerline goodness [0,1] 0.32321902583248807 Centerline is valid? [False, False] Translation: X:-75.30, Y:-20.19, Z:67.43 [[ 9.73727731e-01 -1.53714903e-03 2.27710218e-01 -7.53047662e+01] [-1.21843199e-01 8.41272842e-01 5.26701282e-01 -2.01918067e+01] [-1.92376040e-01 -5.40608585e-01 8.18983404e-01 6.74326547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45925976399997 meters Centerline goodness [0,1] 0.32506851384303315 Centerline is valid? [False, False] Translation: X:-75.43, Y:-20.34, Z:67.57 [[ 9.73868686e-01 -1.07625003e-03 2.27109277e-01 -7.54291375e+01] [-1.21575853e-01 8.42173975e-01 5.25321148e-01 -2.03360755e+01] [-1.91830899e-01 -5.39204820e-01 8.20036016e-01 6.75695063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48925976399997 meters Centerline goodness [0,1] 0.33820955508978157 Centerline is valid? [False, False] Translation: X:-75.55, Y:-20.48, Z:67.71 [[ 9.73821600e-01 3.97986303e-04 2.27313292e-01 -7.55549375e+01] [-1.22428029e-01 8.43487299e-01 5.23011046e-01 -2.04819465e+01] [-1.91527724e-01 -5.37148972e-01 8.21454876e-01 6.77075878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51925976399997 meters Centerline goodness [0,1] 0.33347722857759554 Centerline is valid? [False, False] Translation: X:-75.68, Y:-20.62, Z:67.84 [[ 9.74227621e-01 1.27276123e-03 2.25563566e-01 -7.56760626e+01] [-1.22018610e-01 8.44020501e-01 5.22245970e-01 -2.06241252e+01] [-1.89715580e-01 -5.36309402e-01 8.22423385e-01 6.78398693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54925976399997 meters Centerline goodness [0,1] 0.3200535220994475 Centerline is valid? [False, False] Translation: X:-75.80, Y:-20.77, Z:67.98 [[ 9.74565609e-01 5.54945328e-03 2.24033653e-01 -7.58008580e+01] [-1.24511832e-01 8.44601571e-01 5.20715844e-01 -2.07704390e+01] [-1.86329487e-01 -5.35366594e-01 8.23810617e-01 6.79760146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57925976399997 meters Centerline goodness [0,1] 0.31404637505937216 Centerline is valid? [False, False] Translation: X:-75.93, Y:-20.92, Z:68.11 [[ 9.74715194e-01 7.73838189e-03 2.23316834e-01 -7.59274750e+01] [-1.25601251e-01 8.45548585e-01 5.18914170e-01 -2.09184170e+01] [-1.84809677e-01 -5.33842400e-01 8.25141004e-01 6.81128132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60925976399997 meters Centerline goodness [0,1] 0.31940427368875457 Centerline is valid? [False, False] Translation: X:-76.05, Y:-21.06, Z:68.24 [[ 9.74990786e-01 8.95151170e-03 2.22064941e-01 -7.60512437e+01] [-1.25630164e-01 8.46430330e-01 5.17467640e-01 -2.10627217e+01] [-1.83330384e-01 -5.32424236e-01 8.26386352e-01 6.82445942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63925976399997 meters Centerline goodness [0,1] 0.3147292512306762 Centerline is valid? [False, False] Translation: X:-76.18, Y:-21.21, Z:68.38 [[ 9.75199040e-01 9.90729523e-03 2.21107843e-01 -7.61760568e+01] [-1.25630999e-01 8.47243928e-01 5.16134264e-01 -2.12088036e+01] [-1.82218783e-01 -5.31111638e-01 8.27476128e-01 6.83792107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66925976399997 meters Centerline goodness [0,1] 0.3147292512306762 Centerline is valid? [False, False] Translation: X:-76.30, Y:-21.35, Z:68.51 [[ 9.75396675e-01 9.52757902e-03 2.20251112e-01 -7.62982308e+01] [-1.24547455e-01 8.48168523e-01 5.14876770e-01 -2.13535911e+01] [-1.81904531e-01 -5.29640805e-01 8.28487393e-01 6.85111186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69925976399998 meters Centerline goodness [0,1] 0.2686724900248032 Centerline is valid? [False, False] Translation: X:-76.42, Y:-21.50, Z:68.64 [[ 9.75229812e-01 1.12353483e-02 2.20908534e-01 -7.64199209e+01] [-1.26690270e-01 8.47039619e-01 5.16210673e-01 -2.14967484e+01] [-1.81318474e-01 -5.31411000e-01 8.27481698e-01 6.86403604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72925976399998 meters Centerline goodness [0,1] 0.3197384605425002 Centerline is valid? [False, False] Translation: X:-76.54, Y:-21.64, Z:68.77 [[ 9.75312569e-01 1.11201571e-02 2.20548713e-01 -7.65412745e+01] [-1.26414938e-01 8.47010025e-01 5.16326719e-01 -2.16410763e+01] [-1.81065337e-01 -5.31460591e-01 8.27505278e-01 6.87700551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75925976399998 meters Centerline goodness [0,1] 0.2811278796122374 Centerline is valid? [False, False] Translation: X:-76.66, Y:-21.79, Z:68.90 [[ 9.75463914e-01 1.09616644e-02 2.19886322e-01 -7.66633830e+01] [-1.25615669e-01 8.47943820e-01 5.14987361e-01 -2.17864341e+01] [-1.80806129e-01 -5.29972754e-01 8.28515554e-01 6.89015375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78925976399998 meters Centerline goodness [0,1] 0.2848824671123571 Centerline is valid? [False, False] Translation: X:-76.78, Y:-21.93, Z:69.03 [[ 9.75846459e-01 1.17058649e-02 2.18143672e-01 -7.67831242e+01] [-1.25036724e-01 8.48751937e-01 5.13795648e-01 -2.19283459e+01] [-1.79135441e-01 -5.28661633e-01 8.29715235e-01 6.90296639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81925976399998 meters Centerline goodness [0,1] 0.2904005524861878 Centerline is valid? [False, False] Translation: X:-76.90, Y:-22.08, Z:69.16 [[ 9.76154452e-01 1.19545363e-02 2.16747723e-01 -7.69048935e+01] [-1.24189763e-01 8.49693965e-01 5.12442258e-01 -2.20752790e+01] [-1.78043223e-01 -5.27140640e-01 8.30917178e-01 6.91613997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84925976399998 meters Centerline goodness [0,1] 0.293711275663306 Centerline is valid? [False, False] Translation: X:-77.03, Y:-22.22, Z:69.29 [[ 9.76339418e-01 1.21864545e-02 2.15900047e-01 -7.70263417e+01] [-1.23635410e-01 8.50588484e-01 5.11090516e-01 -2.22222607e+01] [-1.77413713e-01 -5.25690708e-01 8.31969743e-01 6.92922828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87925976399998 meters Centerline goodness [0,1] 0.28805696407379433 Centerline is valid? [False, False] Translation: X:-77.15, Y:-22.37, Z:69.42 [[ 9.76612539e-01 1.22868891e-02 2.14655495e-01 -7.71455773e+01] [-1.22739033e-01 8.51564706e-01 5.09678999e-01 -2.23675458e+01] [-1.76530674e-01 -5.24105509e-01 8.33156850e-01 6.94210443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90925976399998 meters Centerline goodness [0,1] 0.28856150643860146 Centerline is valid? [False, False] Translation: X:-77.26, Y:-22.51, Z:69.55 [[ 9.76823218e-01 1.19687380e-02 2.13712776e-01 -7.72625018e+01] [-1.21676711e-01 8.52475620e-01 5.08409377e-01 -2.25108320e+01] [-1.76099912e-01 -5.22629951e-01 8.34174295e-01 6.95472419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93925976399998 meters Centerline goodness [0,1] 0.29458451053551016 Centerline is valid? [False, False] Translation: X:-77.38, Y:-22.66, Z:69.68 [[ 9.76602678e-01 1.15125397e-02 2.14743268e-01 -7.73806272e+01] [-1.21919696e-01 8.52223173e-01 5.08774263e-01 -2.26570313e+01] [-1.77151906e-01 -5.23051742e-01 8.33687038e-01 6.96766414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.969259764 meters Centerline goodness [0,1] 0.3031467173134199 Centerline is valid? [False, False] Translation: X:-77.50, Y:-22.80, Z:69.80 [[ 9.76474852e-01 1.07420174e-02 2.15363582e-01 -7.74970400e+01] [-1.21493574e-01 8.52544641e-01 5.08337434e-01 -2.28004107e+01] [-1.78146498e-01 -5.22544012e-01 8.33793488e-01 6.98032849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.999259764 meters Centerline goodness [0,1] 0.29793014230271664 Centerline is valid? [False, False] Translation: X:-77.61, Y:-22.94, Z:69.93 [[ 9.76492728e-01 9.33461294e-03 2.15348130e-01 -7.76112066e+01] [-1.20038563e-01 8.53354656e-01 5.07322948e-01 -2.29417403e+01] [-1.79032666e-01 -5.21247250e-01 8.34415130e-01 6.99258948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.029259764 meters Centerline goodness [0,1] 0.3127277431596197 Centerline is valid? [False, False] Translation: X:-77.72, Y:-23.08, Z:70.05 [[ 9.76594562e-01 8.26647416e-03 2.14929585e-01 -7.77238426e+01] [-1.18313634e-01 8.55147800e-01 5.04702015e-01 -2.30815715e+01] [-1.79624456e-01 -5.18318343e-01 8.36110728e-01 7.00461174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.059259764 meters Centerline goodness [0,1] 0.3120633140688347 Centerline is valid? [False, False] Translation: X:-77.83, Y:-23.22, Z:70.16 [[ 9.76750211e-01 7.76346206e-03 2.14239947e-01 -7.78324085e+01] [-1.16579287e-01 8.57901878e-01 5.00413467e-01 -2.32171239e+01] [-1.79911912e-01 -5.13754899e-01 8.38860899e-01 7.01625767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.089259764 meters Centerline goodness [0,1] 0.29570925737977494 Centerline is valid? [False, False] Translation: X:-77.93, Y:-23.35, Z:70.27 [[ 9.77021562e-01 6.33894079e-03 2.13046204e-01 -7.79347239e+01] [-1.13504341e-01 8.61508795e-01 4.94893282e-01 -2.33469868e+01] [-1.80404080e-01 -5.07703076e-01 8.42432166e-01 7.02732551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.119259764 meters Centerline goodness [0,1] 0.3229123906233121 Centerline is valid? [False, False] Translation: X:-78.04, Y:-23.48, Z:70.39 [[ 9.77080820e-01 4.57220657e-03 2.12819561e-01 -7.80415444e+01] [-1.11222480e-01 8.63412032e-01 4.92086601e-01 -2.34801292e+01] [-1.81501048e-01 -5.04478699e-01 8.44131869e-01 7.03879173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.149259764 meters Centerline goodness [0,1] 0.32687034438087015 Centerline is valid? [False, False] Translation: X:-78.15, Y:-23.61, Z:70.50 [[ 9.77194599e-01 2.28793203e-03 2.12333420e-01 -7.81473276e+01] [-1.08515468e-01 8.64892377e-01 4.90087309e-01 -2.36112933e+01] [-1.82524270e-01 -5.01952132e-01 8.45416435e-01 7.05009427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17925976399997 meters Centerline goodness [0,1] 0.3235764278925084 Centerline is valid? [False, False] Translation: X:-78.25, Y:-23.74, Z:70.61 [[ 9.76696548e-01 -1.67211502e-03 2.14618397e-01 -7.82518310e+01] [-1.05342174e-01 8.67499818e-01 4.86155420e-01 -2.37398822e+01] [-1.86994328e-01 -4.97434690e-01 8.47107933e-01 7.06112851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20925976399997 meters Centerline goodness [0,1] 0.3012349943863891 Centerline is valid? [False, False] Translation: X:-78.35, Y:-23.87, Z:70.72 [[ 9.76599094e-01 -2.53920262e-03 2.15052930e-01 -7.83535492e+01] [-1.04069514e-01 8.69487687e-01 4.82867164e-01 -2.38659903e+01] [-1.88211972e-01 -4.93948089e-01 8.48876633e-01 7.07185510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23925976399997 meters Centerline goodness [0,1] 0.32621938048127186 Centerline is valid? [False, False] Translation: X:-78.46, Y:-24.00, Z:70.83 [[ 9.76591008e-01 -2.30547031e-03 2.15092276e-01 -7.84611851e+01] [-1.03498359e-01 8.71549739e-01 4.79258951e-01 -2.40010673e+01] [-1.88568535e-01 -4.90301680e-01 8.50909026e-01 7.08336454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26925976399997 meters Centerline goodness [0,1] 0.31653138761764965 Centerline is valid? [False, False] Translation: X:-78.57, Y:-24.13, Z:70.95 [[ 9.76384652e-01 -3.94125292e-03 2.16003419e-01 -7.85677133e+01] [-1.01797564e-01 8.73486886e-01 4.76086038e-01 -2.41334536e+01] [-1.90552529e-01 -4.86831723e-01 8.52457980e-01 7.09460687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29925976399997 meters Centerline goodness [0,1] 0.3388499298737728 Centerline is valid? [False, False] Translation: X:-78.68, Y:-24.27, Z:71.06 [[ 9.76386717e-01 -3.83718075e-03 2.15995962e-01 -7.86756790e+01] [-1.01201477e-01 8.75220797e-01 4.73018834e-01 -2.42673210e+01] [-1.90859217e-01 -4.83708417e-01 8.54165632e-01 7.10581773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32925976399997 meters Centerline goodness [0,1] 0.34544239392894105 Centerline is valid? [False, False] Translation: X:-78.78, Y:-24.40, Z:71.17 [[ 9.76533839e-01 -4.30665730e-03 2.15320957e-01 -7.87805540e+01] [-1.00038680e-01 8.76320066e-01 4.71227550e-01 -2.43981482e+01] [-1.90719491e-01 -4.81710072e-01 8.55325366e-01 7.11654328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35925976399997 meters Centerline goodness [0,1] 0.3253797031411805 Centerline is valid? [False, False] Translation: X:-78.89, Y:-24.53, Z:71.28 [[ 9.76490882e-01 -4.97379126e-03 2.15501319e-01 -7.88885046e+01] [-9.87113061e-02 8.78432457e-01 4.67560154e-01 -2.45328163e+01] [-1.91628900e-01 -4.77840644e-01 8.57290315e-01 7.12757894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38925976399997 meters Centerline goodness [0,1] 0.3232715809474457 Centerline is valid? [False, False] Translation: X:-79.00, Y:-24.66, Z:71.38 [[ 9.76559783e-01 -7.19021104e-03 2.15126223e-01 -7.89953595e+01] [-9.54113426e-02 8.81429944e-01 4.62577485e-01 -2.46642117e+01] [-1.92944725e-01 -4.72260050e-01 8.60083007e-01 7.13828272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41925976399997 meters Centerline goodness [0,1] 0.3279949858436534 Centerline is valid? [False, False] Translation: X:-79.10, Y:-24.80, Z:71.49 [[ 9.76655950e-01 -6.45230048e-03 2.14712654e-01 -7.91022671e+01] [-9.49829092e-02 8.83553647e-01 4.58596991e-01 -2.47975434e+01] [-1.92669154e-01 -4.68285512e-01 8.62315068e-01 7.14906281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44925976399998 meters Centerline goodness [0,1] 0.32913882943071504 Centerline is valid? [False, False] Translation: X:-79.21, Y:-24.93, Z:71.60 [[ 9.76626262e-01 -5.65997135e-03 2.14869980e-01 -7.92096645e+01] [-9.50215056e-02 8.85298539e-01 4.55211390e-01 -2.49305505e+01] [-1.92800563e-01 -4.64988667e-01 8.64067985e-01 7.15966901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47925976399998 meters Centerline goodness [0,1] 0.3351343173910225 Centerline is valid? [False, False] Translation: X:-79.32, Y:-25.06, Z:71.70 [[ 9.76812295e-01 -2.78457566e-03 2.14079395e-01 -7.93168663e+01] [-9.68272827e-02 8.86066058e-01 4.53333671e-01 -2.50628948e+01] [-1.90950828e-01 -4.63550630e-01 8.65250597e-01 7.17012996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50925976399998 meters Centerline goodness [0,1] 0.32821376882034003 Centerline is valid? [False, False] Translation: X:-79.43, Y:-25.20, Z:71.81 [[ 9.76691896e-01 -1.01291289e-04 2.14646057e-01 -7.94270619e+01] [-9.89666360e-02 8.87151724e-01 4.50740972e-01 -2.52002837e+01] [-1.90469275e-01 -4.61477853e-01 8.66463875e-01 7.18089175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53925976399998 meters Centerline goodness [0,1] 0.32706019618858306 Centerline is valid? [False, False] Translation: X:-79.54, Y:-25.34, Z:71.92 [[ 9.76657306e-01 1.71949748e-03 2.14796530e-01 -7.95364865e+01] [-1.00215208e-01 8.88117236e-01 4.48558455e-01 -2.53383072e+01] [-1.89993205e-01 -4.59613771e-01 8.67558507e-01 7.19158749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56925976399998 meters Centerline goodness [0,1] 0.28889128791968044 Centerline is valid? [False, False] Translation: X:-79.65, Y:-25.48, Z:72.02 [[ 9.76514621e-01 4.66195200e-03 2.15400700e-01 -7.96455779e+01] [-1.02745234e-01 8.88836890e-01 4.46556155e-01 -2.54768825e+01] [-1.89374265e-01 -4.58200010e-01 8.68441212e-01 7.20222081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59925976399998 meters Centerline goodness [0,1] 0.34525455959892815 Centerline is valid? [False, False] Translation: X:-79.75, Y:-25.61, Z:72.13 [[ 9.76663717e-01 5.51914486e-03 2.14703335e-01 -7.97533628e+01] [-1.02825004e-01 8.89672465e-01 4.44870682e-01 -2.56135159e+01] [-1.88560340e-01 -4.56565925e-01 8.69478323e-01 7.21263945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62925976399998 meters Centerline goodness [0,1] 0.2967960620061315 Centerline is valid? [False, False] Translation: X:-79.86, Y:-25.75, Z:72.23 [[ 9.76807123e-01 5.17951526e-03 2.14058445e-01 -7.98608230e+01] [-1.02122399e-01 8.89949360e-01 4.44478517e-01 -2.57486940e+01] [-1.88198993e-01 -4.56029943e-01 8.69837818e-01 7.22281607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65925976399998 meters Centerline goodness [0,1] 0.32376402429797446 Centerline is valid? [False, False] Translation: X:-79.97, Y:-25.89, Z:72.33 [[ 9.76933624e-01 5.29578606e-03 2.13477515e-01 -7.99690204e+01] [-1.01753118e-01 8.90449026e-01 4.43561535e-01 -2.58856917e+01] [-1.87741838e-01 -4.55052180e-01 8.70448456e-01 7.23317161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68925976399998 meters Centerline goodness [0,1] 0.3006355107863905 Centerline is valid? [False, False] Translation: X:-80.08, Y:-26.02, Z:72.44 [[ 9.77052827e-01 4.64503055e-03 2.12946467e-01 -8.00775509e+01] [-1.00774099e-01 8.90867306e-01 4.42944719e-01 -2.60227440e+01] [-1.87649553e-01 -4.54239878e-01 8.70892518e-01 7.24351611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.719259764 meters Centerline goodness [0,1] 0.32890013407724583 Centerline is valid? [False, False] Translation: X:-80.19, Y:-26.16, Z:72.54 [[ 9.77018491e-01 5.13373257e-03 2.13092732e-01 -8.01861693e+01] [-1.00816243e-01 8.91951160e-01 4.40748469e-01 -2.61582774e+01] [-1.87805625e-01 -4.52102613e-01 8.71970341e-01 7.25368957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.749259764 meters Centerline goodness [0,1] 0.3298164443387456 Centerline is valid? [False, False] Translation: X:-80.29, Y:-26.29, Z:72.64 [[ 9.77354263e-01 5.45607897e-03 2.11539299e-01 -8.02905985e+01] [-1.00035223e-01 8.92824666e-01 4.39154950e-01 -2.62917847e+01] [-1.86471440e-01 -4.50371343e-01 8.73151794e-01 7.26355501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.779259764 meters Centerline goodness [0,1] 0.3322306544723357 Centerline is valid? [False, False] Translation: X:-80.39, Y:-26.42, Z:72.73 [[ 9.77650328e-01 6.60911175e-03 2.10133663e-01 -8.03940419e+01] [-9.99148923e-02 8.94023427e-01 4.36736908e-01 -2.64244808e+01] [-1.84977975e-01 -4.47971464e-01 8.74702645e-01 7.27345952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.809259764 meters Centerline goodness [0,1] 0.3359986169339154 Centerline is valid? [False, False] Translation: X:-80.50, Y:-26.56, Z:72.83 [[ 9.77912750e-01 7.81297807e-03 2.08867447e-01 -8.04990942e+01] [-1.00505760e-01 8.93763445e-01 4.37133270e-01 -2.65591264e+01] [-1.83262777e-01 -4.48470580e-01 8.74807918e-01 7.28336662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.839259764 meters Centerline goodness [0,1] 0.33915955493140326 Centerline is valid? [False, False] Translation: X:-80.60, Y:-26.69, Z:72.93 [[ 9.78147140e-01 6.24477311e-03 2.07820055e-01 -8.06038566e+01] [-9.86976423e-02 8.93694508e-01 4.37685849e-01 -2.66939054e+01] [-1.82994393e-01 -4.48632510e-01 8.74781071e-01 7.29331352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.869259764 meters Centerline goodness [0,1] 0.3404489769461789 Centerline is valid? [False, False] Translation: X:-80.71, Y:-26.82, Z:73.03 [[ 9.78000626e-01 2.95053274e-03 2.08581087e-01 -8.07075976e+01] [-9.53857287e-02 8.95568486e-01 4.34578704e-01 -2.68241233e+01] [-1.85516409e-01 -4.44913903e-01 8.76147979e-01 7.30300876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.899259764 meters Centerline goodness [0,1] 0.3361782118318136 Centerline is valid? [False, False] Translation: X:-80.81, Y:-26.95, Z:73.12 [[ 9.77899026e-01 1.36295581e-03 2.09073282e-01 -8.08083684e+01] [-9.36716498e-02 8.96859052e-01 4.32284007e-01 -2.69518654e+01] [-1.86920081e-01 -4.42314349e-01 8.77165264e-01 7.31239682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92925976399997 meters Centerline goodness [0,1] 0.27905268161977614 Centerline is valid? [False, False] Translation: X:-80.91, Y:-27.08, Z:73.22 [[ 9.77915195e-01 1.40676633e-03 2.08997349e-01 -8.09079854e+01] [-9.30596143e-02 8.98313376e-01 4.29386757e-01 -2.70808661e+01] [-1.87141067e-01 -4.39353047e-01 8.78605213e-01 7.32183329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95925976399997 meters Centerline goodness [0,1] 0.29259011005643365 Centerline is valid? [False, False] Translation: X:-81.01, Y:-27.21, Z:73.31 [[ 9.77982166e-01 2.36272145e-03 2.08675108e-01 -8.10070801e+01] [-9.34412993e-02 8.99056764e-01 4.27744853e-01 -2.72099249e+01] [-1.86600126e-01 -4.37825711e-01 8.79482257e-01 7.33130656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98925976399997 meters Centerline goodness [0,1] 0.3360841668646979 Centerline is valid? [False, False] Translation: X:-81.10, Y:-27.34, Z:73.41 [[ 9.78136464e-01 3.42523439e-03 2.07935870e-01 -8.11039525e+01] [-9.37867744e-02 8.99680410e-01 4.26355720e-01 -2.73365774e+01] [-1.85615461e-01 -4.36535711e-01 8.80331457e-01 7.34060757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01925976399997 meters Centerline goodness [0,1] 0.29094799636882374 Centerline is valid? [False, False] Translation: X:-81.20, Y:-27.47, Z:73.50 [[ 9.78069041e-01 1.99649663e-03 2.08271375e-01 -8.12044911e+01] [-9.20309035e-02 9.01185674e-01 4.23550108e-01 -2.74697515e+01] [-1.86845563e-01 -4.33428650e-01 8.81605547e-01 7.35030225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04925976399997 meters Centerline goodness [0,1] 0.27755322598076304 Centerline is valid? [False, False] Translation: X:-81.31, Y:-27.60, Z:73.60 [[ 9.77919041e-01 -1.51518181e-03 2.08978594e-01 -8.13063863e+01] [-8.79456765e-02 9.04134409e-01 4.18098707e-01 -2.75998005e+01] [-1.89578233e-01 -4.27245451e-01 8.84037001e-01 7.35973072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07925976399997 meters Centerline goodness [0,1] 0.29229240044080473 Centerline is valid? [False, False] Translation: X:-81.41, Y:-27.73, Z:73.69 [[ 9.77984558e-01 -3.40977583e-03 2.08649415e-01 -8.14059696e+01] [-8.50051878e-02 9.06639551e-01 4.13253969e-01 -2.77282879e+01] [-1.90578915e-01 -4.21892282e-01 8.86389632e-01 7.36891889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10925976399997 meters Centerline goodness [0,1] 0.2917288033024271 Centerline is valid? [False, False] Translation: X:-81.51, Y:-27.85, Z:73.78 [[ 9.77911828e-01 -3.87997760e-03 2.08981824e-01 -8.15051041e+01] [-8.37034031e-02 9.08886593e-01 4.08557097e-01 -2.78549019e+01] [-1.91525971e-01 -4.17025307e-01 8.88486182e-01 7.37791425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13925976399997 meters Centerline goodness [0,1] 0.2917288033024271 Centerline is valid? [False, False] Translation: X:-81.60, Y:-27.98, Z:73.87 [[ 9.78087285e-01 -2.91392642e-03 2.08174859e-01 -8.16045917e+01] [-8.36454924e-02 9.10153332e-01 4.05739256e-01 -2.79837689e+01] [-1.90653336e-01 -4.14261295e-01 8.89965665e-01 7.38699256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16925976399997 meters Centerline goodness [0,1] 0.2925985953538628 Centerline is valid? [False, False] Translation: X:-81.70, Y:-28.11, Z:73.96 [[ 9.78272045e-01 -1.77880942e-03 2.07317731e-01 -8.17046874e+01] [-8.41053276e-02 9.10581797e-01 4.04681461e-01 -2.81129335e+01] [-1.89499603e-01 -4.13325086e-01 8.90647109e-01 7.39601767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19925976399998 meters Centerline goodness [0,1] 0.3119583306317405 Centerline is valid? [False, False] Translation: X:-81.80, Y:-28.24, Z:74.05 [[ 9.78669040e-01 1.33587024e-03 2.05438859e-01 -8.18028633e+01] [-8.63415456e-02 9.10054534e-01 4.05395957e-01 -2.82407258e+01] [-1.86419009e-01 -4.14486381e-01 8.90757539e-01 7.40484333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22925976399998 meters Centerline goodness [0,1] 0.30701962731846355 Centerline is valid? [False, False] Translation: X:-81.90, Y:-28.37, Z:74.14 [[ 9.78657881e-01 3.91491802e-03 2.05459059e-01 -8.19012658e+01] [-8.83990461e-02 9.10602830e-01 4.03717841e-01 -2.83685332e+01] [-1.85511078e-01 -4.13264032e-01 8.91514711e-01 7.41351115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25925976399998 meters Centerline goodness [0,1] 0.31293427128738505 Centerline is valid? [False, False] Translation: X:-82.00, Y:-28.50, Z:74.22 [[ 9.78840288e-01 5.01319607e-03 2.04564312e-01 -8.20001302e+01] [-8.89008635e-02 9.10841406e-01 4.03068940e-01 -2.84983099e+01] [-1.84304982e-01 -4.12726061e-01 8.92013942e-01 7.42224816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28925976399998 meters Centerline goodness [0,1] 0.32485686507507827 Centerline is valid? [False, False] Translation: X:-82.10, Y:-28.62, Z:74.31 [[ 9.78539272e-01 2.59537736e-03 2.06044064e-01 -8.20996768e+01] [-8.62610947e-02 9.13248725e-01 3.98165530e-01 -2.86229348e+01] [-1.87136089e-01 -4.07394194e-01 8.93873624e-01 7.43078357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31925976399998 meters Centerline goodness [0,1] 0.31979497826510084 Centerline is valid? [False, False] Translation: X:-82.20, Y:-28.75, Z:74.39 [[ 9.78508155e-01 3.33544868e-03 2.06181149e-01 -8.21974359e+01] [-8.62832115e-02 9.14753917e-01 3.94690357e-01 -2.87470818e+01] [-1.87288544e-01 -4.03997705e-01 8.95381961e-01 7.43917278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34925976399998 meters Centerline goodness [0,1] 0.3285250865051903 Centerline is valid? [False, False] Translation: X:-82.29, Y:-28.87, Z:74.47 [[ 9.78627880e-01 3.96525188e-03 2.05600947e-01 -8.22946981e+01] [-8.63436596e-02 9.15334475e-01 3.93328834e-01 -2.88708110e+01] [-1.86633987e-01 -4.02674901e-01 8.96114211e-01 7.44737730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37925976399998 meters Centerline goodness [0,1] 0.32529990273424836 Centerline is valid? [False, False] Translation: X:-82.39, Y:-29.00, Z:74.56 [[ 9.78686111e-01 5.22269669e-03 2.05295444e-01 -8.23929150e+01] [-8.73547991e-02 9.15314074e-01 3.93153006e-01 -2.89960791e+01] [-1.85856490e-01 -4.02706929e-01 8.96261399e-01 7.45564648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40925976399998 meters Centerline goodness [0,1] 0.3398479678659353 Centerline is valid? [False, False] Translation: X:-82.49, Y:-29.12, Z:74.64 [[ 9.78678953e-01 6.88912942e-03 2.05280411e-01 -8.24919934e+01] [-8.88395481e-02 9.15311117e-01 3.92827054e-01 -2.91228440e+01] [-1.85189206e-01 -4.02688589e-01 8.96407752e-01 7.46398111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43925976399998 meters Centerline goodness [0,1] 0.32191114474110905 Centerline is valid? [False, False] Translation: X:-82.59, Y:-29.25, Z:74.72 [[ 9.78701844e-01 1.00536566e-02 2.05040545e-01 -8.25931844e+01] [-9.15212734e-02 9.15416377e-01 3.91965194e-01 -2.92519704e+01] [-1.83756789e-01 -4.02382630e-01 8.96839819e-01 7.47245928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.469259764 meters Centerline goodness [0,1] 0.3519007049258315 Centerline is valid? [False, False] Translation: X:-82.69, Y:-29.38, Z:74.81 [[ 9.78832761e-01 1.12803788e-02 2.04350628e-01 -8.26935897e+01] [-9.21523043e-02 9.15829068e-01 3.90851726e-01 -2.93811108e+01] [-1.82741289e-01 -4.01409856e-01 8.97483008e-01 7.48082590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.499259764 meters Centerline goodness [0,1] 0.34027462428370636 Centerline is valid? [False, False] Translation: X:-82.79, Y:-29.51, Z:74.89 [[ 9.79133345e-01 1.21901572e-02 2.02852885e-01 -8.27925237e+01] [-9.23030885e-02 9.15969874e-01 3.90486018e-01 -2.95091626e+01] [-1.81047045e-01 -4.01061828e-01 8.97981836e-01 7.48909029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.529259764 meters Centerline goodness [0,1] 0.3277471040381076 Centerline is valid? [False, False] Translation: X:-82.89, Y:-29.64, Z:74.97 [[ 9.79474240e-01 1.49351701e-02 2.01015308e-01 -8.28907532e+01] [-9.39222068e-02 9.16192429e-01 3.89576760e-01 -2.96352477e+01] [-1.78350308e-01 -4.00460202e-01 8.98789627e-01 7.49712675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.559259764 meters Centerline goodness [0,1] 0.3277471040381076 Centerline is valid? [False, False] Translation: X:-82.99, Y:-29.76, Z:75.05 [[ 9.79488198e-01 1.38141326e-02 2.01027461e-01 -8.29868135e+01] [-9.28172409e-02 9.16436105e-01 3.89268321e-01 -2.97599259e+01] [-1.78851419e-01 -3.99942540e-01 8.98920539e-01 7.50502454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.589259764 meters Centerline goodness [0,1] 0.31682675666320526 Centerline is valid? [False, False] Translation: X:-83.08, Y:-29.88, Z:75.13 [[ 9.79878025e-01 1.39543256e-02 1.99108845e-01 -8.30813703e+01] [-9.21864960e-02 9.16421431e-01 3.89452708e-01 -2.98841253e+01] [-1.77033062e-01 -3.99971297e-01 8.99267622e-01 7.51280387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.619259764 meters Centerline goodness [0,1] 0.31987443169517216 Centerline is valid? [False, False] Translation: X:-83.17, Y:-30.01, Z:75.21 [[ 9.80022858e-01 1.41018490e-02 1.98384314e-01 -8.31747527e+01] [-9.18859279e-02 9.16748732e-01 3.88752800e-01 -3.00073102e+01] [-1.76386435e-01 -3.99215357e-01 8.99730473e-01 7.52056743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.649259764 meters Centerline goodness [0,1] 0.33429993507898725 Centerline is valid? [False, False] Translation: X:-83.27, Y:-30.13, Z:75.28 [[ 9.80185817e-01 1.36613323e-02 1.97608534e-01 -8.32672654e+01] [-9.15046571e-02 9.16019451e-01 3.90557631e-01 -3.01329568e+01] [-1.75677723e-01 -4.00901152e-01 8.99119349e-01 7.52847301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67925976399997 meters Centerline goodness [0,1] 0.3283462521110293 Centerline is valid? [False, False] Translation: X:-83.36, Y:-30.26, Z:75.37 [[ 9.80225859e-01 1.31128187e-02 1.97447006e-01 -8.33624286e+01] [-9.10680947e-02 9.15749937e-01 3.91291010e-01 -3.02606468e+01] [-1.75681155e-01 -4.01534689e-01 8.98835928e-01 7.53663564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70925976399997 meters Centerline goodness [0,1] 0.32092781720616237 Centerline is valid? [False, False] Translation: X:-83.46, Y:-30.39, Z:75.45 [[ 9.80224149e-01 1.22703048e-02 1.97509639e-01 -8.34571319e+01] [-9.04414252e-02 9.15518772e-01 3.91976691e-01 -3.03883472e+01] [-1.76014109e-01 -4.02088072e-01 8.98523353e-01 7.54466439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73925976399997 meters Centerline goodness [0,1] 0.3317760041528778 Centerline is valid? [False, False] Translation: X:-83.55, Y:-30.52, Z:75.53 [[ 9.80326951e-01 1.12541834e-02 1.97059414e-01 -8.35518013e+01] [-8.93911936e-02 9.15431780e-01 3.92420527e-01 -3.05171096e+01] [-1.75978077e-01 -4.02315795e-01 8.98428471e-01 7.55270227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76925976399997 meters Centerline goodness [0,1] 0.3093436527153234 Centerline is valid? [False, False] Translation: X:-83.64, Y:-30.64, Z:75.61 [[ 9.80416195e-01 6.62650895e-03 1.96825238e-01 -8.36421116e+01] [-8.43136130e-02 9.17331043e-01 3.89095068e-01 -3.06418722e+01] [-1.77975559e-01 -3.98070153e-01 8.99924916e-01 7.56054889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79925976399997 meters Centerline goodness [0,1] 0.3046383392799221 Centerline is valid? [False, False] Translation: X:-83.73, Y:-30.77, Z:75.68 [[ 9.80270676e-01 3.57856846e-03 1.97627415e-01 -8.37333866e+01] [-8.13155840e-02 9.18610477e-01 3.86707340e-01 -3.07654478e+01] [-1.80158756e-01 -3.95148054e-01 9.00777907e-01 7.56844381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82925976399997 meters Centerline goodness [0,1] 0.2693230190799283 Centerline is valid? [False, False] Translation: X:-83.82, Y:-30.89, Z:75.76 [[ 9.80083354e-01 9.35070091e-04 1.98584350e-01 -8.38228901e+01] [-7.86442850e-02 9.20059194e-01 3.83804840e-01 -3.08866775e+01] [-1.82350473e-01 -3.91778260e-01 9.01808239e-01 7.57625468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85925976399997 meters Centerline goodness [0,1] 0.3126257273258204 Centerline is valid? [False, False] Translation: X:-83.91, Y:-31.01, Z:75.84 [[ 9.79577280e-01 -6.45672358e-03 2.00964334e-01 -8.39142526e+01] [-7.19997561e-02 9.21942786e-01 3.80575267e-01 -3.10105796e+01] [-1.87734887e-01 -3.87272268e-01 9.02649324e-01 7.58424090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88925976399997 meters Centerline goodness [0,1] 0.28392231497902154 Centerline is valid? [False, False] Translation: X:-84.00, Y:-31.13, Z:75.92 [[ 9.79197025e-01 -8.76132968e-03 2.02722532e-01 -8.40014048e+01] [-6.97485761e-02 9.23656461e-01 3.76820752e-01 -3.11267599e+01] [-1.90547427e-01 -3.83121367e-01 9.03830568e-01 7.59167901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91925976399997 meters Centerline goodness [0,1] 0.28650119888536063 Centerline is valid? [False, False] Translation: X:-84.09, Y:-31.24, Z:75.99 [[ 9.79129874e-01 -1.08752481e-02 2.02944374e-01 -8.40866088e+01] [-6.73727465e-02 9.24734656e-01 3.74602094e-01 -3.12419744e+01] [-1.91743587e-01 -3.80457021e-01 9.04702632e-01 7.59888561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94925976399998 meters Centerline goodness [0,1] 0.33883904442762947 Centerline is valid? [False, False] Translation: X:-84.17, Y:-31.35, Z:76.06 [[ 9.78991169e-01 -1.17511056e-02 2.03563758e-01 -8.41700375e+01] [-6.58525040e-02 9.26617966e-01 3.70192643e-01 -3.13546521e+01] [-1.92976008e-01 -3.75820511e-01 9.06376966e-01 7.60603871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97925976399998 meters Centerline goodness [0,1] 0.2757218557369958 Centerline is valid? [False, False] Translation: X:-84.25, Y:-31.46, Z:76.13 [[ 9.78979633e-01 -2.09476740e-02 2.02879456e-01 -8.42488459e+01] [-5.57383430e-02 9.29368851e-01 3.64920232e-01 -3.14640239e+01] [-1.96194077e-01 -3.68557640e-01 9.08665588e-01 7.61283695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00925976399998 meters Centerline goodness [0,1] 0.2772014005965504 Centerline is valid? [False, False] Translation: X:-84.33, Y:-31.57, Z:76.20 [[ 9.78735145e-01 -2.56132240e-02 2.03522676e-01 -8.43289363e+01] [-5.04863799e-02 9.31575256e-01 3.60025927e-01 -3.15713748e+01] [-1.98818113e-01 -3.62645151e-01 9.10472324e-01 7.61961367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03925976399998 meters Centerline goodness [0,1] 0.28545784852285994 Centerline is valid? [False, False] Translation: X:-84.41, Y:-31.68, Z:76.27 [[ 9.78282804e-01 -2.83211686e-02 2.05330630e-01 -8.44119678e+01] [-4.75903469e-02 9.33466453e-01 3.55493375e-01 -3.16821497e+01] [-2.01737243e-01 -3.57544812e-01 9.11846365e-01 7.62655228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06925976399998 meters Centerline goodness [0,1] 0.2787952171938852 Centerline is valid? [False, False] Translation: X:-84.50, Y:-31.81, Z:76.34 [[ 9.77628341e-01 -3.21324941e-02 2.07870945e-01 -8.45035353e+01] [-4.43730132e-02 9.34515639e-01 3.53145233e-01 -3.18057640e+01] [-2.05606087e-01 -3.54468648e-01 9.12183158e-01 7.63428247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09925976399998 meters Centerline goodness [0,1] 0.27801915137366795 Centerline is valid? [False, False] Translation: X:-84.60, Y:-31.93, Z:76.42 [[ 9.77409993e-01 -3.07743902e-02 2.09099597e-01 -8.45978141e+01] [-4.53784767e-02 9.35713375e-01 3.49830350e-01 -3.19319931e+01] [-2.06423105e-01 -3.51416301e-01 9.13179109e-01 7.64215411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12925976399998 meters Centerline goodness [0,1] 0.2872496864322477 Centerline is valid? [False, False] Translation: X:-84.69, Y:-32.06, Z:76.50 [[ 9.77289761e-01 -2.88300987e-02 2.09937010e-01 -8.46936706e+01] [-4.65259785e-02 9.37335592e-01 3.45307576e-01 -3.20595202e+01] [-2.06736683e-01 -3.47233083e-01 9.14707128e-01 7.64996652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15925976399998 meters Centerline goodness [0,1] 0.2934517251064014 Centerline is valid? [False, False] Translation: X:-84.79, Y:-32.18, Z:76.57 [[ 9.77330049e-01 -2.70815502e-02 2.09982296e-01 -8.47870039e+01] [-4.72147053e-02 9.38931993e-01 3.40848184e-01 -3.21832340e+01] [-2.06389792e-01 -3.43035425e-01 9.16367803e-01 7.65740088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18925976399998 meters Centerline goodness [0,1] 0.29453697103233756 Centerline is valid? [False, False] Translation: X:-84.88, Y:-32.30, Z:76.64 [[ 9.77382351e-01 -2.55419298e-02 2.09931776e-01 -8.48786168e+01] [-4.77471637e-02 9.40395954e-01 3.36713021e-01 -3.23039949e+01] [-2.06019293e-01 -3.39121010e-01 9.17906853e-01 7.66449734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.219259764 meters Centerline goodness [0,1] 0.2970715811735255 Centerline is valid? [False, False] Translation: X:-84.97, Y:-32.42, Z:76.72 [[ 9.77587848e-01 -2.43777873e-02 2.09111750e-01 -8.49701733e+01] [-4.75576061e-02 9.42027207e-01 3.32149086e-01 -3.24244798e+01] [-2.05086017e-01 -3.34649765e-01 9.19755000e-01 7.67162117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.249259764 meters Centerline goodness [0,1] 0.27539547230075323 Centerline is valid? [False, False] Translation: X:-85.06, Y:-32.54, Z:76.79 [[ 9.77699199e-01 -2.29480259e-02 2.08752641e-01 -8.50615746e+01] [-4.83240710e-02 9.42755930e-01 3.29963696e-01 -3.25446139e+01] [-2.04374805e-01 -3.32693019e-01 9.20622775e-01 7.67862839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.279259764 meters Centerline goodness [0,1] 0.2960333218232044 Centerline is valid? [False, False] Translation: X:-85.15, Y:-32.66, Z:76.86 [[ 9.77835453e-01 -2.16603294e-02 2.08251426e-01 -8.51523580e+01] [-4.90766755e-02 9.43213643e-01 3.28541479e-01 -3.26629738e+01] [-2.03541903e-01 -3.31479793e-01 9.21244723e-01 7.68552070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.309259764 meters Centerline goodness [0,1] 0.2913842966288255 Centerline is valid? [False, False] Translation: X:-85.24, Y:-32.78, Z:76.92 [[ 9.77875759e-01 -1.98160028e-02 2.08245829e-01 -8.52441589e+01] [-5.05318269e-02 9.43644532e-01 3.27080315e-01 -3.27819433e+01] [-2.02991462e-01 -3.30366954e-01 9.21765774e-01 7.69243293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.339259764 meters Centerline goodness [0,1] 0.2898381877022653 Centerline is valid? [False, False] Translation: X:-85.33, Y:-32.90, Z:76.99 [[ 9.77851787e-01 -1.70865034e-02 2.08599936e-01 -8.53334894e+01] [-5.29101905e-02 9.44109151e-01 3.25358914e-01 -3.28981873e+01] [-2.02500355e-01 -3.29189858e-01 9.22294771e-01 7.69911994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.369259764 meters Centerline goodness [0,1] 0.299449897529932 Centerline is valid? [False, False] Translation: X:-85.42, Y:-33.01, Z:77.06 [[ 9.78136075e-01 -1.19215212e-02 2.07623928e-01 -8.54219244e+01] [-5.75241216e-02 9.43894402e-01 3.25198913e-01 -3.30138238e+01] [-1.99851929e-01 -3.30032173e-01 9.22571391e-01 7.70570480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.399259764 meters Centerline goodness [0,1] 0.27754063726124256 Centerline is valid? [False, False] Translation: X:-85.51, Y:-33.13, Z:77.12 [[ 9.78529338e-01 -8.91569719e-03 2.05914654e-01 -8.55076469e+01] [-5.97503370e-02 9.43890417e-01 3.24808834e-01 -3.31252280e+01] [-1.97256766e-01 -3.30138444e-01 9.23091749e-01 7.71189849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42925976399997 meters Centerline goodness [0,1] 0.2914788534949425 Centerline is valid? [False, False] Translation: X:-85.59, Y:-33.24, Z:77.18 [[ 9.79015404e-01 -5.99336250e-03 2.03698106e-01 -8.55941795e+01] [-6.15889321e-02 9.44122974e-01 3.23787913e-01 -3.32376279e+01] [-1.94256640e-01 -3.29538903e-01 9.23941810e-01 7.71812439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45925976399997 meters Centerline goodness [0,1] 0.29411510822417397 Centerline is valid? [False, False] Translation: X:-85.68, Y:-33.35, Z:77.25 [[ 9.79435283e-01 -2.48891468e-03 2.01743231e-01 -8.56818530e+01] [-6.38178869e-02 9.44762543e-01 3.21482525e-01 -3.33520852e+01] [-1.91399591e-01 -3.27746155e-01 9.25174932e-01 7.72450227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48925976399997 meters Centerline goodness [0,1] 0.27520106949565515 Centerline is valid? [False, False] Translation: X:-85.77, Y:-33.47, Z:77.31 [[ 9.79817317e-01 4.05634327e-03 1.99853876e-01 -8.57695811e+01] [-6.92862887e-02 9.44706596e-01 3.20513429e-01 -3.34662328e+01] [-1.87503163e-01 -3.27891742e-01 9.25920931e-01 7.73074016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51925976399997 meters Centerline goodness [0,1] 0.2886762360446571 Centerline is valid? [False, False] Translation: X:-85.86, Y:-33.58, Z:77.37 [[ 9.80008533e-01 6.16741391e-03 1.98859847e-01 -8.58572949e+01] [-7.12569058e-02 9.44093899e-01 3.21883773e-01 -3.35807448e+01] [-1.85757178e-01 -3.29618982e-01 9.25659547e-01 7.73688815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54925976399997 meters Centerline goodness [0,1] 0.29827132818898994 Centerline is valid? [False, False] Translation: X:-85.95, Y:-33.69, Z:77.43 [[ 9.80080552e-01 7.18632905e-03 1.98470322e-01 -8.59454326e+01] [-7.22017027e-02 9.43856627e-01 3.22368703e-01 -3.36944924e+01] [-1.85010881e-01 -3.30277192e-01 9.25574389e-01 7.74303199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57925976399997 meters Centerline goodness [0,1] 0.31052245883265794 Centerline is valid? [False, False] Translation: X:-86.03, Y:-33.81, Z:77.49 [[ 9.80093582e-01 9.93408468e-03 1.98287377e-01 -8.60330471e+01] [-7.49849487e-02 9.43294669e-01 3.23376600e-01 -3.38077669e+01] [-1.83830975e-01 -3.31807899e-01 9.25261958e-01 7.74917039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60925976399997 meters Centerline goodness [0,1] 0.2996659122750296 Centerline is valid? [False, False] Translation: X:-86.12, Y:-33.92, Z:77.55 [[ 9.80207479e-01 9.81167139e-03 1.97729686e-01 -8.61203449e+01] [-7.46876562e-02 9.43295822e-01 3.23442028e-01 -3.39207855e+01] [-1.83344080e-01 -3.31808262e-01 9.25358431e-01 7.75521679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63925976399997 meters Centerline goodness [0,1] 0.31707106839632804 Centerline is valid? [False, False] Translation: X:-86.21, Y:-34.03, Z:77.61 [[ 9.80511160e-01 9.85019869e-03 1.96216306e-01 -8.62059260e+01] [-7.42722500e-02 9.43207292e-01 3.23795672e-01 -3.40329106e+01] [-1.81883199e-01 -3.32058697e-01 9.25556872e-01 7.76121665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66925976399997 meters Centerline goodness [0,1] 0.26732651917022465 Centerline is valid? [False, False] Translation: X:-86.29, Y:-34.14, Z:77.67 [[ 9.80728157e-01 1.04096976e-02 1.95099768e-01 -8.62910757e+01] [-7.42323186e-02 9.43549095e-01 3.22807479e-01 -3.41441529e+01] [-1.80725881e-01 -3.31069092e-01 9.26137901e-01 7.76716092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69925976399998 meters Centerline goodness [0,1] 0.2752839256082581 Centerline is valid? [False, False] Translation: X:-86.37, Y:-34.25, Z:77.73 [[ 9.81110502e-01 1.02964118e-02 1.93173930e-01 -8.63740508e+01] [-7.33683684e-02 9.43781356e-01 3.22325665e-01 -3.42529304e+01] [-1.78995156e-01 -3.30409951e-01 9.26709231e-01 7.77298171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72925976399998 meters Centerline goodness [0,1] 0.335919986204518 Centerline is valid? [False, False] Translation: X:-86.46, Y:-34.36, Z:77.79 [[ 9.81026779e-01 1.09756961e-02 1.93561341e-01 -8.64579183e+01] [-7.37814109e-02 9.44406459e-01 3.20394668e-01 -3.43630179e+01] [-1.79284026e-01 -3.28596979e-01 9.27297829e-01 7.77909257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75925976399998 meters Centerline goodness [0,1] 0.2858282658386164 Centerline is valid? [False, False] Translation: X:-86.54, Y:-34.48, Z:77.85 [[ 9.81028559e-01 1.17599504e-02 1.93506251e-01 -8.65444395e+01] [-7.43669408e-02 9.44624955e-01 3.19614225e-01 -3.44777956e+01] [-1.79032186e-01 -3.27941150e-01 9.27578610e-01 7.78533163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78925976399998 meters Centerline goodness [0,1] 0.33255077645437114 Centerline is valid? [False, False] Translation: X:-86.63, Y:-34.59, Z:77.91 [[ 9.81346299e-01 1.10535779e-02 1.91930351e-01 -8.66264023e+01] [-7.34761618e-02 9.44118294e-01 3.21312778e-01 -3.45881499e+01] [-1.77653300e-01 -3.29421411e-01 9.27319168e-01 7.79127869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81925976399998 meters Centerline goodness [0,1] 0.3330819290608973 Centerline is valid? [False, False] Translation: X:-86.71, Y:-34.70, Z:77.97 [[ 9.81341608e-01 9.28604384e-03 1.92047960e-01 -8.67072182e+01] [-7.15535994e-02 9.44728595e-01 3.19949940e-01 -3.46952596e+01] [-1.78462130e-01 -3.27721911e-01 9.27765928e-01 7.79712241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84925976399998 meters Centerline goodness [0,1] 0.3014333441103567 Centerline is valid? [False, False] Translation: X:-86.79, Y:-34.80, Z:78.03 [[ 9.81365805e-01 4.64191025e-03 1.92092712e-01 -8.67866224e+01] [-6.66085254e-02 9.45938822e-01 3.17431959e-01 -3.47986881e+01] [-1.80234463e-01 -3.24311883e-01 9.28621204e-01 7.80266428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87925976399998 meters Centerline goodness [0,1] 0.3025130393551446 Centerline is valid? [False, False] Translation: X:-86.86, Y:-34.90, Z:78.08 [[ 9.81165037e-01 -1.23227324e-04 1.93171308e-01 -8.68629450e+01] [-6.13153117e-02 9.48088162e-01 3.12040495e-01 -3.49011710e+01] [-1.83181882e-01 -3.18007583e-01 9.30223401e-01 7.80820934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90925976399998 meters Centerline goodness [0,1] 0.29946731652612735 Centerline is valid? [False, False] Translation: X:-86.94, Y:-35.01, Z:78.14 [[ 9.80787614e-01 -2.42820605e-03 1.95063475e-01 -8.69417837e+01] [-5.90276849e-02 9.49354840e-01 3.08611601e-01 -3.50064981e+01] [-1.85933827e-01 -3.14196581e-01 9.30972137e-01 7.81398293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93925976399998 meters Centerline goodness [0,1] 0.3013586370498167 Centerline is valid? [False, False] Translation: X:-87.02, Y:-35.11, Z:78.20 [[ 9.80477146e-01 -5.75596527e-03 1.96548809e-01 -8.70218944e+01] [-5.58998232e-02 9.50169679e-01 3.06680275e-01 -3.51126686e+01] [-1.88519960e-01 -3.11680045e-01 9.31297898e-01 7.81980286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.969259764 meters Centerline goodness [0,1] 0.30461220001293743 Centerline is valid? [False, False] Translation: X:-87.10, Y:-35.22, Z:78.26 [[ 9.80053885e-01 -7.69728132e-03 1.98582813e-01 -8.71040851e+01] [-5.42750445e-02 9.50894900e-01 3.04718081e-01 -3.52211942e+01] [-1.91176885e-01 -3.09418231e-01 9.31510471e-01 7.82575190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.999259764 meters Centerline goodness [0,1] 0.30255106437990176 Centerline is valid? [False, False] Translation: X:-87.19, Y:-35.33, Z:78.32 [[ 9.79610064e-01 -9.27676597e-03 2.00693957e-01 -8.71854463e+01] [-5.34597861e-02 9.50883912e-01 3.04896435e-01 -3.53314544e+01] [-1.93665108e-01 -3.09408673e-01 9.30999516e-01 7.83168499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.029259764 meters Centerline goodness [0,1] 0.30157498976579833 Centerline is valid? [False, False] Translation: X:-87.27, Y:-35.44, Z:78.38 [[ 9.79675900e-01 -1.06681840e-02 2.00303073e-01 -8.72673025e+01] [-5.13623647e-02 9.51950932e-01 3.01912785e-01 -3.54396254e+01] [-1.93899558e-01 -3.06064719e-01 9.32055443e-01 7.83750630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.059259764 meters Centerline goodness [0,1] 0.3059315458229158 Centerline is valid? [False, False] Translation: X:-87.35, Y:-35.55, Z:78.43 [[ 9.79829519e-01 -1.08277010e-02 1.99541661e-01 -8.73468931e+01] [-5.01396440e-02 9.53269128e-01 2.97932853e-01 -3.55452489e+01] [-1.93442833e-01 -3.01928352e-01 9.33498334e-01 7.84313686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.089259764 meters Centerline goodness [0,1] 0.30374859805021137 Centerline is valid? [False, False] Translation: X:-87.43, Y:-35.65, Z:78.49 [[ 9.79874367e-01 -1.00976768e-02 1.99359632e-01 -8.74283920e+01] [-4.98792958e-02 9.54652033e-01 2.93515847e-01 -3.56526456e+01] [-1.93282906e-01 -2.97552572e-01 9.34935391e-01 7.84877153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.119259764 meters Centerline goodness [0,1] 0.2720916682851039 Centerline is valid? [False, False] Translation: X:-87.51, Y:-35.76, Z:78.54 [[ 9.79963630e-01 -8.07021240e-03 1.99012955e-01 -8.75111792e+01] [-5.10720195e-02 9.55591557e-01 2.90235119e-01 -3.57619785e+01] [-1.92517358e-01 -2.94583854e-01 9.36032809e-01 7.85446645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.149259764 meters Centerline goodness [0,1] 0.29108223988968607 Centerline is valid? [False, False] Translation: X:-87.59, Y:-35.87, Z:78.60 [[ 9.80149065e-01 -4.63708016e-03 1.98207741e-01 -8.75907522e+01] [-5.44816053e-02 9.54939997e-01 2.91755647e-01 -3.58656598e+01] [-1.90629394e-01 -2.96762700e-01 9.35730909e-01 7.85984254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17925976399997 meters Centerline goodness [0,1] 0.29855952457851564 Centerline is valid? [False, False] Translation: X:-87.67, Y:-35.97, Z:78.65 [[ 9.80024117e-01 -5.68330703e-03 1.98797458e-01 -8.76696675e+01] [-5.33274852e-02 9.55476769e-01 2.90207380e-01 -3.59675630e+01] [-1.91595690e-01 -2.95011600e-01 9.36087201e-01 7.86513084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20925976399997 meters Centerline goodness [0,1] 0.29348107269121326 Centerline is valid? [False, False] Translation: X:-87.75, Y:-36.06, Z:78.70 [[ 9.79789725e-01 -7.38350132e-03 1.99893920e-01 -8.77476271e+01] [-5.12747735e-02 9.56658668e-01 2.86661980e-01 -3.60644231e+01] [-1.93346820e-01 -2.91117978e-01 9.36945746e-01 7.87024226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23925976399997 meters Centerline goodness [0,1] 0.29379432241933046 Centerline is valid? [False, False] Translation: X:-87.83, Y:-36.17, Z:78.76 [[ 9.79995152e-01 -6.13024653e-03 1.98926925e-01 -8.78295776e+01] [-5.19380916e-02 9.57012056e-01 2.85360053e-01 -3.61711047e+01] [-1.92124793e-01 -2.89983354e-01 9.37548782e-01 7.87564127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26925976399997 meters Centerline goodness [0,1] 0.30198638400551536 Centerline is valid? [False, False] Translation: X:-87.91, Y:-36.28, Z:78.81 [[ 9.80337126e-01 -3.75290818e-03 1.97294285e-01 -8.79101045e+01] [-5.34482557e-02 9.57395424e-01 2.83790920e-01 -3.62767535e+01] [-1.89953687e-01 -2.88755810e-01 9.38369692e-01 7.88104779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29925976399997 meters Centerline goodness [0,1] 0.3048307095104593 Centerline is valid? [False, False] Translation: X:-87.99, Y:-36.38, Z:78.86 [[ 9.80480812e-01 -4.78631489e-04 1.96614214e-01 -8.79915522e+01] [-5.58575464e-02 9.58114801e-01 2.80884252e-01 -3.63824908e+01] [-1.88513428e-01 -2.86384007e-01 9.39386442e-01 7.88649420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32925976399997 meters Centerline goodness [0,1] 0.3113390509847864 Centerline is valid? [False, False] Translation: X:-88.07, Y:-36.49, Z:78.92 [[ 9.80773834e-01 2.32228518e-03 1.95134041e-01 -8.80708956e+01] [-5.78920739e-02 9.58378713e-01 2.79568866e-01 -3.64866029e+01] [-1.86363073e-01 -2.85490543e-01 9.40087206e-01 7.89173967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35925976399997 meters Centerline goodness [0,1] 0.31695273417284797 Centerline is valid? [False, False] Translation: X:-88.15, Y:-36.59, Z:78.97 [[ 9.80764039e-01 5.76172933e-03 1.95112026e-01 -8.81496851e+01] [-6.07359846e-02 9.58953776e-01 2.76981581e-01 -3.65897663e+01] [-1.85507521e-01 -2.83503895e-01 9.40857322e-01 7.89700821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38925976399997 meters Centerline goodness [0,1] 0.32417771654899263 Centerline is valid? [False, False] Translation: X:-88.23, Y:-36.70, Z:79.02 [[ 9.80854749e-01 9.99749894e-03 1.94483961e-01 -8.82330354e+01] [-6.50482595e-02 9.58141045e-01 2.78809008e-01 -3.67002437e+01] [-1.83555673e-01 -2.86121982e-01 9.40447514e-01 7.90242998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41925976399997 meters Centerline goodness [0,1] 0.33006718924972 Centerline is valid? [False, False] Translation: X:-88.31, Y:-36.81, Z:79.08 [[ 9.80849123e-01 1.16951858e-02 1.94417644e-01 -8.83142412e+01] [-6.66508589e-02 9.58084664e-01 2.78624189e-01 -3.68054412e+01] [-1.83010001e-01 -2.86246395e-01 9.40515997e-01 7.90756031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44925976399998 meters Centerline goodness [0,1] 0.34057174863741135 Centerline is valid? [False, False] Translation: X:-88.39, Y:-36.91, Z:79.12 [[ 9.81176905e-01 1.25402780e-02 1.92703457e-01 -8.83944574e+01] [-6.72467423e-02 9.57618800e-01 2.80078755e-01 -3.69086405e+01] [-1.81024188e-01 -2.87765486e-01 9.40436743e-01 7.91242202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47925976399998 meters Centerline goodness [0,1] 0.34057174863741135 Centerline is valid? [False, False] Translation: X:-88.47, Y:-37.01, Z:79.17 [[ 9.81287550e-01 1.18496236e-02 1.92183065e-01 -8.84713944e+01] [-6.64244180e-02 9.57665407e-01 2.80115627e-01 -3.70088997e+01] [-1.80727809e-01 -2.87639626e-01 9.40532246e-01 7.91724879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50925976399998 meters Centerline goodness [0,1] 0.3260152967790585 Centerline is valid? [False, False] Translation: X:-88.55, Y:-37.10, Z:79.22 [[ 9.81791539e-01 1.69027698e-02 1.89208010e-01 -8.85480462e+01] [-7.03787263e-02 9.57518257e-01 2.79652681e-01 -3.71049813e+01] [-1.76443220e-01 -2.87876854e-01 9.41272918e-01 7.92178000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53925976399998 meters Centerline goodness [0,1] 0.3204948595814384 Centerline is valid? [False, False] Translation: X:-88.63, Y:-37.21, Z:79.27 [[ 9.82248358e-01 1.84954444e-02 1.86671052e-01 -8.86268843e+01] [-7.13491814e-02 9.57170121e-01 2.80596959e-01 -3.72079978e+01] [-1.73486188e-01 -2.88934729e-01 9.41498415e-01 7.92658746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56925976399998 meters Centerline goodness [0,1] 0.33182415971368817 Centerline is valid? [False, False] Translation: X:-88.71, Y:-37.31, Z:79.31 [[ 9.82522397e-01 1.93441224e-02 1.85136558e-01 -8.87053810e+01] [-7.17884068e-02 9.57022873e-01 2.80986913e-01 -3.73100275e+01] [-1.71744476e-01 -2.89366594e-01 9.41685090e-01 7.93143058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59925976399998 meters Centerline goodness [0,1] 0.32510350181128167 Centerline is valid? [False, False] Translation: X:-88.78, Y:-37.41, Z:79.36 [[ 9.82582830e-01 2.09705787e-02 1.84638072e-01 -8.87826976e+01] [-7.31703232e-02 9.57003886e-01 2.80694969e-01 -3.74112873e+01] [-1.70813016e-01 -2.89316084e-01 9.41870011e-01 7.93637410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62925976399998 meters Centerline goodness [0,1] 0.31264417376306997 Centerline is valid? [False, False] Translation: X:-88.86, Y:-37.51, Z:79.41 [[ 9.82567446e-01 2.33560917e-02 1.84433475e-01 -8.88604899e+01] [-7.59241598e-02 9.55985043e-01 2.83422158e-01 -3.75126026e+01] [-1.69696010e-01 -2.92484342e-01 9.41093074e-01 7.94131083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65925976399998 meters Centerline goodness [0,1] 0.3115751326631865 Centerline is valid? [False, False] Translation: X:-88.94, Y:-37.61, Z:79.46 [[ 9.82648855e-01 2.22773000e-02 1.84132966e-01 -8.89387799e+01] [-7.51737513e-02 9.55400426e-01 2.85585248e-01 -3.76146697e+01] [-1.69558646e-01 -2.94471983e-01 9.40497803e-01 7.94614795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68925976399998 meters Centerline goodness [0,1] 0.3261291574996764 Centerline is valid? [False, False] Translation: X:-89.02, Y:-37.72, Z:79.51 [[ 9.82766194e-01 2.07611047e-02 1.83683382e-01 -8.90160547e+01] [-7.39324965e-02 9.54881937e-01 2.87636006e-01 -3.77162005e+01] [-1.69424302e-01 -2.96259113e-01 9.39960607e-01 7.95090188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.719259764 meters Centerline goodness [0,1] 0.34193840579710144 Centerline is valid? [False, False] Translation: X:-89.09, Y:-37.82, Z:79.56 [[ 9.82918671e-01 2.02961614e-02 1.82917885e-01 -8.90918998e+01] [-7.33067211e-02 9.54828991e-01 2.87971739e-01 -3.78176816e+01] [-1.68810579e-01 -2.96461910e-01 9.40007088e-01 7.95567991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.749259764 meters Centerline goodness [0,1] 0.3175586692286103 Centerline is valid? [False, False] Translation: X:-89.17, Y:-37.92, Z:79.60 [[ 9.83197121e-01 2.06350329e-02 1.81377001e-01 -8.91675494e+01] [-7.27143047e-02 9.55632958e-01 2.85444004e-01 -3.79179970e+01] [-1.67439694e-01 -2.93836426e-01 9.41076035e-01 7.96040485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.779259764 meters Centerline goodness [0,1] 0.33048543689320387 Centerline is valid? [False, False] Translation: X:-89.24, Y:-38.02, Z:79.65 [[ 9.83298464e-01 2.06323053e-02 1.80827097e-01 -8.92411506e+01] [-7.23962050e-02 9.55906952e-01 2.84606201e-01 -3.80152291e+01] [-1.66981797e-01 -2.92944036e-01 9.41435538e-01 7.96509753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.809259764 meters Centerline goodness [0,1] 0.3375091796621884 Centerline is valid? [False, False] Translation: X:-89.32, Y:-38.11, Z:79.70 [[ 9.83339910e-01 2.06897596e-02 1.80595002e-01 -8.93155673e+01] [-7.24892040e-02 9.55719219e-01 2.85212360e-01 -3.81141605e+01] [-1.66697139e-01 -2.93551884e-01 9.41296635e-01 7.96989076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.839259764 meters Centerline goodness [0,1] 0.33231819261755113 Centerline is valid? [False, False] Translation: X:-89.39, Y:-38.21, Z:79.75 [[ 9.83312526e-01 2.05421053e-02 1.80760888e-01 -8.93906398e+01] [-7.25041445e-02 9.55535812e-01 2.85822429e-01 -3.82132389e+01] [-1.66852108e-01 -2.94158688e-01 9.41079721e-01 7.97475780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.869259764 meters Centerline goodness [0,1] 0.33367909238249593 Centerline is valid? [False, False] Translation: X:-89.46, Y:-38.31, Z:79.80 [[ 9.83339446e-01 2.05890275e-02 1.80609044e-01 -8.94648629e+01] [-7.27752732e-02 9.55055040e-01 2.87356277e-01 -3.83119447e+01] [-1.66575191e-01 -2.95712634e-01 9.40641666e-01 7.97954814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.899259764 meters Centerline goodness [0,1] 0.29632349764548327 Centerline is valid? [False, False] Translation: X:-89.54, Y:-38.41, Z:79.84 [[ 9.83278709e-01 2.21531572e-02 1.80754581e-01 -8.95410280e+01] [-7.46414963e-02 9.54393906e-01 2.89069055e-01 -3.84139214e+01] [-1.66107279e-01 -2.97727239e-01 9.40088753e-01 7.98439958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92925976399997 meters Centerline goodness [0,1] 0.33578235408518275 Centerline is valid? [False, False] Translation: X:-89.62, Y:-38.52, Z:79.89 [[ 9.83413626e-01 2.24653222e-02 1.79980415e-01 -8.96177575e+01] [-7.47042761e-02 9.54392880e-01 2.89056226e-01 -3.85172830e+01] [-1.65278285e-01 -2.97707138e-01 9.40241218e-01 7.98933194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95925976399997 meters Centerline goodness [0,1] 0.3319502074688797 Centerline is valid? [False, False] Translation: X:-89.69, Y:-38.62, Z:79.94 [[ 9.83504324e-01 2.10059359e-02 1.79660778e-01 -8.96927290e+01] [-7.26973867e-02 9.55390760e-01 2.86257900e-01 -3.86170172e+01] [-1.65633132e-01 -2.94596752e-01 9.41158020e-01 7.99417605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98925976399997 meters Centerline goodness [0,1] 0.34244178511254153 Centerline is valid? [False, False] Translation: X:-89.77, Y:-38.72, Z:79.99 [[ 9.83519510e-01 2.07356598e-02 1.79609037e-01 -8.97666092e+01] [-7.22358126e-02 9.55737118e-01 2.85216669e-01 -3.87171344e+01] [-1.65744868e-01 -2.93490363e-01 9.41483959e-01 7.99903889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01925976399997 meters Centerline goodness [0,1] 0.34985523529665963 Centerline is valid? [False, False] Translation: X:-89.84, Y:-38.82, Z:80.04 [[ 9.83571655e-01 1.96485155e-02 1.79445635e-01 -8.98416558e+01] [-7.12673523e-02 9.55576670e-01 2.85996840e-01 -3.88194058e+01] [-1.65854649e-01 -2.94087000e-01 9.41278424e-01 8.00393414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04925976399997 meters Centerline goodness [0,1] 0.28630355908776783 Centerline is valid? [False, False] Translation: X:-89.91, Y:-38.92, Z:80.09 [[ 9.83547854e-01 1.69705640e-02 1.79848876e-01 -8.99145113e+01] [-6.85239908e-02 9.56220599e-01 2.84511210e-01 -3.89174300e+01] [-1.67146884e-01 -2.92154352e-01 9.41651609e-01 8.00877298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07925976399997 meters Centerline goodness [0,1] 0.32399662841211174 Centerline is valid? [False, False] Translation: X:-89.99, Y:-39.02, Z:80.14 [[ 9.83476259e-01 1.50517518e-02 1.80410348e-01 -8.99879424e+01] [-6.67623511e-02 9.56453777e-01 2.84146021e-01 -3.90157544e+01] [-1.68277263e-01 -2.91495484e-01 9.41654472e-01 8.01361238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10925976399997 meters Centerline goodness [0,1] 0.2744446123620976 Centerline is valid? [False, False] Translation: X:-90.06, Y:-39.11, Z:80.18 [[ 9.83569523e-01 1.41563717e-02 1.79973862e-01 -9.00590562e+01] [-6.57526860e-02 9.56536264e-01 2.84103784e-01 -3.91117876e+01] [-1.68129646e-01 -2.91269588e-01 9.41750736e-01 8.01822395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13925976399997 meters Centerline goodness [0,1] 0.3340102400138262 Centerline is valid? [False, False] Translation: X:-90.13, Y:-39.21, Z:80.23 [[ 9.84073787e-01 1.43468444e-02 1.77180557e-01 -9.01304473e+01] [-6.49725396e-02 9.56802137e-01 2.83387086e-01 -3.92084343e+01] [-1.65461025e-01 -2.90385674e-01 9.42496053e-01 8.02275158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16925976399997 meters Centerline goodness [0,1] 0.2904172873086803 Centerline is valid? [False, False] Translation: X:-90.20, Y:-39.30, Z:80.27 [[ 9.84026174e-01 1.43703156e-02 1.77442902e-01 -9.02013852e+01] [-6.47872869e-02 9.57296050e-01 2.81756774e-01 -3.93030669e+01] [-1.65816456e-01 -2.88752084e-01 9.42935383e-01 8.02731695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19925976399998 meters Centerline goodness [0,1] 0.2964849060268001 Centerline is valid? [False, False] Translation: X:-90.27, Y:-39.40, Z:80.32 [[ 9.83860656e-01 1.40524468e-02 1.78383681e-01 -9.02730580e+01] [-6.45879027e-02 9.57592508e-01 2.80793503e-01 -3.93987962e+01] [-1.66873041e-01 -2.87783108e-01 9.43045212e-01 8.03197094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22925976399998 meters Centerline goodness [0,1] 0.2983432565363707 Centerline is valid? [False, False] Translation: X:-90.34, Y:-39.49, Z:80.37 [[ 9.83688104e-01 1.40453818e-02 1.79333327e-01 -9.03442577e+01] [-6.47165606e-02 9.57825010e-01 2.79969672e-01 -3.94946883e+01] [-1.67837665e-01 -2.87008672e-01 9.43110036e-01 8.03657686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25925976399998 meters Centerline goodness [0,1] 0.3175833189431877 Centerline is valid? [False, False] Translation: X:-90.42, Y:-39.60, Z:80.42 [[ 9.83371308e-01 1.72164613e-02 1.80788453e-01 -9.04188451e+01] [-6.81003259e-02 9.57812441e-01 2.79209014e-01 -3.95958967e+01] [-1.68354439e-01 -2.86877886e-01 9.43057719e-01 8.04156133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28925976399998 meters Centerline goodness [0,1] 0.3174942275738547 Centerline is valid? [False, False] Translation: X:-90.49, Y:-39.70, Z:80.46 [[ 9.83351247e-01 1.91980601e-02 1.80697977e-01 -9.04917108e+01] [-7.00201283e-02 9.57646709e-01 2.79302636e-01 -3.96954486e+01] [-1.67682755e-01 -2.87305091e-01 9.43047336e-01 8.04629726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31925976399998 meters Centerline goodness [0,1] 0.33202289664110596 Centerline is valid? [False, False] Translation: X:-90.56, Y:-39.79, Z:80.51 [[ 9.83701667e-01 2.12709410e-02 1.78545729e-01 -9.05632091e+01] [-7.09580191e-02 9.58310729e-01 2.76776997e-01 -3.97943189e+01] [-1.65214981e-01 -2.84935245e-01 9.44201206e-01 8.05098198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34925976399998 meters Centerline goodness [0,1] 0.2777093994947205 Centerline is valid? [False, False] Translation: X:-90.63, Y:-39.89, Z:80.56 [[ 9.83949558e-01 2.04554720e-02 1.77270528e-01 -9.06340326e+01] [-6.95593622e-02 9.58793609e-01 2.75456550e-01 -3.98912531e+01] [-1.64331255e-01 -2.83366175e-01 9.44827418e-01 8.05551028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37925976399998 meters Centerline goodness [0,1] 0.3244118281890783 Centerline is valid? [False, False] Translation: X:-90.71, Y:-39.99, Z:80.60 [[ 9.83953708e-01 1.99320080e-02 1.77307120e-01 -9.07053134e+01] [-6.89257426e-02 9.59060468e-01 2.74685749e-01 -3.99879013e+01] [-1.64573211e-01 -2.82499086e-01 9.45044933e-01 8.06005139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40925976399998 meters Centerline goodness [0,1] 0.29186902372164303 Centerline is valid? [False, False] Translation: X:-90.78, Y:-40.08, Z:80.64 [[ 9.83924728e-01 1.91807381e-02 1.77550639e-01 -9.07755528e+01] [-6.85175950e-02 9.58673215e-01 2.76135847e-01 -4.00835075e+01] [-1.64916553e-01 -2.83862231e-01 9.44576500e-01 8.06445224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43925976399998 meters Centerline goodness [0,1] 0.3297479427201452 Centerline is valid? [False, False] Translation: X:-90.85, Y:-40.18, Z:80.69 [[ 9.83824918e-01 1.85029268e-02 1.78174558e-01 -9.08487969e+01] [-6.82292994e-02 9.58382039e-01 2.77215853e-01 -4.01841474e+01] [-1.65629991e-01 -2.84888589e-01 9.44142573e-01 8.06920598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.469259764 meters Centerline goodness [0,1] 0.3358028424553976 Centerline is valid? [False, False] Translation: X:-90.92, Y:-40.28, Z:80.74 [[ 9.83926476e-01 1.76939800e-02 1.77695282e-01 -9.09200309e+01] [-6.73224029e-02 9.58409932e-01 2.77341120e-01 -4.02816090e+01] [-1.65397655e-01 -2.84846144e-01 9.44196108e-01 8.07378218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.499259764 meters Centerline goodness [0,1] 0.3167433521266714 Centerline is valid? [False, False] Translation: X:-90.99, Y:-40.38, Z:80.78 [[ 9.84128247e-01 1.88920751e-02 1.76450228e-01 -9.09898395e+01] [-6.76241517e-02 9.59216583e-01 2.74464061e-01 -4.03776399e+01] [-1.64068789e-01 -2.82040133e-01 9.45269695e-01 8.07823634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.529259764 meters Centerline goodness [0,1] 0.3062013828867761 Centerline is valid? [False, False] Translation: X:-91.06, Y:-40.47, Z:80.83 [[ 9.84319541e-01 1.94204504e-02 1.75322236e-01 -9.10598968e+01] [-6.76579969e-02 9.59468134e-01 2.73575025e-01 -4.04747457e+01] [-1.62903149e-01 -2.81147195e-01 9.45737183e-01 8.08276270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.559259764 meters Centerline goodness [0,1] 0.3134357378961695 Centerline is valid? [False, False] Translation: X:-91.13, Y:-40.57, Z:80.87 [[ 9.84532346e-01 1.91700555e-02 1.74150995e-01 -9.11279327e+01] [-6.71281535e-02 9.59416209e-01 2.73887476e-01 -4.05693776e+01] [-1.61832849e-01 -2.81341514e-01 9.45863141e-01 8.08707866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.589259764 meters Centerline goodness [0,1] 0.2824086077262121 Centerline is valid? [False, False] Translation: X:-91.20, Y:-40.66, Z:80.92 [[ 9.84606544e-01 1.66110616e-02 1.73994326e-01 -9.11957666e+01] [-6.43284189e-02 9.60039698e-01 2.72370398e-01 -4.06634732e+01] [-1.62517098e-01 -2.79370456e-01 9.46329932e-01 8.09150822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.619259764 meters Centerline goodness [0,1] 0.31185839942944826 Centerline is valid? [False, False] Translation: X:-91.26, Y:-40.75, Z:80.96 [[ 9.84608653e-01 9.47612064e-03 1.74516485e-01 -9.12615681e+01] [-5.75136730e-02 9.60482296e-01 2.72334238e-01 -4.07546904e+01] [-1.65039322e-01 -2.78179732e-01 9.46244186e-01 8.09579876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.649259764 meters Centerline goodness [0,1] 0.3191972001382648 Centerline is valid? [False, False] Translation: X:-91.33, Y:-40.84, Z:81.00 [[ 9.84526128e-01 7.36616469e-03 1.75082957e-01 -9.13257010e+01] [-5.56019435e-02 9.60620123e-01 2.72245117e-01 -4.08432337e+01] [-1.66182810e-01 -2.77767383e-01 9.46165183e-01 8.10005128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67925976399997 meters Centerline goodness [0,1] 0.32258134209048095 Centerline is valid? [False, False] Translation: X:-91.39, Y:-40.93, Z:81.04 [[ 9.84505867e-01 6.27216081e-03 1.75239432e-01 -9.13877969e+01] [-5.44602409e-02 9.60876781e-01 2.71569318e-01 -4.09298674e+01] [-1.66680175e-01 -2.76905168e-01 9.46330411e-01 8.10417210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70925976399997 meters Centerline goodness [0,1] 0.3228035324854792 Centerline is valid? [False, False] Translation: X:-91.45, Y:-41.02, Z:81.08 [[ 9.84483502e-01 5.51875476e-03 1.75390358e-01 -9.14496115e+01] [-5.34677827e-02 9.61411524e-01 2.69868630e-01 -4.10161326e+01] [-1.67132972e-01 -2.75058947e-01 9.46788860e-01 8.10820305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73925976399997 meters Centerline goodness [0,1] 0.33077704089347826 Centerline is valid? [False, False] Translation: X:-91.51, Y:-41.10, Z:81.12 [[ 9.84505391e-01 -9.05554299e-05 1.75354289e-01 -9.15094441e+01] [-4.71783909e-02 9.62990390e-01 2.65374656e-01 -4.10989296e+01] [-1.68888527e-01 -2.69535712e-01 9.48064958e-01 8.11211865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76925976399997 meters Centerline goodness [0,1] 0.29561161022805804 Centerline is valid? [False, False] Translation: X:-91.57, Y:-41.18, Z:81.16 [[ 9.84455792e-01 -1.39411338e-03 1.75627022e-01 -9.15717160e+01] [-4.53238260e-02 9.64081762e-01 2.61709968e-01 -4.11849403e+01] [-1.69683662e-01 -2.65601982e-01 9.49032687e-01 8.11620927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79925976399997 meters Centerline goodness [0,1] 0.30656035265136783 Centerline is valid? [False, False] Translation: X:-91.63, Y:-41.27, Z:81.20 [[ 9.84493042e-01 -1.36181420e-03 1.75418347e-01 -9.16339501e+01] [-4.46255289e-02 9.65129122e-01 2.57942513e-01 -4.12723663e+01] [-1.69652625e-01 -2.61770746e-01 9.50102133e-01 8.12028847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82925976399997 meters Centerline goodness [0,1] 0.30431120134779044 Centerline is valid? [False, False] Translation: X:-91.70, Y:-41.36, Z:81.24 [[ 9.84749867e-01 -8.88126018e-04 1.73973880e-01 -9.16952784e+01] [-4.43963598e-02 9.65596430e-01 2.56227434e-01 -4.13614393e+01] [-1.68216119e-01 -2.60043738e-01 9.50831526e-01 8.12442536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85925976399997 meters Centerline goodness [0,1] 0.31075679996543304 Centerline is valid? [False, False] Translation: X:-91.76, Y:-41.45, Z:81.28 [[ 9.84853249e-01 -1.35327898e-03 1.73384677e-01 -9.17558682e+01] [-4.35326445e-02 9.66010146e-01 2.54812295e-01 -4.14450612e+01] [-1.67836189e-01 -2.58500611e-01 9.51319320e-01 8.12823966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88925976399997 meters Centerline goodness [0,1] 0.27925980370962855 Centerline is valid? [False, False] Translation: X:-91.82, Y:-41.53, Z:81.32 [[ 9.84806452e-01 -1.64323705e-03 1.73647780e-01 -9.18169292e+01] [-4.27528340e-02 9.66883116e-01 2.51613265e-01 -4.15274927e+01] [-1.68310567e-01 -2.55214302e-01 9.52122478e-01 8.13205834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91925976399997 meters Centerline goodness [0,1] 0.3209198780988609 Centerline is valid? [False, False] Translation: X:-91.88, Y:-41.61, Z:81.36 [[ 9.84935547e-01 -2.53568926e-03 1.72903266e-01 -9.18766496e+01] [-4.11481483e-02 9.67734201e-01 2.48590719e-01 -4.16091468e+01] [-1.67954753e-01 -2.51960485e-01 9.53051476e-01 8.13572564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94925976399998 meters Centerline goodness [0,1] 0.28008128323749404 Centerline is valid? [False, False] Translation: X:-91.93, Y:-41.69, Z:81.39 [[ 9.84999055e-01 -4.42768081e-03 1.72502922e-01 -9.19346068e+01] [-3.81889224e-02 9.69289458e-01 2.42939402e-01 -4.16896743e+01] [-1.68280922e-01 -2.45882782e-01 9.54580111e-01 8.13938423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97925976399998 meters Centerline goodness [0,1] 0.2737117413107384 Centerline is valid? [False, False] Translation: X:-91.99, Y:-41.77, Z:81.43 [[ 9.85029082e-01 -3.88639735e-03 1.72344433e-01 -9.19925732e+01] [-3.81345220e-02 9.70065192e-01 2.39831779e-01 -4.17696598e+01] [-1.68117417e-01 -2.42813550e-01 9.55394219e-01 8.14302061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00925976399998 meters Centerline goodness [0,1] 0.2963660368374348 Centerline is valid? [False, False] Translation: X:-92.05, Y:-41.85, Z:81.47 [[ 9.84991996e-01 -2.78117932e-03 1.72577613e-01 -9.20498242e+01] [-3.88296793e-02 9.70668765e-01 2.37264420e-01 -4.18477075e+01] [-1.68175573e-01 -2.40404688e-01 9.55992972e-01 8.14654774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03925976399998 meters Centerline goodness [0,1] 0.2931526390870185 Centerline is valid? [False, False] Translation: X:-92.11, Y:-41.92, Z:81.50 [[ 9.85156899e-01 -1.71465228e-03 1.71647732e-01 -9.21056608e+01] [-3.92523393e-02 9.71205614e-01 2.34987041e-01 -4.19241518e+01] [-1.67108162e-01 -2.38236680e-01 9.56722607e-01 8.14997881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06925976399998 meters Centerline goodness [0,1] 0.2938468521040005 Centerline is valid? [False, False] Translation: X:-92.16, Y:-42.00, Z:81.53 [[ 9.85341653e-01 -1.19870509e-03 1.70588364e-01 -9.21621349e+01] [-3.89501169e-02 9.71980691e-01 2.31811185e-01 -4.20010925e+01] [-1.66086469e-01 -2.35057653e-01 9.57686371e-01 8.15330057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09925976399998 meters Centerline goodness [0,1] 0.33259092678285684 Centerline is valid? [False, False] Translation: X:-92.22, Y:-42.08, Z:81.56 [[ 9.85762183e-01 -3.07044452e-03 1.68117491e-01 -9.22163591e+01] [-3.55987303e-02 9.73357761e-01 2.26511369e-01 -4.20765472e+01] [-1.64333955e-01 -2.29271111e-01 9.59389967e-01 8.15641017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12925976399998 meters Centerline goodness [0,1] 0.31158308666248946 Centerline is valid? [False, False] Translation: X:-92.27, Y:-42.15, Z:81.60 [[ 9.85787213e-01 -3.31316308e-03 1.67966050e-01 -9.22668525e+01] [-3.42430235e-02 9.74853436e-01 2.20200351e-01 -4.21469438e+01] [-1.64471840e-01 -2.22822356e-01 9.60884598e-01 8.15957534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15925976399998 meters Centerline goodness [0,1] 0.3014607372833744 Centerline is valid? [False, False] Translation: X:-92.32, Y:-42.22, Z:81.63 [[ 9.85381533e-01 -3.98948332e-03 1.70315349e-01 -9.23180127e+01] [-3.29137592e-02 9.76432423e-01 2.13298869e-01 -4.22176688e+01] [-1.67152382e-01 -2.15786484e-01 9.62027169e-01 8.16278962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18925976399998 meters Centerline goodness [0,1] 0.30211434735706577 Centerline is valid? [False, False] Translation: X:-92.37, Y:-42.29, Z:81.66 [[ 9.84818558e-01 -5.37029824e-03 1.73503796e-01 -9.23700163e+01] [-3.12952557e-02 9.77650567e-01 2.07894147e-01 -4.22901722e+01] [-1.70742538e-01 -2.10167860e-01 9.62640357e-01 8.16609095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.219259764 meters Centerline goodness [0,1] 0.3037283305628117 Centerline is valid? [False, False] Translation: X:-92.42, Y:-42.37, Z:81.70 [[ 9.83661298e-01 -1.16983872e-02 1.79648539e-01 -9.24243349e+01] [-2.54120778e-02 9.78872639e-01 2.02885638e-01 -4.23669007e+01] [-1.78226475e-01 -2.04135993e-01 9.62581851e-01 8.16951097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.249259764 meters Centerline goodness [0,1] 0.29763524457402013 Centerline is valid? [False, False] Translation: X:-92.48, Y:-42.45, Z:81.73 [[ 9.83757683e-01 -1.59581092e-02 1.78790829e-01 -9.24816535e+01] [-2.05697161e-02 9.79456742e-01 2.00602537e-01 -4.24473101e+01] [-1.78319120e-01 -2.01021963e-01 9.63219841e-01 8.17271004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.279259764 meters Centerline goodness [0,1] 0.3080827717297391 Centerline is valid? [False, False] Translation: X:-92.53, Y:-42.52, Z:81.76 [[ 9.84007861e-01 -1.87929504e-02 1.77130899e-01 -9.25341503e+01] [-1.65275047e-02 9.80496242e-01 1.95841675e-01 -4.25211481e+01] [-1.77356623e-01 -1.95637279e-01 9.64505409e-01 8.17579918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.309259764 meters Centerline goodness [0,1] 0.28351919087136934 Centerline is valid? [False, False] Translation: X:-92.58, Y:-42.59, Z:81.79 [[ 9.83935980e-01 -1.93389274e-02 1.77471103e-01 -9.25824893e+01] [-1.46030312e-02 9.82064819e-01 1.87977239e-01 -4.25887021e+01] [-1.77923405e-01 -1.87549185e-01 9.66006504e-01 8.17884886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.339259764 meters Centerline goodness [0,1] 0.23421103875029747 Centerline is valid? [False, False] Translation: X:-92.63, Y:-42.66, Z:81.82 [[ 9.84203913e-01 -2.56624484e-02 1.75168763e-01 -9.26345625e+01] [-7.22349447e-03 9.82793489e-01 1.84566461e-01 -4.26637121e+01] [-1.76891148e-01 -1.82916364e-01 9.67083826e-01 8.18178237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.369259764 meters Centerline goodness [0,1] 0.23421103875029747 Centerline is valid? [False, False] Translation: X:-92.68, Y:-42.72, Z:81.84 [[ 9.84026164e-01 -2.25939144e-02 1.76584322e-01 -9.26804125e+01] [-9.36347203e-03 9.83971931e-01 1.78077411e-01 -4.27241938e+01] [-1.77777482e-01 -1.76886274e-01 9.68042568e-01 8.18446198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.399259764 meters Centerline goodness [0,1] 0.29937724343727024 Centerline is valid? [False, False] Translation: X:-92.72, Y:-42.79, Z:81.87 [[ 9.83977555e-01 -2.24313123e-02 1.76875686e-01 -9.27247160e+01] [-8.48891031e-03 9.85034792e-01 1.72146443e-01 -4.27858056e+01] [-1.78090175e-01 -1.70889718e-01 9.69061708e-01 8.18725991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42925976399997 meters Centerline goodness [0,1] 0.2325847796485616 Centerline is valid? [False, False] Translation: X:-92.77, Y:-42.85, Z:81.90 [[ 9.83876970e-01 -2.22112450e-02 1.77462018e-01 -9.27709866e+01] [-7.84070900e-03 9.85947419e-01 1.66871836e-01 -4.28507818e+01] [-1.78674650e-01 -1.65572784e-01 9.69876808e-01 8.19011726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45925976399997 meters Centerline goodness [0,1] 0.23079584026982036 Centerline is valid? [False, False] Translation: X:-92.83, Y:-42.93, Z:81.93 [[ 9.83816654e-01 -2.87709836e-02 1.76853108e-01 -9.28262008e+01] [-1.05198056e-03 9.86079635e-01 1.66270400e-01 -4.29302765e+01] [-1.79175011e-01 -1.63765635e-01 9.70091301e-01 8.19298446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48925976399997 meters Centerline goodness [0,1] 0.23971122254885002 Centerline is valid? [False, False] Translation: X:-92.87, Y:-42.99, Z:81.96 [[ 9.83753677e-01 -2.76860212e-02 1.77375837e-01 -9.28708382e+01] [-8.09660481e-04 9.87342334e-01 1.58601576e-01 -4.29910025e+01] [-1.79521719e-01 -1.56168498e-01 9.71279235e-01 8.19562874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51925976399997 meters Centerline goodness [0,1] 0.24276544704026282 Centerline is valid? [False, False] Translation: X:-92.92, Y:-43.05, Z:81.98 [[ 9.83780140e-01 -2.62726164e-02 1.77444033e-01 -9.29150368e+01] [-9.79058144e-04 9.88414714e-01 1.51774157e-01 -4.30517928e+01] [-1.79375798e-01 -1.49486130e-01 9.72357044e-01 8.19822995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54925976399997 meters Centerline goodness [0,1] 0.24772884582107635 Centerline is valid? [False, False] Translation: X:-92.96, Y:-43.11, Z:82.01 [[ 9.83779564e-01 -2.79822687e-02 1.77185671e-01 -9.29573714e+01] [ 2.45932008e-03 9.89769305e-01 1.42655790e-01 -4.31092315e+01] [-1.79364771e-01 -1.39906094e-01 9.73783633e-01 8.20077639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57925976399997 meters Centerline goodness [0,1] 0.2440854634315125 Centerline is valid? [False, False] Translation: X:-93.00, Y:-43.17, Z:82.03 [[ 9.83607197e-01 -3.02630452e-02 1.77766787e-01 -9.30005114e+01] [ 6.19288082e-03 9.90904327e-01 1.34425675e-01 -4.31678510e+01] [-1.80218009e-01 -1.31121173e-01 9.74848043e-01 8.20328928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60925976399997 meters Centerline goodness [0,1] 0.25277363264776487 Centerline is valid? [False, False] Translation: X:-93.04, Y:-43.22, Z:82.06 [[ 9.83603979e-01 -2.75563696e-02 1.78224182e-01 -9.30433488e+01] [ 4.39335170e-03 9.91625114e-01 1.29074909e-01 -4.32249079e+01] [-1.80288410e-01 -1.26175592e-01 9.75487473e-01 8.20564107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.63925976399997 meters Centerline goodness [0,1] 0.26380421152765166 Centerline is valid? [False, False] Translation: X:-93.09, Y:-43.28, Z:82.08 [[ 9.83617860e-01 -2.39423508e-02 1.78669161e-01 -9.30863065e+01] [ 1.62093373e-03 9.92275265e-01 1.24045039e-01 -4.32810699e+01] [-1.80258919e-01 -1.21723305e-01 9.76058481e-01 8.20785421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66925976399997 meters Centerline goodness [0,1] 0.2653744759929124 Centerline is valid? [False, False] Translation: X:-93.13, Y:-43.33, Z:82.10 [[ 9.83733937e-01 -2.03186102e-02 1.78478835e-01 -9.31273246e+01] [-1.16011832e-03 9.92842817e-01 1.19422754e-01 -4.33347162e+01] [-1.79627934e-01 -1.17687272e-01 9.76669602e-01 8.20993764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69925976399998 meters Centerline goodness [0,1] 0.2672950536146662 Centerline is valid? [False, False] Translation: X:-93.17, Y:-43.39, Z:82.12 [[ 9.83731777e-01 -2.31188126e-02 1.78149686e-01 -9.31695661e+01] [ 2.91704529e-03 9.93609482e-01 1.12834783e-01 -4.33903787e+01] [-1.79619823e-01 -1.10479491e-01 9.77512660e-01 8.21224466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72925976399998 meters Centerline goodness [0,1] 0.26832064370998443 Centerline is valid? [False, False] Translation: X:-93.21, Y:-43.44, Z:82.14 [[ 9.83859850e-01 -2.22603874e-02 1.77550758e-01 -9.32083414e+01] [ 3.11403498e-03 9.94211737e-01 1.07393315e-01 -4.34406702e+01] [-1.78913664e-01 -1.05107072e-01 9.78234330e-01 8.21416113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75925976399998 meters Centerline goodness [0,1] 0.2673827998357361 Centerline is valid? [False, False] Translation: X:-93.25, Y:-43.49, Z:82.16 [[ 9.83972926e-01 -2.06643840e-02 1.77116528e-01 -9.32463581e+01] [ 2.41755663e-03 9.94717280e-01 1.02624017e-01 -4.34900147e+01] [-1.78301533e-01 -1.00551065e-01 9.78824829e-01 8.21592850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78925976399998 meters Centerline goodness [0,1] 0.2754751248621652 Centerline is valid? [False, False] Translation: X:-93.28, Y:-43.54, Z:82.18 [[ 9.84277029e-01 -1.77940484e-02 1.75733041e-01 -9.32845759e+01] [ 4.27995501e-04 9.95150030e-01 9.83678516e-02 -4.35396452e+01] [-1.76631103e-01 -9.67460038e-02 9.79510931e-01 8.21775948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81925976399998 meters Centerline goodness [0,1] 0.2840864864864865 Centerline is valid? [False, False] Translation: X:-93.32, Y:-43.59, Z:82.20 [[ 9.84619181e-01 -1.37495375e-02 1.74172385e-01 -9.33243888e+01] [-3.02110949e-03 9.95409629e-01 9.56584733e-02 -4.35919911e+01] [-1.74688129e-01 -9.47133614e-02 9.80057874e-01 8.21972511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84925976399998 meters Centerline goodness [0,1] 0.2768206480620825 Centerline is valid? [False, False] Translation: X:-93.36, Y:-43.64, Z:82.22 [[ 9.84807372e-01 -1.11205705e-02 1.73293893e-01 -9.33646419e+01] [-4.88963311e-03 9.95775794e-01 9.16878337e-02 -4.36426849e+01] [-1.73581485e-01 -9.11421981e-02 9.80592967e-01 8.22156647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87925976399998 meters Centerline goodness [0,1] 0.2614533111365749 Centerline is valid? [False, False] Translation: X:-93.40, Y:-43.69, Z:82.23 [[ 9.85124014e-01 -8.44626142e-03 1.71637227e-01 -9.34034287e+01] [-6.75888526e-03 9.96114149e-01 8.78118399e-02 -4.36919605e+01] [-1.71711952e-01 -8.76656285e-02 9.81238882e-01 8.22332691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90925976399998 meters Centerline goodness [0,1] 0.28028862772208785 Centerline is valid? [False, False] Translation: X:-93.44, Y:-43.74, Z:82.25 [[ 9.85442081e-01 -5.59059960e-03 1.69919543e-01 -9.34413051e+01] [-8.86922726e-03 9.96407711e-01 8.42200143e-02 -4.37393794e+01] [-1.69779983e-01 -8.45010012e-02 9.81852503e-01 8.22497043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93925976399998 meters Centerline goodness [0,1] 0.27539708265802265 Centerline is valid? [False, False] Translation: X:-93.48, Y:-43.79, Z:82.27 [[ 9.85672084e-01 -1.49065145e-03 1.68666298e-01 -9.34807224e+01] [-1.23814446e-02 9.96623838e-01 8.11641881e-02 -4.37876116e+01] [-1.68217841e-01 -8.20896069e-02 9.82325839e-01 8.22662527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.969259764 meters Centerline goodness [0,1] 0.24655787312223065 Centerline is valid? [False, False] Translation: X:-93.52, Y:-43.83, Z:82.28 [[ 9.85891525e-01 2.70712978e-03 1.67363591e-01 -9.35198718e+01] [-1.61663425e-02 9.96734876e-01 7.91090186e-02 -4.38347564e+01] [-1.66602970e-01 -8.06985682e-02 9.82716231e-01 8.22827320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.999259764 meters Centerline goodness [0,1] 0.28189109146328284 Centerline is valid? [False, False] Translation: X:-93.56, Y:-43.88, Z:82.30 [[ 9.86044680e-01 7.56575993e-03 1.66308893e-01 -9.35597546e+01] [-2.07726248e-02 9.96751278e-01 7.78163757e-02 -4.38821402e+01] [-1.65179861e-01 -8.01850955e-02 9.82998456e-01 8.22991096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.029259764 meters Centerline goodness [0,1] 0.25488968524675104 Centerline is valid? [False, False] Translation: X:-93.60, Y:-43.93, Z:82.32 [[ 9.86288795e-01 1.19413126e-02 1.64595921e-01 -9.35982635e+01] [-2.49693345e-02 9.96694278e-01 7.73113751e-02 -4.39293914e+01] [-1.63128613e-01 -8.03611936e-02 9.83326565e-01 8.23155376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.059259764 meters Centerline goodness [0,1] 0.27244448284800826 Centerline is valid? [False, False] Translation: X:-93.64, Y:-43.98, Z:82.33 [[ 9.86326981e-01 1.56850667e-02 1.64052020e-01 -9.36395712e+01] [-2.83362084e-02 9.96776092e-01 7.50631868e-02 -4.39773853e+01] [-1.62345760e-01 -7.86854587e-02 9.83591609e-01 8.23315827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.089259764 meters Centerline goodness [0,1] 0.27029889131421414 Centerline is valid? [False, False] Translation: X:-93.68, Y:-44.03, Z:82.35 [[ 9.86345236e-01 1.95536429e-02 1.63525934e-01 -9.36819230e+01] [-3.17172572e-02 9.96892505e-01 7.21065171e-02 -4.40271587e+01] [-1.61607833e-01 -7.63085137e-02 9.83900360e-01 8.23466712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.119259764 meters Centerline goodness [0,1] 0.2735696235339856 Centerline is valid? [False, False] Translation: X:-93.72, Y:-44.08, Z:82.36 [[ 9.86329644e-01 2.38992479e-02 1.63041896e-01 -9.37240584e+01] [-3.58378217e-02 9.96855040e-01 7.06801169e-02 -4.40763571e+01] [-1.60839934e-01 -7.55569609e-02 9.84084174e-01 8.23609532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.149259764 meters Centerline goodness [0,1] 0.2831076849992442 Centerline is valid? [False, False] Translation: X:-93.78, Y:-44.14, Z:82.37 [[ 9.86667235e-01 2.53905805e-02 1.60757847e-01 -9.37755760e+01] [-3.80624504e-02 9.96362469e-01 7.62435646e-02 -4.41366537e+01] [-1.58237217e-01 -8.13458647e-02 9.84044630e-01 8.23724735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17925976399997 meters Centerline goodness [0,1] 0.27660814925179766 Centerline is valid? [False, False] Translation: X:-93.83, Y:-44.19, Z:82.38 [[ 9.87131260e-01 2.54375151e-02 1.57875928e-01 -9.38261420e+01] [-3.84884552e-02 9.96038106e-01 8.01668947e-02 -4.41910061e+01] [-1.55211194e-01 -8.52116483e-02 9.84199401e-01 8.23837081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20925976399997 meters Centerline goodness [0,1] 0.2969957266801917 Centerline is valid? [False, False] Translation: X:-93.87, Y:-44.24, Z:82.40 [[ 9.87032441e-01 2.96562990e-02 1.57757614e-01 -9.38706872e+01] [-4.22513283e-02 9.96128279e-01 7.70926573e-02 -4.42419085e+01] [-1.54860537e-01 -8.27584225e-02 9.84463944e-01 8.23986003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23925976399997 meters Centerline goodness [0,1] 0.295676399447132 Centerline is valid? [False, False] Translation: X:-93.93, Y:-44.30, Z:82.41 [[ 9.87256262e-01 3.07188736e-02 1.56145519e-01 -9.39254193e+01] [-4.38286980e-02 9.95731938e-01 8.12216271e-02 -4.43049733e+01] [-1.52984043e-01 -8.70302148e-02 9.84388960e-01 8.24106021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26925976399997 meters Centerline goodness [0,1] 0.26428170473681933 Centerline is valid? [False, False] Translation: X:-93.98, Y:-44.37, Z:82.42 [[ 9.87520580e-01 3.13994991e-02 1.54328142e-01 -9.39793986e+01] [-4.51714860e-02 9.95222235e-01 8.65577215e-02 -4.43666209e+01] [-1.50872929e-01 -9.24487628e-02 9.84220801e-01 8.24227994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29925976399997 meters Centerline goodness [0,1] 0.2735787974273751 Centerline is valid? [False, False] Translation: X:-94.03, Y:-44.43, Z:82.43 [[ 9.87731647e-01 3.29639231e-02 1.52641979e-01 -9.40330897e+01] [-4.76423718e-02 9.94476262e-01 9.35262987e-02 -4.44275881e+01] [-1.48715831e-01 -9.96511110e-02 9.83846155e-01 8.24348368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32925976399997 meters Centerline goodness [0,1] 0.31579741379310344 Centerline is valid? [False, False] Translation: X:-94.10, Y:-44.50, Z:82.45 [[ 9.87339039e-01 4.39675096e-02 1.52408923e-01 -9.40973151e+01] [-5.97807961e-02 9.93111424e-01 1.00776762e-01 -4.44982925e+01] [-1.46928139e-01 -1.08611958e-01 9.83166092e-01 8.24501281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35925976399997 meters Centerline goodness [0,1] 0.3246462340347628 Centerline is valid? [False, False] Translation: X:-94.16, Y:-44.57, Z:82.47 [[ 9.87219390e-01 4.74876563e-02 1.52127571e-01 -9.41618126e+01] [-6.40384186e-02 9.92321974e-01 1.05812008e-01 -4.45732131e+01] [-1.45934767e-01 -1.14201675e-01 9.82680529e-01 8.24653350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38925976399997 meters Centerline goodness [0,1] 0.31726025036089023 Centerline is valid? [False, False] Translation: X:-94.23, Y:-44.65, Z:82.48 [[ 9.87251924e-01 4.97904868e-02 1.51177202e-01 -9.42265078e+01] [-6.69008120e-02 9.91645207e-01 1.10290821e-01 -4.46494587e+01] [-1.44422714e-01 -1.18998703e-01 9.82334662e-01 8.24817319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41925976399997 meters Centerline goodness [0,1] 0.2858744394618834 Centerline is valid? [False, False] Translation: X:-94.30, Y:-44.73, Z:82.50 [[ 9.87066167e-01 5.53303961e-02 1.50462385e-01 -9.42956060e+01] [-7.27686035e-02 9.90929226e-01 1.12977871e-01 -4.47274242e+01] [-1.42846464e-01 -1.22465572e-01 9.82139029e-01 8.24981107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44925976399998 meters Centerline goodness [0,1] 0.2893511532657901 Centerline is valid? [False, False] Translation: X:-94.36, Y:-44.81, Z:82.52 [[ 9.87150677e-01 5.63054590e-02 1.49543423e-01 -9.43625980e+01] [-7.41732726e-02 9.90390349e-01 1.16727388e-01 -4.48071876e+01] [-1.41533973e-01 -1.26319645e-01 9.81840864e-01 8.25152809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47925976399998 meters Centerline goodness [0,1] 0.2890581179617725 Centerline is valid? [False, False] Translation: X:-94.44, Y:-44.90, Z:82.53 [[ 9.87905211e-01 5.66762909e-02 1.44329801e-01 -9.44380137e+01] [-7.51896957e-02 9.89147044e-01 1.26232465e-01 -4.49020011e+01] [-1.35609009e-01 -1.35557824e-01 9.81444992e-01 8.25346771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50925976399998 meters Centerline goodness [0,1] 0.3143892808596026 Centerline is valid? [False, False] Translation: X:-94.51, Y:-44.99, Z:82.55 [[ 9.87876878e-01 5.84681004e-02 1.43808048e-01 -9.45075061e+01] [-7.75896039e-02 9.88318387e-01 1.31174001e-01 -4.49870513e+01] [-1.34458643e-01 -1.40741772e-01 9.80873400e-01 8.25541039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53925976399998 meters Centerline goodness [0,1] 0.30237073149686133 Centerline is valid? [False, False] Translation: X:-94.58, Y:-45.08, Z:82.58 [[ 9.88635458e-01 5.82991556e-02 1.38568177e-01 -9.45794658e+01] [-7.78721071e-02 9.87039460e-01 1.40317637e-01 -4.50796303e+01] [-1.28591859e-01 -1.49513587e-01 9.80362087e-01 8.25751563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56925976399998 meters Centerline goodness [0,1] 0.31742403002135144 Centerline is valid? [False, False] Translation: X:-94.65, Y:-45.17, Z:82.60 [[ 9.89058495e-01 5.92076212e-02 1.35121244e-01 -9.46526156e+01] [-7.88937006e-02 9.86231761e-01 1.45336498e-01 -4.51696862e+01] [-1.24655834e-01 -1.54406513e-01 9.80112010e-01 8.25960833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59925976399998 meters Centerline goodness [0,1] 0.32360490951055887 Centerline is valid? [False, False] Translation: X:-94.72, Y:-45.25, Z:82.62 [[ 9.89123280e-01 5.84195778e-02 1.34989963e-01 -9.47194895e+01] [-7.83002291e-02 9.86030776e-01 1.47011506e-01 -4.52549641e+01] [-1.24515907e-01 -1.55982248e-01 9.79880262e-01 8.26159997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62925976399998 meters Centerline goodness [0,1] 0.3147728987475479 Centerline is valid? [False, False] Translation: X:-94.78, Y:-45.34, Z:82.63 [[ 9.89415519e-01 5.72411663e-02 1.33343088e-01 -9.47813043e+01] [-7.72870472e-02 9.85602855e-01 1.50378601e-01 -4.53356398e+01] [-1.22815482e-01 -1.59092615e-01 9.79594762e-01 8.26346859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65925976399998 meters Centerline goodness [0,1] 0.32603910397513924 Centerline is valid? [False, False] Translation: X:-94.85, Y:-45.42, Z:82.66 [[ 9.89783362e-01 5.34859679e-02 1.32167119e-01 -9.48453572e+01] [-7.37429055e-02 9.85396785e-01 1.53476903e-01 -4.54188654e+01] [-1.22028193e-01 -1.61655273e-01 9.79273554e-01 8.26574053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68925976399998 meters Centerline goodness [0,1] 0.3271907299915845 Centerline is valid? [False, False] Translation: X:-94.90, Y:-45.50, Z:82.68 [[ 9.90202570e-01 4.91423027e-02 1.30705408e-01 -9.49044337e+01] [-6.96325287e-02 9.85118081e-01 1.57142220e-01 -4.54958235e+01] [-1.21037930e-01 -1.64703978e-01 9.78888359e-01 8.26771712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.719259764 meters Centerline goodness [0,1] 0.31378558632449116 Centerline is valid? [False, False] Translation: X:-94.96, Y:-45.57, Z:82.70 [[ 9.90673949e-01 4.55424190e-02 1.28417346e-01 -9.49588677e+01] [-6.60424709e-02 9.84871941e-01 1.60205030e-01 -4.55681294e+01] [-1.19178516e-01 -1.67191949e-01 9.78694709e-01 8.26955700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.749259764 meters Centerline goodness [0,1] 0.33020293609671847 Centerline is valid? [False, False] Translation: X:-95.01, Y:-45.63, Z:82.72 [[ 9.90588310e-01 4.48408775e-02 1.29321679e-01 -9.50062310e+01] [-6.51556391e-02 9.85380895e-01 1.57414215e-01 -4.56309926e+01] [-1.20372520e-01 -1.64358717e-01 9.79028431e-01 8.27156151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.779259764 meters Centerline goodness [0,1] 0.3073022312373225 Centerline is valid? [False, False] Translation: X:-95.05, Y:-45.70, Z:82.74 [[ 9.90446794e-01 4.38624745e-02 1.30733439e-01 -9.50541651e+01] [-6.39567815e-02 9.86043466e-01 1.53713410e-01 -4.56975301e+01] [-1.22166603e-01 -1.60606244e-01 9.79428893e-01 8.27370386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.809259764 meters Centerline goodness [0,1] 0.3122869839078476 Centerline is valid? [False, False] Translation: X:-95.10, Y:-45.76, Z:82.76 [[ 9.90245534e-01 4.28667255e-02 1.32575361e-01 -9.51005870e+01] [-6.26865949e-02 9.86826120e-01 1.49146237e-01 -4.57617303e+01] [-1.24435418e-01 -1.56002093e-01 9.79887327e-01 8.27576726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.839259764 meters Centerline goodness [0,1] 0.31280214088397795 Centerline is valid? [False, False] Translation: X:-95.15, Y:-45.82, Z:82.78 [[ 9.89985784e-01 3.76513304e-02 1.36053388e-01 -9.51482792e+01] [-5.72537063e-02 9.88040063e-01 1.43174182e-01 -4.58234454e+01] [-1.29035500e-01 -1.49529965e-01 9.80301295e-01 8.27766614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.869259764 meters Centerline goodness [0,1] 0.3203875115972986 Centerline is valid? [False, False] Translation: X:-95.20, Y:-45.89, Z:82.79 [[ 9.89472410e-01 3.14324047e-02 1.41266961e-01 -9.51956078e+01] [-5.12482604e-02 9.88978701e-01 1.38905521e-01 -4.58857627e+01] [-1.35343881e-01 -1.44682867e-01 9.80177995e-01 8.27942469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.899259764 meters Centerline goodness [0,1] 0.29857380197208017 Centerline is valid? [False, False] Translation: X:-95.24, Y:-45.95, Z:82.81 [[ 9.89278206e-01 3.11228208e-02 1.42688478e-01 -9.52396240e+01] [-5.05636657e-02 9.89593135e-01 1.34717273e-01 -4.59465445e+01] [-1.37010757e-01 -1.40487714e-01 9.80556605e-01 8.28142334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92925976399997 meters Centerline goodness [0,1] 0.29742626419657126 Centerline is valid? [False, False] Translation: X:-95.28, Y:-46.00, Z:82.83 [[ 9.89346612e-01 2.87703241e-02 1.42707918e-01 -9.52818073e+01] [-4.72032768e-02 9.90712877e-01 1.27514098e-01 -4.60036270e+01] [-1.37713950e-01 -1.32891922e-01 9.81516482e-01 8.28346488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95925976399997 meters Centerline goodness [0,1] 0.27476348870361567 Centerline is valid? [False, False] Translation: X:-95.32, Y:-46.06, Z:82.85 [[ 9.89386813e-01 2.79271088e-02 1.42596670e-01 -9.53223511e+01] [-4.55549903e-02 9.91496990e-01 1.21895289e-01 -4.60592146e+01] [-1.37979986e-01 -1.27097581e-01 9.82246267e-01 8.28530512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98925976399997 meters Centerline goodness [0,1] 0.29135914368337 Centerline is valid? [False, False] Translation: X:-95.37, Y:-46.12, Z:82.87 [[ 9.89146118e-01 2.10570398e-02 1.45418565e-01 -9.53659930e+01] [-3.87245095e-02 9.92047955e-01 1.19755033e-01 -4.61173875e+01] [-1.41740503e-01 -1.24086489e-01 9.82095806e-01 8.28685238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01925976399997 meters Centerline goodness [0,1] 0.303731970765151 Centerline is valid? [False, False] Translation: X:-95.40, Y:-46.17, Z:82.89 [[ 9.89164191e-01 2.06521184e-02 1.45353684e-01 -9.54039984e+01] [-3.76588353e-02 9.92623220e-01 1.15243031e-01 -4.61712580e+01] [-1.41901429e-01 -1.19468130e-01 9.82645079e-01 8.28859292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04925976399997 meters Centerline goodness [0,1] 0.30917415342087073 Centerline is valid? [False, False] Translation: X:-95.44, Y:-46.22, Z:82.90 [[ 9.89256635e-01 1.68068403e-02 1.45219972e-01 -9.54420764e+01] [-3.26935045e-02 9.93644199e-01 1.07714158e-01 -4.62237647e+01] [-1.42486648e-01 -1.11304695e-01 9.83518592e-01 8.29036492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07925976399997 meters Centerline goodness [0,1] 0.28210553588392784 Centerline is valid? [False, False] Translation: X:-95.48, Y:-46.27, Z:82.92 [[ 9.89307017e-01 1.45663983e-02 1.45118731e-01 -9.54777459e+01] [-2.95285760e-02 9.94398284e-01 1.01489490e-01 -4.62724635e+01] [-1.42827480e-01 -1.04689415e-01 9.84195325e-01 8.29189559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10925976399997 meters Centerline goodness [0,1] 0.2889378809492932 Centerline is valid? [False, False] Translation: X:-95.51, Y:-46.32, Z:82.93 [[ 9.89285845e-01 1.26319656e-02 1.45443977e-01 -9.55142485e+01] [-2.68704658e-02 9.94984462e-01 9.63529890e-02 -4.63245236e+01] [-1.43497370e-01 -9.92287955e-02 9.84663471e-01 8.29348036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13925976399997 meters Centerline goodness [0,1] 0.28851758305809205 Centerline is valid? [False, False] Translation: X:-95.55, Y:-46.37, Z:82.95 [[ 9.89310970e-01 1.42223540e-02 1.45125907e-01 -9.55480773e+01] [-2.80570603e-02 9.95201981e-01 9.37326970e-02 -4.63704816e+01] [-1.43096491e-01 -9.68025917e-02 9.84963275e-01 8.29483401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16925976399997 meters Centerline goodness [0,1] 0.2860693291839558 Centerline is valid? [False, False] Translation: X:-95.58, Y:-46.42, Z:82.96 [[ 9.89407727e-01 1.49746682e-02 1.44388740e-01 -9.55843941e+01] [-2.81687722e-02 9.95563854e-01 8.97726686e-02 -4.64189908e+01] [-1.42403894e-01 -9.28890256e-02 9.85440389e-01 8.29641409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19925976399998 meters Centerline goodness [0,1] 0.3059334110636093 Centerline is valid? [False, False] Translation: X:-95.62, Y:-46.46, Z:82.98 [[ 9.89417628e-01 1.69551507e-02 1.44101633e-01 -9.56190597e+01] [-2.96924092e-02 9.95791405e-01 8.67054697e-02 -4.64628480e+01] [-1.42025063e-01 -9.00666448e-02 9.85757009e-01 8.29761834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22925976399998 meters Centerline goodness [0,1] 0.27029653787175223 Centerline is valid? [False, False] Translation: X:-95.66, Y:-46.51, Z:82.99 [[ 9.89414422e-01 2.05725984e-02 1.43651904e-01 -9.56560913e+01] [-3.28589193e-02 9.95950183e-01 8.36870604e-02 -4.65111375e+01] [-1.41348479e-01 -8.75214308e-02 9.86083468e-01 8.29897218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25925976399998 meters Centerline goodness [0,1] 0.2941633569331722 Centerline is valid? [False, False] Translation: X:-95.69, Y:-46.56, Z:83.00 [[ 9.89462422e-01 2.47249900e-02 1.42663205e-01 -9.56925581e+01] [-3.67060628e-02 9.95958567e-01 8.19707098e-02 -4.65599301e+01] [-1.40059917e-01 -8.63435416e-02 9.86371133e-01 8.30032769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28925976399998 meters Centerline goodness [0,1] 0.2941633569331722 Centerline is valid? [False, False] Translation: X:-95.73, Y:-46.61, Z:83.02 [[ 9.89644622e-01 2.63169601e-02 1.41106127e-01 -9.57284711e+01] [-3.77065078e-02 9.96188152e-01 7.86599351e-02 -4.66081336e+01] [-1.38498162e-01 -8.31660010e-02 9.86864568e-01 8.30174813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31925976399998 meters Centerline goodness [0,1] 0.295187350346226 Centerline is valid? [False, False] Translation: X:-95.77, Y:-46.66, Z:83.03 [[ 9.89686773e-01 2.96964935e-02 1.40136399e-01 -9.57671091e+01] [-4.06685384e-02 9.96271032e-01 7.60927098e-02 -4.66578839e+01] [-1.37354148e-01 -8.10070909e-02 9.87203975e-01 8.30315322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34925976399998 meters Centerline goodness [0,1] 0.3211019069807576 Centerline is valid? [False, False] Translation: X:-95.81, Y:-46.71, Z:83.05 [[ 9.89742433e-01 3.37957410e-02 1.38808369e-01 -9.58063531e+01] [-4.44602208e-02 9.96232355e-01 7.44606145e-02 -4.67087079e+01] [-1.35768937e-01 -7.98682805e-02 9.87516002e-01 8.30455469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37925976399998 meters Centerline goodness [0,1] 0.26649264356905555 Centerline is valid? [False, False] Translation: X:-95.85, Y:-46.76, Z:83.06 [[ 9.89489430e-01 4.11906332e-02 1.38614573e-01 -9.58509012e+01] [-5.18333995e-02 9.95905380e-01 7.40660053e-02 -4.67638514e+01] [-1.34996174e-01 -8.04723940e-02 9.87572897e-01 8.30590418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40925976399998 meters Centerline goodness [0,1] 0.2522384517465317 Centerline is valid? [False, False] Translation: X:-95.89, Y:-46.82, Z:83.07 [[ 9.89530685e-01 4.36148971e-02 1.37574574e-01 -9.58944785e+01] [-5.40070170e-02 9.95888214e-01 7.27317430e-02 -4.68186757e+01] [-1.33836710e-01 -7.94002839e-02 9.87817458e-01 8.30736446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43925976399998 meters Centerline goodness [0,1] 0.30556573868414816 Centerline is valid? [False, False] Translation: X:-95.94, Y:-46.87, Z:83.09 [[ 9.89620806e-01 4.47128211e-02 1.36570213e-01 -9.59381317e+01] [-5.47918715e-02 9.95973486e-01 7.09553835e-02 -4.68727749e+01] [-1.32847696e-01 -7.77018614e-02 9.88085983e-01 8.30881160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.469259764 meters Centerline goodness [0,1] 0.3232819981881714 Centerline is valid? [False, False] Translation: X:-95.99, Y:-46.94, Z:83.10 [[ 9.90053051e-01 4.38611614e-02 1.33683041e-01 -9.59895146e+01] [-5.45605226e-02 9.95502102e-01 7.74513609e-02 -4.69367147e+01] [-1.29684642e-01 -8.39747728e-02 9.87992981e-01 8.30971908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.499259764 meters Centerline goodness [0,1] 0.3084563180006463 Centerline is valid? [False, False] Translation: X:-96.04, Y:-47.00, Z:83.11 [[ 9.90164842e-01 4.92061247e-02 1.30966955e-01 -9.60443953e+01] [-6.05157250e-02 9.94641385e-01 8.38233988e-02 -4.70036281e+01] [-1.26140529e-01 -9.09245427e-02 9.87836674e-01 8.31053694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.529259764 meters Centerline goodness [0,1] 0.2944144921285313 Centerline is valid? [False, False] Translation: X:-96.10, Y:-47.07, Z:83.12 [[ 9.90510953e-01 4.91527979e-02 1.28343505e-01 -9.60982868e+01] [-6.08538715e-02 9.94179885e-01 8.88997327e-02 -4.70726014e+01] [-1.23226860e-01 -9.58663581e-02 9.87737203e-01 8.31156105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.559259764 meters Centerline goodness [0,1] 0.30325852395338804 Centerline is valid? [False, False] Translation: X:-96.14, Y:-47.13, Z:83.13 [[ 9.90439300e-01 4.98753009e-02 1.28617447e-01 -9.61423043e+01] [-6.09977259e-02 9.94593748e-01 8.40390070e-02 -4.71290919e+01] [-1.23730638e-01 -9.10809071e-02 9.88127015e-01 8.31305723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.589259764 meters Centerline goodness [0,1] 0.305627481443121 Centerline is valid? [False, False] Translation: X:-96.19, Y:-47.19, Z:83.15 [[ 9.90432287e-01 4.97879869e-02 1.28705249e-01 -9.61858717e+01] [-6.05415839e-02 9.94870809e-01 8.10357360e-02 -4.71859982e+01] [-1.24010489e-01 -8.80524289e-02 9.88366414e-01 8.31452219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.619259764 meters Centerline goodness [0,1] 0.30738871635610765 Centerline is valid? [False, False] Translation: X:-96.23, Y:-47.24, Z:83.16 [[ 9.90315471e-01 5.14726022e-02 1.28941224e-01 -9.62296242e+01] [-6.20068429e-02 9.94939456e-01 7.90609290e-02 -4.72439813e+01] [-1.24219240e-01 -8.62904993e-02 9.88495589e-01 8.31597703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.649259764 meters Centerline goodness [0,1] 0.2918777895168072 Centerline is valid? [False, False] Translation: X:-96.28, Y:-47.31, Z:83.17 [[ 9.90055671e-01 5.07681874e-02 1.31195884e-01 -9.62793062e+01] [-6.16342703e-02 9.94876744e-01 8.01341436e-02 -4.73078896e+01] [-1.26455469e-01 -8.74234259e-02 9.88112422e-01 8.31742894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67925976399997 meters Centerline goodness [0,1] 0.2886993235965706 Centerline is valid? [False, False] Translation: X:-96.33, Y:-47.38, Z:83.19 [[ 9.90540445e-01 4.89336287e-02 1.28199559e-01 -9.63320164e+01] [-6.04661203e-02 9.94313056e-01 8.76663847e-02 -4.73787478e+01] [-1.23180661e-01 -9.45888296e-02 9.87866124e-01 8.31860434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70925976399997 meters Centerline goodness [0,1] 0.305648986632169 Centerline is valid? [False, False] Translation: X:-96.38, Y:-47.45, Z:83.20 [[ 9.91195548e-01 4.36075381e-02 1.25019074e-01 -9.63844942e+01] [-5.53560020e-02 9.94210409e-01 9.20943825e-02 -4.74475253e+01] [-1.20279256e-01 -9.82040981e-02 9.87870870e-01 8.31997077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73925976399997 meters Centerline goodness [0,1] 0.28890662410215484 Centerline is valid? [False, False] Translation: X:-96.43, Y:-47.50, Z:83.21 [[ 9.91058814e-01 4.41720559e-02 1.25901771e-01 -9.64255172e+01] [-5.54894999e-02 9.94587043e-01 8.78494679e-02 -4.75001622e+01] [-1.21339778e-01 -9.40502158e-02 9.88145341e-01 8.32127994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76925976399997 meters Centerline goodness [0,1] 0.29443234031537846 Centerline is valid? [False, False] Translation: X:-96.47, Y:-47.55, Z:83.23 [[ 9.90910796e-01 4.62945378e-02 1.26303645e-01 -9.64663124e+01] [-5.71900969e-02 9.94819178e-01 8.40481718e-02 -4.75535017e+01] [-1.21758317e-01 -9.05075585e-02 9.88424653e-01 8.32250366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79925976399997 meters Centerline goodness [0,1] 0.30076355636081276 Centerline is valid? [False, False] Translation: X:-96.51, Y:-47.61, Z:83.24 [[ 9.90811999e-01 4.95199999e-02 1.25854489e-01 -9.65074478e+01] [-6.00681298e-02 9.94865929e-01 8.14469399e-02 -4.76094653e+01] [-1.21175091e-01 -8.82584492e-02 9.88699673e-01 8.32384553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82925976399997 meters Centerline goodness [0,1] 0.3172331930506097 Centerline is valid? [False, False] Translation: X:-96.55, Y:-47.66, Z:83.25 [[ 9.90854076e-01 4.07347336e-02 1.28642453e-01 -9.65505228e+01] [-5.16027917e-02 9.95269775e-01 8.23117652e-02 -4.76639203e+01] [-1.24680997e-01 -8.81972577e-02 9.88269140e-01 8.32485901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85925976399997 meters Centerline goodness [0,1] 0.3049493837553152 Centerline is valid? [False, False] Translation: X:-96.59, Y:-47.72, Z:83.26 [[ 9.90600794e-01 3.84429680e-02 1.31271496e-01 -9.65940881e+01] [-4.95341143e-02 9.95376052e-01 8.22975553e-02 -4.77203677e+01] [-1.27500741e-01 -8.80264409e-02 9.87924545e-01 8.32606642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88925976399997 meters Centerline goodness [0,1] 0.3064610074425629 Centerline is valid? [False, False] Translation: X:-96.63, Y:-47.77, Z:83.28 [[ 9.90633699e-01 3.87801801e-02 1.30923537e-01 -9.66328750e+01] [-4.95709180e-02 9.95545973e-01 8.01931413e-02 -4.77746921e+01] [-1.27230496e-01 -8.59320281e-02 9.88143759e-01 8.32753649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91925976399997 meters Centerline goodness [0,1] 0.30927256640987466 Centerline is valid? [False, False] Translation: X:-96.67, Y:-47.83, Z:83.29 [[ 9.90777101e-01 3.86832118e-02 1.29862797e-01 -9.66703293e+01] [-4.89937739e-02 9.95813965e-01 7.71631830e-02 -4.78260720e+01] [-1.26334267e-01 -8.28139832e-02 9.88524910e-01 8.32894236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94925976399998 meters Centerline goodness [0,1] 0.2765007762635846 Centerline is valid? [False, False] Translation: X:-96.71, Y:-47.88, Z:83.30 [[ 9.91047958e-01 3.73203774e-02 1.28183985e-01 -9.67064955e+01] [-4.70374587e-02 9.96175422e-01 7.36342737e-02 -4.78757495e+01] [-1.24945677e-01 -7.90045455e-02 9.89013074e-01 8.33038972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97925976399998 meters Centerline goodness [0,1] 0.30101589629661585 Centerline is valid? [False, False] Translation: X:-96.74, Y:-47.92, Z:83.31 [[ 9.91203932e-01 3.84217799e-02 1.26643326e-01 -9.67409635e+01] [-4.75709354e-02 9.96410059e-01 7.00285638e-02 -4.79225414e+01] [-1.23498061e-01 -7.54371292e-02 9.89473329e-01 8.33146362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00925976399998 meters Centerline goodness [0,1] 0.30670208859802583 Centerline is valid? [False, False] Translation: X:-96.78, Y:-47.97, Z:83.33 [[ 9.91343709e-01 4.03351105e-02 1.24942904e-01 -9.67759504e+01] [-4.89802370e-02 9.96555997e-01 6.69109919e-02 -4.79714543e+01] [-1.21813738e-01 -7.24515239e-02 9.89905142e-01 8.33256524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03925976399998 meters Centerline goodness [0,1] 0.3234158234266111 Centerline is valid? [False, False] Translation: X:-96.81, Y:-48.01, Z:83.34 [[ 9.91677035e-01 3.82613735e-02 1.22933823e-01 -9.68085243e+01] [-4.61505054e-02 9.97009839e-01 6.19799368e-02 -4.80142341e+01] [-1.20194794e-01 -6.71375380e-02 9.90477543e-01 8.33362159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06925976399998 meters Centerline goodness [0,1] 0.2944787928574517 Centerline is valid? [False, False] Translation: X:-96.84, Y:-48.06, Z:83.35 [[ 9.91876010e-01 3.79662030e-02 1.21410659e-01 -9.68436937e+01] [-4.53042064e-02 9.97272881e-01 5.82608718e-02 -4.80607817e+01] [-1.18867614e-01 -6.32879746e-02 9.90891075e-01 8.33481066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09925976399998 meters Centerline goodness [0,1] 0.3055375437686422 Centerline is valid? [False, False] Translation: X:-96.88, Y:-48.11, Z:83.36 [[ 9.91775342e-01 4.20231076e-02 1.20895529e-01 -9.68815611e+01] [-4.94142856e-02 9.97045912e-01 5.88020290e-02 -4.81120328e+01] [-1.18067349e-01 -6.42923686e-02 9.90922092e-01 8.33603384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12925976399998 meters Centerline goodness [0,1] 0.3156996587030717 Centerline is valid? [False, False] Translation: X:-96.92, Y:-48.16, Z:83.37 [[ 9.91772102e-01 4.45544354e-02 1.20012499e-01 -9.69183257e+01] [-5.18409528e-02 9.96952646e-01 5.82918323e-02 -4.81621962e+01] [-1.17049618e-01 -6.40337753e-02 9.91059566e-01 8.33714195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15925976399998 meters Centerline goodness [0,1] 0.2783082040869227 Centerline is valid? [False, False] Translation: X:-96.95, Y:-48.21, Z:83.38 [[ 9.91826355e-01 4.61800785e-02 1.18944866e-01 -9.69545040e+01] [-5.31701015e-02 9.96998326e-01 5.62785699e-02 -4.82102703e+01] [-1.15988884e-01 -6.21428795e-02 9.91304616e-01 8.33822719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18925976399998 meters Centerline goodness [0,1] 0.30175317384920974 Centerline is valid? [False, False] Translation: X:-96.99, Y:-48.26, Z:83.39 [[ 9.91759698e-01 4.98017427e-02 1.18035958e-01 -9.69922627e+01] [-5.65821660e-02 9.96892625e-01 5.48046714e-02 -4.82584989e+01] [-1.14939807e-01 -6.10317945e-02 9.91495820e-01 8.33923119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.219259764 meters Centerline goodness [0,1] 0.2973341116948822 Centerline is valid? [False, False] Translation: X:-97.03, Y:-48.31, Z:83.40 [[ 9.91856853e-01 5.08430532e-02 1.16768860e-01 -9.70308996e+01] [-5.72556257e-02 9.96992199e-01 5.22335947e-02 -4.83093884e+01] [-1.13761928e-01 -5.84939230e-02 9.91784596e-01 8.34038080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.249259764 meters Centerline goodness [0,1] 0.3315682545171609 Centerline is valid? [False, False] Translation: X:-97.07, Y:-48.36, Z:83.41 [[ 9.91846082e-01 5.29221008e-02 1.15933606e-01 -9.70686434e+01] [-5.90387845e-02 9.97003946e-01 4.99755336e-02 -4.83566631e+01] [-1.12941452e-01 -5.64126164e-02 9.91998914e-01 8.34131828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.279259764 meters Centerline goodness [0,1] 0.3315682545171609 Centerline is valid? [False, False] Translation: X:-97.11, Y:-48.41, Z:83.42 [[ 9.91978726e-01 5.30817694e-02 1.14719365e-01 -9.71052983e+01] [-5.89861571e-02 9.97070210e-01 4.86993802e-02 -4.84059876e+01] [-1.11798212e-01 -5.50756036e-02 9.92203526e-01 8.34233049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.309259764 meters Centerline goodness [0,1] 0.2843713532437222 Centerline is valid? [False, False] Translation: X:-97.15, Y:-48.46, Z:83.43 [[ 9.91887199e-01 5.65143402e-02 1.13867967e-01 -9.71458180e+01] [-6.24587225e-02 9.96827769e-01 4.93285679e-02 -4.84598295e+01] [-1.10718980e-01 -5.60404229e-02 9.92270517e-01 8.34330033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.339259764 meters Centerline goodness [0,1] 0.28316998402486937 Centerline is valid? [False, False] Translation: X:-97.19, Y:-48.51, Z:83.44 [[ 9.91893996e-01 5.81301501e-02 1.12991977e-01 -9.71860286e+01] [-6.41368126e-02 9.96674170e-01 5.02699435e-02 -4.85138884e+01] [-1.09693985e-01 -5.71094004e-02 9.92323408e-01 8.34433458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.369259764 meters Centerline goodness [0,1] 0.30502147126734425 Centerline is valid? [False, False] Translation: X:-97.23, Y:-48.57, Z:83.45 [[ 9.91999352e-01 5.85823840e-02 1.11827496e-01 -9.72268399e+01] [-6.44349685e-02 9.96695615e-01 4.94569044e-02 -4.85684136e+01] [-1.08560672e-01 -5.62668184e-02 9.92496159e-01 8.34546261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.399259764 meters Centerline goodness [0,1] 0.31399464732798066 Centerline is valid? [False, False] Translation: X:-97.27, Y:-48.62, Z:83.47 [[ 9.92043604e-01 5.93763048e-02 1.11013251e-01 -9.72692113e+01] [-6.51723199e-02 9.96654021e-01 4.93287974e-02 -4.86233573e+01] [-1.07712841e-01 -5.61713091e-02 9.92593939e-01 8.34652259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42925976399997 meters Centerline goodness [0,1] 0.30174870466321246 Centerline is valid? [False, False] Translation: X:-97.32, Y:-48.69, Z:83.47 [[ 9.92623862e-01 5.74534325e-02 1.06756601e-01 -9.73184170e+01] [-6.36477239e-02 9.96425261e-01 5.55487705e-02 -4.86897951e+01] [-1.03183507e-01 -6.19338498e-02 9.92732271e-01 8.34727936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45925976399997 meters Centerline goodness [0,1] 0.311594672193079 Centerline is valid? [False, False] Translation: X:-97.35, Y:-48.74, Z:83.48 [[ 9.92923605e-01 5.41417477e-02 1.05694773e-01 -9.73542068e+01] [-5.98562891e-02 9.96869192e-01 5.16627447e-02 -4.87366447e+01] [-1.02566752e-01 -5.76236557e-02 9.93055676e-01 8.34832522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48925976399997 meters Centerline goodness [0,1] 0.3106037719563247 Centerline is valid? [False, False] Translation: X:-97.39, Y:-48.78, Z:83.49 [[ 9.93030104e-01 5.20437655e-02 1.05748097e-01 -9.73899638e+01] [-5.75620631e-02 9.97098197e-01 4.98176031e-02 -4.87833789e+01] [-1.02848541e-01 -5.55574582e-02 9.93144273e-01 8.34919726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51925976399997 meters Centerline goodness [0,1] 0.31243257239028177 Centerline is valid? [False, False] Translation: X:-97.43, Y:-48.83, Z:83.50 [[ 9.93073441e-01 5.15497577e-02 1.05582966e-01 -9.74255212e+01] [-5.69723236e-02 9.97172517e-01 4.90012734e-02 -4.88317811e+01] [-1.02758428e-01 -5.46771701e-02 9.93202453e-01 8.35012960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54925976399997 meters Centerline goodness [0,1] 0.321437048225267 Centerline is valid? [False, False] Translation: X:-97.46, Y:-48.88, Z:83.51 [[ 9.93222762e-01 4.57557940e-02 1.06840784e-01 -9.74614521e+01] [-5.16702161e-02 9.97242954e-01 5.32604806e-02 -4.88799550e+01] [-1.04109244e-01 -5.84200081e-02 9.92848613e-01 8.35070065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57925976399997 meters Centerline goodness [0,1] 0.326902326384393 Centerline is valid? [False, False] Translation: X:-97.49, Y:-48.92, Z:83.52 [[ 9.93413857e-01 4.40399673e-02 1.05779914e-01 -9.74935340e+01] [-4.95616267e-02 9.97511223e-01 5.01498341e-02 -4.89226694e+01] [-1.03308054e-01 -5.50621648e-02 9.93124163e-01 8.35151429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60925976399997 meters Centerline goodness [0,1] 0.265744676260545 Centerline is valid? [False, False] Translation: X:-97.52, Y:-48.96, Z:83.52 [[ 9.93588889e-01 4.42928990e-02 1.04015662e-01 -9.75239240e+01] [-4.94863922e-02 9.97625971e-01 4.78907023e-02 -4.89645082e+01] [-1.01647508e-01 -5.27310296e-02 9.93421976e-01 8.35226571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63925976399997 meters Centerline goodness [0,1] 0.31545203350315176 Centerline is valid? [False, False] Translation: X:-97.55, Y:-49.00, Z:83.53 [[ 9.93951164e-01 3.69747448e-02 1.03411569e-01 -9.75536603e+01] [-4.25519477e-02 9.97726742e-01 5.22559156e-02 -4.90049205e+01] [-1.01244339e-01 -5.63401918e-02 9.93265003e-01 8.35275021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66925976399997 meters Centerline goodness [0,1] 0.27913401972846386 Centerline is valid? [False, False] Translation: X:-97.58, Y:-49.04, Z:83.53 [[ 9.94292875e-01 3.19693289e-02 1.01782317e-01 -9.75784299e+01] [-3.80391713e-02 9.97576233e-01 5.82638960e-02 -4.90398396e+01] [-9.96729629e-02 -6.18030917e-02 9.93099027e-01 8.35311019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69925976399998 meters Centerline goodness [0,1] 0.2740512200910483 Centerline is valid? [False, False] Translation: X:-97.59, Y:-49.05, Z:83.53 [[ 9.94166739e-01 2.95569479e-02 1.03725035e-01 -9.75869388e+01] [-3.54530203e-02 9.97830862e-01 5.54676001e-02 -4.90521277e+01] [-1.01860588e-01 -5.88214088e-02 9.93058137e-01 8.35348975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72925976399998 meters Centerline goodness [0,1] 0.2814504459754228 Centerline is valid? [False, False] Translation: X:-97.61, Y:-49.09, Z:83.54 [[ 9.94537915e-01 2.45604110e-02 1.01445165e-01 -9.76125029e+01] [-2.99714430e-02 9.98188660e-01 5.21642669e-02 -4.90903402e+01] [-9.99802378e-02 -5.49197992e-02 9.93472580e-01 8.35429351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75925976399998 meters Centerline goodness [0,1] 0.2878369039391845 Centerline is valid? [False, False] Translation: X:-97.62, Y:-49.10, Z:83.55 [[ 9.94525805e-01 2.04825017e-02 1.02464093e-01 -9.76181287e+01] [-2.54911894e-02 9.98530924e-01 4.78141578e-02 -4.90980528e+01] [-1.01334212e-01 -5.01643454e-02 9.93586894e-01 8.35462686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78925976399998 meters Centerline goodness [0,1] 0.29532940338148606 Centerline is valid? [False, False] Translation: X:-97.64, Y:-49.13, Z:83.55 [[ 9.94930074e-01 1.92693136e-02 9.87058326e-02 -9.76391101e+01] [-2.40280532e-02 9.98593979e-01 4.72516370e-02 -4.91305663e+01] [-9.76565435e-02 -4.93837837e-02 9.93994186e-01 8.35523851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81925976399998 meters Centerline goodness [0,1] 0.2992379266423436 Centerline is valid? [False, False] Translation: X:-97.64, Y:-49.14, Z:83.55 [[ 9.94877998e-01 1.79981728e-02 9.94677561e-02 -9.76427758e+01] [-2.26839699e-02 9.98675533e-01 4.61802689e-02 -4.91370573e+01] [-9.85048539e-02 -4.82000571e-02 9.93968585e-01 8.35543477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84925976399998 meters Centerline goodness [0,1] 0.29347098334809185 Centerline is valid? [False, False] Translation: X:-97.66, Y:-49.17, Z:83.56 [[ 9.95227019e-01 1.18319711e-02 9.68668431e-02 -9.76632698e+01] [-1.67197321e-02 9.98619083e-01 4.98033886e-02 -4.91652484e+01] [-9.61438057e-02 -5.11852657e-02 9.94050520e-01 8.35579901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87925976399998 meters Centerline goodness [0,1] 0.30758089967791447 Centerline is valid? [False, False] Translation: X:-97.67, Y:-49.18, Z:83.56 [[ 9.95247754e-01 8.10782898e-03 9.70369582e-02 -9.76671921e+01] [-1.26977086e-02 9.98824665e-01 4.67766766e-02 -4.91753014e+01] [-9.65436499e-02 -4.77865294e-02 9.94180955e-01 8.35626807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90925976399998 meters Centerline goodness [0,1] 0.247001620745543 Centerline is valid? [False, False] Translation: X:-97.67, Y:-49.18, Z:83.57 [[ 9.95226994e-01 3.76026718e-03 9.75145678e-02 -9.76716744e+01] [-7.94350035e-03 9.99062936e-01 4.25458729e-02 -4.91810926e+01] [-9.72632065e-02 -4.31174082e-02 9.94324272e-01 8.35668862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93925976399998 meters Centerline goodness [0,1] 0.23752240675550185 Centerline is valid? [False, False] Translation: X:-97.67, Y:-49.19, Z:83.57 [[ 9.95184065e-01 1.44213999e-03 9.80132457e-02 -9.76746764e+01] [-5.41996306e-03 9.99171698e-01 4.03304204e-02 -4.91859005e+01] [-9.78738990e-02 -4.06674199e-02 9.94367568e-01 8.35690935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.969259764 meters Centerline goodness [0,1] 0.2565815069381403 Centerline is valid? [False, False] Translation: X:-97.70, Y:-49.22, Z:83.57 [[ 9.95505421e-01 2.65308329e-03 9.46674037e-02 -9.76979095e+01] [-6.36094096e-03 9.99223369e-01 3.88869690e-02 -4.92217106e+01] [-9.44907117e-02 -3.93143622e-02 9.94749157e-01 8.35747987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.999259764 meters Centerline goodness [0,1] 0.24822265920435638 Centerline is valid? [False, False] Translation: X:-97.70, Y:-49.23, Z:83.58 [[ 9.95440583e-01 1.95611403e-03 9.53636202e-02 -9.77013539e+01] [-5.63153154e-03 9.99250907e-01 3.82872034e-02 -4.92253755e+01] [-9.52172898e-02 -3.86496792e-02 9.94705921e-01 8.35769201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.029259764 meters Centerline goodness [0,1] 0.2877792662374141 Centerline is valid? [False, False] Translation: X:-97.70, Y:-49.23, Z:83.58 [[ 9.95426500e-01 2.31737164e-03 9.55024228e-02 -9.77024998e+01] [-6.07051635e-03 9.99219710e-01 3.90271714e-02 -4.92278479e+01] [-9.53374627e-02 -3.94284296e-02 9.94663846e-01 8.35777459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.059259764 meters Centerline goodness [0,1] 0.26518883415435135 Centerline is valid? [False, False] Translation: X:-97.71, Y:-49.23, Z:83.58 [[ 9.95349919e-01 2.26072928e-03 9.62986394e-02 -9.77059428e+01] [-6.08990902e-03 9.99201476e-01 3.94882672e-02 -4.92318361e+01] [-9.61324704e-02 -3.98910936e-02 9.94568876e-01 8.35797224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.089259764 meters Centerline goodness [0,1] 0.2638276726298505 Centerline is valid? [False, False] Translation: X:-97.72, Y:-49.25, Z:83.58 [[ 9.94893156e-01 3.75601867e-03 1.00863769e-01 -9.77193273e+01] [-7.47751619e-03 9.99304084e-01 3.65435966e-02 -4.92459563e+01] [-1.00656318e-01 -3.71111846e-02 9.94228880e-01 8.35804510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.119259764 meters Centerline goodness [0,1] 0.27152890329551593 Centerline is valid? [False, False] Translation: X:-97.73, Y:-49.27, Z:83.58 [[ 9.95633049e-01 9.33838192e-03 9.28850183e-02 -9.77325956e+01] [-1.28321479e-02 9.99229610e-01 3.70880353e-02 -4.92700797e+01] [-9.24671184e-02 -3.81179880e-02 9.94985855e-01 8.35832863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.149259764 meters Centerline goodness [0,1] 0.27235376797491617 Centerline is valid? [False, False] Translation: X:-97.75, Y:-49.29, Z:83.59 [[ 9.96352755e-01 1.20686792e-02 8.44720978e-02 -9.77452869e+01] [-1.51226080e-02 9.99251440e-01 3.56071085e-02 -4.92936296e+01] [-8.39791346e-02 -3.67546790e-02 9.95789435e-01 8.35867975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17925976399997 meters Centerline goodness [0,1] 0.27235376797491617 Centerline is valid? [False, False] Translation: X:-97.75, Y:-49.29, Z:83.59 [[ 9.96355161e-01 1.20673475e-02 8.44438964e-02 -9.77453617e+01] [-1.51227855e-02 9.99250356e-01 3.56374382e-02 -4.92937145e+01] [-8.39505442e-02 -3.67845724e-02 9.95790742e-01 8.35868276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20925976399997 meters Centerline goodness [0,1] 0.2852387437044722 Centerline is valid? [False, False] Translation: X:-97.76, Y:-49.32, Z:83.59 [[ 9.97080428e-01 1.32705477e-02 7.51964994e-02 -9.77565920e+01] [-1.59192860e-02 9.99269761e-01 3.47350143e-02 -4.93160002e+01] [-7.46806354e-02 -3.58306775e-02 9.96563578e-01 8.35911573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23925976399997 meters Centerline goodness [0,1] 0.29069993729322985 Centerline is valid? [False, False] Translation: X:-97.76, Y:-49.32, Z:83.59 [[ 9.97042340e-01 1.13280065e-02 7.60147922e-02 -9.77604193e+01] [-1.38401060e-02 9.99372567e-01 3.26025064e-02 -4.93194274e+01] [-7.55977766e-02 -3.35581321e-02 9.96573544e-01 8.35932333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26925976399997 meters Centerline goodness [0,1] 0.2961873661901776 Centerline is valid? [False, False] Translation: X:-97.76, Y:-49.33, Z:83.60 [[ 9.97023270e-01 9.76064677e-03 7.64809100e-02 -9.77638058e+01] [-1.21967242e-02 9.99430906e-01 3.14500154e-02 -4.93259880e+01] [-7.61304127e-02 -3.22892138e-02 9.96574918e-01 8.35961607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29925976399997 meters Centerline goodness [0,1] 0.2982603997839006 Centerline is valid? [False, False] Translation: X:-97.77, Y:-49.33, Z:83.60 [[ 9.97040646e-01 6.71634642e-03 7.65822484e-02 -9.77659350e+01] [-8.92367278e-03 9.99553467e-01 2.85172761e-02 -4.93292704e+01] [-7.63565200e-02 -2.91162783e-02 9.96655369e-01 8.35985484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32925976399997 meters Centerline goodness [0,1] 0.29194144738264616 Centerline is valid? [False, False] Translation: X:-97.77, Y:-49.33, Z:83.60 [[ 9.96994325e-01 5.14554490e-03 7.73035576e-02 -9.77694980e+01] [-7.25023893e-03 9.99609939e-01 2.69704178e-02 -4.93340621e+01] [-7.71346270e-02 -2.74498228e-02 9.96642743e-01 8.36007306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35925976399997 meters Centerline goodness [0,1] 0.29562154218533887 Centerline is valid? [False, False] Translation: X:-97.78, Y:-49.35, Z:83.61 [[ 9.97807584e-01 7.48975912e-03 6.57565924e-02 -9.77760081e+01] [-9.47920680e-03 9.99505098e-01 2.99950459e-02 -4.93538865e+01] [-6.54993937e-02 -3.05526046e-02 9.97384764e-01 8.36067640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38925976399997 meters Centerline goodness [0,1] 0.2769918576272651 Centerline is valid? [False, False] Translation: X:-97.78, Y:-49.36, Z:83.61 [[ 9.97801206e-01 6.10470004e-03 6.59961019e-02 -9.77792599e+01] [-8.04203943e-03 9.99543290e-01 2.91296704e-02 -4.93598989e+01] [-6.57881329e-02 -2.95963635e-02 9.97394594e-01 8.36100660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41925976399997 meters Centerline goodness [0,1] 0.3084001123182928 Centerline is valid? [False, False] Translation: X:-97.78, Y:-49.38, Z:83.62 [[ 9.98570623e-01 5.55443413e-03 5.31588046e-02 -9.77824131e+01] [-7.19473906e-03 9.99502281e-01 3.07152408e-02 -4.93754614e+01] [-5.29617407e-02 -3.10538009e-02 9.98113578e-01 8.36159313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44925976399998 meters Centerline goodness [0,1] 0.27729531216245407 Centerline is valid? [False, False] Translation: X:-97.79, Y:-49.39, Z:83.61 [[ 9.98320051e-01 5.19405728e-03 5.77069946e-02 -9.77942194e+01] [-6.70763478e-03 9.99637720e-01 2.60660035e-02 -4.93869713e+01] [-5.75507002e-02 -2.64092914e-02 9.97993220e-01 8.36145003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47925976399998 meters Centerline goodness [0,1] 0.30124337766245 Centerline is valid? [False, False] Translation: X:-97.80, Y:-49.41, Z:83.62 [[ 9.98776137e-01 8.12918144e-03 4.87867272e-02 -9.78049679e+01] [-9.33211149e-03 9.99656762e-01 2.44799998e-02 -4.94111702e+01] [-4.85709794e-02 -2.49053228e-02 9.98509181e-01 8.36164946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50925976399998 meters Centerline goodness [0,1] 0.2941112911939492 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.42, Z:83.62 [[ 9.99345121e-01 7.41898303e-03 3.54159225e-02 -9.78067692e+01] [-8.34393566e-03 9.99626055e-01 2.60409042e-02 -4.94244558e+01] [-3.52094819e-02 -2.63193587e-02 9.99033325e-01 8.36219395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53925976399998 meters Centerline goodness [0,1] 0.2280451420417694 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.43, Z:83.62 [[ 9.99338523e-01 4.72996553e-03 3.60575207e-02 -9.78095252e+01] [-5.57829573e-03 9.99709144e-01 2.34629559e-02 -4.94285857e+01] [-3.59360542e-02 -2.36485752e-02 9.99074244e-01 8.36233524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56925976399998 meters Centerline goodness [0,1] 0.30086486486486486 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.43, Z:83.62 [[ 9.99326509e-01 2.00871378e-03 3.66400628e-02 -9.78120273e+01] [-2.77223241e-03 9.99779824e-01 2.07994685e-02 -4.94320994e+01] [-3.65902153e-02 -2.08870350e-02 9.99112050e-01 8.36246748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59925976399998 meters Centerline goodness [0,1] 0.23167225164847038 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.43, Z:83.63 [[ 9.99330611e-01 2.19113123e-03 3.65175162e-02 -9.78121974e+01] [-2.96575586e-03 9.99771454e-01 2.11717621e-02 -4.94334801e+01] [-3.64627802e-02 -2.12658920e-02 9.99108717e-01 8.36252815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62925976399998 meters Centerline goodness [0,1] 0.31338729224376727 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.44, Z:83.63 [[ 9.99331435e-01 1.15607596e-04 3.65605004e-02 -9.78146848e+01] [-8.30972675e-04 9.99808496e-01 1.95520206e-02 -4.94379516e+01] [-3.65512385e-02 -1.95693296e-02 9.99140154e-01 8.36280673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65925976399998 meters Centerline goodness [0,1] 0.309535664032904 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.44, Z:83.63 [[ 9.99340993e-01 5.59077001e-05 3.62984303e-02 -9.78144466e+01] [-7.69943455e-04 9.99806475e-01 1.96575767e-02 -4.94384779e+01] [-3.62903066e-02 -1.96725699e-02 9.99147639e-01 8.36285201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68925976399998 meters Centerline goodness [0,1] 0.3098759026246378 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.44, Z:83.63 [[ 9.99363604e-01 -6.49846533e-04 3.56646137e-02 -9.78130489e+01] [-3.31463203e-05 9.99816688e-01 1.91465030e-02 -4.94380388e+01] [-3.56705183e-02 -1.91355004e-02 9.99180387e-01 8.36287212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.719259764 meters Centerline goodness [0,1] 0.29502595155709344 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.44, Z:83.63 [[ 9.99389036e-01 -1.39955437e-03 3.49227246e-02 -9.78117191e+01] [ 7.51858699e-04 9.99827600e-01 1.85527835e-02 -4.94371676e+01] [-3.49426696e-02 -1.85151914e-02 9.99217793e-01 8.36292966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.749259764 meters Centerline goodness [0,1] 0.26343236751563415 Centerline is valid? [False, False] Translation: X:-97.82, Y:-49.46, Z:83.63 [[ 9.99747739e-01 8.08197578e-05 2.24600168e-02 -9.78159760e+01] [-5.33951713e-04 9.99796427e-01 2.01697851e-02 -4.94560806e+01] [-2.24538144e-02 -2.01766896e-02 9.99544260e-01 8.36340764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.779259764 meters Centerline goodness [0,1] 0.28409066308748077 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.45, Z:83.64 [[ 9.99782269e-01 1.50601325e-03 2.08121529e-02 -9.78100425e+01] [-1.77070423e-03 9.99917714e-01 1.27055269e-02 -4.94508470e+01] [-2.07913057e-02 -1.27396127e-02 9.99702668e-01 8.36405316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.809259764 meters Centerline goodness [0,1] 0.2660751000973921 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.45, Z:83.64 [[ 9.99789847e-01 1.38547024e-03 2.04534239e-02 -9.78095292e+01] [-1.64651720e-03 9.99917338e-01 1.27516773e-02 -4.94513827e+01] [-2.04340661e-02 -1.27826744e-02 9.99709484e-01 8.36410682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.839259764 meters Centerline goodness [0,1] 0.2630952638525281 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.45, Z:83.64 [[ 9.99791161e-01 1.59097234e-03 2.03740873e-02 -9.78095670e+01] [-1.85813228e-03 9.99912458e-01 1.31005212e-02 -4.94525629e+01] [-2.03514611e-02 -1.31356430e-02 9.99706593e-01 8.36413935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.869259764 meters Centerline goodness [0,1] 0.27727331690232193 Centerline is valid? [False, False] Translation: X:-97.80, Y:-49.45, Z:83.65 [[ 9.99804157e-01 6.37703519e-03 1.87345065e-02 -9.78015475e+01] [-6.52540595e-03 9.99947746e-01 7.86922414e-03 -4.94483451e+01] [-1.86833452e-02 -7.98993327e-03 9.99793525e-01 8.36491432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.899259764 meters Centerline goodness [0,1] 0.27767078527687017 Centerline is valid? [False, False] Translation: X:-97.80, Y:-49.45, Z:83.65 [[ 9.99794985e-01 6.95960339e-03 1.90145404e-02 -9.78022793e+01] [-7.12436762e-03 9.99937543e-01 8.61121524e-03 -4.94505747e+01] [-1.89534221e-02 -8.74491638e-03 9.99782123e-01 8.36491605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92925976399997 meters Centerline goodness [0,1] 0.2975773307376163 Centerline is valid? [False, False] Translation: X:-97.80, Y:-49.45, Z:83.65 [[ 9.99814944e-01 5.52531065e-03 1.84268603e-02 -9.78008357e+01] [-5.65724001e-03 9.99958684e-01 7.11519686e-03 -4.94476139e+01] [-1.83867853e-02 -7.21812532e-03 9.99804893e-01 8.36491482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95925976399997 meters Centerline goodness [0,1] 0.25241018546539273 Centerline is valid? [False, False] Translation: X:-97.80, Y:-49.45, Z:83.65 [[ 9.99790311e-01 6.54100273e-03 1.94048723e-02 -9.78030521e+01] [-6.69117832e-03 9.99948089e-01 7.68425968e-03 -4.94480694e+01] [-1.93536022e-02 -7.81248984e-03 9.99782178e-01 8.36488460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98925976399997 meters Centerline goodness [0,1] 0.2962274348719057 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.45, Z:83.65 [[ 9.99769406e-01 7.54778297e-03 2.01038562e-02 -9.78051035e+01] [-7.72477877e-03 9.99931959e-01 8.74101347e-03 -4.94505635e+01] [-2.00365130e-02 -8.89429569e-03 9.99759686e-01 8.36491990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01925976399997 meters Centerline goodness [0,1] 0.29335235131396953 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.45, Z:83.65 [[ 9.99770560e-01 7.47952189e-03 2.00719935e-02 -9.78058901e+01] [-7.65591269e-03 9.99932624e-01 8.72549898e-03 -4.94505466e+01] [-2.00053785e-02 -8.87716643e-03 9.99760462e-01 8.36502858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04925976399997 meters Centerline goodness [0,1] 0.25831080350383906 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.45, Z:83.65 [[ 9.99762915e-01 7.78966530e-03 2.03330785e-02 -9.78068380e+01] [-7.97539616e-03 9.99927067e-01 9.06936647e-03 -4.94515158e+01] [-2.02609482e-02 -9.22938062e-03 9.99752126e-01 8.36506165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07925976399997 meters Centerline goodness [0,1] 0.2787717706037426 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.45, Z:83.65 [[ 9.99768002e-01 7.82710967e-03 2.00668397e-02 -9.78066975e+01] [-8.01402417e-03 9.99925093e-01 9.25116085e-03 -4.94525735e+01] [-1.99929267e-02 -9.40983074e-03 9.99755839e-01 8.36513642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10925976399997 meters Centerline goodness [0,1] 0.2735332915252038 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.45, Z:83.65 [[ 9.99773682e-01 7.80566729e-03 1.97903324e-02 -9.78066215e+01] [-7.99248703e-03 9.99924079e-01 9.37849360e-03 -4.94533899e+01] [-1.97156245e-02 -9.53454505e-03 9.99760165e-01 8.36521789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13925976399997 meters Centerline goodness [0,1] 0.2820822983043525 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.45, Z:83.65 [[ 9.99772508e-01 7.96219741e-03 1.97872850e-02 -9.78070299e+01] [-8.15417381e-03 9.99920283e-01 9.64033769e-03 -4.94543573e+01] [-1.97089493e-02 -9.79949354e-03 9.99757734e-01 8.36527215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16925976399997 meters Centerline goodness [0,1] 0.29029262498650255 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.45, Z:83.65 [[ 9.99780287e-01 7.50315218e-03 1.95724314e-02 -9.78066948e+01] [-7.68236177e-03 9.99929109e-01 9.09716210e-03 -4.94531900e+01] [-1.95027865e-02 -9.24552583e-03 9.99767054e-01 8.36530000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19925976399998 meters Centerline goodness [0,1] 0.2889738769689505 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.45, Z:83.65 [[ 9.99776940e-01 7.65337967e-03 1.96849208e-02 -9.78074783e+01] [-7.83757536e-03 9.99926065e-01 9.29713144e-03 -4.94538531e+01] [-1.96123109e-02 -9.44933967e-03 9.99763006e-01 8.36535762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22925976399998 meters Centerline goodness [0,1] 0.2938320096685083 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.45, Z:83.65 [[ 9.99765028e-01 8.05118281e-03 2.01262893e-02 -9.78090994e+01] [-8.24681950e-03 9.99919368e-01 9.65642984e-03 -4.94544761e+01] [-2.00469208e-02 -9.82013873e-03 9.99750812e-01 8.36541532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25925976399998 meters Centerline goodness [0,1] 0.28108271455707134 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.46, Z:83.65 [[ 9.99748659e-01 8.76530577e-03 2.06346568e-02 -9.78104934e+01] [-8.98160328e-03 9.99905446e-01 1.04130083e-02 -4.94563632e+01] [-2.05414325e-02 -1.05957234e-02 9.99732854e-01 8.36542580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28925976399998 meters Centerline goodness [0,1] 0.28784510112893125 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.46, Z:83.65 [[ 9.99764370e-01 5.32061025e-03 2.10450960e-02 -9.78118558e+01] [-5.46838975e-03 9.99960752e-01 6.97073603e-03 -4.94583672e+01] [-2.10071815e-02 -7.08417630e-03 9.99754226e-01 8.36545150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31925976399998 meters Centerline goodness [0,1] 0.2693854603641396 Centerline is valid? [False, False] Translation: X:-97.80, Y:-49.46, Z:83.66 [[ 9.99981411e-01 1.36449900e-03 5.94269738e-03 -9.78025851e+01] [-1.38539829e-03 9.99992866e-01 3.51410736e-03 -4.94594192e+01] [-5.93785999e-03 -3.52227504e-03 9.99976167e-01 8.36568432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34925976399998 meters Centerline goodness [0,1] 0.29778258518117906 Centerline is valid? [False, False] Translation: X:-97.80, Y:-49.46, Z:83.66 [[ 9.99978124e-01 -3.46905072e-03 5.63185161e-03 -9.78010035e+01] [ 3.47683862e-03 9.99993012e-01 -1.37363095e-03 -4.94582200e+01] [-5.62704706e-03 1.39318194e-03 9.99983198e-01 8.36558410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37925976399998 meters Centerline goodness [0,1] 0.24583098713561746 Centerline is valid? [False, False] Translation: X:-97.80, Y:-49.46, Z:83.66 [[ 9.99953640e-01 -8.19608355e-03 5.05396016e-03 -9.77992553e+01] [ 8.22616823e-03 9.99948397e-01 -5.96091996e-03 -4.94578674e+01] [-5.00484317e-03 6.00221834e-03 9.99969462e-01 8.36555441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40925976399998 meters Centerline goodness [0,1] 0.2629106965066448 Centerline is valid? [False, False] Translation: X:-97.80, Y:-49.46, Z:83.66 [[ 9.99910621e-01 -1.25735143e-02 4.54491728e-03 -9.77979028e+01] [ 1.26188220e-02 9.99869555e-01 -1.00815945e-02 -4.94587058e+01] [-4.41756335e-03 1.01380449e-02 9.99938851e-01 8.36555701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43925976399998 meters Centerline goodness [0,1] 0.2597697667373523 Centerline is valid? [False, False] Translation: X:-97.80, Y:-49.46, Z:83.66 [[ 9.99666241e-01 -2.55333192e-02 3.93131732e-03 -9.77962629e+01] [ 2.56155524e-02 9.99418134e-01 -2.25219137e-02 -4.94604260e+01] [-3.35397061e-03 2.26150997e-02 9.99738620e-01 8.36561595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.469259764 meters Centerline goodness [0,1] 0.25709710922624196 Centerline is valid? [False, False] Translation: X:-97.79, Y:-49.46, Z:83.65 [[ 9.99731130e-01 -2.28918791e-02 3.69171745e-03 -9.77932992e+01] [ 2.29627191e-02 9.99527176e-01 -2.04484116e-02 -4.94571034e+01] [-3.22186935e-03 2.05276855e-02 9.99784094e-01 8.36532570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.499259764 meters Centerline goodness [0,1] 0.24548939764777233 Centerline is valid? [False, False] Translation: X:-97.79, Y:-49.45, Z:83.65 [[ 9.99775869e-01 -2.06554105e-02 4.64391820e-03 -9.77917542e+01] [ 2.07440986e-02 9.99585995e-01 -1.99379350e-02 -4.94504420e+01] [-4.23016936e-03 2.00298002e-02 9.99790434e-01 8.36482804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.529259764 meters Centerline goodness [0,1] 0.2762199878651296 Centerline is valid? [False, False] Translation: X:-97.81, Y:-49.45, Z:83.64 [[ 9.99935449e-01 1.09580661e-02 3.00320457e-03 -9.78063820e+01] [-1.08969644e-02 9.99747379e-01 -1.96579578e-02 -4.94527646e+01] [-3.21785910e-03 1.96239630e-02 9.99802253e-01 8.36424587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.559259764 meters Centerline goodness [0,1] 0.2525007578053956 Centerline is valid? [False, False] Translation: X:-97.82, Y:-49.46, Z:83.64 [[ 9.99567040e-01 2.79897747e-02 9.07217418e-03 -9.78218401e+01] [-2.78742718e-02 9.99531804e-01 -1.26173274e-02 -4.94572241e+01] [-9.42108278e-03 1.23589843e-02 9.99879242e-01 8.36356234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.589259764 meters Centerline goodness [0,1] 0.2928185161150768 Centerline is valid? [False, False] Translation: X:-97.84, Y:-49.47, Z:83.63 [[ 9.98925792e-01 4.35687416e-02 1.57805645e-02 -9.78401735e+01] [-4.34497813e-02 9.99025127e-01 -7.80456459e-03 -4.94657486e+01] [-1.61052155e-02 7.11051879e-03 9.99845019e-01 8.36293414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.619259764 meters Centerline goodness [0,1] 0.2915992317817915 Centerline is valid? [False, False] Translation: X:-97.85, Y:-49.47, Z:83.63 [[ 9.98057851e-01 6.17152083e-02 8.47113180e-03 -9.78469842e+01] [-6.17284626e-02 9.98092118e-01 1.31195484e-03 -4.94718888e+01] [-8.37400231e-03 -1.83231677e-03 9.99963259e-01 8.36255864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.649259764 meters Centerline goodness [0,1] 0.2938756954516918 Centerline is valid? [False, False] Translation: X:-97.89, Y:-49.51, Z:83.62 [[ 9.95189933e-01 9.75331396e-02 9.18063191e-03 -9.78879507e+01] [-9.75643064e-02 9.95224673e-01 3.00944621e-03 -4.95062659e+01] [-8.84327065e-03 -3.89067256e-03 9.99953329e-01 8.36242888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67925976399997 meters Centerline goodness [0,1] 0.3127379716164763 Centerline is valid? [False, False] Translation: X:-97.93, Y:-49.55, Z:83.63 [[ 9.93153052e-01 1.16595987e-01 7.23813852e-03 -9.79314803e+01] [-1.16647818e-01 9.93147199e-01 7.20613783e-03 -4.95543494e+01] [-6.34833024e-03 -8.00111084e-03 9.99947839e-01 8.36253197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70925976399997 meters Centerline goodness [0,1] 0.31952739548169307 Centerline is valid? [False, False] Translation: X:-97.98, Y:-49.62, Z:83.62 [[ 9.90703969e-01 1.36031884e-01 9.86301074e-04 -9.79839854e+01] [-1.36030283e-01 9.90576984e-01 1.59059919e-02 -4.96183636e+01] [ 1.18671490e-03 -1.58922961e-02 9.99873005e-01 8.36245621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73925976399997 meters Centerline goodness [0,1] 0.3275708931782241 Centerline is valid? [False, False] Translation: X:-98.05, Y:-49.69, Z:83.63 [[ 9.87627079e-01 1.56741375e-01 -4.98938471e-03 -9.80472636e+01] [-1.56556733e-01 9.87310554e-01 2.66056153e-02 -4.96943890e+01] [ 9.09627291e-03 -2.54953043e-02 9.99633556e-01 8.36250241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76925976399997 meters Centerline goodness [0,1] 0.3037069152395404 Centerline is valid? [False, False] Translation: X:-98.14, Y:-49.81, Z:83.63 [[ 9.83924013e-01 1.77727934e-01 -1.75019584e-02 -9.81385997e+01] [-1.76776406e-01 9.83178936e-01 4.59269140e-02 -4.98135770e+01] [ 2.53700524e-02 -4.20946602e-02 9.98791470e-01 8.36272877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79925976399997 meters Centerline goodness [0,1] 0.2941903852828879 Centerline is valid? [False, False] Translation: X:-98.25, Y:-49.94, Z:83.62 [[ 9.74903713e-01 2.19926075e-01 -3.45727072e-02 -9.82454125e+01] [-2.16673670e-01 9.72995545e-01 7.95750618e-02 -4.99449416e+01] [ 5.11397211e-02 -7.00870279e-02 9.96229159e-01 8.36181648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82925976399997 meters Centerline goodness [0,1] 0.2736670648278857 Centerline is valid? [False, False] Translation: X:-98.36, Y:-50.10, Z:83.62 [[ 9.70721528e-01 2.35383127e-01 -4.79009257e-02 -9.83603290e+01] [-2.28421681e-01 9.66249726e-01 1.19100812e-01 -5.01031641e+01] [ 7.43185778e-02 -1.04672112e-01 9.91726020e-01 8.36162499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85925976399997 meters Centerline goodness [0,1] 0.2641718430997785 Centerline is valid? [False, False] Translation: X:-98.45, Y:-50.23, Z:83.61 [[ 9.67273793e-01 2.46027569e-01 -6.20632243e-02 -9.84512538e+01] [-2.33539611e-01 9.58871609e-01 1.61321068e-01 -5.02340690e+01] [ 9.92000938e-02 -1.41547420e-01 9.84948562e-01 8.36118838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88925976399997 meters Centerline goodness [0,1] 0.23067077403679281 Centerline is valid? [False, False] Translation: X:-98.48, Y:-50.30, Z:83.59 [[ 9.55772352e-01 2.77952047e-01 -9.61346515e-02 -9.84787300e+01] [-2.52061261e-01 9.42558248e-01 2.19200981e-01 -5.03034501e+01] [ 1.51539870e-01 -1.85274416e-01 9.70932057e-01 8.35853447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91925976399997 meters Centerline goodness [0,1] 0.21695912806539508 Centerline is valid? [False, False] Translation: X:-98.43, Y:-50.27, Z:83.54 [[ 0.95450381 0.26619841 -0.13439078 -98.42785745] [ -0.22259719 0.93593655 0.27289791 -50.27284796] [ 0.19842624 -0.23056709 0.95261002 83.54072676] [ 0. 0. 0. 1. ]] SLAMing on 244.94925976399998 meters Centerline goodness [0,1] 0.205549486563251 Centerline is valid? [False, False] Translation: X:-98.26, Y:-50.02, Z:83.43 [[ 0.95184818 0.25066716 -0.1764965 -98.25549052] [ -0.1851621 0.92890921 0.32069094 -50.020342 ] [ 0.24433592 -0.27256862 0.9305946 83.43412598] [ 0. 0. 0. 1. ]] SLAMing on 244.97925976399998 meters Centerline goodness [0,1] 0.19197657649783684 Centerline is valid? [False, False] Translation: X:-97.97, Y:-49.47, Z:83.22 [[ 0.94759073 0.23680268 -0.21446748 -97.96774086] [ -0.14773919 0.91998814 0.36303576 -49.46787697] [ 0.28327538 -0.31232407 0.90675727 83.21972909] [ 0. 0. 0. 1. ]] SLAMing on 245.00925976399998 meters Centerline goodness [0,1] 0.1766743395812781 Centerline is valid? [False, False] Translation: X:-97.62, Y:-48.64, Z:82.89 [[ 0.92925141 0.26735524 -0.25497645 -97.62073716] [ -0.15166675 0.90537972 0.39659142 -48.64460711] [ 0.3368813 -0.32986169 0.88187429 82.88613115] [ 0. 0. 0. 1. ]] SLAMing on 245.03925976399998 meters Centerline goodness [0,1] 0.1660142860302085 Centerline is valid? [False, False] Translation: X:-97.38, Y:-47.95, Z:82.57 [[ 0.91406147 0.27355846 -0.29942846 -97.37779666] [ -0.13975137 0.90550761 0.40065636 -47.94671822] [ 0.38073769 -0.32437901 0.86591979 82.56599008] [ 0. 0. 0. 1. ]] SLAMing on 245.06925976399998 meters Centerline goodness [0,1] 0.16851001204120764 Centerline is valid? [False, False] Translation: X:-97.25, Y:-47.52, Z:82.36 [[ 0.89550663 0.29497831 -0.33325017 -97.24898133] [ -0.15195213 0.90645125 0.39402626 -47.51820274] [ 0.41830423 -0.30221505 0.85655568 82.364276 ] [ 0. 0. 0. 1. ]] SLAMing on 245.09925976399998 meters Centerline goodness [0,1] 0.16851001204120764 Centerline is valid? [False, False] Translation: X:-97.13, Y:-47.10, Z:82.16 [[ 0.89157973 0.28106001 -0.35509275 -97.13119175] [ -0.13298551 0.91202575 0.38797407 -47.09556171] [ 0.43289772 -0.29868763 0.85052058 82.1631705 ] [ 0. 0. 0. 1. ]] SLAMing on 245.12925976399998 meters Centerline goodness [0,1] 0.16065405320883686 Centerline is valid? [False, False] Translation: X:-97.12, Y:-47.00, Z:82.12 [[ 0.86724657 0.32048676 -0.38101394 -97.11676043] [ -0.17054577 0.9102021 0.37742055 -46.99922553] [ 0.46775797 -0.26233637 0.84402731 82.11734939] [ 0. 0. 0. 1. ]] SLAMing on 245.15925976399998 meters Centerline goodness [0,1] 0.1608492985703771 Centerline is valid? [False, False] Translation: X:-97.12, Y:-47.00, Z:82.12 [[ 0.84857411 0.33350255 -0.41072865 -97.11508745] [ -0.17771497 0.91087791 0.37244975 -47.00089148] [ 0.4983366 -0.24305859 0.83221581 82.11805165] [ 0. 0. 0. 1. ]] SLAMing on 245.18925976399998 meters Centerline goodness [0,1] 0.14667849617389372 Centerline is valid? [False, False] Translation: X:-97.14, Y:-47.04, Z:82.13 [[ 0.83295461 0.34578346 -0.43199586 -97.13663532] [ -0.18424463 0.90947006 0.37271722 -47.04307193] [ 0.52176675 -0.23086361 0.82125602 82.12565701] [ 0. 0. 0. 1. ]] SLAMing on 245.219259764 meters Centerline goodness [0,1] 0.14331676577616048 Centerline is valid? [False, False] Translation: X:-97.14, Y:-47.04, Z:82.12 [[ 0.82481999 0.33634934 -0.45446793 -97.13985619] [ -0.17243081 0.91515702 0.36435593 -47.04352084] [ 0.5384604 -0.22216378 0.8128368 82.11953196] [ 0. 0. 0. 1. ]] SLAMing on 245.249259764 meters Centerline goodness [0,1] 0.1323545767990213 Centerline is valid? [False, False] Translation: X:-97.14, Y:-47.02, Z:82.10 [[ 0.82536773 0.32381054 -0.4625093 -97.1441385 ] [ -0.16183525 0.92049923 0.35565505 -47.01965009] [ 0.54090431 -0.21869589 0.81215432 82.10244147] [ 0. 0. 0. 1. ]] SLAMing on 245.279259764 meters Centerline goodness [0,1] 0.12358448506464559 Centerline is valid? [False, False] Translation: X:-97.14, Y:-46.94, Z:82.06 [[ 0.83031447 0.30890867 -0.46384623 -97.13767446] [ -0.14732861 0.92437731 0.35188189 -46.93779021] [ 0.53746829 -0.22383481 0.81303494 82.06134738] [ 0. 0. 0. 1. ]] SLAMing on 245.309259764 meters Centerline goodness [0,1] 0.1136900780379041 Centerline is valid? [False, False] Translation: X:-97.11, Y:-46.79, Z:81.99 [[ 0.83500759 0.28901964 -0.46822001 -97.11123618] [ -0.12382789 0.92781632 0.35188566 -46.78684938] [ 0.53612404 -0.2358485 0.81052236 81.98668977] [ 0. 0. 0. 1. ]] SLAMing on 245.339259764 meters Centerline goodness [0,1] 0.10901117492542634 Centerline is valid? [False, False] Translation: X:-97.06, Y:-46.51, Z:81.85 [[ 8.45367437e-01 2.60615520e-01 -4.66297595e-01 -9.70573474e+01] [-9.30960148e-02 9.31432711e-01 3.51804260e-01 -4.65051252e+01] [ 5.26010483e-01 -2.53993418e-01 8.11665150e-01 8.18502569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.369259764 meters Centerline goodness [0,1] 0.1075379301298588 Centerline is valid? [False, False] Translation: X:-96.90, Y:-45.69, Z:81.46 [[ 8.83766296e-01 1.74468456e-01 -4.34186472e-01 -9.69006422e+01] [-1.83160626e-02 9.40077555e-01 3.40468372e-01 -4.56862364e+01] [ 4.67569948e-01 -2.92941885e-01 8.34004434e-01 8.14578142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.399259764 meters Centerline goodness [0,1] 0.11861466157157285 Centerline is valid? [False, False] Translation: X:-96.72, Y:-44.66, Z:80.98 [[ 9.05369307e-01 1.17876846e-01 -4.07935617e-01 -9.67185248e+01] [ 2.58885862e-02 9.43585671e-01 3.30114922e-01 -4.46559563e+01] [ 4.23835109e-01 -3.09436794e-01 8.51241840e-01 8.09835097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42925976399997 meters Centerline goodness [0,1] 0.11755289990132656 Centerline is valid? [False, False] Translation: X:-96.59, Y:-43.85, Z:80.62 [[ 9.18400080e-01 6.31506508e-02 -3.90580706e-01 -9.65860647e+01] [ 7.49262872e-02 9.41557296e-01 3.28414236e-01 -4.38452141e+01] [ 3.88493686e-01 -3.30880423e-01 8.59994652e-01 8.06161493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45925976399997 meters Centerline goodness [0,1] 0.17748879903835646 Centerline is valid? [False, False] Translation: X:-96.58, Y:-43.73, Z:80.57 [[ 9.27122320e-01 -2.88108386e-02 -3.73649755e-01 -9.65750487e+01] [ 1.64309557e-01 9.27350334e-01 3.36190016e-01 -4.37338754e+01] [ 3.36818309e-01 -3.73083493e-01 8.64501090e-01 8.05681204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48925976399997 meters Centerline goodness [0,1] 0.19778491382135133 Centerline is valid? [False, False] Translation: X:-96.57, Y:-43.71, Z:80.56 [[ 9.30135881e-01 -7.85196270e-02 -3.58722610e-01 -9.65748328e+01] [ 2.06170276e-01 9.20040121e-01 3.33196629e-01 -4.37110180e+01] [ 3.03876718e-01 -3.83876080e-01 8.71950741e-01 8.05649969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51925976399997 meters Centerline goodness [0,1] 0.21795123654857795 Centerline is valid? [False, False] Translation: X:-96.58, Y:-43.71, Z:80.57 [[ 0.93102065 -0.1275116 -0.34196686 -96.57626724] [ 0.2458583 0.91160288 0.32944481 -43.7065316 ] [ 0.26972994 -0.39079532 0.88007089 80.57319102] [ 0. 0. 0. 1. ]] SLAMing on 245.54925976399997 meters Centerline goodness [0,1] 0.2136320950446614 Centerline is valid? [False, False] Translation: X:-96.58, Y:-43.74, Z:80.60 [[ 0.9289462 -0.17095497 -0.32837989 -96.58049031] [ 0.28039426 0.90407265 0.32253945 -43.73936644] [ 0.24173955 -0.39169763 0.88776965 80.60473023] [ 0. 0. 0. 1. ]] SLAMing on 245.57925976399997 meters Centerline goodness [0,1] 0.24577327704993324 Centerline is valid? [False, False] Translation: X:-96.59, Y:-43.79, Z:80.65 [[ 0.92472433 -0.20844841 -0.31848732 -96.58505076] [ 0.31236678 0.89371705 0.32201991 -43.79118807] [ 0.21751301 -0.39726451 0.89155426 80.647391 ] [ 0. 0. 0. 1. ]] SLAMing on 245.60925976399997 meters Centerline goodness [0,1] 0.29753401917742395 Centerline is valid? [False, False] Translation: X:-96.58, Y:-43.91, Z:80.74 [[ 0.90856934 -0.26140919 -0.32583275 -96.58240889] [ 0.37194964 0.86129053 0.34616772 -43.91046708] [ 0.19014523 -0.43571075 0.87977323 80.73753395] [ 0. 0. 0. 1. ]] SLAMing on 245.63925976399997 meters Centerline goodness [0,1] 0.3173768918742095 Centerline is valid? [False, False] Translation: X:-96.59, Y:-44.04, Z:80.84 [[ 0.9004731 -0.27252687 -0.33893555 -96.59194304] [ 0.39355651 0.84228383 0.36833574 -44.04481624] [ 0.18509854 -0.46506672 0.86570866 80.83599897] [ 0. 0. 0. 1. ]] SLAMing on 245.66925976399997 meters Centerline goodness [0,1] 0.3212084249961883 Centerline is valid? [False, False] Translation: X:-96.61, Y:-44.25, Z:80.96 [[ 0.8865508 -0.27732624 -0.37029426 -96.60621705] [ 0.4199863 0.81811642 0.39280662 -44.25131135] [ 0.19400823 -0.50376153 0.84177498 80.96236971] [ 0. 0. 0. 1. ]] SLAMing on 245.69925976399998 meters Centerline goodness [0,1] 0.32163945814518935 Centerline is valid? [False, False] Translation: X:-96.61, Y:-44.47, Z:81.11 [[ 0.87010949 -0.28662521 -0.40094322 -96.61456364] [ 0.45071758 0.79189057 0.41202304 -44.47062757] [ 0.19940696 -0.53921731 0.81821852 81.10713812] [ 0. 0. 0. 1. ]] SLAMing on 245.72925976399998 meters Centerline goodness [0,1] 0.3390485285181005 Centerline is valid? [False, False] Translation: X:-96.64, Y:-44.66, Z:81.23 [[ 0.86314666 -0.28568466 -0.41636776 -96.63969319] [ 0.46022806 0.78436204 0.41589221 -44.65927132] [ 0.20776904 -0.5506001 0.80849957 81.23096479] [ 0. 0. 0. 1. ]] SLAMing on 245.75925976399998 meters Centerline goodness [0,1] 0.34354975345917416 Centerline is valid? [False, False] Translation: X:-96.67, Y:-44.84, Z:81.35 [[ 0.86092983 -0.28383835 -0.42217961 -96.66957595] [ 0.46220587 0.78311223 0.41605404 -44.83622798] [ 0.21252192 -0.55332723 0.80539643 81.3472257 ] [ 0. 0. 0. 1. ]] SLAMing on 245.78925976399998 meters Centerline goodness [0,1] 0.3250515352066833 Centerline is valid? [False, False] Translation: X:-96.69, Y:-45.01, Z:81.47 [[ 0.86205024 -0.27724757 -0.42426781 -96.69029742] [ 0.4569118 0.7873756 0.41384933 -45.01388093] [ 0.2193194 -0.55061188 0.80543501 81.46869278] [ 0. 0. 0. 1. ]] SLAMing on 245.81925976399998 meters Centerline goodness [0,1] 0.3195674830640959 Centerline is valid? [False, False] Translation: X:-96.72, Y:-45.18, Z:81.57 [[ 0.86665315 -0.26891875 -0.42023212 -96.72214577] [ 0.44577902 0.79562649 0.41019453 -45.17574259] [ 0.22403881 -0.54282704 0.80941053 81.57219369] [ 0. 0. 0. 1. ]] SLAMing on 245.84925976399998 meters Centerline goodness [0,1] 0.32016325112886423 Centerline is valid? [False, False] Translation: X:-96.76, Y:-45.33, Z:81.67 [[ 0.87514836 -0.25695603 -0.40998653 -96.76078222] [ 0.42780531 0.80677943 0.40754088 -45.33295841] [ 0.22604861 -0.53205315 0.81597884 81.66757593] [ 0. 0. 0. 1. ]] SLAMing on 245.87925976399998 meters Centerline goodness [0,1] 0.3296106379280376 Centerline is valid? [False, False] Translation: X:-96.81, Y:-45.48, Z:81.75 [[ 0.88303866 -0.25332821 -0.39505385 -96.80653906] [ 0.41408799 0.81672519 0.40185956 -45.48085848] [ 0.22084807 -0.51844458 0.82610008 81.75169844] [ 0. 0. 0. 1. ]] SLAMing on 245.90925976399998 meters Centerline goodness [0,1] 0.3156923210562891 Centerline is valid? [False, False] Translation: X:-96.85, Y:-45.62, Z:81.83 [[ 0.89281178 -0.24087763 -0.38061148 -96.8523868 ] [ 0.3932136 0.82896361 0.39774666 -45.61765434] [ 0.21970479 -0.50477451 0.83482483 81.82580969] [ 0. 0. 0. 1. ]] SLAMing on 245.93925976399998 meters Centerline goodness [0,1] 0.3147600191462513 Centerline is valid? [False, False] Translation: X:-96.90, Y:-45.76, Z:81.90 [[ 0.90134211 -0.2317445 -0.36589192 -96.89743075] [ 0.37525709 0.83967695 0.39258725 -45.76022155] [ 0.21625107 -0.49115895 0.84379995 81.90385576] [ 0. 0. 0. 1. ]] SLAMing on 245.969259764 meters Centerline goodness [0,1] 0.3086878969807709 Centerline is valid? [False, False] Translation: X:-96.94, Y:-45.88, Z:81.97 [[ 0.90959211 -0.22046817 -0.35218742 -96.93883825] [ 0.35637718 0.84975788 0.38846732 -45.88330901] [ 0.21362935 -0.47885836 0.85150289 81.9709541 ] [ 0. 0. 0. 1. ]] SLAMing on 245.999259764 meters Centerline goodness [0,1] 0.2899365879082696 Centerline is valid? [False, False] Translation: X:-96.98, Y:-45.99, Z:82.03 [[ 0.91763768 -0.20675914 -0.33939909 -96.97587308] [ 0.33679712 0.8579395 0.38795298 -45.99093233] [ 0.21097106 -0.47030891 0.8569135 82.02940737] [ 0. 0. 0. 1. ]] SLAMing on 246.029259764 meters Centerline goodness [0,1] 0.2902875510381374 Centerline is valid? [False, False] Translation: X:-97.01, Y:-46.09, Z:82.08 [[ 0.92648912 -0.19329073 -0.32288791 -97.01227783] [ 0.31596204 0.86561433 0.38843252 -46.09110962] [ 0.204416 -0.46189882 0.86305479 82.08342035] [ 0. 0. 0. 1. ]] SLAMing on 246.059259764 meters Centerline goodness [0,1] 0.2961526796932542 Centerline is valid? [False, False] Translation: X:-97.04, Y:-46.18, Z:82.13 [[ 0.93471537 -0.17581138 -0.30886491 -97.04493934] [ 0.29481218 0.86891341 0.39758681 -46.18045368] [ 0.19847658 -0.46268764 0.86401805 82.13171364] [ 0. 0. 0. 1. ]] SLAMing on 246.089259764 meters Centerline goodness [0,1] 0.2891511378180792 Centerline is valid? [False, False] Translation: X:-97.07, Y:-46.25, Z:82.17 [[ 0.94157194 -0.17243217 -0.28932581 -97.0723223 ] [ 0.28153248 0.87445606 0.39505197 -46.252493 ] [ 0.18488304 -0.45342446 0.87190855 82.17142404] [ 0. 0. 0. 1. ]] SLAMing on 246.119259764 meters Centerline goodness [0,1] 0.2911299067447408 Centerline is valid? [False, False] Translation: X:-97.10, Y:-46.32, Z:82.21 [[ 0.94719304 -0.17071703 -0.27144252 -97.09564739] [ 0.27036739 0.88032397 0.3897835 -46.31915186] [ 0.17241467 -0.44258942 0.87999306 82.20823584] [ 0. 0. 0. 1. ]] SLAMing on 246.149259764 meters Centerline goodness [0,1] 0.28803263039139115 Centerline is valid? [False, False] Translation: X:-97.12, Y:-46.39, Z:82.24 [[ 0.95182821 -0.17169052 -0.25405792 -97.12016643] [ 0.26200255 0.88583412 0.38295243 -46.38550726] [ 0.15930387 -0.43106875 0.88814526 82.24433186] [ 0. 0. 0. 1. ]] SLAMing on 246.17925976399997 meters Centerline goodness [0,1] 0.2891597622869041 Centerline is valid? [False, False] Translation: X:-97.14, Y:-46.45, Z:82.28 [[ 0.95576672 -0.17115934 -0.23919546 -97.14395313] [ 0.25391354 0.89060558 0.37729249 -46.4532974 ] [ 0.14845168 -0.42133857 0.89467084 82.28133267] [ 0. 0. 0. 1. ]] SLAMing on 246.20925976399997 meters Centerline goodness [0,1] 0.2880331137309292 Centerline is valid? [False, False] Translation: X:-97.17, Y:-46.52, Z:82.32 [[ 0.95926661 -0.16938416 -0.22608975 -97.16729419] [ 0.24611628 0.89397564 0.37447875 -46.51899357] [ 0.13868796 -0.41486933 0.89924918 82.31719321] [ 0. 0. 0. 1. ]] SLAMing on 246.23925976399997 meters Centerline goodness [0,1] 0.2883040935672515 Centerline is valid? [False, False] Translation: X:-97.19, Y:-46.59, Z:82.35 [[ 0.96282539 -0.16708887 -0.21224649 -97.1918019 ] [ 0.23789531 0.89671006 0.37325177 -46.5870165 ] [ 0.12795735 -0.40986873 0.90312488 82.35392685] [ 0. 0. 0. 1. ]] SLAMing on 246.26925976399997 meters Centerline goodness [0,1] 0.28735906331309624 Centerline is valid? [False, False] Translation: X:-97.22, Y:-46.66, Z:82.39 [[ 0.96611334 -0.16410991 -0.19923091 -97.21733654] [ 0.23029418 0.89663163 0.37817497 -46.66021576] [ 0.11657448 -0.4112416 0.90404134 82.39213666] [ 0. 0. 0. 1. ]] SLAMing on 246.29925976399997 meters Centerline goodness [0,1] 0.28893131427083785 Centerline is valid? [False, False] Translation: X:-97.24, Y:-46.74, Z:82.43 [[ 0.96826072 -0.1638472 -0.1887466 -97.23952016] [ 0.22525433 0.8992876 0.37488973 -46.73605978] [ 0.10831285 -0.40550698 0.90765214 82.43168758] [ 0. 0. 0. 1. ]] SLAMing on 246.32925976399997 meters Centerline goodness [0,1] 0.2910012784121687 Centerline is valid? [False, False] Translation: X:-97.26, Y:-46.80, Z:82.47 [[ 0.96958486 -0.16459059 -0.18114952 -97.25749491] [ 0.22218767 0.90231624 0.36940227 -46.80478809] [ 0.10265401 -0.39841604 0.91144216 82.46902217] [ 0. 0. 0. 1. ]] SLAMing on 246.35925976399997 meters Centerline goodness [0,1] 0.29494735017549945 Centerline is valid? [False, False] Translation: X:-97.28, Y:-46.89, Z:82.52 [[ 0.9695697 -0.16946776 -0.17667844 -97.27573083] [ 0.22421848 0.90443611 0.36293441 -46.88806442] [ 0.09828868 -0.39150478 0.91491166 82.51608985] [ 0. 0. 0. 1. ]] SLAMing on 246.38925976399997 meters Centerline goodness [0,1] 0.29838465202892905 Centerline is valid? [False, False] Translation: X:-97.30, Y:-46.98, Z:82.57 [[ 9.70199871e-01 -1.72505717e-01 -1.70158712e-01 -9.73005486e+01] [ 2.24477292e-01 9.04284139e-01 3.63153055e-01 -4.69799157e+01] [ 9.12258468e-02 -3.90527814e-01 9.16059972e-01 8.25658137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41925976399997 meters Centerline goodness [0,1] 0.29578776394152684 Centerline is valid? [False, False] Translation: X:-97.33, Y:-47.08, Z:82.62 [[ 9.70940914e-01 -1.74150886e-01 -1.64149966e-01 -9.73272617e+01] [ 2.23835299e-01 9.03544124e-01 3.65384421e-01 -4.70757016e+01] [ 8.46847161e-02 -3.91509240e-01 9.16269073e-01 8.26176551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44925976399998 meters Centerline goodness [0,1] 0.3031937944184434 Centerline is valid? [False, False] Translation: X:-97.35, Y:-47.18, Z:82.67 [[ 9.71566951e-01 -1.74294640e-01 -1.60246806e-01 -9.73539897e+01] [ 2.22539902e-01 9.03312337e-01 3.66746252e-01 -4.71753409e+01] [ 8.08310109e-02 -3.91979846e-01 9.16415925e-01 8.26699756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47925976399998 meters Centerline goodness [0,1] 0.30228832456539156 Centerline is valid? [False, False] Translation: X:-97.38, Y:-47.28, Z:82.72 [[ 9.70605502e-01 -1.78478571e-01 -1.61463182e-01 -9.73807962e+01] [ 2.26904160e-01 9.02269799e-01 3.66638395e-01 -4.72782492e+01] [ 8.02462559e-02 -3.92497911e-01 9.16245561e-01 8.27240397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50925976399998 meters Centerline goodness [0,1] 0.30722643998875265 Centerline is valid? [False, False] Translation: X:-97.41, Y:-47.38, Z:82.78 [[ 9.70018877e-01 -1.80974233e-01 -1.62208831e-01 -9.74077723e+01] [ 2.29362589e-01 9.02382843e-01 3.64825996e-01 -4.73818069e+01] [ 8.03503612e-02 -3.91092741e-01 9.16837111e-01 8.27785419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53925976399998 meters Centerline goodness [0,1] 0.31149880018159415 Centerline is valid? [False, False] Translation: X:-97.44, Y:-47.49, Z:82.84 [[ 9.69693171e-01 -1.84135153e-01 -1.60590785e-01 -9.74382915e+01] [ 2.31561692e-01 9.02293260e-01 3.63656507e-01 -4.74943746e+01] [ 7.79380367e-02 -3.89821906e-01 9.17586260e-01 8.28368672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56925976399998 meters Centerline goodness [0,1] 0.3109625494904913 Centerline is valid? [False, False] Translation: X:-97.47, Y:-47.62, Z:82.90 [[ 9.69603693e-01 -1.86311381e-01 -1.58608789e-01 -9.74717539e+01] [ 2.32930078e-01 9.01315656e-01 3.65203595e-01 -4.76185689e+01] [ 7.49149986e-02 -3.91047512e-01 9.17316514e-01 8.29002814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59925976399998 meters Centerline goodness [0,1] 0.3191208601034028 Centerline is valid? [False, False] Translation: X:-97.50, Y:-47.74, Z:82.96 [[ 9.69878877e-01 -1.87276594e-01 -1.55764054e-01 -9.75045968e+01] [ 2.32865544e-01 9.00478032e-01 3.67304984e-01 -4.77379397e+01] [ 7.14744827e-02 -3.92513427e-01 9.16964889e-01 8.29612565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62925976399998 meters Centerline goodness [0,1] 0.29644782128709657 Centerline is valid? [False, False] Translation: X:-97.54, Y:-47.87, Z:83.03 [[ 9.69315327e-01 -1.91402909e-01 -1.54248903e-01 -9.75383741e+01] [ 2.35929450e-01 9.00573692e-01 3.65108642e-01 -4.78654765e+01] [ 6.90296479e-02 -3.90297262e-01 9.18097465e-01 8.30250596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65925976399998 meters Centerline goodness [0,1] 0.32173612012635766 Centerline is valid? [False, False] Translation: X:-97.57, Y:-47.98, Z:83.08 [[ 9.69381992e-01 -1.90770570e-01 -1.54612883e-01 -9.75692278e+01] [ 2.35062967e-01 9.03020365e-01 3.59582567e-01 -4.79751663e+01] [ 7.10208106e-02 -3.84916628e-01 9.20214776e-01 8.30805006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68925976399998 meters Centerline goodness [0,1] 0.3247818839167803 Centerline is valid? [False, False] Translation: X:-97.61, Y:-48.10, Z:83.14 [[ 9.69669982e-01 -1.90302543e-01 -1.53378839e-01 -9.76051900e+01] [ 2.33713192e-01 9.05593874e-01 3.53946153e-01 -4.80952713e+01] [ 7.15420843e-02 -3.79057618e-01 9.22603410e-01 8.31393086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.719259764 meters Centerline goodness [0,1] 0.324216042966043 Centerline is valid? [False, False] Translation: X:-97.64, Y:-48.22, Z:83.20 [[ 9.70206125e-01 -1.89577144e-01 -1.50866105e-01 -9.76430282e+01] [ 2.31799065e-01 9.07487065e-01 3.50337581e-01 -4.82172688e+01] [ 7.04930407e-02 -3.74870289e-01 9.24393313e-01 8.31993261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.749259764 meters Centerline goodness [0,1] 0.32681394845137535 Centerline is valid? [False, False] Translation: X:-97.68, Y:-48.34, Z:83.26 [[ 9.71109427e-01 -1.88732952e-01 -1.46035455e-01 -9.76827914e+01] [ 2.29078915e-01 9.08723060e-01 3.48920122e-01 -4.83430327e+01] [ 6.68530613e-02 -3.72293263e-01 9.25704269e-01 8.32604835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.779259764 meters Centerline goodness [0,1] 0.31388046773495015 Centerline is valid? [False, False] Translation: X:-97.72, Y:-48.48, Z:83.33 [[ 9.71711776e-01 -1.89890496e-01 -1.40420169e-01 -9.77225492e+01] [ 2.28092553e-01 9.08744353e-01 3.49510354e-01 -4.84755842e+01] [ 6.12373411e-02 -3.71652122e-01 9.26350198e-01 8.33253618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.809259764 meters Centerline goodness [0,1] 0.3071824640443598 Centerline is valid? [False, False] Translation: X:-97.76, Y:-48.60, Z:83.38 [[ 9.73113475e-01 -1.87225534e-01 -1.34152017e-01 -9.77611425e+01] [ 2.22998126e-01 9.11599393e-01 3.45338071e-01 -4.85973774e+01] [ 5.76367930e-02 -3.65968779e-01 9.28840596e-01 8.33834791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.839259764 meters Centerline goodness [0,1] 0.31089383057887 Centerline is valid? [False, False] Translation: X:-97.80, Y:-48.71, Z:83.44 [[ 9.74477097e-01 -1.82681488e-01 -1.30467852e-01 -9.77957371e+01] [ 2.17160571e-01 9.14389371e-01 3.41662647e-01 -4.87064626e+01] [ 5.68829764e-02 -3.61274898e-01 9.30722716e-01 8.34362037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.869259764 meters Centerline goodness [0,1] 0.3139243243243244 Centerline is valid? [False, False] Translation: X:-97.83, Y:-48.81, Z:83.48 [[ 9.77167760e-01 -1.74062211e-01 -1.21842172e-01 -9.78322002e+01] [ 2.05725681e-01 9.18452630e-01 3.37819050e-01 -4.88085025e+01] [ 5.31047328e-02 -3.55171948e-01 9.33291367e-01 8.34841033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.899259764 meters Centerline goodness [0,1] 0.32476225548599524 Centerline is valid? [False, False] Translation: X:-97.87, Y:-48.90, Z:83.53 [[ 9.79313268e-01 -1.67951891e-01 -1.12861357e-01 -9.78670461e+01] [ 1.96549643e-01 9.22122921e-01 3.33252991e-01 -4.89045547e+01] [ 4.81015739e-02 -3.48541935e-01 9.36058095e-01 8.35298954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92925976399997 meters Centerline goodness [0,1] 0.32407607989255227 Centerline is valid? [False, False] Translation: X:-97.90, Y:-49.00, Z:83.57 [[ 9.81449016e-01 -1.61674978e-01 -1.03048681e-01 -9.79009413e+01] [ 1.86975972e-01 9.26003622e-01 3.27959262e-01 -4.89950939e+01] [ 4.24006452e-02 -3.41142922e-01 9.39054680e-01 8.35726065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95925976399997 meters Centerline goodness [0,1] 0.31983805668016196 Centerline is valid? [False, False] Translation: X:-97.93, Y:-49.07, Z:83.61 [[ 9.83330984e-01 -1.55200029e-01 -9.47265868e-02 -9.79307870e+01] [ 1.77809868e-01 9.29683230e-01 3.22603072e-01 -4.90748113e+01] [ 3.79977131e-02 -3.34068918e-01 9.41782423e-01 8.36103853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98925976399997 meters Centerline goodness [0,1] 0.31983805668016196 Centerline is valid? [False, False] Translation: X:-97.96, Y:-49.16, Z:83.65 [[ 9.84588487e-01 -1.52094507e-01 -8.63294403e-02 -9.79611918e+01] [ 1.71895440e-01 9.32535631e-01 3.17536226e-01 -4.91567300e+01] [ 3.22097634e-02 -3.27482149e-01 9.44308198e-01 8.36492772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01925976399997 meters Centerline goodness [0,1] 0.3079537582265327 Centerline is valid? [False, False] Translation: X:-97.99, Y:-49.22, Z:83.68 [[ 9.87338651e-01 -1.38871734e-01 -7.66617863e-02 -9.79891406e+01] [ 1.55949101e-01 9.38209069e-01 3.08939509e-01 -4.92240835e+01] [ 2.90218178e-02 -3.16983254e-01 9.47986999e-01 8.36795472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04925976399997 meters Centerline goodness [0,1] 0.31402703171027546 Centerline is valid? [False, False] Translation: X:-98.02, Y:-49.29, Z:83.71 [[ 9.89350580e-01 -1.30014091e-01 -6.54352064e-02 -9.80173581e+01] [ 1.43837571e-01 9.42125667e-01 3.02836559e-01 -4.92893002e+01] [ 2.22751676e-02 -3.09023566e-01 9.50793486e-01 8.37090811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07925976399997 meters Centerline goodness [0,1] 0.30925801487004967 Centerline is valid? [False, False] Translation: X:-98.04, Y:-49.35, Z:83.74 [[ 9.91142104e-01 -1.21020266e-01 -5.46939201e-02 -9.80430638e+01] [ 1.31886836e-01 9.45297870e-01 2.98358508e-01 -4.93479336e+01] [ 1.55946202e-02 -3.02929088e-01 9.52885500e-01 8.37361890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10925976399997 meters Centerline goodness [0,1] 0.30819395094895574 Centerline is valid? [False, False] Translation: X:-98.07, Y:-49.40, Z:83.76 [[ 9.92598072e-01 -1.13478023e-01 -4.32643660e-02 -9.80656918e+01] [ 1.21195155e-01 9.48435813e-01 2.92884352e-01 -4.93964444e+01] [ 7.79753686e-03 -2.95959874e-01 9.55168546e-01 8.37610233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13925976399997 meters Centerline goodness [0,1] 0.30452487707669984 Centerline is valid? [False, False] Translation: X:-98.09, Y:-49.44, Z:83.78 [[ 9.94024068e-01 -1.04613007e-01 -3.11812753e-02 -9.80891111e+01] [ 1.09160671e-01 9.51772907e-01 2.86726843e-01 -4.94404025e+01] [-3.17864221e-04 -2.88417151e-01 9.57504802e-01 8.37841509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16925976399997 meters Centerline goodness [0,1] 0.30007588075880753 Centerline is valid? [False, False] Translation: X:-98.11, Y:-49.48, Z:83.81 [[ 9.94957855e-01 -9.83027688e-02 -1.98854690e-02 -9.81070373e+01] [ 9.99434547e-02 9.55237132e-01 2.78448070e-01 -4.94786517e+01] [-8.37687781e-03 -2.79031517e-01 9.60245406e-01 8.38052705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19925976399998 meters Centerline goodness [0,1] 0.29993506493506494 Centerline is valid? [False, False] Translation: X:-98.12, Y:-49.50, Z:83.83 [[ 9.95997012e-01 -8.92534519e-02 -4.87572392e-03 -9.81188734e+01] [ 8.73551449e-02 9.60350314e-01 2.64757159e-01 -4.94994758e+01] [-1.89480873e-02 -2.64123258e-01 9.64302792e-01 8.38265155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22925976399998 meters Centerline goodness [0,1] 0.29916159362204553 Centerline is valid? [False, False] Translation: X:-98.13, Y:-49.53, Z:83.85 [[ 9.96529954e-01 -8.30348802e-02 5.76711415e-03 -9.81347642e+01] [ 7.87646988e-02 9.63145084e-01 2.57191892e-01 -4.95344895e+01] [-2.69104655e-02 -2.55845179e-01 9.66343144e-01 8.38460047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25925976399998 meters Centerline goodness [0,1] 0.2960557648179417 Centerline is valid? [False, False] Translation: X:-98.14, Y:-49.56, Z:83.87 [[ 9.97390166e-01 -6.96099039e-02 1.91655341e-02 -9.81421237e+01] [ 6.27635920e-02 9.67134390e-01 2.46397651e-01 -4.95554649e+01] [-3.56873639e-02 -2.44551696e-01 9.68979298e-01 8.38654228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28925976399998 meters Centerline goodness [0,1] 0.2962882758023301 Centerline is valid? [False, False] Translation: X:-98.15, Y:-49.57, Z:83.88 [[ 9.97433494e-01 -6.21041619e-02 3.56300224e-02 -9.81524295e+01] [ 5.21969263e-02 9.71344908e-01 2.31871840e-01 -4.95719736e+01] [-4.90092472e-02 -2.29416962e-01 9.72093592e-01 8.38830755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31925976399998 meters Centerline goodness [0,1] 0.2949123186836977 Centerline is valid? [False, False] Translation: X:-98.16, Y:-49.58, Z:83.89 [[ 9.97397114e-01 -5.86513524e-02 4.19406160e-02 -9.81562023e+01] [ 4.78262103e-02 9.73432871e-01 2.23922084e-01 -4.95775471e+01] [-5.39597073e-02 -2.21333380e-01 9.73704208e-01 8.38944545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34925976399998 meters Centerline goodness [0,1] 0.2980548455573365 Centerline is valid? [False, False] Translation: X:-98.16, Y:-49.59, Z:83.91 [[ 9.97045397e-01 -5.20741475e-02 5.64690934e-02 -9.81634047e+01] [ 3.93024418e-02 9.77457847e-01 2.07440294e-01 -4.95855758e+01] [-6.59984350e-02 -2.04608017e-01 9.76616489e-01 8.39090206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37925976399998 meters Centerline goodness [0,1] 0.2955752596093394 Centerline is valid? [False, False] Translation: X:-98.17, Y:-49.59, Z:83.92 [[ 9.96751476e-01 -4.36299106e-02 6.76973172e-02 -9.81686852e+01] [ 3.01179427e-02 9.81493545e-01 1.89111953e-01 -4.95908709e+01] [-7.46954174e-02 -1.86458714e-01 9.79619182e-01 8.39216713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40925976399998 meters Centerline goodness [0,1] 0.29488374108826143 Centerline is valid? [False, False] Translation: X:-98.17, Y:-49.59, Z:83.93 [[ 9.96469131e-01 -3.92702096e-02 7.42099861e-02 -9.81719250e+01] [ 2.53365036e-02 9.83315204e-01 1.80136813e-01 -4.95931873e+01] [-8.00458181e-02 -1.77620552e-01 9.80838216e-01 8.39290168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43925976399998 meters Centerline goodness [0,1] 0.2949927352373517 Centerline is valid? [False, False] Translation: X:-98.17, Y:-49.59, Z:83.94 [[ 9.96449948e-01 -3.58190956e-02 7.61872204e-02 -9.81693400e+01] [ 2.21437086e-02 9.84620413e-01 1.73298296e-01 -4.95915702e+01] [-8.12228806e-02 -1.70996011e-01 9.81918127e-01 8.39396966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.469259764 meters Centerline goodness [0,1] 0.29586286110569315 Centerline is valid? [False, False] Translation: X:-98.17, Y:-49.60, Z:83.95 [[ 9.96231526e-01 -3.39185262e-02 7.98265644e-02 -9.81685980e+01] [ 2.03180609e-02 9.86018338e-01 1.65393514e-01 -4.95962051e+01] [-8.43203605e-02 -1.63148312e-01 9.82991712e-01 8.39529562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.499259764 meters Centerline goodness [0,1] 0.2937393074474305 Centerline is valid? [False, False] Translation: X:-98.18, Y:-49.63, Z:83.97 [[ 9.95493772e-01 -4.33224936e-02 8.43523057e-02 -9.81803033e+01] [ 2.82720223e-02 9.84679652e-01 1.72065905e-01 -4.96320267e+01] [-9.05143231e-02 -1.68905727e-01 9.81467275e-01 8.39671034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.529259764 meters Centerline goodness [0,1] 0.2988831652309424 Centerline is valid? [False, False] Translation: X:-98.19, Y:-49.67, Z:83.98 [[ 9.94930675e-01 -4.75183091e-02 8.86282195e-02 -9.81931833e+01] [ 3.17920172e-02 9.84744071e-01 1.71080048e-01 -4.96665548e+01] [-9.54055482e-02 -1.67395117e-01 9.81262786e-01 8.39818026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.559259764 meters Centerline goodness [0,1] 0.29617841290462277 Centerline is valid? [False, False] Translation: X:-98.20, Y:-49.69, Z:84.00 [[ 9.94490898e-01 -4.81859324e-02 9.30911861e-02 -9.81964256e+01] [ 3.27711931e-02 9.86486452e-01 1.60532020e-01 -4.96852241e+01] [-9.95685789e-02 -1.56596924e-01 9.82630908e-01 8.40003982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.589259764 meters Centerline goodness [0,1] 0.3119204437126267 Centerline is valid? [False, False] Translation: X:-98.20, Y:-49.71, Z:84.02 [[ 9.93823473e-01 -5.20263096e-02 9.80212601e-02 -9.82031618e+01] [ 3.77118773e-02 9.89061089e-01 1.42604263e-01 -4.97075113e+01] [-1.04368188e-01 -1.38026898e-01 9.84914137e-01 8.40176721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.619259764 meters Centerline goodness [0,1] 0.30684818839011296 Centerline is valid? [False, False] Translation: X:-98.22, Y:-49.74, Z:84.04 [[ 9.93256507e-01 -5.01568813e-02 1.04526546e-01 -9.82170767e+01] [ 3.64535371e-02 9.90959628e-01 1.29112958e-01 -4.97431521e+01] [-1.10057490e-01 -1.24431923e-01 9.86105494e-01 8.40364840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.649259764 meters Centerline goodness [0,1] 0.31097310280656953 Centerline is valid? [False, False] Translation: X:-98.22, Y:-49.77, Z:84.05 [[ 9.93300300e-01 -5.13909732e-02 1.03505955e-01 -9.82225727e+01] [ 3.80296859e-02 9.91153373e-01 1.27156336e-01 -4.97655634e+01] [-1.09124965e-01 -1.22368128e-01 9.86467325e-01 8.40470569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67925976399997 meters Centerline goodness [0,1] 0.3110668858700355 Centerline is valid? [False, False] Translation: X:-98.25, Y:-49.83, Z:84.07 [[ 9.92914566e-01 -5.78981514e-02 1.03771229e-01 -9.82459052e+01] [ 4.42632627e-02 9.90631601e-01 1.29188989e-01 -4.98311396e+01] [-1.10278862e-01 -1.23680376e-01 9.86175308e-01 8.40674573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70925976399997 meters Centerline goodness [0,1] 0.31273780698720166 Centerline is valid? [False, False] Translation: X:-98.27, Y:-49.89, Z:84.09 [[ 9.92599027e-01 -6.05274527e-02 1.05278670e-01 -9.82651702e+01] [ 4.67287626e-02 9.90553151e-01 1.28921981e-01 -4.98853550e+01] [-1.12087437e-01 -1.23048291e-01 9.86050468e-01 8.40872114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73925976399997 meters Centerline goodness [0,1] 0.32426235182140695 Centerline is valid? [False, False] Translation: X:-98.28, Y:-49.94, Z:84.11 [[ 9.92816037e-01 -6.21441612e-02 1.02246858e-01 -9.82801786e+01] [ 4.88341794e-02 9.90586082e-01 1.27884465e-01 -4.99357997e+01] [-1.09231588e-01 -1.21972606e-01 9.86504508e-01 8.41054249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76925976399997 meters Centerline goodness [0,1] 0.31298007226778024 Centerline is valid? [False, False] Translation: X:-98.30, Y:-49.99, Z:84.12 [[ 9.93146137e-01 -6.26941560e-02 9.86417429e-02 -9.82957195e+01] [ 4.99169402e-02 9.90639420e-01 1.27050533e-01 -4.99861439e+01] [-1.05683725e-01 -1.21255852e-01 9.86979214e-01 8.41227419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79925976399997 meters Centerline goodness [0,1] 0.31375010823447913 Centerline is valid? [False, False] Translation: X:-98.32, Y:-50.04, Z:84.14 [[ 9.92804736e-01 -6.39214736e-02 1.01256116e-01 -9.83162628e+01] [ 5.06923787e-02 9.90449008e-01 1.28222640e-01 -5.00428213e+01] [-1.08485200e-01 -1.22167131e-01 9.86562798e-01 8.41428924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82925976399997 meters Centerline goodness [0,1] 0.32389740043650195 Centerline is valid? [False, False] Translation: X:-98.34, Y:-50.10, Z:84.16 [[ 9.92678334e-01 -6.31593675e-02 1.02959310e-01 -9.83373197e+01] [ 4.96906801e-02 9.90463899e-01 1.28499423e-01 -5.00963220e+01] [-1.10093422e-01 -1.22442475e-01 9.86350485e-01 8.41617390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85925976399997 meters Centerline goodness [0,1] 0.3204139391189751 Centerline is valid? [False, False] Translation: X:-98.36, Y:-50.15, Z:84.18 [[ 9.92858632e-01 -6.14381704e-02 1.02259901e-01 -9.83599557e+01] [ 4.80088345e-02 9.90486649e-01 1.28962590e-01 -5.01533153e+01] [-1.09210293e-01 -1.23132242e-01 9.86362795e-01 8.41795791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88925976399997 meters Centerline goodness [0,1] 0.31488516663788635 Centerline is valid? [False, False] Translation: X:-98.38, Y:-50.21, Z:84.20 [[ 9.93430304e-01 -5.83765406e-02 9.84297239e-02 -9.83832774e+01] [ 4.55144902e-02 9.90703783e-01 1.28196903e-01 -5.02120812e+01] [-1.04998392e-01 -1.22874709e-01 9.86852139e-01 8.41952485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91925976399997 meters Centerline goodness [0,1] 0.31488516663788635 Centerline is valid? [False, False] Translation: X:-98.39, Y:-50.22, Z:84.21 [[ 9.93272917e-01 -5.32202911e-02 1.02842173e-01 -9.83866494e+01] [ 4.08198685e-02 9.92039470e-01 1.19127778e-01 -5.02214245e+01] [-1.08363509e-01 -1.14128391e-01 9.87538384e-01 8.42062362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94925976399998 meters Centerline goodness [0,1] 0.3293104939873691 Centerline is valid? [False, False] Translation: X:-98.41, Y:-50.27, Z:84.22 [[ 9.93670732e-01 -5.19615686e-02 9.95915218e-02 -9.84081112e+01] [ 4.04247431e-02 9.92594997e-01 1.14546989e-01 -5.02653406e+01] [-1.04806088e-01 -1.09796029e-01 9.88413130e-01 8.42161131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97925976399998 meters Centerline goodness [0,1] 0.3246694322011926 Centerline is valid? [False, False] Translation: X:-98.43, Y:-50.31, Z:84.23 [[ 9.93998696e-01 -4.81782383e-02 9.82112483e-02 -9.84273168e+01] [ 3.69722786e-02 9.92919774e-01 1.12886548e-01 -5.03110817e+01] [-1.02954565e-01 -1.08577988e-01 9.88742220e-01 8.42283276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00925976399998 meters Centerline goodness [0,1] 0.3281503427694038 Centerline is valid? [False, False] Translation: X:-98.44, Y:-50.34, Z:84.24 [[ 9.93598380e-01 -3.92795457e-02 1.05921555e-01 -9.84424949e+01] [ 2.80194486e-02 9.93995492e-01 1.05772735e-01 -5.03423558e+01] [-1.09440253e-01 -1.02127754e-01 9.88732903e-01 8.42436365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03925976399998 meters Centerline goodness [0,1] 0.32643877109476416 Centerline is valid? [False, False] Translation: X:-98.45, Y:-50.35, Z:84.25 [[ 9.93596759e-01 -3.76622277e-02 1.06522470e-01 -9.84475259e+01] [ 2.61175921e-02 9.93833052e-01 1.07767045e-01 -5.03546506e+01] [-1.09924298e-01 -1.04294876e-01 9.88452947e-01 8.42481969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06925976399998 meters Centerline goodness [0,1] 0.324276419600977 Centerline is valid? [False, False] Translation: X:-98.45, Y:-50.36, Z:84.26 [[ 9.93248522e-01 -3.22759460e-02 1.11425480e-01 -9.84532475e+01] [ 2.11883086e-02 9.94832507e-01 9.92942016e-02 -5.03645786e+01] [-1.14054504e-01 -9.62629015e-02 9.88799790e-01 8.42581239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09925976399998 meters Centerline goodness [0,1] 0.32437109298955247 Centerline is valid? [False, False] Translation: X:-98.46, Y:-50.37, Z:84.26 [[ 9.93219154e-01 -3.13721657e-02 1.11944184e-01 -9.84574143e+01] [ 2.00991290e-02 9.94739524e-01 1.00445533e-01 -5.03744956e+01] [-1.14506498e-01 -9.75144471e-02 9.88624901e-01 8.42613620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12925976399998 meters Centerline goodness [0,1] 0.3250145974351766 Centerline is valid? [False, False] Translation: X:-98.48, Y:-50.42, Z:84.27 [[ 9.93562613e-01 -2.85641840e-02 1.09623996e-01 -9.84777376e+01] [ 1.76618085e-02 9.94914305e-01 9.91644447e-02 -5.04216127e+01] [-1.11899033e-01 -9.65899268e-02 9.89014152e-01 8.42702047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15925976399998 meters Centerline goodness [0,1] 0.32203829364221814 Centerline is valid? [False, False] Translation: X:-98.48, Y:-50.43, Z:84.27 [[ 9.93573551e-01 -2.85034925e-02 1.09540633e-01 -9.84808441e+01] [ 1.75499934e-02 9.94863959e-01 9.96880134e-02 -5.04310785e+01] [-1.11819485e-01 -9.71249360e-02 9.88970753e-01 8.42740145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18925976399998 meters Centerline goodness [0,1] 0.322112682146409 Centerline is valid? [False, False] Translation: X:-98.49, Y:-50.44, Z:84.28 [[ 9.93584835e-01 -2.76848981e-02 1.09648170e-01 -9.84850342e+01] [ 1.65423258e-02 9.94722807e-01 1.01256551e-01 -5.04421809e+01] [-1.11872813e-01 -9.87931379e-02 9.88799469e-01 8.42788677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.219259764 meters Centerline goodness [0,1] 0.3221244296434055 Centerline is valid? [False, False] Translation: X:-98.49, Y:-50.45, Z:84.28 [[ 9.93584620e-01 -2.67617582e-02 1.09879074e-01 -9.84890033e+01] [ 1.54130968e-02 9.94576204e-01 1.02862097e-01 -5.04536645e+01] [-1.12035883e-01 -1.00508621e-01 9.88608101e-01 8.42831494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.249259764 meters Centerline goodness [0,1] 0.32205077152812345 Centerline is valid? [False, False] Translation: X:-98.50, Y:-50.48, Z:84.29 [[ 9.93298767e-01 -2.52066637e-02 1.12792659e-01 -9.85025029e+01] [ 1.37354265e-02 9.94756395e-01 1.01346202e-01 -5.04808387e+01] [-1.14755819e-01 -9.91178026e-02 9.88436525e-01 8.42901284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.279259764 meters Centerline goodness [0,1] 0.3157074184747304 Centerline is valid? [False, False] Translation: X:-98.52, Y:-50.52, Z:84.30 [[ 9.93862408e-01 -2.00395513e-02 1.08793058e-01 -9.85229490e+01] [ 8.75438755e-03 9.94618655e-01 1.03233194e-01 -5.05241756e+01] [-1.10276352e-01 -1.01647174e-01 9.88689526e-01 8.42986372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.309259764 meters Centerline goodness [0,1] 0.31536364816337126 Centerline is valid? [False, False] Translation: X:-98.54, Y:-50.55, Z:84.31 [[ 9.93669236e-01 -1.67683021e-02 1.11086787e-01 -9.85383379e+01] [ 5.37284452e-03 9.94759959e-01 1.02096798e-01 -5.05531981e+01] [-1.12216677e-01 -1.00853595e-01 9.88552462e-01 8.43069279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.339259764 meters Centerline goodness [0,1] 0.3122957383719672 Centerline is valid? [False, False] Translation: X:-98.55, Y:-50.59, Z:84.32 [[ 9.93674984e-01 -1.32274834e-02 1.11512597e-01 -9.85533351e+01] [ 1.90956273e-03 9.94884987e-01 1.00996122e-01 -5.05850012e+01] [-1.12278133e-01 -1.00144380e-01 9.88617582e-01 8.43168842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.369259764 meters Centerline goodness [0,1] 0.312625770853619 Centerline is valid? [False, False] Translation: X:-98.57, Y:-50.61, Z:84.32 [[ 9.93423163e-01 -1.08759361e-02 1.13983037e-01 -9.85682065e+01] [-5.09390366e-04 9.95048990e-01 9.93843440e-02 -5.06146534e+01] [-1.14499604e-01 -9.87887712e-02 9.88499175e-01 8.43246821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.399259764 meters Centerline goodness [0,1] 0.3114158411558593 Centerline is valid? [False, False] Translation: X:-98.58, Y:-50.65, Z:84.33 [[ 9.93394020e-01 -8.38862558e-03 1.14446286e-01 -9.85811004e+01] [-3.11120934e-03 9.94989053e-01 9.99355046e-02 -5.06480334e+01] [-1.14711123e-01 -9.96313990e-02 9.88390076e-01 8.43345771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42925976399997 meters Centerline goodness [0,1] 0.31262186403223713 Centerline is valid? [False, False] Translation: X:-98.59, Y:-50.66, Z:84.34 [[ 9.93322385e-01 -1.01415831e-02 1.14925136e-01 -9.85868388e+01] [-1.28765124e-03 9.95092419e-01 9.89414993e-02 -5.06626397e+01] [-1.15364555e-01 -9.84287896e-02 9.88434516e-01 8.43406063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45925976399997 meters Centerline goodness [0,1] 0.3108280806636775 Centerline is valid? [False, False] Translation: X:-98.59, Y:-50.68, Z:84.35 [[ 9.93240531e-01 -1.13015954e-02 1.15522816e-01 -9.85925379e+01] [-1.27666672e-04 9.95141758e-01 9.84523542e-02 -5.06780662e+01] [-1.16074247e-01 -9.78016170e-02 9.88413685e-01 8.43462509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48925976399997 meters Centerline goodness [0,1] 0.3130406574394463 Centerline is valid? [False, False] Translation: X:-98.60, Y:-50.69, Z:84.35 [[ 9.93178901e-01 -1.16910682e-02 1.16012886e-01 -9.85966254e+01] [ 1.70650136e-04 9.95105340e-01 9.88196977e-02 -5.06895562e+01] [-1.16600350e-01 -9.81258412e-02 9.88319623e-01 8.43497742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51925976399997 meters Centerline goodness [0,1] 0.291814561509826 Centerline is valid? [False, False] Translation: X:-98.62, Y:-50.74, Z:84.36 [[ 9.93602800e-01 -7.06228274e-03 1.12710249e-01 -9.86172157e+01] [-4.23209391e-03 9.95013100e-01 9.96545063e-02 -5.07381376e+01] [-1.12851962e-01 -9.94939968e-02 9.88617914e-01 8.43586349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54925976399997 meters Centerline goodness [0,1] 0.3086866149915559 Centerline is valid? [False, False] Translation: X:-98.63, Y:-50.77, Z:84.37 [[ 9.93708122e-01 -2.17949724e-03 1.11979545e-01 -9.86321189e+01] [-8.98420975e-03 9.95037640e-01 9.90927763e-02 -5.07730972e+01] [-1.11639835e-01 -9.94753443e-02 9.88757404e-01 8.43692316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57925976399997 meters Centerline goodness [0,1] 0.28882391163092913 Centerline is valid? [False, False] Translation: X:-98.65, Y:-50.81, Z:84.38 [[ 9.93798317e-01 2.53206715e-03 1.11168766e-01 -9.86475857e+01] [-1.35768983e-02 9.95023832e-01 9.87078639e-02 -5.08106083e+01] [-1.10365637e-01 -9.96050360e-02 9.88887386e-01 8.43802979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60925976399997 meters Centerline goodness [0,1] 0.30293716586221076 Centerline is valid? [False, False] Translation: X:-98.67, Y:-50.86, Z:84.39 [[ 9.94169533e-01 5.50358957e-03 1.07687739e-01 -9.86692445e+01] [-1.62002070e-02 9.94984450e-01 9.87091591e-02 -5.08561271e+01] [-1.06604371e-01 -9.98782024e-02 9.89272385e-01 8.43896019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63925976399997 meters Centerline goodness [0,1] 0.3046247156937073 Centerline is valid? [False, False] Translation: X:-98.69, Y:-50.89, Z:84.40 [[ 9.94043617e-01 7.02824641e-03 1.08756110e-01 -9.86855714e+01] [-1.74756091e-02 9.95284658e-01 9.54099212e-02 -5.08906141e+01] [-1.07572723e-01 -9.67422024e-02 9.89479184e-01 8.43987241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66925976399997 meters Centerline goodness [0,1] 0.30064197102455104 Centerline is valid? [False, False] Translation: X:-98.70, Y:-50.93, Z:84.41 [[ 9.94013809e-01 8.90391715e-03 1.08891080e-01 -9.87020753e+01] [-1.90357316e-02 9.95543396e-01 9.23633431e-02 -5.09279514e+01] [-1.07583400e-01 -9.38832599e-02 9.89753376e-01 8.44084297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69925976399998 meters Centerline goodness [0,1] 0.2962192160943462 Centerline is valid? [False, False] Translation: X:-98.71, Y:-50.94, Z:84.41 [[ 9.93982546e-01 8.19055351e-03 1.09231921e-01 -9.87055927e+01] [-1.83241834e-02 9.95581743e-01 9.20935273e-02 -5.09350535e+01] [-1.07995009e-01 -9.35409445e-02 9.89740961e-01 8.44110728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72925976399998 meters Centerline goodness [0,1] 0.30353664343534914 Centerline is valid? [False, False] Translation: X:-98.72, Y:-50.96, Z:84.42 [[ 9.93776550e-01 6.49781820e-03 1.11202284e-01 -9.87189898e+01] [-1.68974410e-02 9.95538123e-01 9.28349176e-02 -5.09644134e+01] [-1.10102888e-01 -9.41361981e-02 9.89452237e-01 8.44245216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75925976399998 meters Centerline goodness [0,1] 0.3034278551050402 Centerline is valid? [False, False] Translation: X:-98.72, Y:-50.98, Z:84.43 [[ 9.93755720e-01 4.95037381e-03 1.11467770e-01 -9.87243751e+01] [-1.53382797e-02 9.95591886e-01 9.25285508e-02 -5.09799904e+01] [-1.10518356e-01 -9.36605004e-02 9.89451062e-01 8.44307338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78925976399998 meters Centerline goodness [0,1] 0.30535938650838357 Centerline is valid? [False, False] Translation: X:-98.73, Y:-51.00, Z:84.44 [[ 9.93738518e-01 2.98447326e-03 1.11690871e-01 -9.87289875e+01] [-1.32859158e-02 9.95707099e-01 9.16016234e-02 -5.09950009e+01] [-1.10938010e-01 -9.25119770e-02 9.89512148e-01 8.44358922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81925976399998 meters Centerline goodness [0,1] 0.3077771291431537 Centerline is valid? [False, False] Translation: X:-98.73, Y:-51.01, Z:84.44 [[ 9.93690482e-01 6.05587213e-04 1.12155517e-01 -9.87336151e+01] [-1.07587858e-02 9.95888639e-01 8.99448012e-02 -5.10085317e+01] [-1.11639936e-01 -9.05839500e-02 9.89611577e-01 8.44401608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84925976399998 meters Centerline goodness [0,1] 0.3111889624151205 Centerline is valid? [False, False] Translation: X:-98.74, Y:-51.02, Z:84.45 [[ 9.93771468e-01 -3.63890997e-03 1.11377864e-01 -9.87356840e+01] [-6.06201237e-03 9.96221525e-01 8.66367429e-02 -5.10204956e+01] [-1.11272289e-01 -8.67722972e-02 9.89994468e-01 8.44450326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87925976399998 meters Centerline goodness [0,1] 0.31373143376780843 Centerline is valid? [False, False] Translation: X:-98.74, Y:-51.04, Z:84.45 [[ 9.93775144e-01 -6.42733272e-03 1.11218941e-01 -9.87394168e+01] [-3.05442578e-03 9.96387066e-01 8.48733455e-02 -5.10351298e+01] [-1.11362623e-01 -8.46847312e-02 9.90165068e-01 8.44505387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90925976399998 meters Centerline goodness [0,1] 0.31373143376780843 Centerline is valid? [False, False] Translation: X:-98.74, Y:-51.04, Z:84.45 [[ 9.93830539e-01 -6.37901366e-03 1.10725643e-01 -9.87396514e+01] [-3.10015177e-03 9.96356749e-01 8.52268596e-02 -5.10359571e+01] [-1.10865905e-01 -8.50443222e-02 9.90189989e-01 8.44511352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93925976399998 meters Centerline goodness [0,1] 0.31665657701288596 Centerline is valid? [False, False] Translation: X:-98.74, Y:-51.05, Z:84.46 [[ 9.93839643e-01 -9.88245821e-03 1.10386142e-01 -9.87429489e+01] [ 7.37270611e-04 9.96583954e-01 8.25825627e-02 -5.10490388e+01] [-1.10825177e-01 -8.19924402e-02 9.90451927e-01 8.44566316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.969259764 meters Centerline goodness [0,1] 0.3176330592816963 Centerline is valid? [False, False] Translation: X:-98.75, Y:-51.06, Z:84.46 [[ 9.93786099e-01 -1.35213202e-02 1.10482408e-01 -9.87469547e+01] [ 4.71763358e-03 9.96818909e-01 7.95600780e-02 -5.10610832e+01] [-1.11206711e-01 -7.85444840e-02 9.90688564e-01 8.44617621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.999259764 meters Centerline goodness [0,1] 0.32067145452972223 Centerline is valid? [False, False] Translation: X:-98.75, Y:-51.07, Z:84.47 [[ 9.93701414e-01 -1.62449983e-02 1.10876506e-01 -9.87513861e+01] [ 7.67282435e-03 9.96977896e-01 7.73058973e-02 -5.10734344e+01] [-1.11797260e-01 -7.59682435e-02 9.90822991e-01 8.44662774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.029259764 meters Centerline goodness [0,1] 0.3215050738905597 Centerline is valid? [False, False] Translation: X:-98.76, Y:-51.08, Z:84.47 [[ 9.93677151e-01 -1.63406522e-02 1.11079709e-01 -9.87551617e+01] [ 7.69641259e-03 9.96938662e-01 7.78078973e-02 -5.10825582e+01] [-1.12011089e-01 -7.64610144e-02 9.90760934e-01 8.44701421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.059259764 meters Centerline goodness [0,1] 0.3197040498442367 Centerline is valid? [False, False] Translation: X:-98.76, Y:-51.09, Z:84.47 [[ 9.93606580e-01 -1.51636065e-02 1.11875058e-01 -9.87603380e+01] [ 6.25299921e-03 9.96809450e-01 7.95727419e-02 -5.10930485e+01] [-1.12724725e-01 -7.83644453e-02 9.90531246e-01 8.44738539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.089259764 meters Centerline goodness [0,1] 0.3178495739803642 Centerline is valid? [False, False] Translation: X:-98.77, Y:-51.10, Z:84.48 [[ 9.93463610e-01 -1.38649959e-02 1.13304089e-01 -9.87666708e+01] [ 4.68634085e-03 9.96713059e-01 8.08771644e-02 -5.11048131e+01] [-1.14053027e-01 -7.98175381e-02 9.90263131e-01 8.44768760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.119259764 meters Centerline goodness [0,1] 0.3136987782462969 Centerline is valid? [False, False] Translation: X:-98.78, Y:-51.14, Z:84.48 [[ 9.94123547e-01 -1.05579367e-02 1.07735338e-01 -9.87831092e+01] [ 1.83403010e-03 9.96732282e-01 8.07551537e-02 -5.11448523e+01] [-1.08235897e-01 -8.00830100e-02 9.90894395e-01 8.44830234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.149259764 meters Centerline goodness [0,1] 0.31333881721361156 Centerline is valid? [False, False] Translation: X:-98.79, Y:-51.17, Z:84.49 [[ 9.95050117e-01 -5.82266654e-03 9.92036389e-02 -9.87927342e+01] [-2.08150605e-03 9.96841698e-01 7.93870036e-02 -5.11737297e+01] [-9.93525679e-02 -7.92005402e-02 9.91895328e-01 8.44852400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17925976399997 meters Centerline goodness [0,1] 0.31362690707350904 Centerline is valid? [False, False] Translation: X:-98.80, Y:-51.18, Z:84.49 [[ 9.95004076e-01 -6.36905768e-03 9.96309374e-02 -9.87956415e+01] [-1.53254304e-03 9.96870915e-01 7.90318262e-02 -5.11798681e+01] [-9.98225420e-02 -7.87896779e-02 9.91880863e-01 8.44872611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20925976399997 meters Centerline goodness [0,1] 0.30870243564184796 Centerline is valid? [False, False] Translation: X:-98.80, Y:-51.19, Z:84.49 [[ 9.94957265e-01 -7.14290280e-03 1.00045092e-01 -9.87988279e+01] [-7.41279865e-04 9.96910033e-01 7.85483137e-02 -5.11868561e+01] [-1.00297019e-01 -7.82263768e-02 9.91877584e-01 8.44897769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23925976399997 meters Centerline goodness [0,1] 0.3153358023087085 Centerline is valid? [False, False] Translation: X:-98.80, Y:-51.19, Z:84.49 [[ 9.94923132e-01 -7.35987391e-03 1.00368289e-01 -9.88017904e+01] [-5.75542091e-04 9.96889821e-01 7.88058021e-02 -5.11949922e+01] [-1.00636126e-01 -7.84634816e-02 9.91824507e-01 8.44923604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26925976399997 meters Centerline goodness [0,1] 0.3110889630367899 Centerline is valid? [False, False] Translation: X:-98.81, Y:-51.20, Z:84.50 [[ 9.94877730e-01 -6.68711774e-03 1.00864189e-01 -9.88053487e+01] [-1.41453913e-03 9.96790823e-01 8.00378327e-02 -5.12042861e+01] [-1.01075720e-01 -7.97705337e-02 9.91675532e-01 8.44952756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29925976399997 meters Centerline goodness [0,1] 0.31404600342532574 Centerline is valid? [False, False] Translation: X:-98.81, Y:-51.22, Z:84.50 [[ 9.94700654e-01 -6.12929190e-03 1.02630605e-01 -9.88113724e+01] [-2.17776363e-03 9.96741378e-01 8.06342487e-02 -5.12159057e+01] [-1.02790402e-01 -8.04304451e-02 9.91445953e-01 8.44975054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32925976399997 meters Centerline goodness [0,1] 0.31172377917940053 Centerline is valid? [False, False] Translation: X:-98.83, Y:-51.24, Z:84.50 [[ 9.94243230e-01 -3.97066406e-03 1.07073030e-01 -9.88273486e+01] [-4.41413133e-03 9.96946827e-01 7.79585773e-02 -5.12429390e+01] [-1.07055665e-01 -7.79824221e-02 9.91190106e-01 8.45016225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35925976399997 meters Centerline goodness [0,1] 0.3110474578477964 Centerline is valid? [False, False] Translation: X:-98.84, Y:-51.27, Z:84.51 [[ 9.94131960e-01 -5.84408240e-04 1.08172566e-01 -9.88435104e+01] [-7.62014540e-03 9.97122892e-01 7.54179845e-02 -5.12744690e+01] [-1.07905417e-01 -7.57997194e-02 9.91267282e-01 8.45098580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38925976399997 meters Centerline goodness [0,1] 0.3097738813419556 Centerline is valid? [False, False] Translation: X:-98.86, Y:-51.32, Z:84.52 [[ 9.94515784e-01 5.26102095e-03 1.04454189e-01 -9.88637709e+01] [-1.33944464e-02 9.96916503e-01 7.73180071e-02 -5.13162659e+01] [-1.03725334e-01 -7.82930845e-02 9.91519666e-01 8.45164164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41925976399997 meters Centerline goodness [0,1] 0.30361984080508386 Centerline is valid? [False, False] Translation: X:-98.87, Y:-51.33, Z:84.52 [[ 9.94376354e-01 6.47840444e-03 1.05705709e-01 -9.88691510e+01] [-1.48961626e-02 9.96760145e-01 7.90399741e-02 -5.13255919e+01] [-1.04851185e-01 -8.01700907e-02 9.91251222e-01 8.45189915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44925976399998 meters Centerline goodness [0,1] 0.30534053210173684 Centerline is valid? [False, False] Translation: X:-98.89, Y:-51.36, Z:84.53 [[ 9.94271697e-01 1.17498455e-02 1.06234336e-01 -9.88864169e+01] [-2.03085506e-02 9.96600363e-01 7.98453404e-02 -5.13631502e+01] [-1.04935007e-01 -8.15454275e-02 9.91130157e-01 8.45278353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47925976399998 meters Centerline goodness [0,1] 0.3037104504152842 Centerline is valid? [False, False] Translation: X:-98.89, Y:-51.37, Z:84.53 [[ 9.94217797e-01 1.20570017e-02 1.06703328e-01 -9.88900675e+01] [-2.07638403e-02 9.96508527e-01 8.08679045e-02 -5.13719588e+01] [-1.05355752e-01 -8.26158808e-02 9.90996863e-01 8.45304473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50925976399998 meters Centerline goodness [0,1] 0.3015600928678369 Centerline is valid? [False, False] Translation: X:-98.89, Y:-51.38, Z:84.53 [[ 9.94160995e-01 1.15858836e-02 1.07283195e-01 -9.88943449e+01] [-2.03717321e-02 9.96492547e-01 8.11640142e-02 -5.13821996e+01] [-1.05966548e-01 -8.28756416e-02 9.90910046e-01 8.45335925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53925976399998 meters Centerline goodness [0,1] 0.3041090538105885 Centerline is valid? [False, False] Translation: X:-98.90, Y:-51.39, Z:84.54 [[ 9.94156814e-01 1.03578668e-02 1.07447399e-01 -9.88977448e+01] [-1.90965477e-02 9.96561733e-01 8.06227923e-02 -5.13906462e+01] [-1.06242886e-01 -8.22035727e-02 9.90936437e-01 8.45367467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56925976399998 meters Centerline goodness [0,1] 0.29961165469811035 Centerline is valid? [False, False] Translation: X:-98.90, Y:-51.40, Z:84.54 [[ 9.94175840e-01 6.32471588e-03 1.07584375e-01 -9.89013459e+01] [-1.46615851e-02 9.96932697e-01 7.68780558e-02 -5.13991621e+01] [-1.06768150e-01 -7.80076631e-02 9.91219132e-01 8.45402794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59925976399998 meters Centerline goodness [0,1] 0.3054718167819731 Centerline is valid? [False, False] Translation: X:-98.91, Y:-51.41, Z:84.54 [[ 9.94143510e-01 3.38291055e-03 1.08014986e-01 -9.89058727e+01] [-1.14716922e-02 9.97166037e-01 7.43525058e-02 -5.14104760e+01] [-1.07457347e-01 -7.51561758e-02 9.91364952e-01 8.45443321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62925976399998 meters Centerline goodness [0,1] 0.30663109260102817 Centerline is valid? [False, False] Translation: X:-98.92, Y:-51.44, Z:84.55 [[ 9.94824684e-01 -2.66539463e-03 1.01571375e-01 -9.89187631e+01] [-5.48108945e-03 9.96792536e-01 7.98410827e-02 -5.14429119e+01] [-1.01458396e-01 -7.99846016e-02 9.91619210e-01 8.45467416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65925976399998 meters Centerline goodness [0,1] 0.308885754583921 Centerline is valid? [False, False] Translation: X:-98.92, Y:-51.45, Z:84.55 [[ 9.94786922e-01 -6.08174677e-03 1.01793870e-01 -9.89219241e+01] [-1.76191801e-03 9.97045912e-01 7.67876668e-02 -5.14527906e+01] [-1.01960165e-01 -7.65667192e-02 9.91837518e-01 8.45500390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68925976399998 meters Centerline goodness [0,1] 0.30405537353266643 Centerline is valid? [False, False] Translation: X:-98.93, Y:-51.46, Z:84.55 [[ 9.94742179e-01 -9.92221615e-03 1.01929124e-01 -9.89251901e+01] [ 2.43617202e-03 9.97306441e-01 7.33070854e-02 -5.14620093e+01] [-1.02381941e-01 -7.26733330e-02 9.92086954e-01 8.45536881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.719259764 meters Centerline goodness [0,1] 0.31861417459320085 Centerline is valid? [False, False] Translation: X:-98.93, Y:-51.48, Z:84.56 [[ 9.94733200e-01 -1.64572399e-02 1.01168281e-01 -9.89283245e+01] [ 9.58953888e-03 9.97639292e-01 6.79991434e-02 -5.14770758e+01] [-1.02048530e-01 -6.66708483e-02 9.92542742e-01 8.45608938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.749259764 meters Centerline goodness [0,1] 0.3189275883742604 Centerline is valid? [False, False] Translation: X:-98.93, Y:-51.49, Z:84.57 [[ 9.94736397e-01 -1.86402177e-02 1.00757344e-01 -9.89319507e+01] [ 1.19096331e-02 9.97682341e-01 6.69933354e-02 -5.14911797e+01] [-1.01772593e-01 -6.54407261e-02 9.92652936e-01 8.45671826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.779259764 meters Centerline goodness [0,1] 0.31833138502835867 Centerline is valid? [False, False] Translation: X:-98.94, Y:-51.50, Z:84.57 [[ 9.94734175e-01 -2.04761187e-02 1.00422353e-01 -9.89350297e+01] [ 1.38278993e-02 9.97693444e-01 6.64573687e-02 -5.15021949e+01] [-1.01551512e-01 -6.47187856e-02 9.92722907e-01 8.45721841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.809259764 meters Centerline goodness [0,1] 0.322576453261717 Centerline is valid? [False, False] Translation: X:-98.94, Y:-51.53, Z:84.57 [[ 9.95231263e-01 -2.61340165e-02 9.39773744e-02 -9.89448066e+01] [ 1.92948368e-02 9.97148151e-01 7.29607681e-02 -5.15270405e+01] [-9.56161231e-02 -7.07995592e-02 9.92897265e-01 8.45729252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.839259764 meters Centerline goodness [0,1] 0.31115684575389946 Centerline is valid? [False, False] Translation: X:-98.95, Y:-51.53, Z:84.57 [[ 9.95152285e-01 -2.87623522e-02 9.40460387e-02 -9.89464416e+01] [ 2.21553380e-02 9.97261639e-01 7.05575196e-02 -5.15331818e+01] [-9.58179069e-02 -6.81318551e-02 9.93064439e-01 8.45746781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.869259764 meters Centerline goodness [0,1] 0.31110099893822185 Centerline is valid? [False, False] Translation: X:-98.94, Y:-51.54, Z:84.58 [[ 9.95162182e-01 -3.27288696e-02 9.26339760e-02 -9.89445151e+01] [ 2.65914717e-02 9.97416644e-01 6.67302928e-02 -5.15357584e+01] [-9.45786765e-02 -6.39441900e-02 9.93461632e-01 8.45762458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.899259764 meters Centerline goodness [0,1] 0.32316359696641384 Centerline is valid? [False, False] Translation: X:-98.95, Y:-51.54, Z:84.58 [[ 9.95145918e-01 -3.43287383e-02 9.22287316e-02 -9.89467246e+01] [ 2.83251056e-02 9.97441689e-01 6.56335765e-02 -5.15435032e+01] [-9.42458996e-02 -6.27025972e-02 9.93572390e-01 8.45802141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92925976399997 meters Centerline goodness [0,1] 0.3290462271300205 Centerline is valid? [False, False] Translation: X:-98.95, Y:-51.55, Z:84.58 [[ 9.95264097e-01 -3.45713335e-02 9.08526285e-02 -9.89452472e+01] [ 2.86402034e-02 9.97422058e-01 6.57949540e-02 -5.15453784e+01] [-9.28930351e-02 -6.28813177e-02 9.93688494e-01 8.45818987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95925976399997 meters Centerline goodness [0,1] 0.31357051601307895 Centerline is valid? [False, False] Translation: X:-98.95, Y:-51.55, Z:84.58 [[ 9.95301994e-01 -3.50111626e-02 9.02671593e-02 -9.89462029e+01] [ 2.91065666e-02 9.97400366e-01 6.59190185e-02 -5.15541138e+01] [-9.23403993e-02 -6.29819634e-02 9.93733628e-01 8.45849237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98925976399997 meters Centerline goodness [0,1] 0.32868435300487275 Centerline is valid? [False, False] Translation: X:-98.95, Y:-51.56, Z:84.59 [[ 9.95340895e-01 -3.40698372e-02 9.01983899e-02 -9.89477728e+01] [ 2.80462466e-02 9.97343451e-01 6.72268415e-02 -5.15583722e+01] [-9.22491810e-02 -6.43838983e-02 9.93652254e-01 8.45866066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01925976399997 meters Centerline goodness [0,1] 0.31287227360350023 Centerline is valid? [False, False] Translation: X:-98.95, Y:-51.56, Z:84.59 [[ 9.95334724e-01 -3.34526627e-02 9.04970000e-02 -9.89500735e+01] [ 2.73408017e-02 9.97313819e-01 6.79531198e-02 -5.15608703e+01] [-9.25271215e-02 -6.51618392e-02 9.93575697e-01 8.45879761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04925976399997 meters Centerline goodness [0,1] 0.3067105804857966 Centerline is valid? [False, False] Translation: X:-98.95, Y:-51.56, Z:84.59 [[ 9.95314622e-01 -3.31726032e-02 9.08205982e-02 -9.89523229e+01] [ 2.70157196e-02 9.97305734e-01 6.82013426e-02 -5.15618053e+01] [-9.28383195e-02 -6.54282097e-02 9.93529162e-01 8.45891313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07925976399997 meters Centerline goodness [0,1] 0.315840790414491 Centerline is valid? [False, False] Translation: X:-98.97, Y:-51.60, Z:84.60 [[ 9.95416706e-01 -2.85562762e-02 9.12694967e-02 -9.89682478e+01] [ 2.26980508e-02 9.97653602e-01 6.45917105e-02 -5.15955952e+01] [-9.28998409e-02 -6.22240280e-02 9.93729234e-01 8.45964848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10925976399997 meters Centerline goodness [0,1] 0.3274520429175246 Centerline is valid? [False, False] Translation: X:-98.97, Y:-51.61, Z:84.60 [[ 9.96660750e-01 -2.57698236e-02 7.74807475e-02 -9.89686504e+01] [ 2.06345186e-02 9.97582122e-01 6.63635903e-02 -5.16135783e+01] [-7.90035865e-02 -6.45432078e-02 9.94782694e-01 8.46019159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13925976399997 meters Centerline goodness [0,1] 0.31752394158686137 Centerline is valid? [False, False] Translation: X:-98.97, Y:-51.61, Z:84.60 [[ 9.96641656e-01 -2.55080372e-02 7.78122735e-02 -9.89702511e+01] [ 2.03316059e-02 9.97572170e-01 6.66062360e-02 -5.16143572e+01] [-7.93223529e-02 -6.48005008e-02 9.94740599e-01 8.46025599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16925976399997 meters Centerline goodness [0,1] 0.29668687743611954 Centerline is valid? [False, False] Translation: X:-98.97, Y:-51.61, Z:84.61 [[ 9.96658899e-01 -2.15115898e-02 7.87927036e-02 -9.89671175e+01] [ 1.67685824e-02 9.98035170e-01 6.03706445e-02 -5.16103355e+01] [-7.99365578e-02 -5.88476982e-02 9.95061352e-01 8.46118781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19925976399998 meters Centerline goodness [0,1] 0.31763099135034356 Centerline is valid? [False, False] Translation: X:-98.97, Y:-51.61, Z:84.61 [[ 9.96638711e-01 -2.07035657e-02 7.92631148e-02 -9.89689108e+01] [ 1.58514554e-02 9.97989676e-01 6.13623471e-02 -5.16134892e+01] [-8.03741897e-02 -5.98996548e-02 9.94963326e-01 8.46124026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22925976399998 meters Centerline goodness [0,1] 0.3200753475079028 Centerline is valid? [False, False] Translation: X:-98.97, Y:-51.62, Z:84.61 [[ 9.96610353e-01 -1.98247015e-02 7.98422513e-02 -9.89709825e+01] [ 1.48556999e-02 9.97943448e-01 6.23552887e-02 -5.16164934e+01] [-8.09142266e-02 -6.09578137e-02 9.94855282e-01 8.46129572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25925976399998 meters Centerline goodness [0,1] 0.3224205919313602 Centerline is valid? [False, False] Translation: X:-98.97, Y:-51.62, Z:84.61 [[ 9.96583953e-01 -1.93913303e-02 8.02770253e-02 -9.89725233e+01] [ 1.43512603e-02 9.97917210e-01 6.28910504e-02 -5.16183234e+01] [-8.13293662e-02 -6.15241352e-02 9.94786568e-01 8.46132108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28925976399998 meters Centerline goodness [0,1] 0.31157282901015004 Centerline is valid? [False, False] Translation: X:-98.98, Y:-51.62, Z:84.61 [[ 9.96510814e-01 -1.98145654e-02 8.10776188e-02 -9.89753922e+01] [ 1.47649927e-02 9.97941188e-01 6.24129829e-02 -5.16241109e+01] [-8.21473813e-02 -6.09981020e-02 9.94751748e-01 8.46144808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31925976399998 meters Centerline goodness [0,1] 0.31372889071950405 Centerline is valid? [False, False] Translation: X:-98.98, Y:-51.63, Z:84.62 [[ 9.96492219e-01 -2.03802780e-02 8.11658887e-02 -9.89766838e+01] [ 1.53534114e-02 9.97952906e-01 6.20827635e-02 -5.16292373e+01] [-8.22649985e-02 -6.06188175e-02 9.94765213e-01 8.46158072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34925976399998 meters Centerline goodness [0,1] 0.3261034594946318 Centerline is valid? [False, False] Translation: X:-98.98, Y:-51.63, Z:84.62 [[ 9.96437131e-01 -2.20041571e-02 8.14178195e-02 -9.89788643e+01] [ 1.70890572e-02 9.98017003e-01 6.05807409e-02 -5.16349265e+01] [-8.25893964e-02 -5.89735459e-02 9.94837229e-01 8.46178499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37925976399998 meters Centerline goodness [0,1] 0.31518581154329817 Centerline is valid? [False, False] Translation: X:-98.98, Y:-51.63, Z:84.62 [[ 9.96425009e-01 -2.22141528e-02 8.15090956e-02 -9.89790985e+01] [ 1.73285338e-02 9.98038030e-01 6.01648788e-02 -5.16338451e+01] [-8.26856890e-02 -5.85373567e-02 9.94854992e-01 8.46172545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40925976399998 meters Centerline goodness [0,1] 0.3211387406153713 Centerline is valid? [False, False] Translation: X:-98.99, Y:-51.66, Z:84.62 [[ 9.97046823e-01 -1.98391912e-02 7.41892111e-02 -9.89905111e+01] [ 1.56748395e-02 9.98290933e-01 5.62984245e-02 -5.16629655e+01] [-7.51793319e-02 -5.49692613e-02 9.95653779e-01 8.46185920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43925976399998 meters Centerline goodness [0,1] 0.32277712749815757 Centerline is valid? [False, False] Translation: X:-98.99, Y:-51.66, Z:84.62 [[ 9.97011378e-01 -1.93389232e-02 7.47951711e-02 -9.89923261e+01] [ 1.51030465e-02 9.98271921e-01 5.67896927e-02 -5.16644764e+01] [-7.57641706e-02 -5.54903348e-02 9.95580541e-01 8.46187087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.469259764 meters Centerline goodness [0,1] 0.31621393110325835 Centerline is valid? [False, False] Translation: X:-98.99, Y:-51.67, Z:84.62 [[ 9.96993034e-01 -1.83366061e-02 7.52904991e-02 -9.89944666e+01] [ 1.39679864e-02 9.98210395e-01 5.81455254e-02 -5.16689023e+01] [-7.62219505e-02 -5.69190271e-02 9.95464936e-01 8.46198265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.499259764 meters Centerline goodness [0,1] 0.32257994532911005 Centerline is valid? [False, False] Translation: X:-99.00, Y:-51.67, Z:84.62 [[ 9.96974062e-01 -1.73273668e-02 7.57791711e-02 -9.89966416e+01] [ 1.28270217e-02 9.98147309e-01 5.94761925e-02 -5.16731592e+01] [-7.66693415e-02 -5.83242001e-02 9.95349235e-01 8.46210403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.529259764 meters Centerline goodness [0,1] 0.3186772704617852 Centerline is valid? [False, False] Translation: X:-99.00, Y:-51.68, Z:84.62 [[ 9.96933665e-01 -1.62965039e-02 7.65355527e-02 -9.89992703e+01] [ 1.16588832e-02 9.98090704e-01 6.06548943e-02 -5.16767298e+01] [-7.73778864e-02 -5.95765871e-02 9.95220223e-01 8.46218447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.559259764 meters Centerline goodness [0,1] 0.31633870652810625 Centerline is valid? [False, False] Translation: X:-99.02, Y:-51.71, Z:84.63 [[ 9.96871741e-01 -1.00540424e-02 7.83941883e-02 -9.90172335e+01] [ 5.33355900e-03 9.98172498e-01 6.01931656e-02 -5.17090907e+01] [-7.88561074e-02 -5.95867457e-02 9.95103580e-01 8.46281688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.589259764 meters Centerline goodness [0,1] 0.3072116636292632 Centerline is valid? [False, False] Translation: X:-99.02, Y:-51.71, Z:84.63 [[ 9.96754809e-01 -8.84788287e-03 8.00097883e-02 -9.90218402e+01] [ 3.91683566e-03 9.98094546e-01 6.15787013e-02 -5.17138883e+01] [-8.04021745e-02 -6.10654814e-02 9.94890194e-01 8.46287778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.619259764 meters Centerline goodness [0,1] 0.31082899305555556 Centerline is valid? [False, False] Translation: X:-99.03, Y:-51.72, Z:84.63 [[ 9.96676285e-01 -7.47748739e-03 8.11201025e-02 -9.90252012e+01] [ 2.35870712e-03 9.98009828e-01 6.30144475e-02 -5.17174999e+01] [-8.14298492e-02 -6.26136669e-02 9.94710364e-01 8.46293340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.649259764 meters Centerline goodness [0,1] 0.31275121124557326 Centerline is valid? [False, False] Translation: X:-99.03, Y:-51.72, Z:84.63 [[ 9.96617637e-01 -6.59938052e-03 8.19129627e-02 -9.90277583e+01] [ 1.34545247e-03 9.97947033e-01 6.40305316e-02 -5.17205095e+01] [-8.21673599e-02 -6.37037471e-02 9.94580493e-01 8.46299422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67925976399997 meters Centerline goodness [0,1] 0.3134674587000824 Centerline is valid? [False, False] Translation: X:-99.03, Y:-51.73, Z:84.63 [[ 9.96586135e-01 -7.64639167e-03 8.22046671e-02 -9.90301994e+01] [ 2.43756853e-03 9.97992923e-01 6.32786186e-02 -5.17274965e+01] [-8.25235291e-02 -6.28622144e-02 9.94604549e-01 8.46322762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70925976399997 meters Centerline goodness [0,1] 0.31168296225637915 Centerline is valid? [False, False] Translation: X:-99.03, Y:-51.74, Z:84.63 [[ 9.96561163e-01 -8.87716577e-03 8.23835220e-02 -9.90325596e+01] [ 3.72399556e-03 9.98038326e-01 6.24950499e-02 -5.17357325e+01] [-8.27766913e-02 -6.19733437e-02 9.94639293e-01 8.46348469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73925976399997 meters Centerline goodness [0,1] 0.3142081840877021 Centerline is valid? [False, False] Translation: X:-99.04, Y:-51.74, Z:84.64 [[ 9.96524951e-01 -9.90964698e-03 8.27032047e-02 -9.90357228e+01] [ 4.78907451e-03 9.98071783e-01 6.18852292e-02 -5.17431516e+01] [-8.31569957e-02 -6.12741033e-02 9.94650893e-01 8.46380367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76925976399997 meters Centerline goodness [0,1] 0.3100091070731602 Centerline is valid? [False, False] Translation: X:-99.04, Y:-51.75, Z:84.64 [[ 9.96495980e-01 -1.02029015e-02 8.30160416e-02 -9.90388182e+01] [ 5.05444646e-03 9.98063788e-01 6.19929697e-02 -5.17496095e+01] [-8.34878131e-02 -6.13561449e-02 9.94618122e-01 8.46410863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79925976399997 meters Centerline goodness [0,1] 0.3100091070731602 Centerline is valid? [False, False] Translation: X:-99.04, Y:-51.75, Z:84.64 [[ 9.96507489e-01 -1.01840860e-02 8.28800884e-02 -9.90388806e+01] [ 5.03706479e-03 9.98058731e-01 6.20757444e-02 -5.17498281e+01] [-8.33513805e-02 -6.14414718e-02 9.94624297e-01 8.46412540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82925976399997 meters Centerline goodness [0,1] 0.3139845122665452 Centerline is valid? [False, False] Translation: X:-99.04, Y:-51.75, Z:84.64 [[ 9.96453512e-01 -1.02379699e-02 8.35199533e-02 -9.90409189e+01] [ 5.06522039e-03 9.98068719e-01 6.19126411e-02 -5.17491931e+01] [-8.39925125e-02 -6.12700216e-02 9.94580938e-01 8.46413205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85925976399997 meters Centerline goodness [0,1] 0.3135473800594012 Centerline is valid? [False, False] Translation: X:-99.04, Y:-51.76, Z:84.65 [[ 9.97506625e-01 -9.50281989e-03 6.99301692e-02 -9.90412340e+01] [ 5.17339437e-03 9.98073083e-01 6.18333064e-02 -5.17649818e+01] [-7.03830103e-02 -6.13173565e-02 9.95633674e-01 8.46456627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88925976399997 meters Centerline goodness [0,1] 0.31387193141966485 Centerline is valid? [False, False] Translation: X:-99.04, Y:-51.76, Z:84.65 [[ 9.97436172e-01 -7.47841550e-03 7.11699099e-02 -9.90372318e+01] [ 3.69584270e-03 9.98580633e-01 5.31324781e-02 -5.17576478e+01] [-7.14662404e-02 -5.27332228e-02 9.96048083e-01 8.46530672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91925976399997 meters Centerline goodness [0,1] 0.31731206795674693 Centerline is valid? [False, False] Translation: X:-99.04, Y:-51.76, Z:84.65 [[ 9.97338558e-01 -9.76919569e-03 7.22520778e-02 -9.90406951e+01] [ 6.11625388e-03 9.98699876e-01 5.06077999e-02 -5.17615292e+01] [-7.26525386e-02 -5.00311981e-02 9.96101645e-01 8.46541600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94925976399998 meters Centerline goodness [0,1] 0.3171180931744312 Centerline is valid? [False, False] Translation: X:-99.04, Y:-51.77, Z:84.66 [[ 9.97298280e-01 -1.04992861e-02 7.27042298e-02 -9.90431448e+01] [ 6.86484861e-03 9.98722620e-01 5.00599868e-02 -5.17677839e+01] [-7.31369530e-02 -4.94256352e-02 9.96096427e-01 8.46559418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97925976399998 meters Centerline goodness [0,1] 0.31762486174665483 Centerline is valid? [False, False] Translation: X:-99.05, Y:-51.77, Z:84.66 [[ 9.97255771e-01 -1.09360796e-02 7.32210993e-02 -9.90457754e+01] [ 7.28912818e-03 9.98728089e-01 4.98906020e-02 -5.17748814e+01] [-7.36735762e-02 -4.92199728e-02 9.96067065e-01 8.46578055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00925976399998 meters Centerline goodness [0,1] 0.3191480141275379 Centerline is valid? [False, False] Translation: X:-99.05, Y:-51.78, Z:84.66 [[ 9.97253182e-01 -1.14554827e-02 7.31769310e-02 -9.90480545e+01] [ 7.80996563e-03 9.98723127e-01 4.99111179e-02 -5.17801934e+01] [-7.36552493e-02 -4.92025118e-02 9.96069283e-01 8.46608702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03925976399998 meters Centerline goodness [0,1] 0.31934666291185576 Centerline is valid? [False, False] Translation: X:-99.05, Y:-51.78, Z:84.66 [[ 9.97204273e-01 -1.23672869e-02 7.36932034e-02 -9.90516523e+01] [ 8.74620228e-03 9.98747746e-01 4.92589479e-02 -5.17848652e+01] [-7.42101203e-02 -4.84766976e-02 9.96063687e-01 8.46637420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06925976399998 meters Centerline goodness [0,1] 0.3188543945926038 Centerline is valid? [False, False] Translation: X:-99.05, Y:-51.79, Z:84.67 [[ 9.97162834e-01 -1.33674484e-02 7.40782960e-02 -9.90538602e+01] [ 9.79294082e-03 9.98779640e-01 4.84079532e-02 -5.17894919e+01] [-7.46349846e-02 -4.75451674e-02 9.96076842e-01 8.46652699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09925976399998 meters Centerline goodness [0,1] 0.3183570902473897 Centerline is valid? [False, False] Translation: X:-99.06, Y:-51.80, Z:84.67 [[ 9.97116620e-01 -1.49213050e-02 7.44029601e-02 -9.90559956e+01] [ 1.14354103e-02 9.98826633e-01 4.70594061e-02 -5.17954095e+01] [-7.50178459e-02 -4.60728876e-02 9.96117268e-01 8.46669228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12925976399998 meters Centerline goodness [0,1] 0.3194748358862144 Centerline is valid? [False, False] Translation: X:-99.06, Y:-51.80, Z:84.67 [[ 9.97102386e-01 -1.63259367e-02 7.42986878e-02 -9.90576742e+01] [ 1.29177798e-02 9.98852259e-01 4.61226132e-02 -5.18024529e+01] [-7.49664070e-02 -4.50291936e-02 9.96168866e-01 8.46693058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15925976399998 meters Centerline goodness [0,1] 0.3208761211490966 Centerline is valid? [False, False] Translation: X:-99.06, Y:-51.80, Z:84.67 [[ 9.97177743e-01 -1.65322845e-02 7.32340972e-02 -9.90560979e+01] [ 1.31559474e-02 9.98838709e-01 4.63481879e-02 -5.18040580e+01] [-7.39152925e-02 -4.52539175e-02 9.96237227e-01 8.46704691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18925976399998 meters Centerline goodness [0,1] 0.3234466334704481 Centerline is valid? [False, False] Translation: X:-99.05, Y:-51.81, Z:84.67 [[ 9.97239399e-01 -1.63793374e-02 7.24244331e-02 -9.90549287e+01] [ 1.29948895e-02 9.98812359e-01 4.69574786e-02 -5.18064773e+01] [-7.31075512e-02 -4.58867002e-02 9.96267884e-01 8.46713607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.219259764 meters Centerline goodness [0,1] 0.3241533227882386 Centerline is valid? [False, False] Translation: X:-99.05, Y:-51.81, Z:84.67 [[ 9.97206356e-01 -1.82490509e-02 7.24324227e-02 -9.90549810e+01] [ 1.49790758e-02 9.98855014e-01 4.54344379e-02 -5.18133612e+01] [-7.31786240e-02 -4.42225395e-02 9.96337923e-01 8.46717363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.249259764 meters Centerline goodness [0,1] 0.3270452524989701 Centerline is valid? [False, False] Translation: X:-99.06, Y:-51.82, Z:84.67 [[ 9.97094618e-01 -2.09990001e-02 7.32213431e-02 -9.90574851e+01] [ 1.79158286e-02 9.98935263e-01 4.25130885e-02 -5.18169896e+01] [-7.40361140e-02 -4.10777507e-02 9.96409189e-01 8.46725507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.279259764 meters Centerline goodness [0,1] 0.3270523439871633 Centerline is valid? [False, False] Translation: X:-99.06, Y:-51.81, Z:84.67 [[ 9.97093629e-01 -2.20547148e-02 7.29238221e-02 -9.90561328e+01] [ 1.90836332e-02 9.98969025e-01 4.11910368e-02 -5.18136468e+01] [-7.37570961e-02 -3.96796689e-02 9.96486535e-01 8.46711888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.309259764 meters Centerline goodness [0,1] 0.32889255337615 Centerline is valid? [False, False] Translation: X:-99.05, Y:-51.82, Z:84.67 [[ 9.98083186e-01 -2.20670442e-02 5.78186827e-02 -9.90508275e+01] [ 1.97288221e-02 9.98976455e-01 4.07040048e-02 -5.18186562e+01] [-5.86577198e-02 -3.94852882e-02 9.97496959e-01 8.46736827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.339259764 meters Centerline goodness [0,1] 0.32574229509618935 Centerline is valid? [False, False] Translation: X:-99.05, Y:-51.82, Z:84.67 [[ 9.98106604e-01 -2.15219472e-02 5.76195514e-02 -9.90511372e+01] [ 1.91410564e-02 9.98952700e-01 4.15586790e-02 -5.18217033e+01] [-5.84536301e-02 -4.03770928e-02 9.97473239e-01 8.46747756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.369259764 meters Centerline goodness [0,1] 0.32763069450768667 Centerline is valid? [False, False] Translation: X:-99.05, Y:-51.83, Z:84.68 [[ 9.98142062e-01 -2.08423498e-02 5.72540012e-02 -9.90515382e+01] [ 1.84054649e-02 9.98915600e-01 4.27652143e-02 -5.18258930e+01] [-5.80832425e-02 -4.16319726e-02 9.97443290e-01 8.46765870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.399259764 meters Centerline goodness [0,1] 0.3252134714576741 Centerline is valid? [False, False] Translation: X:-99.05, Y:-51.83, Z:84.68 [[ 9.98149070e-01 -1.97242182e-02 5.75272878e-02 -9.90544087e+01] [ 1.71857023e-02 9.98870756e-01 4.42929280e-02 -5.18289581e+01] [-5.83359689e-02 -4.32222981e-02 9.97360891e-01 8.46794661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42925976399997 meters Centerline goodness [0,1] 0.32633198942211816 Centerline is valid? [False, False] Translation: X:-99.06, Y:-51.83, Z:84.68 [[ 9.97826782e-01 -1.44054112e-02 6.42977192e-02 -9.90587075e+01] [ 1.21974337e-02 9.99326759e-01 3.46013330e-02 -5.18317910e+01] [-6.47528777e-02 -3.37418696e-02 9.97330713e-01 8.46834360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45925976399997 meters Centerline goodness [0,1] 0.319467337555305 Centerline is valid? [False, False] Translation: X:-99.07, Y:-51.86, Z:84.68 [[ 9.98426395e-01 -1.05239084e-02 5.50815944e-02 -9.90661619e+01] [ 8.71250071e-03 9.99416606e-01 3.30233380e-02 -5.18573625e+01] [-5.53969947e-02 -3.24914738e-02 9.97935608e-01 8.46845307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48925976399997 meters Centerline goodness [0,1] 0.322380414966577 Centerline is valid? [False, False] Translation: X:-99.07, Y:-51.88, Z:84.69 [[ 9.98927958e-01 -7.92626949e-03 4.56082128e-02 -9.90744004e+01] [ 6.52378033e-03 9.99503726e-01 3.08178996e-02 -5.18819851e+01] [-4.58298496e-02 -3.04873235e-02 9.98483925e-01 8.46862855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51925976399997 meters Centerline goodness [0,1] 0.3212447610154401 Centerline is valid? [False, False] Translation: X:-99.08, Y:-51.89, Z:84.69 [[ 9.98923969e-01 -7.04267036e-03 4.58399903e-02 -9.90755461e+01] [ 5.58200557e-03 9.99475006e-01 3.19147940e-02 -5.18851901e+01] [-4.60406899e-02 -3.16245736e-02 9.98438852e-01 8.46869671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54925976399997 meters Centerline goodness [0,1] 0.31109471308273284 Centerline is valid? [False, False] Translation: X:-99.08, Y:-51.89, Z:84.69 [[ 9.98941438e-01 -6.24861611e-03 4.55736598e-02 -9.90763103e+01] [ 4.73323073e-03 9.99434733e-01 3.32837799e-02 -5.18899009e+01] [-4.57558761e-02 -3.30328363e-02 9.98406346e-01 8.46889426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57925976399997 meters Centerline goodness [0,1] 0.31857025116036963 Centerline is valid? [False, False] Translation: X:-99.08, Y:-51.89, Z:84.69 [[ 9.98948321e-01 -5.38103731e-03 4.55334744e-02 -9.90778770e+01] [ 3.79870090e-03 9.99388243e-01 3.47665000e-02 -5.18948765e+01] [-4.56926988e-02 -3.45569687e-02 9.98357648e-01 8.46912792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60925976399997 meters Centerline goodness [0,1] 0.3190345036975992 Centerline is valid? [False, False] Translation: X:-99.07, Y:-51.89, Z:84.70 [[ 9.98988041e-01 -2.28894004e-03 4.49183152e-02 -9.90740285e+01] [ 9.35406150e-04 9.99545516e-01 3.01311435e-02 -5.18935442e+01] [-4.49668689e-02 -3.00586352e-02 9.98536158e-01 8.46999302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63925976399997 meters Centerline goodness [0,1] 0.29577709300811594 Centerline is valid? [False, False] Translation: X:-99.09, Y:-51.92, Z:84.70 [[ 9.98716402e-01 -1.81671787e-03 5.06186435e-02 -9.90900296e+01] [ 4.81917612e-04 9.99652149e-01 2.63694719e-02 -5.19176764e+01] [-5.06489416e-02 -2.63112301e-02 9.98369873e-01 8.46998997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66925976399997 meters Centerline goodness [0,1] 0.31853411780030827 Centerline is valid? [False, False] Translation: X:-99.11, Y:-51.94, Z:84.70 [[ 9.98431122e-01 -9.07142308e-04 5.59863587e-02 -9.91059600e+01] [-3.42860264e-04 9.99750969e-01 2.23132704e-02 -5.19408779e+01] [-5.59926577e-02 -2.22974591e-02 9.98182171e-01 8.47002020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69925976399998 meters Centerline goodness [0,1] 0.31706046996029424 Centerline is valid? [False, False] Translation: X:-99.11, Y:-51.96, Z:84.70 [[ 9.99106406e-01 2.67500671e-03 4.21809741e-02 -9.91050179e+01] [-3.66718349e-03 9.99718001e-01 2.34620983e-02 -5.19560028e+01] [-4.21063178e-02 -2.35958180e-02 9.98834468e-01 8.47039151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72925976399998 meters Centerline goodness [0,1] 0.3157700490643046 Centerline is valid? [False, False] Translation: X:-99.12, Y:-51.99, Z:84.71 [[ 9.99060440e-01 1.16032483e-02 4.17564549e-02 -9.91186738e+01] [-1.24165580e-02 9.99737192e-01 1.92711064e-02 -5.19875144e+01] [-4.15218735e-02 -1.97714714e-02 9.98941952e-01 8.47116103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75925976399998 meters Centerline goodness [0,1] 0.3127982646420824 Centerline is valid? [False, False] Translation: X:-99.12, Y:-52.01, Z:84.71 [[ 9.99435979e-01 1.65568159e-02 2.92163582e-02 -9.91206037e+01] [-1.72034437e-02 9.99609469e-01 2.20215906e-02 -5.20083833e+01] [-2.88403408e-02 -2.25117919e-02 9.99330503e-01 8.47147968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78925976399998 meters Centerline goodness [0,1] 0.3114697130942814 Centerline is valid? [False, False] Translation: X:-99.12, Y:-52.01, Z:84.71 [[ 9.99389636e-01 1.73458643e-02 3.03228635e-02 -9.91231979e+01] [-1.80380693e-02 9.99579460e-01 2.27053032e-02 -5.20101629e+01] [-2.99162684e-02 -2.32384106e-02 9.99282239e-01 8.47144104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81925976399998 meters Centerline goodness [0,1] 0.3098279457768509 Centerline is valid? [False, False] Translation: X:-99.12, Y:-52.02, Z:84.72 [[ 9.99676771e-01 1.94843137e-02 1.63314010e-02 -9.91220763e+01] [-1.98740015e-02 9.99513224e-01 2.40486699e-02 -5.20221902e+01] [-1.58548794e-02 -2.43654670e-02 9.99577384e-01 8.47176360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84925976399998 meters Centerline goodness [0,1] 0.31111400425291846 Centerline is valid? [False, False] Translation: X:-99.12, Y:-52.01, Z:84.72 [[ 9.99554297e-01 2.27090796e-02 1.93779523e-02 -9.91176363e+01] [-2.30094231e-02 9.99616327e-01 1.54196374e-02 -5.20132805e+01] [-1.90203517e-02 -1.58586403e-02 9.99693318e-01 8.47232832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87925976399998 meters Centerline goodness [0,1] 0.30788107802897036 Centerline is valid? [False, False] Translation: X:-99.12, Y:-52.01, Z:84.72 [[ 9.99499864e-01 2.33158624e-02 2.13633263e-02 -9.91196746e+01] [-2.36353067e-02 9.99610728e-01 1.48244533e-02 -5.20114403e+01] [-2.10093653e-02 -1.53219678e-02 9.99661865e-01 8.47193912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90925976399998 meters Centerline goodness [0,1] 0.30681177643845114 Centerline is valid? [False, False] Translation: X:-99.12, Y:-52.02, Z:84.72 [[ 9.99445500e-01 2.47209708e-02 2.23061997e-02 -9.91221603e+01] [-2.50852806e-02 9.99553998e-01 1.62029192e-02 -5.20150889e+01] [-2.18956992e-02 -1.67534920e-02 9.99619877e-01 8.47193736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93925976399998 meters Centerline goodness [0,1] 0.3044252399357277 Centerline is valid? [False, False] Translation: X:-99.13, Y:-52.02, Z:84.72 [[ 9.99374176e-01 2.66914269e-02 2.32125713e-02 -9.91251405e+01] [-2.71194325e-02 9.99464251e-01 1.83234142e-02 -5.20204087e+01] [-2.27110571e-02 -1.89414588e-02 9.99562619e-01 8.47201284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.969259764 meters Centerline goodness [0,1] 0.302499132245748 Centerline is valid? [False, False] Translation: X:-99.13, Y:-52.03, Z:84.72 [[ 9.99254442e-01 3.08215129e-02 2.32506808e-02 -9.91277249e+01] [-3.13640969e-02 9.99235380e-01 2.33441335e-02 -5.20299515e+01] [-2.25134014e-02 -2.40559657e-02 9.99457081e-01 8.47232365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.999259764 meters Centerline goodness [0,1] 0.2999306518723994 Centerline is valid? [False, False] Translation: X:-99.13, Y:-52.04, Z:84.73 [[ 9.99244651e-01 3.10625236e-02 2.33505287e-02 -9.91304841e+01] [-3.16315799e-02 9.99201499e-01 2.44091615e-02 -5.20406425e+01] [-2.25736731e-02 -2.51293382e-02 9.99429310e-01 8.47261134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.029259764 meters Centerline goodness [0,1] 0.3011253984430904 Centerline is valid? [False, False] Translation: X:-99.13, Y:-52.05, Z:84.73 [[ 9.99282461e-01 2.99825655e-02 2.31432067e-02 -9.91322146e+01] [-3.05403129e-02 9.99242113e-01 2.41348116e-02 -5.20499599e+01] [-2.24020432e-02 -2.48242947e-02 9.99440795e-01 8.47284005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.059259764 meters Centerline goodness [0,1] 0.30018664004514084 Centerline is valid? [False, False] Translation: X:-99.13, Y:-52.05, Z:84.73 [[ 9.99431551e-01 2.48524821e-02 2.27800201e-02 -9.91298999e+01] [-2.52822819e-02 9.99503980e-01 1.87776591e-02 -5.20480101e+01] [-2.23020493e-02 -1.93429159e-02 9.99564140e-01 8.47260941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.089259764 meters Centerline goodness [0,1] 0.3090849886030609 Centerline is valid? [False, False] Translation: X:-99.13, Y:-52.05, Z:84.73 [[ 9.99501032e-01 2.09175528e-02 2.36673462e-02 -9.91318760e+01] [-2.12626003e-02 9.99669892e-01 1.44225397e-02 -5.20474652e+01] [-2.33578491e-02 -1.49185727e-02 9.99615850e-01 8.47252976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.119259764 meters Centerline goodness [0,1] 0.30856510608756016 Centerline is valid? [False, False] Translation: X:-99.13, Y:-52.05, Z:84.73 [[ 9.99525385e-01 1.82678251e-02 2.48050513e-02 -9.91349510e+01] [-1.85584900e-02 9.99761191e-01 1.15387496e-02 -5.20504713e+01] [-2.45883398e-02 -1.19936174e-02 9.99625713e-01 8.47252169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.149259764 meters Centerline goodness [0,1] 0.3098505906879777 Centerline is valid? [False, False] Translation: X:-99.13, Y:-52.06, Z:84.73 [[ 9.99782402e-01 1.79277844e-02 1.06650628e-02 -9.91327605e+01] [-1.80641987e-02 9.99754444e-01 1.28349837e-02 -5.20627315e+01] [-1.04323411e-02 -1.30248466e-02 9.99860750e-01 8.47283510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17925976399997 meters Centerline goodness [0,1] 0.30846192243418624 Centerline is valid? [False, False] Translation: X:-99.13, Y:-52.07, Z:84.73 [[ 9.99777220e-01 1.83527019e-02 1.04253398e-02 -9.91344183e+01] [-1.84991351e-02 9.99729060e-01 1.41275477e-02 -5.20727093e+01] [-1.01632365e-02 -1.43172601e-02 9.99845850e-01 8.47309285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20925976399997 meters Centerline goodness [0,1] 0.31168605660704984 Centerline is valid? [False, False] Translation: X:-99.14, Y:-52.07, Z:84.73 [[ 9.99774899e-01 1.84337645e-02 1.05046786e-02 -9.91352632e+01] [-1.85828179e-02 9.99725445e-01 1.42728329e-02 -5.20734153e+01] [-1.02386925e-02 -1.44648266e-02 9.99842957e-01 8.47316550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23925976399997 meters Centerline goodness [0,1] 0.31033809296471504 Centerline is valid? [False, False] Translation: X:-99.14, Y:-52.07, Z:84.73 [[ 9.99762689e-01 1.85016588e-02 1.15001777e-02 -9.91374379e+01] [-1.86626947e-02 9.99727015e-01 1.40569732e-02 -5.20726286e+01] [-1.12369610e-02 -1.42682616e-02 9.99835060e-01 8.47311580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26925976399997 meters Centerline goodness [0,1] 0.3063065020862309 Centerline is valid? [False, False] Translation: X:-99.14, Y:-52.07, Z:84.73 [[ 9.99696316e-01 2.01434612e-02 1.41956563e-02 -9.91414906e+01] [-2.03451537e-02 9.99692031e-01 1.42098097e-02 -5.20723683e+01] [-1.39050497e-02 -1.44943072e-02 9.99798262e-01 8.47276287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29925976399997 meters Centerline goodness [0,1] 0.3063065020862309 Centerline is valid? [False, False] Translation: X:-99.14, Y:-52.07, Z:84.73 [[ 9.99696316e-01 2.01434612e-02 1.41956563e-02 -9.91414906e+01] [-2.03451537e-02 9.99692031e-01 1.42098097e-02 -5.20723683e+01] [-1.39050497e-02 -1.44943072e-02 9.99798262e-01 8.47276287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32925976399997 meters Centerline goodness [0,1] 0.3044941380807642 Centerline is valid? [False, False] Translation: X:-99.14, Y:-52.07, Z:84.72 [[ 9.99584787e-01 2.42741493e-02 1.55248250e-02 -9.91426272e+01] [-2.45477497e-02 9.99542262e-01 1.76825842e-02 -5.20700979e+01] [-1.50884890e-02 -1.80563417e-02 9.99723115e-01 8.47249426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35925976399997 meters Centerline goodness [0,1] 0.3015590393885439 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.07, Z:84.72 [[ 9.99545064e-01 2.51965677e-02 1.65770225e-02 -9.91452400e+01] [-2.55019068e-02 9.99504071e-01 1.84733481e-02 -5.20722209e+01] [-1.61033365e-02 -1.88876896e-02 9.99691921e-01 8.47247260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38925976399997 meters Centerline goodness [0,1] 0.30103535846845086 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.07, Z:84.72 [[ 9.99508887e-01 2.60099208e-02 1.74776501e-02 -9.91475277e+01] [-2.63447247e-02 9.99468382e-01 1.92069846e-02 -5.20743297e+01] [-1.69687865e-02 -1.96579957e-02 9.99662755e-01 8.47245447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41925976399997 meters Centerline goodness [0,1] 0.29906440619098273 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.08, Z:84.73 [[ 9.99420215e-01 2.87964343e-02 1.81658814e-02 -9.91506724e+01] [-2.91977993e-02 9.99326424e-01 2.22303074e-02 -5.20802102e+01] [-1.75134917e-02 -2.27478223e-02 9.99587822e-01 8.47261978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44925976399998 meters Centerline goodness [0,1] 0.2950488599348534 Centerline is valid? [False, False] Translation: X:-99.16, Y:-52.09, Z:84.73 [[ 9.99372837e-01 2.96934567e-02 1.92932982e-02 -9.91553505e+01] [-3.01464783e-02 9.99266131e-01 2.36302726e-02 -5.20899321e+01] [-1.85774750e-02 -2.41970775e-02 9.99534581e-01 8.47282586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47925976399998 meters Centerline goodness [0,1] 0.29701917023078095 Centerline is valid? [False, False] Translation: X:-99.16, Y:-52.10, Z:84.73 [[ 9.99334301e-01 3.03090045e-02 2.03056655e-02 -9.91592686e+01] [-3.08060095e-02 9.99221933e-01 2.46276063e-02 -5.20984577e+01] [-1.95434281e-02 -2.52367483e-02 9.99490451e-01 8.47297662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50925976399998 meters Centerline goodness [0,1] 0.25345411887382685 Centerline is valid? [False, False] Translation: X:-99.16, Y:-52.10, Z:84.73 [[ 9.99323181e-01 3.04857149e-02 2.05864399e-02 -9.91599280e+01] [-3.09930881e-02 9.99212035e-01 2.47938976e-02 -5.20992932e+01] [-1.98143589e-02 -2.54151540e-02 9.99480596e-01 8.47296381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53925976399998 meters Centerline goodness [0,1] 0.2654444347901642 Centerline is valid? [False, False] Translation: X:-99.16, Y:-52.10, Z:84.73 [[ 9.99381251e-01 2.78163723e-02 2.15258926e-02 -9.91621405e+01] [-2.82858887e-02 9.99361616e-01 2.18235837e-02 -5.21024154e+01] [-2.09050979e-02 -2.24189594e-02 9.99530073e-01 8.47290700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56925976399998 meters Centerline goodness [0,1] 0.3007476310527688 Centerline is valid? [False, False] Translation: X:-99.16, Y:-52.11, Z:84.73 [[ 9.99435427e-01 2.53855410e-02 2.20091207e-02 -9.91646756e+01] [-2.58194968e-02 9.99473234e-01 1.96623508e-02 -5.21086827e+01] [-2.14983876e-02 -2.02195144e-02 9.99564400e-01 8.47303158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59925976399998 meters Centerline goodness [0,1] 0.2691956918266307 Centerline is valid? [False, False] Translation: X:-99.17, Y:-52.12, Z:84.73 [[ 9.99489922e-01 2.29328182e-02 2.22257123e-02 -9.91669172e+01] [-2.33289893e-02 9.99570564e-01 1.77325974e-02 -5.21158342e+01] [-2.18095093e-02 -1.82420558e-02 9.99595705e-01 8.47320420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62925976399998 meters Centerline goodness [0,1] 0.30258695652173917 Centerline is valid? [False, False] Translation: X:-99.17, Y:-52.12, Z:84.73 [[ 9.99542913e-01 2.03388102e-02 2.23673549e-02 -9.91687817e+01] [-2.06924626e-02 9.99662688e-01 1.56949581e-02 -5.21227953e+01] [-2.20405934e-02 -1.61506198e-02 9.99626615e-01 8.47335770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65925976399998 meters Centerline goodness [0,1] 0.2716613369879701 Centerline is valid? [False, False] Translation: X:-99.17, Y:-52.13, Z:84.74 [[ 9.99662227e-01 1.43173212e-02 2.16897576e-02 -9.91690548e+01] [-1.45468751e-02 9.99839445e-01 1.04629603e-02 -5.21301188e+01] [-2.15364736e-02 -1.07749444e-02 9.99709998e-01 8.47353995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68925976399998 meters Centerline goodness [0,1] 0.27961961831563864 Centerline is valid? [False, False] Translation: X:-99.17, Y:-52.13, Z:84.74 [[ 9.99725166e-01 1.05314893e-02 2.09446989e-02 -9.91682740e+01] [-1.06834592e-02 9.99917316e-01 7.15715597e-03 -5.21337337e+01] [-2.08675916e-02 -7.37895078e-03 9.99755017e-01 8.47365245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.719259764 meters Centerline goodness [0,1] 0.27961961831563864 Centerline is valid? [False, False] Translation: X:-99.17, Y:-52.13, Z:84.74 [[ 9.99725166e-01 1.05314893e-02 2.09446989e-02 -9.91682740e+01] [-1.06834592e-02 9.99917316e-01 7.15715597e-03 -5.21337337e+01] [-2.08675916e-02 -7.37895078e-03 9.99755017e-01 8.47365245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.749259764 meters Centerline goodness [0,1] 0.27014928616441036 Centerline is valid? [False, False] Translation: X:-99.17, Y:-52.14, Z:84.74 [[ 9.99779396e-01 7.08291818e-03 1.97735234e-02 -9.91671780e+01] [-7.17257938e-03 9.99964299e-01 4.46717387e-03 -5.21388771e+01] [-1.97411769e-02 -4.60801556e-03 9.99794505e-01 8.47386429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.779259764 meters Centerline goodness [0,1] 0.2790758329891978 Centerline is valid? [False, False] Translation: X:-99.16, Y:-52.13, Z:84.75 [[ 9.99898347e-01 -2.84480573e-03 1.39714923e-02 -9.91573801e+01] [ 2.82462535e-03 9.99994939e-01 1.46391779e-03 -5.21340133e+01] [-1.39755861e-02 -1.42430474e-03 9.99901322e-01 8.47471622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.809259764 meters Centerline goodness [0,1] 0.28829826504245104 Centerline is valid? [False, False] Translation: X:-99.16, Y:-52.14, Z:84.75 [[ 9.99889963e-01 -6.81407129e-03 1.31768679e-02 -9.91566087e+01] [ 6.84147657e-03 9.99974524e-01 -2.03584532e-03 -5.21370365e+01] [-1.31626598e-02 2.12577054e-03 9.99911109e-01 8.47487619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.839259764 meters Centerline goodness [0,1] 0.2792667564397724 Centerline is valid? [False, False] Translation: X:-99.16, Y:-52.14, Z:84.75 [[ 9.99860049e-01 -1.10663418e-02 1.25466759e-02 -9.91559750e+01] [ 1.11422407e-02 9.99919948e-01 -5.99564494e-03 -5.21386451e+01] [-1.24793217e-02 6.13460392e-03 9.99903312e-01 8.47501108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.869259764 meters Centerline goodness [0,1] 0.27653758542141227 Centerline is valid? [False, False] Translation: X:-99.16, Y:-52.14, Z:84.75 [[ 9.99808487e-01 -1.52809065e-02 1.22263251e-02 -9.91561496e+01] [ 1.54038025e-02 9.99831132e-01 -1.00215297e-02 -5.21398947e+01] [-1.20711224e-02 1.02079424e-02 9.99875035e-01 8.47515455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.899259764 meters Centerline goodness [0,1] 0.2749153572358711 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.14, Z:84.75 [[ 9.99788140e-01 -1.75006143e-02 1.08352787e-02 -9.91537317e+01] [ 1.76284407e-02 9.99774781e-01 -1.18163205e-02 -5.21375810e+01] [-1.06260455e-02 1.20048262e-02 9.99871477e-01 8.47527498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92925976399997 meters Centerline goodness [0,1] 0.279120783649356 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.14, Z:84.75 [[ 9.99728111e-01 -2.11577585e-02 9.80066912e-03 -9.91525817e+01] [ 2.13007740e-02 9.99664663e-01 -1.47254342e-02 -5.21420569e+01] [-9.48582541e-03 1.49301923e-02 9.99843542e-01 8.47547479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95925976399997 meters Centerline goodness [0,1] 0.30401301518438173 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.14, Z:84.75 [[ 9.99728549e-01 -2.15287475e-02 8.90738977e-03 -9.91504535e+01] [ 2.16596212e-02 9.99654860e-01 -1.48668265e-02 -5.21421075e+01] [-8.58425131e-03 1.50557215e-02 9.99849807e-01 8.47549189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98925976399997 meters Centerline goodness [0,1] 0.31260854463355336 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.14, Z:84.76 [[ 9.99714083e-01 -2.23644093e-02 8.46083175e-03 -9.91497964e+01] [ 2.24951062e-02 9.99623966e-01 -1.56810784e-02 -5.21401205e+01] [-8.10695214e-03 1.58669222e-02 9.99841246e-01 8.47554513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01925976399997 meters Centerline goodness [0,1] 0.3049306926397536 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.14, Z:84.76 [[ 9.99696478e-01 -2.31756850e-02 8.35702401e-03 -9.91496984e+01] [ 2.33120527e-02 9.99590290e-01 -1.66072555e-02 -5.21376688e+01] [-7.96871552e-03 1.67970343e-02 9.99827165e-01 8.47556819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04925976399997 meters Centerline goodness [0,1] 0.2913836873738799 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.14, Z:84.76 [[ 9.99683612e-01 -2.39985396e-02 7.53305311e-03 -9.91470734e+01] [ 2.41257943e-02 9.99559528e-01 -1.72827987e-02 -5.21364913e+01] [-7.11497308e-03 1.74590715e-02 9.99822263e-01 8.47550359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07925976399997 meters Centerline goodness [0,1] 0.3027493050729674 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.14, Z:84.76 [[ 9.99677404e-01 -2.44846026e-02 6.75222343e-03 -9.91462583e+01] [ 2.45996306e-02 9.99543955e-01 -1.75139824e-02 -5.21365552e+01] [-6.32032122e-03 1.76744347e-02 9.99823818e-01 8.47564518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10925976399997 meters Centerline goodness [0,1] 0.3033571320066839 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.14, Z:84.76 [[ 9.99671287e-01 -2.47452397e-02 6.70761001e-03 -9.91475367e+01] [ 2.48604726e-02 9.99534615e-01 -1.76779885e-02 -5.21365383e+01] [-6.26704232e-03 1.78389318e-02 9.99821232e-01 8.47581698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13925976399997 meters Centerline goodness [0,1] 0.3113197320209007 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.13, Z:84.76 [[ 9.99746699e-01 -2.13834749e-02 7.02025251e-03 -9.91469167e+01] [ 2.14853688e-02 9.99659985e-01 -1.47747259e-02 -5.21328798e+01] [-6.70193054e-03 1.49218161e-02 9.99866203e-01 8.47561790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16925976399997 meters Centerline goodness [0,1] 0.3096353150340402 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.13, Z:84.75 [[ 9.99806336e-01 -1.83395787e-02 7.13799197e-03 -9.91456950e+01] [ 1.84252971e-02 9.99756605e-01 -1.21342108e-02 -5.21286461e+01] [-6.91371830e-03 1.22633805e-02 9.99900900e-01 8.47540489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19925976399998 meters Centerline goodness [0,1] 0.3126383403498112 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.12, Z:84.75 [[ 9.99842108e-01 -1.62232809e-02 7.25015481e-03 -9.91452730e+01] [ 1.62990951e-02 9.99811784e-01 -1.05230979e-02 -5.21223031e+01] [-7.07807105e-03 1.06396073e-02 9.99918346e-01 8.47530109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22925976399998 meters Centerline goodness [0,1] 0.31330081300813006 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.12, Z:84.75 [[ 9.99888204e-01 -1.19747323e-02 8.95463945e-03 -9.91476460e+01] [ 1.20394516e-02 9.99901537e-01 -7.20882435e-03 -5.21187876e+01] [-8.86743402e-03 7.31582738e-03 9.99933921e-01 8.47503154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25925976399998 meters Centerline goodness [0,1] 0.3151478340094145 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.12, Z:84.75 [[ 9.99880186e-01 -1.15553096e-02 1.02999073e-02 -9.91507180e+01] [ 1.16298118e-02 9.99906428e-01 -7.20298254e-03 -5.21180379e+01] [-1.02157109e-02 7.32190550e-03 9.99921011e-01 8.47497876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28925976399998 meters Centerline goodness [0,1] 0.313945674087884 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.11, Z:84.75 [[ 9.99908038e-01 -8.58939210e-03 1.04946424e-02 -9.91504711e+01] [ 8.63822086e-03 9.99952034e-01 -4.61629573e-03 -5.21136423e+01] [-1.04544878e-02 4.70652624e-03 9.99934274e-01 8.47487310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31925976399998 meters Centerline goodness [0,1] 0.3200138534135677 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.11, Z:84.74 [[ 9.99925693e-01 -1.80739805e-03 1.20557591e-02 -9.91508531e+01] [ 1.79651844e-03 9.99997969e-01 9.13209865e-04 -5.21067793e+01] [-1.20573851e-02 -8.91483614e-04 9.99926910e-01 8.47446015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34925976399998 meters Centerline goodness [0,1] 0.3183480085671635 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.11, Z:84.74 [[ 9.99917254e-01 2.38579644e-03 1.26409626e-02 -9.91520361e+01] [-2.44802756e-03 9.99984950e-01 4.90978891e-03 -5.21057801e+01] [-1.26290586e-02 -4.94032807e-03 9.99908046e-01 8.47441508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37925976399998 meters Centerline goodness [0,1] 0.315335566843186 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.11, Z:84.74 [[ 9.99887649e-01 6.83482693e-03 1.33407268e-02 -9.91537408e+01] [-6.95850040e-03 9.99933042e-01 9.24607234e-03 -5.21058377e+01] [-1.32766383e-02 -9.33786498e-03 9.99868259e-01 8.47440565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40925976399998 meters Centerline goodness [0,1] 0.31181680708576365 Centerline is valid? [False, False] Translation: X:-99.15, Y:-52.11, Z:84.74 [[ 9.99842101e-01 1.10831526e-02 1.38901645e-02 -9.91549339e+01] [-1.12688054e-02 9.99847257e-01 1.33595493e-02 -5.21052818e+01] [-1.37399770e-02 -1.35139654e-02 9.99814276e-01 8.47438673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43925976399998 meters Centerline goodness [0,1] 0.3045019343404871 Centerline is valid? [False, False] Translation: X:-99.16, Y:-52.11, Z:84.74 [[ 9.99780063e-01 1.41930182e-02 1.54396987e-02 -9.91578963e+01] [-1.44399484e-02 9.99767700e-01 1.60010465e-02 -5.21085052e+01] [-1.52090089e-02 -1.62204758e-02 9.99752761e-01 8.47430442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.469259764 meters Centerline goodness [0,1] 0.3054738844690419 Centerline is valid? [False, False] Translation: X:-99.16, Y:-52.11, Z:84.74 [[ 9.99467367e-01 2.30819532e-02 2.30695855e-02 -9.91609225e+01] [-2.33046666e-02 9.99683913e-01 9.43218170e-03 -5.21105522e+01] [-2.28445803e-02 -9.96478680e-03 9.99689366e-01 8.47441488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.499259764 meters Centerline goodness [0,1] 0.3052806706711032 Centerline is valid? [False, False] Translation: X:-99.16, Y:-52.11, Z:84.74 [[ 9.99416546e-01 2.42336698e-02 2.40685724e-02 -9.91627900e+01] [-2.44908046e-02 9.99645471e-01 1.04466946e-02 -5.21131425e+01] [-2.38068776e-02 -1.10300582e-02 9.99655726e-01 8.47432440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.529259764 meters Centerline goodness [0,1] 0.29233095701015344 Centerline is valid? [False, False] Translation: X:-99.16, Y:-52.13, Z:84.75 [[ 9.99545336e-01 2.83283354e-02 1.03260091e-02 -9.91612487e+01] [-2.84506660e-02 9.99524374e-01 1.18989614e-02 -5.21297118e+01] [-9.98402003e-03 -1.21873332e-02 9.99875886e-01 8.47456883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.559259764 meters Centerline goodness [0,1] 0.3018268295319425 Centerline is valid? [False, False] Translation: X:-99.16, Y:-52.13, Z:84.74 [[ 9.99544247e-01 2.81641692e-02 1.08663474e-02 -9.91615972e+01] [-2.82884526e-02 9.99534125e-01 1.14584771e-02 -5.21285257e+01] [-1.05385666e-02 -1.17606470e-02 9.99875305e-01 8.47443084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.589259764 meters Centerline goodness [0,1] 0.28695031472388655 Centerline is valid? [False, False] Translation: X:-99.17, Y:-52.13, Z:84.74 [[ 9.99563097e-01 2.67395219e-02 1.25941437e-02 -9.91658255e+01] [-2.68590336e-02 9.99594866e-01 9.41786408e-03 -5.21315960e+01] [-1.23372122e-02 -9.75201591e-03 9.99876338e-01 8.47438726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.619259764 meters Centerline goodness [0,1] 0.3013915038196022 Centerline is valid? [False, False] Translation: X:-99.17, Y:-52.13, Z:84.74 [[ 9.99515816e-01 2.78036604e-02 1.39674357e-02 -9.91685179e+01] [-2.79476374e-02 9.99557134e-01 1.02208104e-02 -5.21335973e+01] [-1.36770741e-02 -1.06062185e-02 9.99850212e-01 8.47427540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.649259764 meters Centerline goodness [0,1] 0.2997032640949555 Centerline is valid? [False, False] Translation: X:-99.17, Y:-52.14, Z:84.74 [[ 9.99485939e-01 2.85686321e-02 1.45496109e-02 -9.91707368e+01] [-2.87322702e-02 9.99524789e-01 1.11648411e-02 -5.21367660e+01] [-1.42237325e-02 -1.15771450e-02 9.99831813e-01 8.47435504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67925976399997 meters Centerline goodness [0,1] 0.29759764313411174 Centerline is valid? [False, False] Translation: X:-99.17, Y:-52.14, Z:84.74 [[ 9.99448311e-01 2.94689685e-02 1.53184089e-02 -9.91730656e+01] [-2.96574342e-02 9.99485359e-01 1.22251599e-02 -5.21400946e+01] [-1.49502625e-02 -1.26727201e-02 9.99807927e-01 8.47439133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70925976399997 meters Centerline goodness [0,1] 0.2996729265492668 Centerline is valid? [False, False] Translation: X:-99.18, Y:-52.15, Z:84.75 [[ 9.99486876e-01 2.77509100e-02 1.59960064e-02 -9.91761629e+01] [-2.79227502e-02 9.99553654e-01 1.06213311e-02 -5.21458108e+01] [-1.56941151e-02 -1.10625335e-02 9.99815641e-01 8.47450923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73925976399997 meters Centerline goodness [0,1] 0.30093263800229375 Centerline is valid? [False, False] Translation: X:-99.18, Y:-52.15, Z:84.75 [[ 9.99549938e-01 2.49996691e-02 1.65812708e-02 -9.91783791e+01] [-2.51366756e-02 9.99651156e-01 8.10639978e-03 -5.21513920e+01] [-1.63728292e-02 -8.51954942e-03 9.99829659e-01 8.47455836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76925976399997 meters Centerline goodness [0,1] 0.30433653034272234 Centerline is valid? [False, False] Translation: X:-99.18, Y:-52.15, Z:84.75 [[ 9.99641728e-01 2.11663888e-02 1.63829342e-02 -9.91791283e+01] [-2.12437894e-02 9.99763904e-01 4.56492307e-03 -5.21545581e+01] [-1.62824433e-02 -4.91132319e-03 9.99855370e-01 8.47467519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79925976399997 meters Centerline goodness [0,1] 0.30762065678883976 Centerline is valid? [False, False] Translation: X:-99.18, Y:-52.16, Z:84.75 [[ 9.99776942e-01 1.42533136e-02 1.55855767e-02 -9.91790613e+01] [-1.42312360e-02 9.99897566e-01 -1.52653849e-03 -5.21623323e+01] [-1.56057384e-02 1.30439596e-03 9.99877372e-01 8.47485006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82925976399997 meters Centerline goodness [0,1] 0.31046884478724324 Centerline is valid? [False, False] Translation: X:-99.18, Y:-52.17, Z:84.75 [[ 9.99813467e-01 1.08843072e-02 1.59550435e-02 -9.91807558e+01] [-1.08099988e-02 9.99930354e-01 -4.73622984e-03 -5.21657704e+01] [-1.60054828e-02 4.56287238e-03 9.99861493e-01 8.47491475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85925976399997 meters Centerline goodness [0,1] 0.3102521882312159 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.17, Z:84.74 [[ 9.99877281e-01 6.00474139e-03 1.44694561e-02 -9.91872685e+01] [-6.02360588e-03 9.99981063e-01 1.26051660e-03 -5.21740036e+01] [-1.44616130e-02 -1.34752021e-03 9.99894517e-01 8.47412538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88925976399997 meters Centerline goodness [0,1] 0.3108546934534119 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.17, Z:84.74 [[ 9.99885969e-01 5.83748223e-03 1.39274167e-02 -9.91864813e+01] [-5.85608417e-03 9.99982014e-01 1.29522597e-03 -5.21745175e+01] [-1.39196054e-02 -1.37663840e-03 9.99902170e-01 8.47419516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91925976399997 meters Centerline goodness [0,1] 0.3134014813531425 Centerline is valid? [False, False] Translation: X:-99.18, Y:-52.18, Z:84.74 [[ 9.99916620e-01 4.70947389e-03 1.20239118e-02 -9.91833217e+01] [-4.72330457e-03 9.99988216e-01 1.12212636e-03 -5.21759060e+01] [-1.20184855e-02 -1.17882539e-03 9.99927081e-01 8.47439191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94925976399998 meters Centerline goodness [0,1] 0.3166388304448734 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.18, Z:84.75 [[ 9.99927908e-01 2.88880679e-03 1.16547906e-02 -9.91850424e+01] [-2.88889386e-03 9.99995827e-01 -9.36487893e-06 -5.21826536e+01] [-1.16547690e-02 -2.43052491e-05 9.99932081e-01 8.47466335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97925976399998 meters Centerline goodness [0,1] 0.31774931183215205 Centerline is valid? [False, False] Translation: X:-99.18, Y:-52.18, Z:84.75 [[ 9.99938345e-01 1.97008647e-03 1.09281564e-02 -9.91836359e+01] [-1.96190772e-03 9.99997787e-01 -7.59079883e-04 -5.21813721e+01] [-1.09296277e-02 7.37593048e-04 9.99939998e-01 8.47472301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00925976399998 meters Centerline goodness [0,1] 0.3195829359230036 Centerline is valid? [False, False] Translation: X:-99.18, Y:-52.18, Z:84.75 [[ 9.99945050e-01 1.22851839e-03 1.04109167e-02 -9.91827578e+01] [-1.21342459e-03 9.99998204e-01 -1.45599750e-03 -5.21797749e+01] [-1.04126867e-02 1.44328463e-03 9.99944745e-01 8.47477242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03925976399998 meters Centerline goodness [0,1] 0.31843127047135633 Centerline is valid? [False, False] Translation: X:-99.18, Y:-52.18, Z:84.75 [[ 9.99938418e-01 1.30754364e-03 1.10204204e-02 -9.91841507e+01] [-1.29057021e-03 9.99997970e-01 -1.54715100e-03 -5.21791313e+01] [-1.10224210e-02 1.53283310e-03 9.99938076e-01 8.47473668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06925976399998 meters Centerline goodness [0,1] 0.31734773555439877 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.18, Z:84.75 [[ 9.99933910e-01 1.24243520e-03 1.14294553e-02 -9.91853735e+01] [-1.22282685e-03 9.99997769e-01 -1.72242608e-03 -5.21783988e+01] [-1.14315698e-02 1.70833600e-03 9.99933198e-01 8.47475452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09925976399998 meters Centerline goodness [0,1] 0.31885627639987 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.18, Z:84.75 [[ 9.99928773e-01 1.53551401e-03 1.18360340e-02 -9.91865470e+01] [-1.51862448e-03 9.99997816e-01 -1.43581388e-03 -5.21791687e+01] [-1.18382129e-02 1.41773712e-03 9.99928921e-01 8.47476262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12925976399998 meters Centerline goodness [0,1] 0.3184982757498861 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.18, Z:84.75 [[ 9.99919593e-01 2.13307833e-03 1.25002801e-02 -9.91884079e+01] [-2.12323032e-03 9.99997425e-01 -8.01041224e-04 -5.21811645e+01] [-1.25019566e-02 7.74435841e-04 9.99921548e-01 8.47477377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15925976399998 meters Centerline goodness [0,1] 0.3184318821745722 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.18, Z:84.75 [[ 9.99912138e-01 2.70887126e-03 1.29760415e-02 -9.91902890e+01] [-2.70731506e-03 9.99996326e-01 -1.37493713e-04 -5.21832515e+01] [-1.29763663e-02 1.02351400e-04 9.99915798e-01 8.47485507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18925976399998 meters Centerline goodness [0,1] 0.31678809957498477 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.19, Z:84.75 [[ 9.99907502e-01 3.43791921e-03 1.31593352e-02 -9.91910671e+01] [-3.44886582e-03 9.99993725e-01 8.09248000e-04 -5.21864151e+01] [-1.31564705e-02 -8.54557928e-04 9.99913085e-01 8.47489554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.219259764 meters Centerline goodness [0,1] 0.31708586296617525 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.19, Z:84.75 [[ 9.99904485e-01 3.56446664e-03 1.33535132e-02 -9.91909379e+01] [-3.57653574e-03 9.99993217e-01 8.80042809e-04 -5.21867060e+01] [-1.33502858e-02 -9.27718068e-04 9.99910451e-01 8.47481378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.249259764 meters Centerline goodness [0,1] 0.31825384765667397 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.19, Z:84.75 [[ 9.99899747e-01 3.47365827e-03 1.37269908e-02 -9.91915001e+01] [-3.48255626e-03 9.99993741e-01 6.24361090e-04 -5.21858698e+01] [-1.37247360e-02 -6.72103514e-04 9.99905585e-01 8.47475707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.279259764 meters Centerline goodness [0,1] 0.3157734734647789 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.18, Z:84.74 [[ 9.99879437e-01 4.13232040e-03 1.49678246e-02 -9.91922051e+01] [-4.14260773e-03 9.99991204e-01 6.56356260e-04 -5.21846569e+01] [-1.49649807e-02 -7.18282954e-04 9.99887760e-01 8.47443971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.309259764 meters Centerline goodness [0,1] 0.3137088896125041 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.19, Z:84.74 [[ 9.99867904e-01 4.60435326e-03 1.55876358e-02 -9.91928154e+01] [-4.61982363e-03 9.99988871e-01 9.56614611e-04 -5.21851044e+01] [-1.55830577e-02 -1.02850037e-03 9.99878048e-01 8.47430378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.339259764 meters Centerline goodness [0,1] 0.3153323344841813 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.19, Z:84.74 [[ 9.99865540e-01 5.05085203e-03 1.56009959e-02 -9.91930172e+01] [-5.07662904e-03 9.99985813e-01 1.61310626e-03 -5.21875040e+01] [-1.55926270e-02 -1.69208983e-03 9.99876996e-01 8.47431670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.369259764 meters Centerline goodness [0,1] 0.31563857515204174 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.19, Z:84.75 [[ 9.99874132e-01 5.38259230e-03 1.49247091e-02 -9.91933348e+01] [-5.42061944e-03 9.99982162e-01 2.50865008e-03 -5.21910496e+01] [-1.49109398e-02 -2.58923549e-03 9.99885473e-01 8.47457064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.399259764 meters Centerline goodness [0,1] 0.3147830988358228 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.21, Z:84.75 [[ 9.99869086e-01 7.74706524e-03 1.42053998e-02 -9.91955812e+01] [-7.84268344e-03 9.99946881e-01 6.68780826e-03 -5.22083799e+01] [-1.41528343e-02 -6.79834119e-03 9.99876732e-01 8.47505894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42925976399997 meters Centerline goodness [0,1] 0.3166576352010404 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.21, Z:84.75 [[ 9.99866365e-01 8.10840947e-03 1.41953002e-02 -9.91967741e+01] [-8.21365332e-03 9.99939097e-01 7.37145678e-03 -5.22112078e+01] [-1.41346649e-02 -7.48706697e-03 9.99872069e-01 8.47521815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45925976399997 meters Centerline goodness [0,1] 0.3170060658578856 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.21, Z:84.75 [[ 9.99856890e-01 8.48363725e-03 1.46364962e-02 -9.91979520e+01] [-8.59807653e-03 9.99932820e-01 7.77363258e-03 -5.22126250e+01] [-1.45695642e-02 -7.89836581e-03 9.99862662e-01 8.47522537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48925976399997 meters Centerline goodness [0,1] 0.3155930658913888 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.21, Z:84.75 [[ 9.99816350e-01 9.28312739e-03 1.67657290e-02 -9.92002263e+01] [-9.40684635e-03 9.99928994e-01 7.31555119e-03 -5.22113194e+01] [-1.66966273e-02 -7.47192033e-03 9.99832683e-01 8.47482363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51925976399997 meters Centerline goodness [0,1] 0.3079644097222223 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.21, Z:84.75 [[ 9.99792452e-01 9.92995432e-03 1.77890013e-02 -9.92017142e+01] [-1.00672305e-02 9.99920106e-01 7.64405581e-03 -5.22116528e+01] [-1.77116750e-02 -7.82155528e-03 9.99812542e-01 8.47467167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54925976399997 meters Centerline goodness [0,1] 0.30854090208256424 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.21, Z:84.75 [[ 9.99767733e-01 1.06278664e-02 1.87491054e-02 -9.92035442e+01] [-1.07821491e-02 9.99908682e-01 8.14699622e-03 -5.22129352e+01] [-1.86608081e-02 -8.34725960e-03 9.99791027e-01 8.47458949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57925976399997 meters Centerline goodness [0,1] 0.31156728576083415 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.22, Z:84.75 [[ 9.99732570e-01 1.20309379e-02 1.97495595e-02 -9.92059769e+01] [-1.22212069e-02 9.99879791e-01 9.54182683e-03 -5.22162714e+01] [-1.96323883e-02 -9.78063851e-03 9.99759425e-01 8.47457111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60925976399997 meters Centerline goodness [0,1] 0.31156728576083415 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.22, Z:84.75 [[ 9.99732570e-01 1.20309379e-02 1.97495595e-02 -9.92059769e+01] [-1.22212069e-02 9.99879791e-01 9.54182683e-03 -5.22162714e+01] [-1.96323883e-02 -9.78063851e-03 9.99759425e-01 8.47457111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63925976399997 meters Centerline goodness [0,1] 0.3100573215216258 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.22, Z:84.75 [[ 9.99734946e-01 1.18597960e-02 1.97327920e-02 -9.92063284e+01] [-1.20477371e-02 9.99882930e-01 9.43283957e-03 -5.22164061e+01] [-1.96186103e-02 -9.66807485e-03 9.99760791e-01 8.47461752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66925976399997 meters Centerline goodness [0,1] 0.3068241014064942 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.22, Z:84.75 [[ 9.99738256e-01 1.16866604e-02 1.96682813e-02 -9.92062183e+01] [-1.18721208e-02 9.99885909e-01 9.33921426e-03 -5.22167187e+01] [-1.95568931e-02 -9.57027398e-03 9.99762941e-01 8.47462409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69925976399998 meters Centerline goodness [0,1] 0.30579499316064873 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.22, Z:84.75 [[ 9.99743542e-01 1.15582621e-02 1.94745064e-02 -9.92057631e+01] [-1.17410732e-02 9.99887830e-01 9.29915976e-03 -5.22171361e+01] [-1.93648398e-02 -9.52542652e-03 9.99767107e-01 8.47462272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72925976399998 meters Centerline goodness [0,1] 0.3095005322731321 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.22, Z:84.75 [[ 9.99770792e-01 7.85613791e-03 1.99159227e-02 -9.92073325e+01] [-7.96991224e-03 9.99952335e-01 5.63981041e-03 -5.22193845e+01] [-1.98706663e-02 -5.79724588e-03 9.99785751e-01 8.47466988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75925976399998 meters Centerline goodness [0,1] 0.3136765312547496 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.22, Z:84.75 [[ 9.99802204e-01 6.35243228e-03 1.88467126e-02 -9.92049991e+01] [-6.43457461e-03 9.99970048e-01 4.30100846e-03 -5.22171356e+01] [-1.88188262e-02 -4.42142832e-03 9.99813134e-01 8.47471740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78925976399998 meters Centerline goodness [0,1] 0.3100840883905873 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.22, Z:84.75 [[ 9.99814595e-01 3.97866295e-03 1.88399945e-02 -9.92065752e+01] [-4.02480854e-03 9.99988991e-01 2.41205885e-03 -5.22237495e+01] [-1.88301903e-02 -2.48743901e-03 9.99819602e-01 8.47489841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81925976399998 meters Centerline goodness [0,1] 0.313243337095234 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.22, Z:84.75 [[ 9.99855081e-01 2.38767510e-03 1.68557574e-02 -9.92025397e+01] [-2.41557932e-03 9.99995745e-01 1.63530533e-03 -5.22239241e+01] [-1.68517811e-02 -1.67578477e-03 9.99856594e-01 8.47501850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84925976399998 meters Centerline goodness [0,1] 0.3154384287824802 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.22, Z:84.75 [[ 9.99867618e-01 1.61010826e-03 1.61911813e-02 -9.92004286e+01] [-1.62503972e-03 9.99998266e-01 9.09082736e-04 -5.22225917e+01] [-1.61896895e-02 -9.35273702e-04 9.99868501e-01 8.47495543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87925976399998 meters Centerline goodness [0,1] 0.31503875295803396 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.22, Z:84.75 [[ 9.99880411e-01 7.33461573e-04 1.54475075e-02 -9.91980776e+01] [-7.33661641e-04 9.99999731e-01 7.28449644e-06 -5.22202756e+01] [-1.54474980e-02 -1.86168690e-05 9.99880680e-01 8.47488835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90925976399998 meters Centerline goodness [0,1] 0.3209289190128606 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.22, Z:84.75 [[ 9.99878104e-01 -3.89353319e-03 1.51201192e-02 -9.91975664e+01] [ 3.96164412e-03 9.99982129e-01 -4.47731915e-03 -5.22202359e+01] [-1.51024164e-02 4.53667391e-03 9.99875660e-01 8.47492845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93925976399998 meters Centerline goodness [0,1] 0.32166996283658966 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.22, Z:84.75 [[ 9.99890500e-01 -4.90608649e-03 1.39613023e-02 -9.91951941e+01] [ 4.97870371e-03 9.99974235e-01 -5.17132749e-03 -5.22192466e+01] [-1.39355716e-02 5.24027041e-03 9.99889164e-01 8.47499690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.969259764 meters Centerline goodness [0,1] 0.3102782238812448 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.22, Z:84.75 [[ 9.99873234e-01 -9.50555792e-03 1.27734393e-02 -9.91936658e+01] [ 9.62081616e-03 9.99913285e-01 -8.99232549e-03 -5.22214821e+01] [-1.26868545e-02 9.11407648e-03 9.99877981e-01 8.47519472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.999259764 meters Centerline goodness [0,1] 0.32287590225236973 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.22, Z:84.75 [[ 9.99873376e-01 -1.10647944e-02 1.14368932e-02 -9.91910870e+01] [ 1.11792923e-02 9.99887542e-01 -9.99630365e-03 -5.22209481e+01] [-1.13250000e-02 1.01228942e-02 9.99884629e-01 8.47528910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.029259764 meters Centerline goodness [0,1] 0.3272226320128433 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.22, Z:84.75 [[ 9.99866917e-01 -1.29145244e-02 9.96813620e-03 -9.91884270e+01] [ 1.30268330e-02 9.99851461e-01 -1.12852891e-02 -5.22196611e+01] [-9.82091140e-03 1.14136405e-02 9.99886633e-01 8.47541945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.059259764 meters Centerline goodness [0,1] 0.32589857747855355 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.22, Z:84.76 [[ 9.99862979e-01 -1.40645314e-02 8.73000806e-03 -9.91863030e+01] [ 1.41678604e-02 9.99828944e-01 -1.18892831e-02 -5.22198031e+01] [-8.56129754e-03 1.20113396e-02 9.99891210e-01 8.47554158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.089259764 meters Centerline goodness [0,1] 0.32631510331790625 Centerline is valid? [False, False] Translation: X:-99.18, Y:-52.22, Z:84.76 [[ 9.99858080e-01 -1.49763787e-02 7.71541824e-03 -9.91849225e+01] [ 1.50718312e-02 9.99808704e-01 -1.24657369e-02 -5.22193568e+01] [-7.52725072e-03 1.25802532e-02 9.99892533e-01 8.47569184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.119259764 meters Centerline goodness [0,1] 0.33444888734353273 Centerline is valid? [False, False] Translation: X:-99.18, Y:-52.22, Z:84.76 [[ 9.99864168e-01 -1.47984581e-02 7.25611242e-03 -9.91844640e+01] [ 1.48849084e-02 9.99817101e-01 -1.20085067e-02 -5.22212834e+01] [-7.07707790e-03 1.21148821e-02 9.99901567e-01 8.47577673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.149259764 meters Centerline goodness [0,1] 0.3323712593042686 Centerline is valid? [False, False] Translation: X:-99.18, Y:-52.22, Z:84.76 [[ 9.99861878e-01 -1.50693212e-02 7.00998593e-03 -9.91843440e+01] [ 1.51541751e-02 9.99810575e-01 -1.22133260e-02 -5.22210084e+01] [-6.82461153e-03 1.23178697e-02 9.99900842e-01 8.47584317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17925976399997 meters Centerline goodness [0,1] 0.3339706265751282 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.22, Z:84.76 [[ 9.99862431e-01 -1.47271390e-02 7.63082980e-03 -9.91859223e+01] [ 1.48174245e-02 9.99819241e-01 -1.19133990e-02 -5.22218489e+01] [-7.45400018e-03 1.20248293e-02 9.99899916e-01 8.47582780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20925976399997 meters Centerline goodness [0,1] 0.3261563171488724 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.22, Z:84.76 [[ 9.99912829e-01 -9.69784165e-03 8.96027592e-03 -9.91877156e+01] [ 9.76566352e-03 9.99923761e-01 -7.55668007e-03 -5.22209565e+01] [-8.88630931e-03 7.64352439e-03 9.99931303e-01 8.47559907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23925976399997 meters Centerline goodness [0,1] 0.3260595522712454 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.22, Z:84.75 [[ 9.99939857e-01 -6.24942541e-03 9.01259415e-03 -9.91870582e+01] [ 6.28878596e-03 9.99970783e-01 -4.34557559e-03 -5.22180254e+01] [-8.98517348e-03 4.40199251e-03 9.99949943e-01 8.47548512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26925976399997 meters Centerline goodness [0,1] 0.3224284844796105 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.22, Z:84.75 [[ 9.99933936e-01 -5.30284070e-03 1.01981696e-02 -9.91898900e+01] [ 5.33985135e-03 9.99979244e-01 -3.60534783e-03 -5.22193896e+01] [-1.01788393e-02 3.65956636e-03 9.99941498e-01 8.47543666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29925976399997 meters Centerline goodness [0,1] 0.3156293463143255 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.22, Z:84.75 [[ 9.99939435e-01 -1.57893554e-03 1.08919115e-02 -9.91902091e+01] [ 1.58232608e-03 9.99998702e-01 -3.02678564e-04 -5.22165524e+01] [-1.08914195e-02 3.19894787e-04 9.99940636e-01 8.47524748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32925976399997 meters Centerline goodness [0,1] 0.3078344018254917 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.22, Z:84.75 [[ 9.99930580e-01 -8.95877218e-04 1.17487501e-02 -9.91921926e+01] [ 8.92369467e-04 9.99999556e-01 3.03802619e-04 -5.22180933e+01] [-1.17490171e-02 -2.93297303e-04 9.99930935e-01 8.47521041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35925976399997 meters Centerline goodness [0,1] 0.31511079218039884 Centerline is valid? [False, False] Translation: X:-99.19, Y:-52.22, Z:84.75 [[ 9.99919609e-01 1.50037217e-04 1.26788228e-02 -9.91947043e+01] [-1.67213273e-04 9.99999070e-01 1.35365510e-03 -5.22210634e+01] [-1.26786079e-02 -1.35566635e-03 9.99918704e-01 8.47521571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38925976399997 meters Centerline goodness [0,1] 0.3161075722329717 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.23, Z:84.75 [[ 9.99906553e-01 1.58515231e-03 1.35783929e-02 -9.91971393e+01] [-1.62428425e-03 9.99994558e-01 2.87138393e-03 -5.22251660e+01] [-1.35737674e-02 -2.89317077e-03 9.99903687e-01 8.47523237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41925976399997 meters Centerline goodness [0,1] 0.31647386274680356 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.23, Z:84.75 [[ 9.99894109e-01 2.85985549e-03 1.42685470e-02 -9.91994867e+01] [-2.92232308e-03 9.99986229e-01 4.35906527e-03 -5.22295955e+01] [-1.42558842e-02 -4.40030099e-03 9.99888697e-01 8.47530567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44925976399998 meters Centerline goodness [0,1] 0.3228283091913524 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.24, Z:84.76 [[ 9.99884381e-01 4.94194918e-03 1.43805953e-02 -9.92018425e+01] [-5.04375671e-03 9.99962415e-01 7.05187169e-03 -5.22363806e+01] [-1.43452048e-02 -7.12358858e-03 9.99871727e-01 8.47556129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47925976399998 meters Centerline goodness [0,1] 0.3256667535400921 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.24, Z:84.76 [[ 9.99885482e-01 5.16776260e-03 1.42238150e-02 -9.92015272e+01] [-5.27334313e-03 9.99958750e-01 7.39533050e-03 -5.22377210e+01] [-1.41850109e-02 -7.46949066e-03 9.99871488e-01 8.47557358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50925976399998 meters Centerline goodness [0,1] 0.3237679079979999 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.24, Z:84.76 [[ 9.99889132e-01 5.19389337e-03 1.39551691e-02 -9.92003875e+01] [-5.29890936e-03 9.99957844e-01 7.49883210e-03 -5.22384394e+01] [-1.39156327e-02 -7.57194790e-03 9.99874503e-01 8.47551481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53925976399998 meters Centerline goodness [0,1] 0.32445294334948604 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.24, Z:84.75 [[ 9.99893587e-01 4.55873541e-03 1.38575539e-02 -9.91998308e+01] [-4.65157126e-03 9.99966907e-01 6.67446268e-03 -5.22360610e+01] [-1.38266682e-02 -6.73821184e-03 9.99881703e-01 8.47547361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56925976399998 meters Centerline goodness [0,1] 0.32637529897803874 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.24, Z:84.75 [[ 9.99871599e-01 5.43081132e-03 1.50761713e-02 -9.92020041e+01] [-5.54017883e-03 9.99958573e-01 7.22206774e-03 -5.22369522e+01] [-1.50363251e-02 -7.30466511e-03 9.99860266e-01 8.47535104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59925976399998 meters Centerline goodness [0,1] 0.3266251849273344 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.24, Z:84.75 [[ 9.99856762e-01 5.68411719e-03 1.59419711e-02 -9.92034285e+01] [-5.80083957e-03 9.99956638e-01 7.28504350e-03 -5.22371118e+01] [-1.58998708e-02 -7.37647682e-03 9.99846379e-01 8.47524804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62925976399998 meters Centerline goodness [0,1] 0.32516538997214484 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.24, Z:84.75 [[ 9.99843804e-01 5.75328131e-03 1.67112969e-02 -9.92050606e+01] [-5.87290543e-03 9.99957420e-01 7.11804497e-03 -5.22365256e+01] [-1.66696332e-02 -7.21507703e-03 9.99835019e-01 8.47520113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65925976399998 meters Centerline goodness [0,1] 0.32469283461998477 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.24, Z:84.75 [[ 9.99826806e-01 6.29590594e-03 1.75134034e-02 -9.92069811e+01] [-6.42964606e-03 9.99950520e-01 7.59064701e-03 -5.22378318e+01] [-1.74647468e-02 -7.70193734e-03 9.99817815e-01 8.47518117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68925976399998 meters Centerline goodness [0,1] 0.31966250598008095 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.24, Z:84.75 [[ 9.99797391e-01 9.11525643e-03 1.79468401e-02 -9.92096060e+01] [-9.30967357e-03 9.99898562e-01 1.07793647e-02 -5.22442756e+01] [-1.78467630e-02 -1.09442600e-02 9.99780834e-01 8.47536005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.719259764 meters Centerline goodness [0,1] 0.32112326800513347 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.25, Z:84.75 [[ 9.99781891e-01 9.90783236e-03 1.83849064e-02 -9.92110052e+01] [-1.01260076e-02 9.99878961e-01 1.18121865e-02 -5.22479044e+01] [-1.82656479e-02 -1.19957759e-02 9.99761205e-01 8.47539838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.749259764 meters Centerline goodness [0,1] 0.32309333565565745 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.25, Z:84.75 [[ 9.99766808e-01 1.04201448e-02 1.89142947e-02 -9.92121522e+01] [-1.06553902e-02 9.99866596e-01 1.23795613e-02 -5.22500588e+01] [-1.87827746e-02 -1.25782137e-02 9.99744465e-01 8.47537536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.779259764 meters Centerline goodness [0,1] 0.3194849262626702 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.25, Z:84.75 [[ 9.99765692e-01 9.91312257e-03 1.92429242e-02 -9.92119577e+01] [-1.01366232e-02 9.99881892e-01 1.15521106e-02 -5.22480825e+01] [-1.91261340e-02 -1.17444621e-02 9.99748098e-01 8.47525027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.809259764 meters Centerline goodness [0,1] 0.320616671021688 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.25, Z:84.75 [[ 9.99767957e-01 9.81504490e-03 1.91754251e-02 -9.92114875e+01] [-1.00353882e-02 9.99884331e-01 1.14286883e-02 -5.22479500e+01] [-1.90610340e-02 -1.16184692e-02 9.99750813e-01 8.47520627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.839259764 meters Centerline goodness [0,1] 0.32241304347826083 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.25, Z:84.75 [[ 9.99755419e-01 1.03531489e-02 1.95426455e-02 -9.92122967e+01] [-1.05896858e-02 9.99871450e-01 1.20391954e-02 -5.22501830e+01] [-1.94154897e-02 -1.22432013e-02 9.99736537e-01 8.47518991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.869259764 meters Centerline goodness [0,1] 0.3227961012966669 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.25, Z:84.75 [[ 9.99746147e-01 1.09738144e-02 1.96778510e-02 -9.92132419e+01] [-1.12300575e-02 9.99852964e-01 1.29590298e-02 -5.22536193e+01] [-1.95327476e-02 -1.31767235e-02 9.99722384e-01 8.47526592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.899259764 meters Centerline goodness [0,1] 0.3234513659300504 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.25, Z:84.75 [[ 9.99759620e-01 1.05865977e-02 1.91996217e-02 -9.92126669e+01] [-1.08334032e-02 9.99859433e-01 1.27965835e-02 -5.22538607e+01] [-1.90614506e-02 -1.30015047e-02 9.99733776e-01 8.47534546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92925976399997 meters Centerline goodness [0,1] 0.32097342438345444 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.25, Z:84.75 [[ 9.99763876e-01 1.02052060e-02 1.91845340e-02 -9.92118672e+01] [-1.04411459e-02 9.99870589e-01 1.22387735e-02 -5.22523263e+01] [-1.90571521e-02 -1.24361922e-02 9.99741050e-01 8.47524309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95925976399997 meters Centerline goodness [0,1] 0.3217088814001522 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.25, Z:84.75 [[ 9.99765831e-01 1.00609711e-02 1.91588203e-02 -9.92113683e+01] [-1.02931522e-02 9.99874308e-01 1.20589553e-02 -5.22520149e+01] [-1.90350874e-02 -1.22533361e-02 9.99743728e-01 8.47518068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98925976399997 meters Centerline goodness [0,1] 0.32282181122726183 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.25, Z:84.75 [[ 9.99771244e-01 1.00518803e-02 1.88790898e-02 -9.92112280e+01] [-1.02840157e-02 9.99872211e-01 1.22393327e-02 -5.22532033e+01] [-1.87536489e-02 -1.24306858e-02 9.99746857e-01 8.47525092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.01925976399997 meters Centerline goodness [0,1] 0.31985134312787966 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.26, Z:84.75 [[ 9.99774957e-01 1.02677083e-02 1.85636501e-02 -9.92112346e+01] [-1.05053220e-02 9.99863553e-01 1.27480641e-02 -5.22553217e+01] [-1.84302237e-02 -1.29402124e-02 9.99746407e-01 8.47535384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.049259764 meters Centerline goodness [0,1] 0.3225827455236028 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.25, Z:84.75 [[ 9.99788500e-01 9.75640642e-03 1.81043805e-02 -9.92100051e+01] [-9.97940470e-03 9.99874944e-01 1.22681763e-02 -5.22543296e+01] [-1.79824231e-02 -1.24462525e-02 9.99760833e-01 8.47534901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.079259764 meters Centerline goodness [0,1] 0.32481490327203244 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.25, Z:84.75 [[ 9.99792923e-01 9.50604803e-03 1.79929554e-02 -9.92095162e+01] [-9.72192885e-03 9.99881347e-01 1.19488738e-02 -5.22535662e+01] [-1.78772339e-02 -1.21213256e-02 9.99766712e-01 8.47531936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.109259764 meters Centerline goodness [0,1] 0.3242502664028011 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.25, Z:84.75 [[ 9.99797788e-01 9.21893314e-03 1.78715989e-02 -9.92095671e+01] [-9.42809141e-03 9.99887633e-01 1.16546758e-02 -5.22529507e+01] [-1.77621470e-02 -1.18208142e-02 9.99772361e-01 8.47535782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13925976400003 meters Centerline goodness [0,1] 0.313359848731825 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.25, Z:84.75 [[ 9.99809785e-01 8.73261282e-03 1.74394902e-02 -9.92087379e+01] [-8.92866481e-03 9.99897461e-01 1.11958004e-02 -5.22519948e+01] [-1.73399334e-02 -1.13493822e-02 9.99785236e-01 8.47539088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.169259764 meters Centerline goodness [0,1] 0.3263279144570982 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.26, Z:84.75 [[ 9.99831907e-01 5.15588217e-03 1.75947107e-02 -9.92096239e+01] [-5.29467726e-03 9.99955163e-01 7.85101090e-03 -5.22552650e+01] [-1.75534430e-02 -7.94284952e-03 9.99814377e-01 8.47544315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19925976400003 meters Centerline goodness [0,1] 0.32676797321680906 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.25, Z:84.75 [[ 9.99853860e-01 3.93326639e-03 1.66369238e-02 -9.92074102e+01] [-4.04801700e-03 9.99968213e-01 6.86930261e-03 -5.22538731e+01] [-1.66093762e-02 -6.93564528e-03 9.99838000e-01 8.47546561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.229259764 meters Centerline goodness [0,1] 0.3216022579244464 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.25, Z:84.75 [[ 9.99875795e-01 2.34340322e-03 1.55853154e-02 -9.92047085e+01] [-2.42985362e-03 9.99981756e-01 5.53029255e-03 -5.22518319e+01] [-1.55720714e-02 -5.56747570e-03 9.99863248e-01 8.47546164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25925976400003 meters Centerline goodness [0,1] 0.3289966060395092 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.25, Z:84.76 [[ 9.99877118e-01 -1.34966132e-03 1.56181727e-02 -9.92056117e+01] [ 1.31804947e-03 9.99997062e-01 2.03415910e-03 -5.22546097e+01] [-1.56208723e-02 -2.01332362e-03 9.99875960e-01 8.47556485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.289259764 meters Centerline goodness [0,1] 0.3147387857065277 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.26, Z:84.76 [[ 9.99882584e-01 -5.20874338e-03 1.44113837e-02 -9.92043543e+01] [ 5.22572775e-03 9.99985695e-01 -1.14113235e-03 -5.22586880e+01] [-1.44052337e-02 1.21630833e-03 9.99895499e-01 8.47580412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.319259764 meters Centerline goodness [0,1] 0.3189859130472531 Centerline is valid? [False, False] Translation: X:-99.20, Y:-52.26, Z:84.76 [[ 9.99889760e-01 -4.72318432e-03 1.40768894e-02 -9.92046472e+01] [ 4.72774075e-03 9.99988782e-01 -2.90421734e-04 -5.22616690e+01] [-1.40753598e-02 3.56941601e-04 9.99900874e-01 8.47594839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.349259764 meters Centerline goodness [0,1] 0.3328916787940659 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.27, Z:84.76 [[ 9.99888973e-01 -3.56079872e-03 1.44693574e-02 -9.92067352e+01] [ 3.54432356e-03 9.99993041e-01 1.16410758e-03 -5.22658428e+01] [-1.44734018e-02 -1.11269425e-03 9.99894636e-01 8.47608101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.379259764 meters Centerline goodness [0,1] 0.32072479196993064 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.27, Z:84.76 [[ 9.99891919e-01 -5.09897409e-04 1.46932367e-02 -9.92088126e+01] [ 4.43737273e-04 9.99989751e-01 4.50566962e-03 -5.22698092e+01] [-1.46953835e-02 -4.49866271e-03 9.99881897e-01 8.47624417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.409259764 meters Centerline goodness [0,1] 0.3232476813136689 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.27, Z:84.76 [[ 9.99880471e-01 -2.03061938e-05 1.54610091e-02 -9.92108612e+01] [-5.55624916e-05 9.99987961e-01 4.90665256e-03 -5.22707820e+01] [-1.54609225e-02 -4.90692512e-03 9.99868432e-01 8.47625425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.439259764 meters Centerline goodness [0,1] 0.3240045160449867 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.27, Z:84.76 [[ 9.99868804e-01 8.65772280e-04 1.61748160e-02 -9.92125878e+01] [-9.59769978e-04 9.99982693e-01 5.80450277e-03 -5.22732926e+01] [-1.61695107e-02 -5.81926534e-03 9.99852331e-01 8.47623845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.469259764 meters Centerline goodness [0,1] 0.3246617880176327 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.27, Z:84.76 [[ 9.99857818e-01 1.29215566e-03 1.68129156e-02 -9.92139097e+01] [-1.39598116e-03 9.99980021e-01 6.16507146e-03 -5.22743071e+01] [-1.68046135e-02 -6.18766541e-03 9.99839646e-01 8.47619632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.499259764 meters Centerline goodness [0,1] 0.3158534995872616 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.27, Z:84.76 [[ 9.99856053e-01 1.40376380e-03 1.69086620e-02 -9.92142336e+01] [-1.50981000e-03 9.99979263e-01 6.26057700e-03 -5.22745388e+01] [-1.68995230e-02 -6.28520468e-03 9.99837438e-01 8.47620708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.529259764 meters Centerline goodness [0,1] 0.324548634497143 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.28, Z:84.76 [[ 9.99865935e-01 1.17418427e-03 1.63319526e-02 -9.92136099e+01] [-1.27622553e-03 9.99979723e-01 6.23893389e-03 -5.22750759e+01] [-1.63242958e-02 -6.25894073e-03 9.99847160e-01 8.47631758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.559259764 meters Centerline goodness [0,1] 0.324548634497143 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.28, Z:84.76 [[ 9.99865935e-01 1.17418427e-03 1.63319526e-02 -9.92136099e+01] [-1.27622553e-03 9.99979723e-01 6.23893389e-03 -5.22750759e+01] [-1.63242958e-02 -6.25894073e-03 9.99847160e-01 8.47631758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.589259764 meters Centerline goodness [0,1] 0.32178766096983646 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.28, Z:84.76 [[ 9.99877952e-01 8.66866735e-04 1.55990582e-02 -9.92125524e+01] [-9.62416984e-04 9.99980816e-01 6.11892179e-03 -5.22752054e+01] [-1.55934547e-02 -6.13318778e-03 9.99859604e-01 8.47642512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.619259764 meters Centerline goodness [0,1] 0.321285140562249 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.28, Z:84.76 [[ 9.99890158e-01 6.58353012e-04 1.48067039e-02 -9.92107894e+01] [-7.49100389e-04 9.99980967e-01 6.12409252e-03 -5.22757507e+01] [-1.48023903e-02 -6.13451154e-03 9.99871620e-01 8.47646040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.649259764 meters Centerline goodness [0,1] 0.32373507057546147 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.27, Z:84.76 [[ 9.99901128e-01 1.03025612e-06 1.40618188e-02 -9.92088190e+01] [-7.94679315e-05 9.99984442e-01 5.57750286e-03 -5.22747389e+01] [-1.40615942e-02 -5.57806886e-03 9.99885572e-01 8.47644838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.679259764 meters Centerline goodness [0,1] 0.3255066356784465 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.27, Z:84.76 [[ 9.99897695e-01 -3.26213086e-03 1.39268557e-02 -9.92069731e+01] [ 3.23692514e-03 9.99993083e-01 1.83202174e-03 -5.22681363e+01] [-1.39327357e-02 -1.78675412e-03 9.99901338e-01 8.47627636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.709259764 meters Centerline goodness [0,1] 0.3257697485560429 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.27, Z:84.76 [[ 9.99896737e-01 -3.92537023e-03 1.38241365e-02 -9.92060046e+01] [ 3.91342908e-03 9.99991946e-01 8.90735407e-04 -5.22653992e+01] [-1.38275216e-02 -8.36543649e-04 9.99904045e-01 8.47618350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.739259764 meters Centerline goodness [0,1] 0.32464490946546676 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.26, Z:84.76 [[ 9.99897000e-01 -4.28190461e-03 1.36986911e-02 -9.92056823e+01] [ 4.27688581e-03 9.99990776e-01 3.95644767e-04 -5.22639001e+01] [-1.37002588e-02 -3.37016278e-04 9.99906090e-01 8.47618357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.769259764 meters Centerline goodness [0,1] 0.3234458682972311 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.27, Z:84.76 [[ 9.99897031e-01 -3.82602831e-03 1.38307161e-02 -9.92064406e+01] [ 3.81314035e-03 9.99992271e-01 9.58086505e-04 -5.22657741e+01] [-1.38342748e-02 -9.05249391e-04 9.99903892e-01 8.47623406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.799259764 meters Centerline goodness [0,1] 0.3229139589290356 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.27, Z:84.76 [[ 9.99904311e-01 1.23279543e-03 1.37785813e-02 -9.92069636e+01] [-1.32190897e-03 9.99978258e-01 6.46030581e-03 -5.22698865e+01] [-1.37703175e-02 -6.47790166e-03 9.99884201e-01 8.47631904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.829259764 meters Centerline goodness [0,1] 0.3212897622407991 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.27, Z:84.76 [[ 9.99883898e-01 2.83028595e-03 1.49726633e-02 -9.92100592e+01] [-2.95121291e-03 9.99963158e-01 8.06059566e-03 -5.22739673e+01] [-1.49492979e-02 -8.10384732e-03 9.99855413e-01 8.47632336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.859259764 meters Centerline goodness [0,1] 0.319419119562386 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.27, Z:84.76 [[ 9.99873151e-01 5.69934813e-03 1.48727640e-02 -9.92089822e+01] [-5.85822256e-03 9.99926013e-01 1.06606276e-02 -5.22695291e+01] [-1.48109050e-02 -1.07464033e-02 9.99832562e-01 8.47622244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88925976400003 meters Centerline goodness [0,1] 0.316219268525758 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.26, Z:84.76 [[ 9.99845886e-01 7.36508910e-03 1.59361248e-02 -9.92092580e+01] [-7.54468418e-03 9.99908376e-01 1.12390657e-02 -5.22605400e+01] [-1.58518880e-02 -1.13575666e-02 9.99809844e-01 8.47593118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.919259764 meters Centerline goodness [0,1] 0.31534990672046515 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.26, Z:84.76 [[ 9.99830491e-01 7.94129871e-03 1.66109994e-02 -9.92106551e+01] [-8.13699296e-03 9.99897896e-01 1.17467823e-02 -5.22619063e+01] [-1.65160186e-02 -1.18799547e-02 9.99793022e-01 8.47588661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94925976400003 meters Centerline goodness [0,1] 0.31515112065785766 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.26, Z:84.76 [[ 9.99823958e-01 8.15815104e-03 1.68966646e-02 -9.92119329e+01] [-8.36109693e-03 9.99893335e-01 1.19753919e-02 -5.22629132e+01] [-1.67971653e-02 -1.21145584e-02 9.99785523e-01 8.47596323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.979259764 meters Centerline goodness [0,1] 0.3149103041858047 Centerline is valid? [False, False] Translation: X:-99.21, Y:-52.27, Z:84.76 [[ 9.99814114e-01 8.84521706e-03 1.71318431e-02 -9.92130809e+01] [-9.06579123e-03 9.99876459e-01 1.28405163e-02 -5.22659590e+01] [-1.70161494e-02 -1.29934432e-02 9.99770784e-01 8.47604043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00925976400003 meters Centerline goodness [0,1] 0.3131113762064852 Centerline is valid? [False, False] Translation: X:-99.22, Y:-52.27, Z:84.76 [[ 9.99782838e-01 1.03125362e-02 1.81087815e-02 -9.92163527e+01] [-1.05711163e-02 9.99842695e-01 1.42420790e-02 -5.22692805e+01] [-1.79590609e-02 -1.44304162e-02 9.99734582e-01 8.47615040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.039259764 meters Centerline goodness [0,1] 0.3108600425033612 Centerline is valid? [False, False] Translation: X:-99.22, Y:-52.27, Z:84.76 [[ 9.99740759e-01 1.13414694e-02 1.97429802e-02 -9.92198643e+01] [-1.16367853e-02 9.99821153e-01 1.49079603e-02 -5.22704917e+01] [-1.95703710e-02 -1.51338404e-02 9.99693937e-01 8.47607061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.069259764 meters Centerline goodness [0,1] 0.3075486854388745 Centerline is valid? [False, False] Translation: X:-99.22, Y:-52.27, Z:84.76 [[ 9.99694184e-01 1.22557586e-02 2.14787061e-02 -9.92235845e+01] [-1.25884703e-02 9.99801793e-01 1.54241632e-02 -5.22713027e+01] [-2.12854141e-02 -1.56898303e-02 9.99650319e-01 8.47597709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.099259764 meters Centerline goodness [0,1] 0.30424794104898134 Centerline is valid? [False, False] Translation: X:-99.23, Y:-52.27, Z:84.76 [[ 9.99650437e-01 1.29934883e-02 2.30254675e-02 -9.92267476e+01] [-1.33586546e-02 9.99786293e-01 1.57770304e-02 -5.22715899e+01] [-2.28155481e-02 -1.60791046e-02 9.99610381e-01 8.47587158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.129259764 meters Centerline goodness [0,1] 0.3004356023665561 Centerline is valid? [False, False] Translation: X:-99.23, Y:-52.27, Z:84.76 [[ 9.99578904e-01 1.52514474e-02 2.46861922e-02 -9.92300260e+01] [-1.56864638e-02 9.99723363e-01 1.75251805e-02 -5.22741385e+01] [-2.44120788e-02 -1.79050398e-02 9.99541625e-01 8.47578395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.159259764 meters Centerline goodness [0,1] 0.30019751264297967 Centerline is valid? [False, False] Translation: X:-99.23, Y:-52.28, Z:84.76 [[ 9.99570390e-01 1.54917817e-02 2.48805317e-02 -9.92306868e+01] [-1.59370462e-02 9.99714569e-01 1.77986396e-02 -5.22752631e+01] [-2.45976974e-02 -1.81875153e-02 9.99531974e-01 8.47580187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.189259764 meters Centerline goodness [0,1] 0.3006833712984055 Centerline is valid? [False, False] Translation: X:-99.23, Y:-52.28, Z:84.76 [[ 9.99566092e-01 1.55733207e-02 2.50019875e-02 -9.92308893e+01] [-1.60223679e-02 9.99712080e-01 1.78617361e-02 -5.22756234e+01] [-2.47166224e-02 -1.82545768e-02 9.99527818e-01 8.47578366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.219259764 meters Centerline goodness [0,1] 0.30026914394860216 Centerline is valid? [False, False] Translation: X:-99.23, Y:-52.28, Z:84.76 [[ 9.99530722e-01 1.70091009e-02 2.54760096e-02 -9.92320434e+01] [-1.75066319e-02 9.99657834e-01 1.94353635e-02 -5.22797421e+01] [-2.51367145e-02 -1.98722420e-02 9.99486488e-01 8.47576993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.249259764 meters Centerline goodness [0,1] 0.2966539362902526 Centerline is valid? [False, False] Translation: X:-99.23, Y:-52.28, Z:84.76 [[ 9.99499233e-01 1.78743534e-02 2.61111130e-02 -9.92333715e+01] [-1.84096441e-02 9.99622269e-01 2.04060027e-02 -5.22827217e+01] [-2.57365059e-02 -2.08764803e-02 9.99450752e-01 8.47572504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.279259764 meters Centerline goodness [0,1] 0.2918330151015449 Centerline is valid? [False, False] Translation: X:-99.23, Y:-52.28, Z:84.76 [[ 9.99474766e-01 1.84605679e-02 2.66345646e-02 -9.92344081e+01] [-1.90241969e-02 9.99597077e-01 2.10656744e-02 -5.22848549e+01] [-2.62349486e-02 -2.15613112e-02 9.99423252e-01 8.47567911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.309259764 meters Centerline goodness [0,1] 0.2974498100922409 Centerline is valid? [False, False] Translation: X:-99.24, Y:-52.29, Z:84.76 [[ 9.99481110e-01 1.65848080e-02 2.76125908e-02 -9.92378515e+01] [-1.71134900e-02 9.99672603e-01 1.90214615e-02 -5.22879359e+01] [-2.72880833e-02 -1.94841392e-02 9.99437706e-01 8.47577473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.339259764 meters Centerline goodness [0,1] 0.2996720741850718 Centerline is valid? [False, False] Translation: X:-99.24, Y:-52.29, Z:84.76 [[ 9.99551120e-01 1.15978844e-02 2.76233087e-02 -9.92395400e+01] [-1.19903165e-02 9.99828928e-01 1.40835393e-02 -5.22876637e+01] [-2.74552439e-02 -1.44084297e-02 9.99519188e-01 8.47597097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.369259764 meters Centerline goodness [0,1] 0.3028343244064412 Centerline is valid? [False, False] Translation: X:-99.24, Y:-52.29, Z:84.76 [[ 9.99576763e-01 8.33493506e-03 2.78715715e-02 -9.92416708e+01] [-8.64601978e-03 9.99901462e-01 1.10595383e-02 -5.22915043e+01] [-2.77766445e-02 -1.12958357e-02 9.99550330e-01 8.47615508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.399259764 meters Centerline goodness [0,1] 0.3032342088126764 Centerline is valid? [False, False] Translation: X:-99.24, Y:-52.30, Z:84.76 [[ 9.99594350e-01 5.97691301e-03 2.78462081e-02 -9.92436562e+01] [-6.23670934e-03 9.99937748e-01 9.25219277e-03 -5.22979836e+01] [-2.77891750e-02 -9.42210832e-03 9.99569400e-01 8.47638896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.429259764 meters Centerline goodness [0,1] 0.30213172404810484 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.31, Z:84.77 [[ 9.99610266e-01 4.68003684e-03 2.75211279e-02 -9.92455225e+01] [-4.91983396e-03 9.99950468e-01 8.65195298e-03 -5.23051889e+01] [-2.74792733e-02 -8.78398041e-03 9.99583779e-01 8.47668577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.459259764 meters Centerline goodness [0,1] 0.3051671732522796 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.31, Z:84.77 [[ 9.99631267e-01 2.10506625e-03 2.70721118e-02 -9.92468855e+01] [-2.28799364e-03 9.99974750e-01 6.72784180e-03 -5.23110881e+01] [-2.70572657e-02 -6.78730184e-03 9.99610843e-01 8.47697929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.489259764 meters Centerline goodness [0,1] 0.30400121643930833 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.33, Z:84.77 [[ 9.99717628e-01 -4.09012257e-03 2.34080141e-02 -9.92543192e+01] [ 3.78922737e-03 9.99909814e-01 1.28843181e-02 -5.23255527e+01] [-2.34586014e-02 -1.27919817e-02 9.99642966e-01 8.47652159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.519259764 meters Centerline goodness [0,1] 0.30733537153884516 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.33, Z:84.77 [[ 9.99712571e-01 -8.75544064e-03 2.23185395e-02 -9.92535349e+01] [ 8.56260800e-03 9.99925310e-01 8.72099374e-03 -5.23268994e+01] [-2.23932287e-02 -8.52738218e-03 9.99712872e-01 8.47678489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.549259764 meters Centerline goodness [0,1] 0.3094121733090215 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.33, Z:84.77 [[ 9.99721007e-01 -9.52930231e-03 2.16125163e-02 -9.92520678e+01] [ 9.35747433e-03 9.99923914e-01 8.03763940e-03 -5.23256010e+01] [-2.16874650e-02 -7.83315839e-03 9.99734112e-01 8.47682917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.579259764 meters Centerline goodness [0,1] 0.3067996963452988 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.32, Z:84.77 [[ 9.99729399e-01 -1.02064728e-02 2.09035089e-02 -9.92503717e+01] [ 1.00532913e-02 9.99921934e-01 7.42004989e-03 -5.23242947e+01] [-2.09776096e-02 -7.20789295e-03 9.99753963e-01 8.47684434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.609259764 meters Centerline goodness [0,1] 0.30613395800798193 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.32, Z:84.77 [[ 9.99732910e-01 -1.11863287e-02 2.02231257e-02 -9.92485704e+01] [ 1.10591538e-02 9.99918431e-01 6.38952732e-03 -5.23216955e+01] [-2.02929515e-02 -6.16417008e-03 9.99775074e-01 8.47683174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63925976400003 meters Centerline goodness [0,1] 0.3076605902777778 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.32, Z:84.77 [[ 9.99734508e-01 -1.23485455e-02 1.94532200e-02 -9.92467840e+01] [ 1.22501338e-02 9.99911599e-01 5.16995686e-03 -5.23186990e+01] [-1.95153417e-02 -4.93027972e-03 9.99797401e-01 8.47685176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.669259764 meters Centerline goodness [0,1] 0.31094786113639317 Centerline is valid? [False, False] Translation: X:-99.24, Y:-52.32, Z:84.77 [[ 9.99736386e-01 -1.34561579e-02 1.86035057e-02 -9.92449359e+01] [ 1.33834732e-02 9.99902332e-01 4.02604026e-03 -5.23158229e+01] [-1.86558638e-02 -3.77599942e-03 9.99818834e-01 8.47688615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69925976400003 meters Centerline goodness [0,1] 0.31146509255843224 Centerline is valid? [False, False] Translation: X:-99.24, Y:-52.31, Z:84.77 [[ 9.99743068e-01 -1.40372747e-02 1.77975543e-02 -9.92435482e+01] [ 1.39764496e-02 9.99896067e-01 3.53740912e-03 -5.23147842e+01] [-1.78453601e-02 -3.28775362e-03 9.99835353e-01 8.47696487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.729259764 meters Centerline goodness [0,1] 0.3120922470034896 Centerline is valid? [False, False] Translation: X:-99.24, Y:-52.32, Z:84.77 [[ 9.99769403e-01 -1.34762943e-02 1.67191342e-02 -9.92418710e+01] [ 1.33996090e-02 9.99899221e-01 4.69026270e-03 -5.23188930e+01] [-1.67806566e-02 -4.46515128e-03 9.99849225e-01 8.47710221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75925976400003 meters Centerline goodness [0,1] 0.3136357722166804 Centerline is valid? [False, False] Translation: X:-99.24, Y:-52.32, Z:84.77 [[ 9.99772563e-01 -1.35377332e-02 1.64788183e-02 -9.92417753e+01] [ 1.34615218e-02 9.99898216e-01 4.72698465e-03 -5.23192334e+01] [-1.65411337e-02 -4.50407959e-03 9.99853041e-01 8.47716976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.789259764 meters Centerline goodness [0,1] 0.3139446719091874 Centerline is valid? [False, False] Translation: X:-99.24, Y:-52.31, Z:84.77 [[ 9.99779011e-01 -1.25775787e-02 1.68443971e-02 -9.92408872e+01] [ 1.24935965e-02 9.99909039e-01 5.08175104e-03 -5.23139655e+01] [-1.69067810e-02 -4.87018093e-03 9.99845209e-01 8.47697241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.819259764 meters Centerline goodness [0,1] 0.3118183986297509 Centerline is valid? [False, False] Translation: X:-99.24, Y:-52.32, Z:84.77 [[ 9.99943995e-01 -4.16609248e-03 9.72886120e-03 -9.92428825e+01] [ 4.19315657e-03 9.99987391e-01 -2.76309628e-03 -5.23223257e+01] [-9.71722722e-03 2.80373617e-03 9.99948856e-01 8.47731229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.849259764 meters Centerline goodness [0,1] 0.3109761388286334 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.32, Z:84.77 [[ 9.99933958e-01 -3.04671989e-03 1.10813995e-02 -9.92454064e+01] [ 3.07050670e-03 9.99993017e-01 -2.13017331e-03 -5.23227780e+01] [-1.10748321e-02 2.16405814e-03 9.99936330e-01 8.47719166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.879259764 meters Centerline goodness [0,1] 0.1329445937743865 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.32, Z:84.77 [[ 9.99926557e-01 -2.16890536e-03 1.19237853e-02 -9.92473316e+01] [ 2.18544051e-03 9.99996668e-01 -1.37388167e-03 -5.23244087e+01] [-1.19207657e-02 1.39983949e-03 9.99927965e-01 8.47715218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.909259764 meters Centerline goodness [0,1] 0.1332293494508351 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.32, Z:84.77 [[ 9.99932316e-01 1.54567529e-03 1.15314410e-02 -9.92468806e+01] [-1.57354911e-03 9.99995861e-01 2.40852083e-03 -5.23233988e+01] [-1.15276704e-02 -2.42650310e-03 9.99930610e-01 8.47722162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.939259764 meters Centerline goodness [0,1] 0.1346445764843648 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.33, Z:84.77 [[ 9.99925862e-01 2.37943028e-03 1.19418905e-02 -9.92479104e+01] [-2.42055508e-03 9.99991186e-01 3.43047162e-03 -5.23266506e+01] [-1.19336227e-02 -3.45912329e-03 9.99922809e-01 8.47721086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.969259764 meters Centerline goodness [0,1] 0.13408135857557513 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.33, Z:84.77 [[ 9.99924060e-01 1.99822089e-03 1.21606066e-02 -9.92485451e+01] [-2.03366255e-03 9.99993719e-01 2.90279747e-03 -5.23250711e+01] [-1.21547297e-02 -2.92730760e-03 9.99921844e-01 8.47721988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.999259764 meters Centerline goodness [0,1] 0.13436754176610977 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.32, Z:84.77 [[ 9.99918444e-01 1.63671417e-03 1.26659747e-02 -9.92490856e+01] [-1.66549970e-03 9.99996054e-01 2.26245173e-03 -5.23230975e+01] [-1.26622217e-02 -2.28336239e-03 9.99917224e-01 8.47712270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.029259764 meters Centerline goodness [0,1] 0.13415507475966237 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.32, Z:84.77 [[ 9.99918386e-01 1.26160508e-03 1.27133286e-02 -9.92485303e+01] [-1.28387649e-03 9.99997655e-01 1.74380677e-03 -5.23215362e+01] [-1.27110988e-02 -1.75998680e-03 9.99917662e-01 8.47703285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.059259764 meters Centerline goodness [0,1] 0.13413628472222228 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.32, Z:84.77 [[ 9.99925113e-01 8.83270973e-04 1.22060899e-02 -9.92472947e+01] [-8.99780056e-04 9.99998688e-01 1.34710295e-03 -5.23205899e+01] [-1.22048840e-02 -1.35798487e-03 9.99924595e-01 8.47704158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.089259764 meters Centerline goodness [0,1] 0.1348899787335619 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.32, Z:84.77 [[ 9.99925605e-01 8.80081457e-04 1.21659029e-02 -9.92472446e+01] [-8.96595587e-04 9.99998684e-01 1.35202344e-03 -5.23207235e+01] [-1.21646970e-02 -1.36283076e-03 9.99925079e-01 8.47704472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.119259764 meters Centerline goodness [0,1] 0.13490085599739954 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.32, Z:84.77 [[ 9.99922057e-01 1.21419596e-03 1.24260403e-02 -9.92478187e+01] [-1.23548329e-03 9.99997782e-01 1.70558952e-03 -5.23219130e+01] [-1.24239418e-02 -1.72080875e-03 9.99921339e-01 8.47703163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.149259764 meters Centerline goodness [0,1] 0.13602709685824088 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.33, Z:84.77 [[ 9.99919563e-01 1.97551986e-03 1.25285948e-02 -9.92481585e+01] [-2.00999109e-03 9.99994228e-01 2.73940919e-03 -5.23254204e+01] [-1.25231107e-02 -2.76437120e-03 9.99917762e-01 8.47703655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.179259764 meters Centerline goodness [0,1] 0.13555757891085674 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.33, Z:84.77 [[ 9.99899433e-01 3.38605924e-03 1.37716662e-02 -9.92512811e+01] [-3.44014207e-03 9.99986457e-01 3.90531755e-03 -5.23276521e+01] [-1.37582560e-02 -3.95230129e-03 9.99897540e-01 8.47704853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.209259764 meters Centerline goodness [0,1] 0.1369515212013368 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.33, Z:84.77 [[ 9.99875568e-01 4.61704212e-03 1.50841420e-02 -9.92534201e+01] [-4.69030707e-03 9.99977358e-01 4.82532291e-03 -5.23293175e+01] [-1.50615218e-02 -4.89547174e-03 9.99874585e-01 8.47689479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.239259764 meters Centerline goodness [0,1] 0.13629356204538057 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.33, Z:84.77 [[ 9.99849849e-01 5.42060436e-03 1.64589142e-02 -9.92555983e+01] [-5.50597504e-03 9.99971601e-01 5.14601977e-03 -5.23293191e+01] [-1.64305522e-02 -5.23586946e-03 9.99851300e-01 8.47671934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.269259764 meters Centerline goodness [0,1] 0.1372084943761671 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.33, Z:84.77 [[ 9.99827295e-01 5.86821816e-03 1.76335870e-02 -9.92578659e+01] [-5.96097372e-03 9.99968649e-01 5.21221493e-03 -5.23288283e+01] [-1.76024478e-02 -5.31642811e-03 9.99830930e-01 8.47661441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.299259764 meters Centerline goodness [0,1] 0.1399804708690463 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.33, Z:84.77 [[ 9.99813127e-01 5.70655667e-03 1.84701489e-02 -9.92598855e+01] [-5.79382025e-03 9.99972290e-01 4.67451577e-03 -5.23268336e+01] [-1.84429617e-02 -4.78065495e-03 9.99818485e-01 8.47659539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.329259764 meters Centerline goodness [0,1] 0.1453709127991495 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.33, Z:84.77 [[ 9.99796378e-01 6.01368273e-03 1.92623649e-02 -9.92613609e+01] [-6.10635356e-03 9.99970047e-01 4.75577978e-03 -5.23266555e+01] [-1.92331882e-02 -4.87243421e-03 9.99803153e-01 8.47651753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.359259764 meters Centerline goodness [0,1] 0.14414121018693415 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.33, Z:84.77 [[ 9.99807250e-01 5.46725804e-03 1.88565920e-02 -9.92611285e+01] [-5.54937846e-03 9.99975334e-01 4.30542464e-03 -5.23260821e+01] [-1.88325880e-02 -4.40923713e-03 9.99812929e-01 8.47661501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38925976400003 meters Centerline goodness [0,1] 0.14422388545395382 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.33, Z:84.77 [[ 9.99820877e-01 5.34274410e-03 1.81568070e-02 -9.92603505e+01] [-5.42563659e-03 9.99975069e-01 4.51917734e-03 -5.23274649e+01] [-1.81322095e-02 -4.61688009e-03 9.99824938e-01 8.47674272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.419259764 meters Centerline goodness [0,1] 0.14422388545395382 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.33, Z:84.77 [[ 9.99820877e-01 5.34274410e-03 1.81568070e-02 -9.92603505e+01] [-5.42563659e-03 9.99975069e-01 4.51917734e-03 -5.23274649e+01] [-1.81322095e-02 -4.61688009e-03 9.99824938e-01 8.47674272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44925976400003 meters Centerline goodness [0,1] 0.14663138258643882 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.33, Z:84.77 [[ 9.99841295e-01 5.20071644e-03 1.70392615e-02 -9.92579509e+01] [-5.28359170e-03 9.99974414e-01 4.82238029e-03 -5.23293234e+01] [-1.70137457e-02 -4.91164346e-03 9.99843192e-01 8.47680031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.479259764 meters Centerline goodness [0,1] 0.14778069016311768 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.33, Z:84.77 [[ 9.99845770e-01 4.68623351e-03 1.69256003e-02 -9.92575729e+01] [-4.75733762e-03 9.99980018e-01 4.16316311e-03 -5.23274771e+01] [-1.69057525e-02 -4.24304182e-03 9.99848085e-01 8.47678557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50925976400003 meters Centerline goodness [0,1] 0.1509581371123505 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.33, Z:84.77 [[ 9.99838298e-01 4.80032137e-03 1.73301587e-02 -9.92580277e+01] [-4.87292093e-03 9.99979518e-01 4.14940932e-03 -5.23275400e+01] [-1.73098853e-02 -4.23318684e-03 9.99841211e-01 8.47670562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.539259764 meters Centerline goodness [0,1] 0.15578609254275544 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.33, Z:84.77 [[ 9.99821501e-01 5.49126027e-03 1.80779564e-02 -9.92596287e+01] [-5.57856233e-03 9.99973004e-01 4.78231781e-03 -5.23294095e+01] [-1.80512074e-02 -4.88231318e-03 9.99825143e-01 8.47666284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.569259764 meters Centerline goodness [0,1] 0.13287122278782626 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.33, Z:84.77 [[ 9.99803990e-01 6.12996222e-03 1.88256683e-02 -9.92620404e+01] [-6.23202410e-03 9.99966175e-01 5.36754802e-03 -5.23311357e+01] [-1.87921287e-02 -5.48381794e-03 9.99808373e-01 8.47672828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.599259764 meters Centerline goodness [0,1] 0.14837870079167115 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.34, Z:84.77 [[ 9.99777218e-01 8.18616008e-03 1.94551178e-02 -9.92639578e+01] [-8.33757785e-03 9.99935483e-01 7.71459975e-03 -5.23373991e+01] [-1.93907097e-02 -7.87508963e-03 9.99780968e-01 8.47677950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.629259764 meters Centerline goodness [0,1] 0.13158751166171267 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.34, Z:84.77 [[ 9.99773361e-01 8.11160855e-03 1.96832198e-02 -9.92642528e+01] [-8.26146080e-03 9.99937417e-01 7.54386321e-03 -5.23370326e+01] [-1.96207951e-02 -7.70476563e-03 9.99777806e-01 8.47673951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.659259764 meters Centerline goodness [0,1] 0.13225058004640367 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.33, Z:84.77 [[ 9.99768605e-01 7.52602150e-03 2.01518146e-02 -9.92640937e+01] [-7.65889960e-03 9.99949383e-01 6.52481265e-03 -5.23338862e+01] [-2.01016887e-02 -6.67764356e-03 9.99775640e-01 8.47656178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.689259764 meters Centerline goodness [0,1] 0.13361423017613971 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.33, Z:84.76 [[ 9.99766464e-01 7.43843914e-03 2.02900592e-02 -9.92639969e+01] [-7.56887946e-03 9.99951133e-01 6.35957752e-03 -5.23336064e+01] [-2.02417624e-02 -6.51166535e-03 9.99773909e-01 8.47649856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.719259764 meters Centerline goodness [0,1] 0.1338794261691154 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.33, Z:84.77 [[ 9.99762712e-01 7.51174208e-03 2.04473241e-02 -9.92646934e+01] [-7.64421144e-03 9.99950250e-01 6.40813395e-03 -5.23338011e+01] [-2.03981706e-02 -6.56291705e-03 9.99770395e-01 8.47652985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.749259764 meters Centerline goodness [0,1] 0.1337462373042857 Centerline is valid? [False, False] Translation: X:-99.27, Y:-52.34, Z:84.77 [[ 9.99738673e-01 8.54811364e-03 2.12017619e-02 -9.92669180e+01] [-8.70856632e-03 9.99934050e-01 7.48714452e-03 -5.23369655e+01] [-2.11363627e-02 -7.66982488e-03 9.99747182e-01 8.47656465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.779259764 meters Centerline goodness [0,1] 0.13726849344741687 Centerline is valid? [False, False] Translation: X:-99.27, Y:-52.34, Z:84.77 [[ 9.99693017e-01 1.10600430e-02 2.21708636e-02 -9.92691804e+01] [-1.12820055e-02 9.99887233e-01 9.91149285e-03 -5.23414767e+01] [-2.20587419e-02 -1.01585820e-02 9.99705064e-01 8.47656008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.809259764 meters Centerline goodness [0,1] 0.13668221764131494 Centerline is valid? [False, False] Translation: X:-99.27, Y:-52.35, Z:84.77 [[ 9.99916447e-01 1.02898174e-02 7.82429892e-03 -9.92654019e+01] [-1.03742497e-02 9.99887557e-01 1.08281287e-02 -5.23455266e+01] [-7.71199966e-03 -1.09083952e-02 9.99910762e-01 8.47669498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.839259764 meters Centerline goodness [0,1] 0.13842187364589653 Centerline is valid? [False, False] Translation: X:-99.27, Y:-52.35, Z:84.77 [[ 9.99918824e-01 1.02265092e-02 7.60026058e-03 -9.92655015e+01] [-1.03088285e-02 9.99887757e-01 1.08720401e-02 -5.23460406e+01] [-7.48822449e-03 -1.09495074e-02 9.99912014e-01 8.47678290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.869259764 meters Centerline goodness [0,1] 0.1383747080702361 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.35, Z:84.77 [[ 9.99927976e-01 9.87862271e-03 6.81579358e-03 -9.92643642e+01] [-9.95223798e-03 9.99891580e-01 1.08526620e-02 -5.23469494e+01] [-6.70784526e-03 -1.09197128e-02 9.99917879e-01 8.47689558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.899259764 meters Centerline goodness [0,1] 0.14266213083140122 Centerline is valid? [False, False] Translation: X:-99.27, Y:-52.35, Z:84.77 [[ 9.99943461e-01 7.58980664e-03 7.44773426e-03 -9.92662857e+01] [-7.65530278e-03 9.99931929e-01 8.80535825e-03 -5.23527874e+01] [-7.38039631e-03 -8.86187507e-03 9.99933496e-01 8.47692845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.929259764 meters Centerline goodness [0,1] 0.1491024835978607 Centerline is valid? [False, False] Translation: X:-99.27, Y:-52.35, Z:84.77 [[ 9.99969598e-01 2.99903786e-03 7.19777674e-03 -9.92650032e+01] [-3.02880831e-03 9.99986890e-01 4.12873128e-03 -5.23517242e+01] [-7.18530016e-03 -4.15040645e-03 9.99965572e-01 8.47683078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.959259764 meters Centerline goodness [0,1] 0.1506025399710088 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.35, Z:84.77 [[ 9.99980944e-01 1.20014148e-03 6.05561894e-03 -9.92624513e+01] [-1.21560280e-03 9.99996009e-01 2.55018424e-03 -5.23488994e+01] [-6.05253419e-03 -2.55749688e-03 9.99978413e-01 8.47687157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.989259764 meters Centerline goodness [0,1] 0.14629241182449237 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.35, Z:84.77 [[ 9.99990478e-01 -1.17496964e-03 4.20273163e-03 -9.92594870e+01] [ 1.17093248e-03 9.99998851e-01 9.62935858e-04 -5.23477828e+01] [-4.20385822e-03 -9.58005574e-04 9.99990705e-01 8.47705852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.019259764 meters Centerline goodness [0,1] 0.14580405215473435 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.35, Z:84.77 [[ 9.99984270e-01 -4.57161307e-03 3.24951244e-03 -9.92589229e+01] [ 4.57725888e-03 9.99988024e-01 -1.73212371e-03 -5.23529434e+01] [-3.24155493e-03 1.74697033e-03 9.99993220e-01 8.47728358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.049259764 meters Centerline goodness [0,1] 0.14268424465096174 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.34, Z:84.78 [[ 9.99909644e-01 -1.30223758e-02 -3.33493242e-03 -9.92455804e+01] [ 1.30090465e-02 9.99907427e-01 -3.98783337e-03 -5.23440681e+01] [ 3.38655476e-03 3.94408875e-03 9.99986488e-01 8.47789472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.079259764 meters Centerline goodness [0,1] 0.14184627369514413 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.35, Z:84.78 [[ 9.99846715e-01 -1.70551662e-02 -3.95821414e-03 -9.92452135e+01] [ 1.70248931e-02 9.99826486e-01 -7.55983648e-03 -5.23467357e+01] [ 4.08646160e-03 7.49128950e-03 9.99963590e-01 8.47805662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.109259764 meters Centerline goodness [0,1] 0.14420103371466875 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.35, Z:84.78 [[ 9.99765278e-01 -2.11890006e-02 -4.51821079e-03 -9.92451000e+01] [ 2.11369661e-02 9.99713077e-01 -1.12691212e-02 -5.23490202e+01] [ 4.75569583e-03 1.11709748e-02 9.99926294e-01 8.47823829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13925976400003 meters Centerline goodness [0,1] 0.14510863690411846 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.35, Z:84.78 [[ 9.99677623e-01 -2.49299951e-02 -4.81103626e-03 -9.92456556e+01] [ 2.48575246e-02 9.99584719e-01 -1.45771092e-02 -5.23522764e+01] [ 5.17244559e-03 1.44528194e-02 9.99882174e-01 8.47841909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.169259764 meters Centerline goodness [0,1] 0.14679037979063936 Centerline is valid? [False, False] Translation: X:-99.24, Y:-52.35, Z:84.79 [[ 9.99485850e-01 -3.12728109e-02 -7.07433176e-03 -9.92425717e+01] [ 3.11318145e-02 9.99330235e-01 -1.92325411e-02 -5.23529232e+01] [ 7.67104925e-03 1.90024159e-02 9.99790010e-01 8.47878101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19925976400003 meters Centerline goodness [0,1] 0.14701179724298863 Centerline is valid? [False, False] Translation: X:-99.24, Y:-52.35, Z:84.79 [[ 9.99404429e-01 -3.34918674e-02 -8.31158511e-03 -9.92398270e+01] [ 3.33107041e-02 9.99223271e-01 -2.10535249e-02 -5.23502662e+01] [ 9.01025113e-03 2.07641212e-02 9.99743801e-01 8.47883769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.229259764 meters Centerline goodness [0,1] 0.14789646814404434 Centerline is valid? [False, False] Translation: X:-99.24, Y:-52.35, Z:84.79 [[ 9.99350947e-01 -3.47697235e-02 -9.42080173e-03 -9.92371779e+01] [ 3.45551790e-02 9.99159471e-01 -2.20520118e-02 -5.23488447e+01] [ 1.01796256e-02 2.17121614e-02 9.99712437e-01 8.47885663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25925976400003 meters Centerline goodness [0,1] 0.1478889968685887 Centerline is valid? [False, False] Translation: X:-99.24, Y:-52.35, Z:84.79 [[ 9.99319071e-01 -3.54965262e-02 -1.00693247e-02 -9.92358351e+01] [ 3.52605394e-02 9.99119903e-01 -2.27181409e-02 -5.23474831e+01] [ 1.08668778e-02 2.23476216e-02 9.99691200e-01 8.47890012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.289259764 meters Centerline goodness [0,1] 0.15004875934554118 Centerline is valid? [False, False] Translation: X:-99.24, Y:-52.35, Z:84.79 [[ 9.99365469e-01 -3.42336976e-02 -9.83431417e-03 -9.92381189e+01] [ 3.40197131e-02 9.99197151e-01 -2.11592369e-02 -5.23516503e+01] [ 1.05507776e-02 2.08112501e-02 9.99727749e-01 8.47908054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.319259764 meters Centerline goodness [0,1] 0.14956386225406382 Centerline is valid? [False, False] Translation: X:-99.24, Y:-52.35, Z:84.79 [[ 9.99459383e-01 -3.10958936e-02 -1.06764828e-02 -9.92363837e+01] [ 3.09006844e-02 9.99360613e-01 -1.79864851e-02 -5.23493709e+01] [ 1.12289622e-02 1.76468506e-02 9.99781226e-01 8.47908795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.349259764 meters Centerline goodness [0,1] 0.15084921561000908 Centerline is valid? [False, False] Translation: X:-99.23, Y:-52.35, Z:84.79 [[ 9.99527327e-01 -2.85159163e-02 -1.14876166e-02 -9.92339354e+01] [ 2.83372009e-02 9.99479313e-01 -1.54306801e-02 -5.23459635e+01] [ 1.19216552e-02 1.50978595e-02 9.99814947e-01 8.47900519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.379259764 meters Centerline goodness [0,1] 0.1530486619581416 Centerline is valid? [False, False] Translation: X:-99.23, Y:-52.35, Z:84.79 [[ 9.99538590e-01 -2.82478616e-02 -1.11653641e-02 -9.92340462e+01] [ 2.80765462e-02 9.99489999e-01 -1.52134515e-02 -5.23465492e+01] [ 1.15894172e-02 1.48929470e-02 9.99821927e-01 8.47890746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.409259764 meters Centerline goodness [0,1] 0.1561251592563001 Centerline is valid? [False, False] Translation: X:-99.23, Y:-52.34, Z:84.79 [[ 9.99474577e-01 -3.01992895e-02 -1.17717382e-02 -9.92324713e+01] [ 2.99934251e-02 9.99400563e-01 -1.72889607e-02 -5.23416984e+01] [ 1.22867961e-02 1.69268019e-02 9.99781235e-01 8.47890230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.439259764 meters Centerline goodness [0,1] 0.1532999525186688 Centerline is valid? [False, False] Translation: X:-99.23, Y:-52.34, Z:84.79 [[ 9.99467003e-01 -3.03735814e-02 -1.19647809e-02 -9.92319005e+01] [ 3.01621497e-02 9.99392300e-01 -1.74721152e-02 -5.23412792e+01] [ 1.24882006e-02 1.71019191e-02 9.99775759e-01 8.47888908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.469259764 meters Centerline goodness [0,1] 0.15666731387396715 Centerline is valid? [False, False] Translation: X:-99.23, Y:-52.34, Z:84.79 [[ 9.99482135e-01 -2.99265416e-02 -1.18263963e-02 -9.92320838e+01] [ 2.97239419e-02 9.99414406e-01 -1.69508861e-02 -5.23430179e+01] [ 1.23267522e-02 1.65905808e-02 9.99786379e-01 8.47885735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.499259764 meters Centerline goodness [0,1] 0.15901067676941627 Centerline is valid? [False, False] Translation: X:-99.23, Y:-52.34, Z:84.79 [[ 9.99578525e-01 -2.59379144e-02 -1.30382535e-02 -9.92288792e+01] [ 2.57730215e-02 9.99587657e-01 -1.26596931e-02 -5.23440220e+01] [ 1.33612433e-02 1.23183222e-02 9.99834854e-01 8.47880498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.529259764 meters Centerline goodness [0,1] 0.16394995801124002 Centerline is valid? [False, False] Translation: X:-99.23, Y:-52.34, Z:84.79 [[ 9.99575230e-01 -2.58644107e-02 -1.34310070e-02 -9.92279226e+01] [ 2.56979550e-02 9.99592577e-01 -1.24215249e-02 -5.23449903e+01] [ 1.37468104e-02 1.20710992e-02 9.99832643e-01 8.47880310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.559259764 meters Centerline goodness [0,1] 0.16346900060360436 Centerline is valid? [False, False] Translation: X:-99.23, Y:-52.34, Z:84.79 [[ 9.99531116e-01 -2.70892295e-02 -1.42731455e-02 -9.92260730e+01] [ 2.68961939e-02 9.99546432e-01 -1.35471221e-02 -5.23426021e+01] [ 1.46336528e-02 1.31568767e-02 9.99806358e-01 8.47883538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.589259764 meters Centerline goodness [0,1] 0.165830228100028 Centerline is valid? [False, False] Translation: X:-99.22, Y:-52.34, Z:84.79 [[ 9.99494819e-01 -2.80665534e-02 -1.49122830e-02 -9.92245272e+01] [ 2.78509662e-02 9.99507303e-01 -1.44732188e-02 -5.23406651e+01] [ 1.53111491e-02 1.40505857e-02 9.99784052e-01 8.47884454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.619259764 meters Centerline goodness [0,1] 0.1605265425715271 Centerline is valid? [False, False] Translation: X:-99.22, Y:-52.34, Z:84.79 [[ 9.99488050e-01 -2.81114190e-02 -1.52769608e-02 -9.92238978e+01] [ 2.78925435e-02 9.99507831e-01 -1.43562282e-02 -5.23415273e+01] [ 1.56730159e-02 1.39227653e-02 9.99780232e-01 8.47887542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.649259764 meters Centerline goodness [0,1] 0.16676365987714192 Centerline is valid? [False, False] Translation: X:-99.22, Y:-52.34, Z:84.79 [[ 9.99438211e-01 -2.94415966e-02 -1.60141760e-02 -9.92231155e+01] [ 2.91956063e-02 9.99455332e-01 -1.53836278e-02 -5.23400705e+01] [ 1.64583721e-02 1.49074419e-02 9.99753415e-01 8.47900437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.679259764 meters Centerline goodness [0,1] 0.16851536755045338 Centerline is valid? [False, False] Translation: X:-99.22, Y:-52.34, Z:84.79 [[ 9.99377196e-01 -3.09346664e-02 -1.69784106e-02 -9.92212478e+01] [ 3.06535808e-02 9.99392657e-01 -1.65733319e-02 -5.23381702e+01] [ 1.74807894e-02 1.60425609e-02 9.99718489e-01 8.47907628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.709259764 meters Centerline goodness [0,1] 0.1695780472569841 Centerline is valid? [False, False] Translation: X:-99.22, Y:-52.34, Z:84.79 [[ 9.99382164e-01 -3.07625866e-02 -1.69986416e-02 -9.92213095e+01] [ 3.04857555e-02 9.99402098e-01 -1.63114967e-02 -5.23391373e+01] [ 1.74902620e-02 1.57832024e-02 9.99722452e-01 8.47907830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.739259764 meters Centerline goodness [0,1] 0.1712981897238306 Centerline is valid? [False, False] Translation: X:-99.22, Y:-52.34, Z:84.79 [[ 9.99406594e-01 -3.01410269e-02 -1.66727082e-02 -9.92228997e+01] [ 2.98822641e-02 9.99432346e-01 -1.55574846e-02 -5.23414253e+01] [ 1.71321624e-02 1.50500344e-02 9.99739959e-01 8.47915014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.769259764 meters Centerline goodness [0,1] 0.17887439176678288 Centerline is valid? [False, False] Translation: X:-99.22, Y:-52.34, Z:84.79 [[ 9.99544611e-01 -2.52222408e-02 -1.65653163e-02 -9.92247433e+01] [ 2.50503033e-02 9.99630983e-01 -1.05061518e-02 -5.23439090e+01] [ 1.68241921e-02 1.00864012e-02 9.99807587e-01 8.47929473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.799259764 meters Centerline goodness [0,1] 0.1769570367179929 Centerline is valid? [False, False] Translation: X:-99.22, Y:-52.34, Z:84.79 [[ 9.99616687e-01 -2.18684344e-02 -1.69779444e-02 -9.92240318e+01] [ 2.17471835e-02 9.99736896e-01 -7.29377380e-03 -5.23414000e+01] [ 1.71329808e-02 6.92175553e-03 9.99829261e-01 8.47930535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.829259764 meters Centerline goodness [0,1] 0.19128751210067763 Centerline is valid? [False, False] Translation: X:-99.23, Y:-52.35, Z:84.79 [[ 9.99848140e-01 -1.34427541e-02 -1.10900297e-02 -9.92345901e+01] [ 1.33832952e-02 9.99895759e-01 -5.41838415e-03 -5.23455149e+01] [ 1.11617116e-02 5.26914018e-03 9.99923823e-01 8.47853961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.859259764 meters Centerline goodness [0,1] 0.2007354996881653 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.36, Z:84.78 [[ 9.99986641e-01 -9.55447649e-04 -5.07978773e-03 -9.92474548e+01] [ 9.54042559e-04 9.99999506e-01 -2.79020079e-04 -5.23551548e+01] [ 5.08005181e-03 2.74170018e-04 9.99987059e-01 8.47786845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88925976400003 meters Centerline goodness [0,1] 0.2007354996881653 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.36, Z:84.78 [[ 9.99986641e-01 -9.55447649e-04 -5.07978773e-03 -9.92474548e+01] [ 9.54042559e-04 9.99999506e-01 -2.79020079e-04 -5.23551548e+01] [ 5.08005181e-03 2.74170018e-04 9.99987059e-01 8.47786845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.919259764 meters Centerline goodness [0,1] 0.21174751858376661 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.36, Z:84.78 [[ 9.99982058e-01 5.08344759e-03 -3.16910348e-03 -9.92505769e+01] [-5.06756891e-03 9.99974667e-01 4.99851961e-03 -5.23567642e+01] [ 3.19443290e-03 -4.98237028e-03 9.99982486e-01 8.47765910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94925976400003 meters Centerline goodness [0,1] 0.21874731690564098 Centerline is valid? [False, False] Translation: X:-99.25, Y:-52.36, Z:84.77 [[ 9.99945658e-01 1.03764809e-02 -1.00521706e-03 -9.92541473e+01] [-1.03665722e-02 9.99902023e-01 9.40626726e-03 -5.23565121e+01] [ 1.10272252e-03 -9.39533545e-03 9.99955255e-01 8.47742675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.979259764 meters Centerline goodness [0,1] 0.21814903846153844 Centerline is valid? [False, False] Translation: X:-99.26, Y:-52.36, Z:84.77 [[ 9.99866021e-01 1.56577461e-02 4.77225796e-03 -9.92632983e+01] [-1.57076476e-02 9.99820387e-01 1.06049106e-02 -5.23611454e+01] [-4.60535180e-03 -1.06784507e-02 9.99932378e-01 8.47675088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00925976400003 meters Centerline goodness [0,1] 0.23086504595825097 Centerline is valid? [False, False] Translation: X:-99.28, Y:-52.37, Z:84.76 [[ 9.99581108e-01 2.67721238e-02 1.09937228e-02 -9.92760272e+01] [-2.69160113e-02 9.99551128e-01 1.31556684e-02 -5.23661504e+01] [-1.06365828e-02 -1.34460648e-02 9.99853022e-01 8.47592084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.039259764 meters Centerline goodness [0,1] 0.2468990085411391 Centerline is valid? [False, False] Translation: X:-99.29, Y:-52.37, Z:84.75 [[ 9.99380014e-01 3.09344946e-02 1.68120553e-02 -9.92857839e+01] [-3.11538658e-02 9.99430744e-01 1.29470176e-02 -5.23698308e+01] [-1.64019755e-02 -1.34627512e-02 9.99774839e-01 8.47527194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.069259764 meters Centerline goodness [0,1] 0.2420383533403483 Centerline is valid? [False, False] Translation: X:-99.30, Y:-52.38, Z:84.75 [[ 9.99111404e-01 3.52150680e-02 2.31581866e-02 -9.92982971e+01] [-3.55069752e-02 9.99293526e-01 1.23167807e-02 -5.23805862e+01] [-2.27080897e-02 -1.31281132e-02 9.99655938e-01 8.47472401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.099259764 meters Centerline goodness [0,1] 0.24844760533722954 Centerline is valid? [False, False] Translation: X:-99.31, Y:-52.41, Z:84.75 [[ 9.98902263e-01 4.43273189e-02 1.51445566e-02 -9.93084441e+01] [-4.45518732e-02 9.98897046e-01 1.48263845e-02 -5.24077318e+01] [-1.44706390e-02 -1.54848274e-02 9.99775385e-01 8.47460855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.129259764 meters Centerline goodness [0,1] 0.2737857403707762 Centerline is valid? [False, False] Translation: X:-99.31, Y:-52.41, Z:84.75 [[ 9.98839117e-01 4.55764986e-02 1.55949168e-02 -9.93096373e+01] [-4.58298056e-02 9.98816426e-01 1.62903787e-02 -5.24123793e+01] [-1.48340006e-02 -1.69861795e-02 9.99745679e-01 8.47459107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.159259764 meters Centerline goodness [0,1] 0.2668228416686368 Centerline is valid? [False, False] Translation: X:-99.31, Y:-52.42, Z:84.75 [[ 9.98843073e-01 4.54767651e-02 1.56326647e-02 -9.93120304e+01] [-4.57376322e-02 9.98812955e-01 1.67556201e-02 -5.24214813e+01] [-1.48521166e-02 -1.74512361e-02 9.99737400e-01 8.47480431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.189259764 meters Centerline goodness [0,1] 0.26330387666903177 Centerline is valid? [False, False] Translation: X:-99.31, Y:-52.43, Z:84.75 [[ 9.98872843e-01 4.48796639e-02 1.54550745e-02 -9.93146175e+01] [-4.51422932e-02 9.98834452e-01 1.70854081e-02 -5.24326496e+01] [-1.46702735e-02 -1.77638276e-02 9.99734580e-01 8.47509344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.219259764 meters Centerline goodness [0,1] 0.28422341042324295 Centerline is valid? [False, False] Translation: X:-99.32, Y:-52.45, Z:84.75 [[ 9.99323478e-01 3.41883450e-02 1.35552241e-02 -9.93234687e+01] [-3.45161828e-02 9.99097929e-01 2.47378513e-02 -5.24536854e+01] [-1.26972501e-02 -2.51889902e-02 9.99602068e-01 8.47529913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.249259764 meters Centerline goodness [0,1] 0.2852262472605389 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.46, Z:84.75 [[ 9.99465115e-01 2.97918863e-02 1.34880552e-02 -9.93255487e+01] [-3.00694137e-02 9.99330056e-01 2.08631012e-02 -5.24630686e+01] [-1.28574679e-02 -2.12575198e-02 9.99691354e-01 8.47549356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.279259764 meters Centerline goodness [0,1] 0.29037247067921124 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.47, Z:84.76 [[ 9.99575869e-01 2.58008403e-02 1.35055399e-02 -9.93268789e+01] [-2.60329936e-02 9.99511281e-01 1.73055845e-02 -5.24714597e+01] [-1.30524408e-02 -1.76498343e-02 9.99759030e-01 8.47558434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.309259764 meters Centerline goodness [0,1] 0.2963265130858578 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.48, Z:84.76 [[ 9.99652609e-01 2.25387228e-02 1.36626211e-02 -9.93278555e+01] [-2.27329212e-02 9.99640307e-01 1.42291970e-02 -5.24757218e+01] [-1.33369988e-02 -1.45348451e-02 9.99805412e-01 8.47560975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.339259764 meters Centerline goodness [0,1] 0.3009865239538333 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.48, Z:84.76 [[ 9.99708078e-01 1.94496231e-02 1.43342416e-02 -9.93306269e+01] [-1.96110960e-02 9.99744819e-01 1.12116995e-02 -5.24797367e+01] [-1.41125204e-02 -1.14895368e-02 9.99834400e-01 8.47569973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.369259764 meters Centerline goodness [0,1] 0.3009865239538333 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.48, Z:84.76 [[ 9.99708078e-01 1.94496231e-02 1.43342416e-02 -9.93306269e+01] [-1.96110960e-02 9.99744819e-01 1.12116995e-02 -5.24797367e+01] [-1.41125204e-02 -1.14895368e-02 9.99834400e-01 8.47569973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.399259764 meters Centerline goodness [0,1] 0.2896258247544542 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.48, Z:84.76 [[ 9.99770823e-01 1.57186324e-02 1.45336082e-02 -9.93318557e+01] [-1.58311405e-02 9.99845346e-01 7.65886727e-03 -5.24823661e+01] [-1.44109736e-02 -7.88719563e-03 9.99865049e-01 8.47575430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.429259764 meters Centerline goodness [0,1] 0.28299536002749615 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.49, Z:84.76 [[ 9.99797107e-01 1.32748687e-02 1.51499763e-02 -9.93343477e+01] [-1.33581439e-02 9.99896147e-01 5.40882357e-03 -5.24875711e+01] [-1.50766015e-02 -5.61010172e-03 9.99870603e-01 8.47583316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.459259764 meters Centerline goodness [0,1] 0.2904029020971516 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.49, Z:84.76 [[ 9.99820418e-01 1.23569361e-02 1.43679138e-02 -9.93327332e+01] [-1.24269951e-02 9.99911275e-01 4.79705128e-03 -5.24871065e+01] [-1.43073622e-02 -4.97473982e-03 9.99885269e-01 8.47587692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.489259764 meters Centerline goodness [0,1] 0.2969384466645182 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.49, Z:84.76 [[ 9.99887035e-01 7.38427514e-03 1.30915579e-02 -9.93307256e+01] [-7.39261882e-03 9.99972501e-01 5.89054815e-04 -5.24889530e+01] [-1.30868481e-02 -6.85769170e-04 9.99914128e-01 8.47599914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.519259764 meters Centerline goodness [0,1] 0.28715256862576366 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.49, Z:84.76 [[ 9.99903175e-01 3.58885139e-03 1.34447618e-02 -9.93318636e+01] [-3.54609248e-03 9.99988583e-01 -3.20283029e-03 -5.24906088e+01] [-1.34561028e-02 3.15484381e-03 9.99904486e-01 8.47600761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.549259764 meters Centerline goodness [0,1] 0.3022251814940504 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.49, Z:84.76 [[ 9.99916075e-01 2.15495872e-03 1.27749657e-02 -9.93301766e+01] [-2.09584831e-03 9.99987045e-01 -4.63863372e-03 -5.24875121e+01] [-1.27847963e-02 4.61147003e-03 9.99907637e-01 8.47600325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.579259764 meters Centerline goodness [0,1] 0.3024260266024883 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.49, Z:84.76 [[ 9.99926388e-01 1.67979437e-03 1.20165303e-02 -9.93288842e+01] [-1.62157397e-03 9.99986909e-01 -4.85312935e-03 -5.24876485e+01] [-1.20245253e-02 4.83328641e-03 9.99916022e-01 8.47607858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.609259764 meters Centerline goodness [0,1] 0.30698584763625414 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.49, Z:84.76 [[ 9.99938797e-01 1.83570029e-03 1.09102447e-02 -9.93275344e+01] [-1.79367626e-03 9.99990940e-01 -3.86033379e-03 -5.24918630e+01] [-1.09172322e-02 3.84052808e-03 9.99933030e-01 8.47624349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63925976400003 meters Centerline goodness [0,1] 0.30714424091094994 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.49, Z:84.76 [[ 9.99935919e-01 2.00351263e-03 1.11420041e-02 -9.93287983e+01] [-1.96380757e-03 9.99991687e-01 -3.57334701e-03 -5.24929703e+01] [-1.11490708e-02 3.55123727e-03 9.99931541e-01 8.47631745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.669259764 meters Centerline goodness [0,1] 0.30684312459651386 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.49, Z:84.76 [[ 9.99924681e-01 2.68489004e-03 1.19760030e-02 -9.93307601e+01] [-2.65026964e-03 9.99992266e-01 -2.90574838e-03 -5.24948506e+01] [-1.19837120e-02 2.87378988e-03 9.99924063e-01 8.47627543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69925976400003 meters Centerline goodness [0,1] 0.3098894944316395 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.50, Z:84.76 [[ 9.99912662e-01 3.44499423e-03 1.27593155e-02 -9.93323575e+01] [-3.41780326e-03 9.99991843e-01 -2.15226054e-03 -5.24971269e+01] [-1.27666260e-02 2.10846374e-03 9.99916280e-01 8.47620642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.729259764 meters Centerline goodness [0,1] 0.30890717917779886 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.50, Z:84.76 [[ 9.99901382e-01 4.84119985e-03 1.31828950e-02 -9.93340830e+01] [-4.83485241e-03 9.99988180e-01 -5.13317776e-04 -5.25019869e+01] [-1.31852243e-02 4.49529802e-04 9.99912970e-01 8.47628566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75925976400003 meters Centerline goodness [0,1] 0.3087252661982153 Centerline is valid? [False, False] Translation: X:-99.33, Y:-52.50, Z:84.76 [[ 9.99898367e-01 5.40004149e-03 1.31944855e-02 -9.93349382e+01] [-5.40427489e-03 9.99985356e-01 2.85212074e-04 -5.25049367e+01] [-1.31927521e-02 -3.56489714e-04 9.99912908e-01 8.47638633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.789259764 meters Centerline goodness [0,1] 0.2960712053619534 Centerline is valid? [False, False] Translation: X:-99.34, Y:-52.51, Z:84.76 [[ 9.99893132e-01 6.19792015e-03 1.32404780e-02 -9.93359622e+01] [-6.21688257e-03 9.99979707e-01 1.39147617e-03 -5.25087675e+01] [-1.32315850e-02 -1.47364197e-03 9.99911373e-01 8.47649303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.819259764 meters Centerline goodness [0,1] 0.29878770913632346 Centerline is valid? [False, False] Translation: X:-99.34, Y:-52.52, Z:84.77 [[ 9.99867269e-01 9.01134480e-03 1.35734759e-02 -9.93387819e+01] [-9.07645157e-03 9.99947561e-01 4.74267598e-03 -5.25163425e+01] [-1.35300263e-02 -4.86524548e-03 9.99896629e-01 8.47671181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.849259764 meters Centerline goodness [0,1] 0.29556671479988794 Centerline is valid? [False, False] Translation: X:-99.34, Y:-52.52, Z:84.77 [[ 9.99848806e-01 9.76463547e-03 1.43880577e-02 -9.93408793e+01] [-9.84531208e-03 9.99936148e-01 5.54706979e-03 -5.25189702e+01] [-1.43329739e-02 -5.68788603e-03 9.99881100e-01 8.47670223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.879259764 meters Centerline goodness [0,1] 0.28821487852723704 Centerline is valid? [False, False] Translation: X:-99.34, Y:-52.52, Z:84.77 [[ 9.99835848e-01 1.01958059e-02 1.49773748e-02 -9.93420795e+01] [-1.02866468e-02 9.99929085e-01 6.00074461e-03 -5.25205512e+01] [-1.49151303e-02 -6.15382654e-03 9.99869826e-01 8.47665320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.909259764 meters Centerline goodness [0,1] 0.30465988447279935 Centerline is valid? [False, False] Translation: X:-99.34, Y:-52.52, Z:84.77 [[ 9.99826153e-01 1.03095388e-02 1.55363095e-02 -9.93427470e+01] [-1.04042830e-02 9.99927694e-01 6.02980219e-03 -5.25209324e+01] [-1.54730216e-02 -6.19039808e-03 9.99861123e-01 8.47654393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.939259764 meters Centerline goodness [0,1] 0.3091442500593222 Centerline is valid? [False, False] Translation: X:-99.34, Y:-52.51, Z:84.76 [[ 9.99833491e-01 8.31307011e-03 1.62444971e-02 -9.93425681e+01] [-8.36747847e-03 9.99959599e-01 3.28424789e-03 -5.25147842e+01] [-1.62165386e-02 -3.41962652e-03 9.99862656e-01 8.47628910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.969259764 meters Centerline goodness [0,1] 0.3119188868514723 Centerline is valid? [False, False] Translation: X:-99.34, Y:-52.51, Z:84.76 [[ 9.99837843e-01 7.58286916e-03 1.63336252e-02 -9.93422279e+01] [-7.62341959e-03 9.99968009e-01 2.42180331e-03 -5.25128869e+01] [-1.63147384e-02 -2.54592868e-03 9.99863664e-01 8.47620673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.999259764 meters Centerline goodness [0,1] 0.3121237620557965 Centerline is valid? [False, False] Translation: X:-99.34, Y:-52.51, Z:84.76 [[ 9.99843309e-01 7.13615313e-03 1.61997469e-02 -9.93419952e+01] [-7.16954207e-03 9.99972291e-01 2.00393771e-03 -5.25122162e+01] [-1.61849976e-02 -2.11976848e-03 9.99866767e-01 8.47620989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.029259764 meters Centerline goodness [0,1] 0.2000992512999763 Centerline is valid? [False, False] Translation: X:-99.34, Y:-52.51, Z:84.76 [[ 9.99844111e-01 7.00004709e-03 1.62096695e-02 -9.93421315e+01] [-7.03247276e-03 9.99973382e-01 1.94425404e-03 -5.25124614e+01] [-1.61956282e-02 -2.05794502e-03 9.99866724e-01 8.47621416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.059259764 meters Centerline goodness [0,1] 0.21004487400759408 Centerline is valid? [False, False] Translation: X:-99.34, Y:-52.51, Z:84.76 [[ 9.99840994e-01 6.76592315e-03 1.64987440e-02 -9.93428529e+01] [-6.79427305e-03 9.99975536e-01 1.66285959e-03 -5.25120103e+01] [-1.64870896e-02 -1.77469216e-03 9.99862504e-01 8.47620182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.089259764 meters Centerline goodness [0,1] 0.21641694373677622 Centerline is valid? [False, False] Translation: X:-99.35, Y:-52.51, Z:84.76 [[ 9.99818467e-01 7.09381906e-03 1.76836450e-02 -9.93452104e+01] [-7.12578869e-03 9.99973088e-01 1.74550942e-03 -5.25122044e+01] [-1.76707868e-02 -1.87120247e-03 9.99842108e-01 8.47611409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.119259764 meters Centerline goodness [0,1] 0.2943311441410301 Centerline is valid? [False, False] Translation: X:-99.35, Y:-52.52, Z:84.76 [[ 9.99802565e-01 7.90855918e-03 1.82287000e-02 -9.93466925e+01] [-7.95936727e-03 9.99964634e-01 2.71639344e-03 -5.25156159e+01] [-1.82065726e-02 -2.86094604e-03 9.99830153e-01 8.47611781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.149259764 meters Centerline goodness [0,1] 0.2176187079902311 Centerline is valid? [False, False] Translation: X:-99.35, Y:-52.52, Z:84.76 [[ 9.99784962e-01 8.95240572e-03 1.87051893e-02 -9.93480376e+01] [-9.02863608e-03 9.99951261e-01 3.99489140e-03 -5.25198451e+01] [-1.86685138e-02 -4.16291469e-03 9.99817062e-01 8.47612758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.179259764 meters Centerline goodness [0,1] 0.2251047651963537 Centerline is valid? [False, False] Translation: X:-99.35, Y:-52.52, Z:84.76 [[ 9.99759037e-01 1.00788381e-02 1.95008788e-02 -9.93498789e+01] [-1.01820029e-02 9.99934650e-01 5.19822574e-03 -5.25235665e+01] [-1.94472124e-02 -5.39553116e-03 9.99796326e-01 8.47609671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.209259764 meters Centerline goodness [0,1] 0.29970377737897036 Centerline is valid? [False, False] Translation: X:-99.35, Y:-52.53, Z:84.76 [[ 9.99680552e-01 1.37585881e-02 2.12013092e-02 -9.93533893e+01] [-1.39455790e-02 9.99864930e-01 8.69731252e-03 -5.25305116e+01] [-2.10787828e-02 -8.99019871e-03 9.99737396e-01 8.47600341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.239259764 meters Centerline goodness [0,1] 0.30086102457597785 Centerline is valid? [False, False] Translation: X:-99.36, Y:-52.53, Z:84.76 [[ 9.99649538e-01 1.49251920e-02 2.18641144e-02 -9.93552888e+01] [-1.51478149e-02 9.99834736e-01 1.00521212e-02 -5.25346836e+01] [-2.17104712e-02 -1.03797918e-02 9.99710416e-01 8.47601453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.269259764 meters Centerline goodness [0,1] 0.24971313516205162 Centerline is valid? [False, False] Translation: X:-99.36, Y:-52.54, Z:84.76 [[ 9.99630254e-01 1.55424638e-02 2.23111503e-02 -9.93564734e+01] [-1.57868127e-02 9.99816859e-01 1.08178318e-02 -5.25373913e+01] [-2.21389284e-02 -1.11660539e-02 9.99692546e-01 8.47600707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.299259764 meters Centerline goodness [0,1] 0.26218389061044056 Centerline is valid? [False, False] Translation: X:-99.35, Y:-52.54, Z:84.76 [[ 9.99836121e-01 1.61190138e-02 8.24072433e-03 -9.93538448e+01] [-1.62203626e-02 9.99791755e-01 1.23832922e-02 -5.25440823e+01] [-8.03940178e-03 -1.25149303e-02 9.99889366e-01 8.47611345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.329259764 meters Centerline goodness [0,1] 0.27421380923503424 Centerline is valid? [False, False] Translation: X:-99.36, Y:-52.55, Z:84.76 [[ 9.99839546e-01 1.51543731e-02 9.55131581e-03 -9.93574321e+01] [-1.52629299e-02 9.99818558e-01 1.13971118e-02 -5.25499743e+01] [-9.37686672e-03 -1.15410642e-02 9.99889433e-01 8.47611901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.359259764 meters Centerline goodness [0,1] 0.3041903439899363 Centerline is valid? [False, False] Translation: X:-99.36, Y:-52.56, Z:84.76 [[ 9.99842769e-01 1.44263504e-02 1.03110397e-02 -9.93609057e+01] [-1.45399233e-02 9.99833496e-01 1.10259342e-02 -5.25572862e+01] [-1.01502588e-02 -1.11741223e-02 9.99886049e-01 8.47627159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38925976400003 meters Centerline goodness [0,1] 0.23869079874281995 Centerline is valid? [False, False] Translation: X:-99.36, Y:-52.57, Z:84.76 [[ 9.99857654e-01 1.28822408e-02 1.08958599e-02 -9.93641459e+01] [-1.29912424e-02 9.99865674e-01 9.99304351e-03 -5.25651496e+01] [-1.07656636e-02 -1.01331718e-02 9.99890704e-01 8.47645933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.419259764 meters Centerline goodness [0,1] 0.2538701704175881 Centerline is valid? [False, False] Translation: X:-99.37, Y:-52.58, Z:84.77 [[ 9.99888064e-01 9.96995340e-03 1.11561762e-02 -9.93687702e+01] [-1.00656856e-02 9.99912717e-01 8.55809757e-03 -5.25796954e+01] [-1.10698786e-02 -8.66943417e-03 9.99901144e-01 8.47692801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44925976400003 meters Centerline goodness [0,1] 0.2611328125 Centerline is valid? [False, False] Translation: X:-99.37, Y:-52.59, Z:84.77 [[ 9.99897959e-01 8.80302227e-03 1.12507175e-02 -9.93717297e+01] [-8.89438318e-03 9.99927667e-01 8.09637906e-03 -5.25881137e+01] [-1.11786311e-02 -8.19562109e-03 9.99903930e-01 8.47722277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.479259764 meters Centerline goodness [0,1] 0.3087909702626438 Centerline is valid? [False, False] Translation: X:-99.37, Y:-52.60, Z:84.78 [[ 9.99903782e-01 7.97256053e-03 1.13518308e-02 -9.93746410e+01] [-8.06297936e-03 9.99935956e-01 7.94176978e-03 -5.25962855e+01] [-1.12877875e-02 -8.03253522e-03 9.99904028e-01 8.47751591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50925976400003 meters Centerline goodness [0,1] 0.28168891783349614 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.60, Z:84.78 [[ 9.99912244e-01 6.55405021e-03 1.15129820e-02 -9.93772106e+01] [-6.63641919e-03 9.99952553e-01 7.13086864e-03 -5.26037494e+01] [-1.14656997e-02 -7.20664784e-03 9.99908297e-01 8.47774120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.539259764 meters Centerline goodness [0,1] 0.281654418937374 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.60, Z:84.78 [[ 9.99929956e-01 1.82198796e-03 1.16945525e-02 -9.93776731e+01] [-1.85062168e-03 9.99995315e-01 2.43811197e-03 -5.26035248e+01] [-1.16900555e-02 -2.45958339e-03 9.99928644e-01 8.47772042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.569259764 meters Centerline goodness [0,1] 0.28098958333333335 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.60, Z:84.78 [[ 9.99924839e-01 -2.19021338e-03 1.20631695e-02 -9.93783768e+01] [ 2.20914808e-03 9.99996348e-01 -1.55652768e-03 -5.26048877e+01] [-1.20597164e-02 1.58306001e-03 9.99926026e-01 8.47767963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.599259764 meters Centerline goodness [0,1] 0.2878616979740575 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.60, Z:84.78 [[ 9.99930326e-01 -4.31197102e-03 1.09886275e-02 -9.93758053e+01] [ 4.34840890e-03 9.99985120e-01 -3.29422999e-03 -5.26032480e+01] [-1.09742594e-02 3.34178351e-03 9.99934197e-01 8.47768338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.629259764 meters Centerline goodness [0,1] 0.28482837875929656 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.61, Z:84.78 [[ 9.99912005e-01 -7.84852879e-03 1.06949775e-02 -9.93759381e+01] [ 7.91279207e-03 9.99950814e-01 -5.97972539e-03 -5.26092994e+01] [-1.06475195e-02 6.06382634e-03 9.99924927e-01 8.47780378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.659259764 meters Centerline goodness [0,1] 0.2786245474058495 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.61, Z:84.78 [[ 9.99915134e-01 -7.91654987e-03 1.03466809e-02 -9.93757675e+01] [ 7.97544870e-03 9.99952156e-01 -5.66372365e-03 -5.26111717e+01] [-1.03013487e-02 5.74576242e-03 9.99930432e-01 8.47788339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.689259764 meters Centerline goodness [0,1] 0.28132254355325104 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.61, Z:84.78 [[ 9.99918546e-01 -7.92355466e-03 1.00059788e-02 -9.93761657e+01] [ 7.97625147e-03 9.99954472e-01 -5.23765368e-03 -5.26133987e+01] [-9.96402242e-03 5.31703726e-03 9.99936222e-01 8.47803619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.719259764 meters Centerline goodness [0,1] 0.29264424748001394 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.62, Z:84.78 [[ 9.99922840e-01 -8.06587457e-03 9.44751526e-03 -9.93760499e+01] [ 8.11218423e-03 9.99955218e-01 -4.87376025e-03 -5.26157134e+01] [-9.40778105e-03 4.95002417e-03 9.99943494e-01 8.47819556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.749259764 meters Centerline goodness [0,1] 0.2919560687619378 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.62, Z:84.78 [[ 9.99925706e-01 -8.49443289e-03 8.74224613e-03 -9.93751847e+01] [ 8.53647988e-03 9.99952122e-01 -4.78360906e-03 -5.26174573e+01] [-8.70119352e-03 4.85788168e-03 9.99950344e-01 8.47830808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.779259764 meters Centerline goodness [0,1] 0.29818884642112575 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.62, Z:84.78 [[ 9.99879516e-01 -1.29670576e-02 8.53282454e-03 -9.93753830e+01] [ 1.30405538e-02 9.99877857e-01 -8.61482551e-03 -5.26204886e+01] [-8.42007337e-03 8.72506031e-03 9.99926485e-01 8.47842299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.809259764 meters Centerline goodness [0,1] 0.3017447159411484 Centerline is valid? [False, False] Translation: X:-99.37, Y:-52.62, Z:84.78 [[ 9.99862033e-01 -1.47112732e-02 7.71314857e-03 -9.93736018e+01] [ 1.47877620e-02 9.99841095e-01 -9.95525075e-03 -5.26193666e+01] [-7.56546850e-03 1.00679375e-02 9.99920697e-01 8.47844905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.839259764 meters Centerline goodness [0,1] 0.3012252346193952 Centerline is valid? [False, False] Translation: X:-99.37, Y:-52.62, Z:84.79 [[ 9.99849917e-01 -1.58747278e-02 6.93801198e-03 -9.93722434e+01] [ 1.59487007e-02 9.99815129e-01 -1.07399685e-02 -5.26190689e+01] [-6.76623526e-03 1.08490089e-02 9.99918255e-01 8.47850927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.869259764 meters Centerline goodness [0,1] 0.30239377878182294 Centerline is valid? [False, False] Translation: X:-99.37, Y:-52.62, Z:84.79 [[ 9.99846096e-01 -1.62654999e-02 6.57403791e-03 -9.93720603e+01] [ 1.63357651e-02 9.99808451e-01 -1.07797778e-02 -5.26202184e+01] [-6.39744019e-03 1.08855107e-02 9.99920286e-01 8.47859044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.899259764 meters Centerline goodness [0,1] 0.3090909090909091 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.63, Z:84.79 [[ 9.99829025e-01 -1.71043292e-02 7.02592310e-03 -9.93766855e+01] [ 1.71767656e-02 9.99798563e-01 -1.03822631e-02 -5.26310752e+01] [-6.84692617e-03 1.05011707e-02 9.99921419e-01 8.47901159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.929259764 meters Centerline goodness [0,1] 0.310542548108249 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.63, Z:84.79 [[ 9.99831860e-01 -1.70389968e-02 6.77673876e-03 -9.93769129e+01] [ 1.71048664e-02 9.99805832e-01 -9.78376570e-03 -5.26340840e+01] [-6.60871738e-03 9.89803587e-03 9.99929174e-01 8.47911298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.959259764 meters Centerline goodness [0,1] 0.3066165772730234 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.63, Z:84.79 [[ 9.99821784e-01 -1.77182452e-02 6.51647031e-03 -9.93773264e+01] [ 1.77838072e-02 9.99790390e-01 -1.01445261e-02 -5.26346043e+01] [-6.33536119e-03 1.02586058e-02 9.99927309e-01 8.47923604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.989259764 meters Centerline goodness [0,1] 0.31045943304007817 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.63, Z:84.79 [[ 9.99813507e-01 -1.81516797e-02 6.59303714e-03 -9.93777819e+01] [ 1.82196814e-02 9.99779867e-01 -1.04048546e-02 -5.26348008e+01] [-6.40272020e-03 1.05230372e-02 9.99924133e-01 8.47925167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.019259764 meters Centerline goodness [0,1] 0.29545503945051843 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.64, Z:84.79 [[ 9.99725761e-01 -2.22791310e-02 7.21406998e-03 -9.93795313e+01] [ 2.23805106e-02 9.99647374e-01 -1.42912721e-02 -5.26370155e+01] [-6.89312899e-03 1.44488075e-02 9.99871850e-01 8.47926429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.049259764 meters Centerline goodness [0,1] 0.31016042780748665 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.64, Z:84.79 [[ 9.99688690e-01 -2.40951924e-02 6.47645541e-03 -9.93786668e+01] [ 2.41943614e-02 9.99584035e-01 -1.56968333e-02 -5.26360663e+01] [-6.09554321e-03 1.58486404e-02 9.99855822e-01 8.47936073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.079259764 meters Centerline goodness [0,1] 0.2926421041191175 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.64, Z:84.79 [[ 9.99669088e-01 -2.50546662e-02 5.82914101e-03 -9.93775353e+01] [ 2.51463825e-02 9.99551987e-01 -1.62322101e-02 -5.26364854e+01] [-5.41983687e-03 1.63734205e-02 9.99851257e-01 8.47940918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.109259764 meters Centerline goodness [0,1] 0.2995331668657041 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.64, Z:84.79 [[ 9.99658817e-01 -2.55753968e-02 5.30562490e-03 -9.93770031e+01] [ 2.56584810e-02 9.99538976e-01 -1.62319707e-02 -5.26383170e+01] [-4.88803979e-03 1.63625669e-02 9.99854176e-01 8.47949715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13925976400003 meters Centerline goodness [0,1] 0.31355048859934853 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.65, Z:84.80 [[ 9.99559656e-01 -2.89627296e-02 6.45401699e-03 -9.93839541e+01] [ 2.90769766e-02 9.99408304e-01 -1.83730961e-02 -5.26509120e+01] [-5.91806317e-03 1.85526689e-02 9.99810370e-01 8.48001438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.169259764 meters Centerline goodness [0,1] 0.31271574651006273 Centerline is valid? [False, False] Translation: X:-99.38, Y:-52.65, Z:84.80 [[ 9.99552325e-01 -2.92787194e-02 6.15675099e-03 -9.93844585e+01] [ 2.93866916e-02 9.99401569e-01 -1.82462758e-02 -5.26527009e+01] [-5.61883901e-03 1.84190339e-02 9.99814567e-01 8.48016211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19925976400003 meters Centerline goodness [0,1] 0.3118578534656906 Centerline is valid? [False, False] Translation: X:-99.39, Y:-52.65, Z:84.80 [[ 9.99547705e-01 -2.93323924e-02 6.63301934e-03 -9.93858814e+01] [ 2.94489164e-02 9.99400384e-01 -1.82107908e-02 -5.26535896e+01] [-6.09487602e-03 1.83978893e-02 9.99812167e-01 8.48017397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.229259764 meters Centerline goodness [0,1] 0.3118578534656906 Centerline is valid? [False, False] Translation: X:-99.39, Y:-52.65, Z:84.80 [[ 9.99547705e-01 -2.93323924e-02 6.63301934e-03 -9.93858814e+01] [ 2.94489164e-02 9.99400384e-01 -1.82107908e-02 -5.26535896e+01] [-6.09487602e-03 1.83978893e-02 9.99812167e-01 8.48017397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25925976400003 meters Centerline goodness [0,1] 0.31358839623051205 Centerline is valid? [False, False] Translation: X:-99.39, Y:-52.66, Z:84.80 [[ 9.99563187e-01 -2.84121643e-02 8.13540972e-03 -9.93892757e+01] [ 2.85516029e-02 9.99437896e-01 -1.75697901e-02 -5.26560589e+01] [-7.63164101e-03 1.77943944e-02 9.99812541e-01 8.48004933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.289259764 meters Centerline goodness [0,1] 0.3166395310973624 Centerline is valid? [False, False] Translation: X:-99.39, Y:-52.66, Z:84.80 [[ 9.99569993e-01 -2.78632400e-02 9.13610694e-03 -9.93912957e+01] [ 2.80168236e-02 9.99460542e-01 -1.71371931e-02 -5.26576059e+01] [-8.65368067e-03 1.73857887e-02 9.99811406e-01 8.47995077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.319259764 meters Centerline goodness [0,1] 0.318881817589435 Centerline is valid? [False, False] Translation: X:-99.39, Y:-52.66, Z:84.80 [[ 9.99562443e-01 -2.78788788e-02 9.88390431e-03 -9.93935238e+01] [ 2.80461422e-02 9.99458492e-01 -1.72086071e-02 -5.26580239e+01] [-9.39879543e-03 1.74782827e-02 9.99803067e-01 8.47996509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.349259764 meters Centerline goodness [0,1] 0.3179866412213741 Centerline is valid? [False, False] Translation: X:-99.40, Y:-52.66, Z:84.80 [[ 9.99559544e-01 -2.75669566e-02 1.09900208e-02 -9.93967608e+01] [ 2.77523088e-02 9.99468803e-01 -1.70856862e-02 -5.26585644e+01] [-1.05131826e-02 1.73831592e-02 9.99793628e-01 8.47999514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.379259764 meters Centerline goodness [0,1] 0.32657941649636946 Centerline is valid? [False, False] Translation: X:-99.41, Y:-52.68, Z:84.80 [[ 9.99609185e-01 -2.25099951e-02 1.65763959e-02 -9.94147267e+01] [ 2.28063553e-02 9.99579429e-01 -1.79118630e-02 -5.26841478e+01] [-1.61662284e-02 1.82829099e-02 9.99702150e-01 8.47987165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.409259764 meters Centerline goodness [0,1] 0.305897925527298 Centerline is valid? [False, False] Translation: X:-99.41, Y:-52.68, Z:84.80 [[ 9.99663629e-01 -2.01729437e-02 1.62997243e-02 -9.94145873e+01] [ 2.04206737e-02 9.99676265e-01 -1.51776637e-02 -5.26835220e+01] [-1.59882693e-02 1.55054097e-02 9.99751948e-01 8.47988738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.439259764 meters Centerline goodness [0,1] 0.3235996526270083 Centerline is valid? [False, False] Translation: X:-99.42, Y:-52.68, Z:84.80 [[ 9.99646826e-01 -2.03864976e-02 1.70473831e-02 -9.94169941e+01] [ 2.06502401e-02 9.99667517e-01 -1.54409336e-02 -5.26837114e+01] [-1.67269286e-02 1.57875128e-02 9.99735447e-01 8.47993996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.469259764 meters Centerline goodness [0,1] 0.2933808045502898 Centerline is valid? [False, False] Translation: X:-99.42, Y:-52.69, Z:84.80 [[ 9.99640638e-01 -1.94933849e-02 1.84011503e-02 -9.94200799e+01] [ 1.97650625e-02 9.99696586e-01 -1.46995901e-02 -5.26862527e+01] [-1.81090223e-02 1.50580075e-02 9.99722621e-01 8.47986396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.499259764 meters Centerline goodness [0,1] 0.31013838879007416 Centerline is valid? [False, False] Translation: X:-99.43, Y:-52.71, Z:84.79 [[ 9.99863642e-01 -1.14712429e-02 1.18789045e-02 -9.94318246e+01] [ 1.16331294e-02 9.99839163e-01 -1.36498464e-02 -5.27140096e+01] [-1.17204132e-02 1.37861739e-02 9.99836273e-01 8.47947019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.529259764 meters Centerline goodness [0,1] 0.32171837708830553 Centerline is valid? [False, False] Translation: X:-99.43, Y:-52.71, Z:84.79 [[ 9.99892695e-01 -7.69432787e-03 1.24657723e-02 -9.94328418e+01] [ 7.81900654e-03 9.99919588e-01 -9.98400760e-03 -5.27135399e+01] [-1.23879497e-02 1.00804062e-02 9.99872454e-01 8.47936508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.559259764 meters Centerline goodness [0,1] 0.3208174079221682 Centerline is valid? [False, False] Translation: X:-99.44, Y:-52.72, Z:84.79 [[ 9.99884574e-01 -6.55299906e-03 1.37075804e-02 -9.94366301e+01] [ 6.67475774e-03 9.99938510e-01 -8.85577059e-03 -5.27168202e+01] [-1.36487057e-02 8.94624318e-03 9.99866830e-01 8.47940757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.589259764 meters Centerline goodness [0,1] 0.32290172556178554 Centerline is valid? [False, False] Translation: X:-99.44, Y:-52.73, Z:84.80 [[ 9.99861244e-01 -7.12593243e-03 1.50570193e-02 -9.94419719e+01] [ 7.25641776e-03 9.99936438e-01 -8.62929070e-03 -5.27280251e+01] [-1.49945705e-02 8.73735336e-03 9.99849399e-01 8.47963366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.619259764 meters Centerline goodness [0,1] 0.30329698914009495 Centerline is valid? [False, False] Translation: X:-99.44, Y:-52.73, Z:84.80 [[ 9.99855784e-01 -8.53073267e-03 1.46845808e-02 -9.94420063e+01] [ 8.67100542e-03 9.99917132e-01 -9.51536710e-03 -5.27288733e+01] [-1.46021908e-02 9.64132492e-03 9.99846899e-01 8.47974019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.649259764 meters Centerline goodness [0,1] 0.29754721076622526 Centerline is valid? [False, False] Translation: X:-99.44, Y:-52.73, Z:84.80 [[ 9.99853708e-01 -9.28986648e-03 1.43618037e-02 -9.94416783e+01] [ 9.42952763e-03 9.99908614e-01 -9.68754773e-03 -5.27309050e+01] [-1.42704952e-02 9.82155554e-03 9.99849934e-01 8.47978020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.679259764 meters Centerline goodness [0,1] 0.2881164703074486 Centerline is valid? [False, False] Translation: X:-99.44, Y:-52.73, Z:84.80 [[ 9.99848350e-01 -9.92690481e-03 1.43085020e-02 -9.94426319e+01] [ 1.00714820e-02 9.99898596e-01 -1.00678938e-02 -5.27330012e+01] [-1.42071081e-02 1.02104748e-02 9.99846940e-01 8.47981494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.709259764 meters Centerline goodness [0,1] 0.28499826419024477 Centerline is valid? [False, False] Translation: X:-99.44, Y:-52.73, Z:84.80 [[ 9.99836471e-01 -1.01806708e-02 1.49460958e-02 -9.94446207e+01] [ 1.03350407e-02 9.99893668e-01 -1.02877930e-02 -5.27336602e+01] [-1.48397699e-02 1.04405792e-02 9.99835374e-01 8.47984898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.739259764 meters Centerline goodness [0,1] 0.31022064087822443 Centerline is valid? [False, False] Translation: X:-99.45, Y:-52.74, Z:84.80 [[ 9.99828755e-01 -9.63175770e-03 1.58015509e-02 -9.94474990e+01] [ 9.78486220e-03 9.99905652e-01 -9.64067577e-03 -5.27363539e+01] [-1.57072035e-02 9.79364086e-03 9.99828670e-01 8.47991392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.769259764 meters Centerline goodness [0,1] 0.2843422079611482 Centerline is valid? [False, False] Translation: X:-99.45, Y:-52.74, Z:84.80 [[ 9.99854318e-01 -7.09519282e-03 1.55241892e-02 -9.94477634e+01] [ 7.19805940e-03 9.99952442e-01 -6.58040060e-03 -5.27368601e+01] [-1.54767617e-02 6.69118599e-03 9.99857839e-01 8.47998659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.799259764 meters Centerline goodness [0,1] 0.2938279639874173 Centerline is valid? [False, False] Translation: X:-99.45, Y:-52.74, Z:84.80 [[ 9.99846819e-01 -5.61146674e-03 1.65785831e-02 -9.94516568e+01] [ 5.69443982e-03 9.99971476e-01 -4.96187533e-03 -5.27413014e+01] [-1.65502668e-02 5.05552101e-03 9.99850254e-01 8.48009998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.829259764 meters Centerline goodness [0,1] 0.295100827020339 Centerline is valid? [False, False] Translation: X:-99.46, Y:-52.76, Z:84.81 [[ 9.99805671e-01 -7.33699838e-03 1.82972242e-02 -9.94603876e+01] [ 7.44423393e-03 9.99955473e-01 -5.79954694e-03 -5.27559322e+01] [-1.82538582e-02 5.93462874e-03 9.99815771e-01 8.48059859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.859259764 meters Centerline goodness [0,1] 0.2926173332176629 Centerline is valid? [False, False] Translation: X:-99.46, Y:-52.76, Z:84.81 [[ 9.99807133e-01 -7.03480593e-03 1.83360054e-02 -9.94610254e+01] [ 7.12712413e-03 9.99962229e-01 -4.97432904e-03 -5.27601703e+01] [-1.83003194e-02 5.10405264e-03 9.99819507e-01 8.48065694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88925976400003 meters Centerline goodness [0,1] 0.30222424557752336 Centerline is valid? [False, False] Translation: X:-99.46, Y:-52.76, Z:84.81 [[ 9.99801824e-01 -7.46877480e-03 1.84534654e-02 -9.94622486e+01] [ 7.56372291e-03 9.99958487e-01 -5.08084590e-03 -5.27617685e+01] [-1.84147516e-02 5.21941589e-03 9.99816811e-01 8.48076396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.919259764 meters Centerline goodness [0,1] 0.30272329739793047 Centerline is valid? [False, False] Translation: X:-99.46, Y:-52.76, Z:84.81 [[ 9.99783611e-01 -7.43492611e-03 1.94281471e-02 -9.94648569e+01] [ 7.53697591e-03 9.99958155e-01 -5.18474524e-03 -5.27626811e+01] [-1.93887859e-02 5.33005279e-03 9.99797812e-01 8.48076368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94925976400003 meters Centerline goodness [0,1] 0.30561150455894137 Centerline is valid? [False, False] Translation: X:-99.48, Y:-52.80, Z:84.81 [[ 9.99883913e-01 -3.41332632e-03 1.48495751e-02 -9.94834616e+01] [ 3.52055610e-03 9.99967876e-01 -7.20092875e-03 -5.27962595e+01] [-1.48245189e-02 7.25237158e-03 9.99863809e-01 8.48068212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.979259764 meters Centerline goodness [0,1] 0.249491364010216 Centerline is valid? [False, False] Translation: X:-99.48, Y:-52.80, Z:84.81 [[ 9.99884430e-01 -3.91425158e-04 1.51978018e-02 -9.94836616e+01] [ 4.56346203e-04 9.99990786e-01 -4.26850628e-03 -5.27964619e+01] [-1.51959909e-02 4.27494843e-03 9.99875396e-01 8.48056401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00925976400003 meters Centerline goodness [0,1] 0.23620805151587176 Centerline is valid? [False, False] Translation: X:-99.49, Y:-52.80, Z:84.81 [[ 9.99871942e-01 1.05752993e-04 1.60027794e-02 -9.94863706e+01] [-4.74898613e-05 9.99993370e-01 -3.64114947e-03 -5.27996101e+01] [-1.60030584e-02 3.63992322e-03 9.99865317e-01 8.48062690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.039259764 meters Centerline goodness [0,1] 0.2548077963095161 Centerline is valid? [False, False] Translation: X:-99.49, Y:-52.80, Z:84.81 [[ 9.99856747e-01 6.90818929e-04 1.69117663e-02 -9.94897604e+01] [-6.43876864e-04 9.99995926e-01 -2.78099202e-03 -5.28035289e+01] [-1.69136186e-02 2.76970454e-03 9.99853118e-01 8.48074874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.069259764 meters Centerline goodness [0,1] 0.2700432900432901 Centerline is valid? [False, False] Translation: X:-99.50, Y:-52.81, Z:84.81 [[ 9.99804641e-01 1.14261901e-03 1.97325795e-02 -9.94988220e+01] [-1.08832237e-03 9.99995593e-01 -2.76214380e-03 -5.28131749e+01] [-1.97356487e-02 2.74012879e-03 9.99801478e-01 8.48090730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.099259764 meters Centerline goodness [0,1] 0.2546566403042483 Centerline is valid? [False, False] Translation: X:-99.50, Y:-52.81, Z:84.81 [[ 9.99778598e-01 1.49565420e-03 2.09885292e-02 -9.95018586e+01] [-1.43990145e-03 9.99995396e-01 -2.67120485e-03 -5.28147251e+01] [-2.09924278e-02 2.64039203e-03 9.99776148e-01 8.48085482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.129259764 meters Centerline goodness [0,1] 0.28336786670120007 Centerline is valid? [False, False] Translation: X:-99.50, Y:-52.82, Z:84.81 [[ 9.99753675e-01 2.37396541e-03 2.20670059e-02 -9.95042014e+01] [-2.33446666e-03 9.99995627e-01 -1.81553458e-03 -5.28186289e+01] [-2.20712194e-02 1.76357268e-03 9.99754845e-01 8.48076458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.159259764 meters Centerline goodness [0,1] 0.2662049024684965 Centerline is valid? [False, False] Translation: X:-99.51, Y:-52.82, Z:84.81 [[ 9.99737957e-01 2.26999457e-03 2.27785865e-02 -9.95065659e+01] [-2.22738211e-03 9.99995722e-01 -1.89592180e-03 -5.28200012e+01] [-2.27827928e-02 1.84468837e-03 9.99738737e-01 8.48081562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.189259764 meters Centerline goodness [0,1] 0.2866776173597303 Centerline is valid? [False, False] Translation: X:-99.52, Y:-52.83, Z:84.81 [[ 9.99676599e-01 3.78886412e-03 2.51464198e-02 -9.95151418e+01] [-3.77136345e-03 9.99992612e-01 -7.43340365e-04 -5.28344330e+01] [-2.51490505e-02 6.48263680e-04 9.99683502e-01 8.48096852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.219259764 meters Centerline goodness [0,1] 0.28594269910548376 Centerline is valid? [False, False] Translation: X:-99.52, Y:-52.85, Z:84.81 [[ 9.99901082e-01 6.33943844e-03 1.25553616e-02 -9.95170584e+01] [-6.36236959e-03 9.99978163e-01 1.78730305e-03 -5.28531726e+01] [-1.25437570e-02 -1.86700811e-03 9.99919581e-01 8.48134323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.249259764 meters Centerline goodness [0,1] 0.27734704014858647 Centerline is valid? [False, False] Translation: X:-99.52, Y:-52.86, Z:84.81 [[ 9.99886528e-01 6.69552419e-03 1.34944890e-02 -9.95196630e+01] [-6.72607251e-03 9.99974916e-01 2.21965085e-03 -5.28562650e+01] [-1.34792888e-02 -2.31016389e-03 9.99906482e-01 8.48134828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.279259764 meters Centerline goodness [0,1] 0.2510630031728217 Centerline is valid? [False, False] Translation: X:-99.52, Y:-52.86, Z:84.81 [[ 9.99876585e-01 6.76127511e-03 1.41809420e-02 -9.95215905e+01] [-6.79619000e-03 9.99973989e-01 2.41535539e-03 -5.28588302e+01] [-1.41642422e-02 -2.51143368e-03 9.99896528e-01 8.48135261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.309259764 meters Centerline goodness [0,1] 0.3011871673884472 Centerline is valid? [False, False] Translation: X:-99.53, Y:-52.87, Z:84.81 [[ 9.99849229e-01 6.73709639e-03 1.60041007e-02 -9.95280217e+01] [-6.77344223e-03 9.99974600e-01 2.21791446e-03 -5.28693538e+01] [-1.59887519e-02 -2.32598291e-03 9.99869466e-01 8.48141338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.339259764 meters Centerline goodness [0,1] 0.2739684662338503 Centerline is valid? [False, False] Translation: X:-99.53, Y:-52.87, Z:84.81 [[ 9.99839122e-01 6.63068559e-03 1.66662354e-02 -9.95296773e+01] [-6.66892116e-03 9.99975254e-01 2.23966403e-03 -5.28716642e+01] [-1.66509724e-02 -2.35044953e-03 9.99858600e-01 8.48137853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.369259764 meters Centerline goodness [0,1] 0.28726801899007337 Centerline is valid? [False, False] Translation: X:-99.53, Y:-52.87, Z:84.81 [[ 9.99836022e-01 6.23551724e-03 1.70013900e-02 -9.95307644e+01] [-6.27045990e-03 9.99978335e-01 2.00274958e-03 -5.28733010e+01] [-1.69885335e-02 -2.10902771e-03 9.99853460e-01 8.48137916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.399259764 meters Centerline goodness [0,1] 0.296198533070815 Centerline is valid? [False, False] Translation: X:-99.54, Y:-52.89, Z:84.82 [[ 9.99829256e-01 2.70054752e-03 1.82802227e-02 -9.95375125e+01] [-2.68358444e-03 9.99995946e-01 -9.52414123e-04 -5.28871878e+01] [-1.82827206e-02 9.03194982e-04 9.99832449e-01 8.48164382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.429259764 meters Centerline goodness [0,1] 0.2988936280771646 Centerline is valid? [False, False] Translation: X:-99.54, Y:-52.89, Z:84.82 [[ 9.99835475e-01 2.03934739e-03 1.80239954e-02 -9.95379898e+01] [-2.02260633e-03 9.99997506e-01 -9.47001290e-04 -5.28902627e+01] [-1.80258817e-02 9.10390037e-04 9.99837106e-01 8.48176430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.459259764 meters Centerline goodness [0,1] 0.295974025974026 Centerline is valid? [False, False] Translation: X:-99.54, Y:-52.90, Z:84.82 [[ 9.99829537e-01 4.28327919e-04 1.84584354e-02 -9.95410099e+01] [-3.97968300e-04 9.99998562e-01 -1.64839766e-03 -5.29001780e+01] [-1.84591149e-02 1.64077080e-03 9.99828270e-01 8.48196480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.489259764 meters Centerline goodness [0,1] 0.30344932052280793 Centerline is valid? [False, False] Translation: X:-99.56, Y:-52.93, Z:84.83 [[ 9.99709724e-01 -8.20041603e-03 2.26543768e-02 -9.95569803e+01] [ 8.39430095e-03 9.99928839e-01 -8.47658758e-03 -5.29345792e+01] [-2.25832531e-02 8.66429469e-03 9.99707421e-01 8.48252630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.519259764 meters Centerline goodness [0,1] 0.28995196676619495 Centerline is valid? [False, False] Translation: X:-99.56, Y:-52.94, Z:84.83 [[ 9.99635374e-01 -1.34015010e-02 2.34418347e-02 -9.95614347e+01] [ 1.37150159e-02 9.99817954e-01 -1.32649067e-02 -5.29413108e+01] [-2.32597975e-02 1.35815751e-02 9.99637196e-01 8.48280449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.549259764 meters Centerline goodness [0,1] 0.2707179930795848 Centerline is valid? [False, False] Translation: X:-99.56, Y:-52.95, Z:84.83 [[ 9.99558374e-01 -1.70090554e-02 2.43669729e-02 -9.95642013e+01] [ 1.74104043e-02 9.99714661e-01 -1.63546503e-02 -5.29475100e+01] [-2.40818429e-02 1.67716665e-02 9.99569295e-01 8.48285469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.579259764 meters Centerline goodness [0,1] 0.29655515644609853 Centerline is valid? [False, False] Translation: X:-99.57, Y:-52.95, Z:84.83 [[ 9.99470822e-01 -2.04745971e-02 2.52758158e-02 -9.95677473e+01] [ 2.09611803e-02 9.99597093e-01 -1.91384674e-02 -5.29546957e+01] [-2.48737796e-02 1.96581507e-02 9.99497300e-01 8.48300850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.609259764 meters Centerline goodness [0,1] 0.26285269170849923 Centerline is valid? [False, False] Translation: X:-99.59, Y:-53.00, Z:84.83 [[ 9.99403522e-01 -2.83562897e-02 1.97109226e-02 -9.95851875e+01] [ 2.86386541e-02 9.99489053e-01 -1.41936839e-02 -5.29971105e+01] [-1.92983712e-02 1.47497120e-02 9.99704966e-01 8.48301845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63925976400003 meters Centerline goodness [0,1] 0.2620646335123895 Centerline is valid? [False, False] Translation: X:-99.59, Y:-53.01, Z:84.83 [[ 9.99309692e-01 -3.11888849e-02 2.01839558e-02 -9.95892023e+01] [ 3.15129545e-02 9.99376199e-01 -1.59419496e-02 -5.30061970e+01] [-1.96741534e-02 1.65670008e-02 9.99669176e-01 8.48337789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.669259764 meters Centerline goodness [0,1] 0.2614733644352827 Centerline is valid? [False, False] Translation: X:-99.59, Y:-53.02, Z:84.84 [[ 9.99252125e-01 -3.28045657e-02 2.04707211e-02 -9.95926091e+01] [ 3.31427349e-02 9.99315984e-01 -1.64049607e-02 -5.30165172e+01] [-1.99185612e-02 1.70711476e-02 9.99655854e-01 8.48369111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69925976400003 meters Centerline goodness [0,1] 0.2648116846530577 Centerline is valid? [False, False] Translation: X:-99.60, Y:-53.03, Z:84.84 [[ 9.99148216e-01 -3.53297248e-02 2.13225884e-02 -9.95966951e+01] [ 3.57174124e-02 9.99198305e-01 -1.80835334e-02 -5.30252240e+01] [-2.06666079e-02 1.88297178e-02 9.99609090e-01 8.48393243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.729259764 meters Centerline goodness [0,1] 0.2169384352194721 Centerline is valid? [False, False] Translation: X:-99.60, Y:-53.04, Z:84.84 [[ 9.98723146e-01 -4.86058753e-02 1.37675794e-02 -9.95987885e+01] [ 4.88049021e-02 9.98702943e-01 -1.45090605e-02 -5.30444101e+01] [-1.30444965e-02 1.51624599e-02 9.99799950e-01 8.48413866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75925976400003 meters Centerline goodness [0,1] 0.19286426064728568 Centerline is valid? [False, False] Translation: X:-99.62, Y:-53.10, Z:84.84 [[ 9.96962609e-01 -7.56249768e-02 1.86123310e-02 -9.96244014e+01] [ 7.60426268e-02 9.96842501e-01 -2.28592893e-02 -5.30992740e+01] [-1.68248294e-02 2.42051873e-02 9.99565423e-01 8.48434160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.789259764 meters Centerline goodness [0,1] 0.19498571057417513 Centerline is valid? [False, False] Translation: X:-99.63, Y:-53.11, Z:84.85 [[ 9.96602397e-01 -8.00870051e-02 1.92284667e-02 -9.96276914e+01] [ 8.05786829e-02 9.96400584e-01 -2.63239871e-02 -5.31143420e+01] [-1.70510462e-02 2.77839531e-02 9.99468516e-01 8.48464165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.819259764 meters Centerline goodness [0,1] 0.2115931952984118 Centerline is valid? [False, False] Translation: X:-99.64, Y:-53.14, Z:84.85 [[ 9.96265228e-01 -8.54170616e-02 1.26301736e-02 -9.96373629e+01] [ 8.56632702e-02 9.96114444e-01 -2.04406257e-02 -5.31445328e+01] [-1.08351202e-02 2.14462266e-02 9.99711288e-01 8.48468353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.849259764 meters Centerline goodness [0,1] 0.2031562038725363 Centerline is valid? [False, False] Translation: X:-99.65, Y:-53.17, Z:84.85 [[ 9.95766160e-01 -9.17121186e-02 6.21626852e-03 -9.96480756e+01] [ 9.17979143e-02 9.95659950e-01 -1.53103371e-02 -5.31708713e+01] [-4.78514616e-03 1.58161561e-02 9.99863466e-01 8.48483493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.879259764 meters Centerline goodness [0,1] 0.1829225887773286 Centerline is valid? [False, False] Translation: X:-99.67, Y:-53.22, Z:84.85 [[ 9.94180603e-01 -1.07726170e-01 -9.79513188e-06 -9.96650027e+01] [ 1.07718086e-01 9.94107111e-01 -1.21599862e-02 -5.32188086e+01] [ 1.31968615e-03 1.20881673e-02 9.99926065e-01 8.48534845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.909259764 meters Centerline goodness [0,1] 0.18808137007737113 Centerline is valid? [False, False] Translation: X:-99.67, Y:-53.24, Z:84.86 [[ 9.93417114e-01 -1.14552545e-01 3.89495862e-04 -9.96695440e+01] [ 1.14541807e-01 9.93264538e-01 -1.74851931e-02 -5.32394773e+01] [ 1.61610095e-03 1.74147036e-02 9.99847046e-01 8.48591736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.939259764 meters Centerline goodness [0,1] 0.18616016159510007 Centerline is valid? [False, False] Translation: X:-99.68, Y:-53.28, Z:84.86 [[ 9.91913752e-01 -1.26783230e-01 -5.75508244e-03 -9.96816960e+01] [ 1.26676864e-01 9.91813116e-01 -1.61156935e-02 -5.32786026e+01] [ 7.75116592e-03 1.52563422e-02 9.99853571e-01 8.48619757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.969259764 meters Centerline goodness [0,1] 0.177267283614589 Centerline is valid? [False, False] Translation: X:-99.69, Y:-53.31, Z:84.87 [[ 9.91101537e-01 -1.33017320e-01 -4.91282998e-03 -9.96895752e+01] [ 1.32880221e-01 9.90889656e-01 -2.19211382e-02 -5.33058514e+01] [ 7.78396346e-03 2.10732558e-02 9.99747632e-01 8.48696679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.999259764 meters Centerline goodness [0,1] 0.15531715400885282 Centerline is valid? [False, False] Translation: X:-99.71, Y:-53.37, Z:84.87 [[ 9.88952521e-01 -1.48095386e-01 -6.37709103e-03 -9.97145175e+01] [ 1.47912602e-01 9.88729219e-01 -2.31601829e-02 -5.33692818e+01] [ 9.73513246e-03 2.19610691e-02 9.99711428e-01 8.48738573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.029259764 meters Centerline goodness [0,1] 0.1945773524720893 Centerline is valid? [False, False] Translation: X:-99.73, Y:-53.40, Z:84.88 [[ 9.89080778e-01 -1.47217361e-01 -6.80162324e-03 -9.97262288e+01] [ 1.47020984e-01 9.88851783e-01 -2.36004722e-02 -5.34029965e+01] [ 1.02001965e-02 2.23427921e-02 9.99698332e-01 8.48842237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.059259764 meters Centerline goodness [0,1] 0.1961430942605049 Centerline is valid? [False, False] Translation: X:-99.74, Y:-53.43, Z:84.89 [[ 9.89475024e-01 -1.44545529e-01 -6.76517746e-03 -9.97389311e+01] [ 1.44359969e-01 9.89265618e-01 -2.26657430e-02 -5.34343999e+01] [ 9.96878927e-03 2.14505658e-02 9.99720209e-01 8.48936930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.089259764 meters Centerline goodness [0,1] 0.17325771621769004 Centerline is valid? [False, False] Translation: X:-99.75, Y:-53.47, Z:84.90 [[ 9.89986737e-01 -1.40991643e-01 -6.90050731e-03 -9.97539094e+01] [ 1.40799936e-01 9.89769406e-01 -2.30629676e-02 -5.34691466e+01] [ 1.00815967e-02 2.18604410e-02 9.99710199e-01 8.49025441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.119259764 meters Centerline goodness [0,1] 0.19417072691122816 Centerline is valid? [False, False] Translation: X:-99.78, Y:-53.53, Z:84.91 [[ 9.89463744e-01 -1.44325856e-01 -1.14694134e-02 -9.97785632e+01] [ 1.43960235e-01 9.89185953e-01 -2.80463949e-02 -5.35286060e+01] [ 1.53932026e-02 2.60997515e-02 9.99540821e-01 8.49087755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.149259764 meters Centerline goodness [0,1] 0.20374983610856168 Centerline is valid? [False, False] Translation: X:-99.79, Y:-53.57, Z:84.91 [[ 9.88916962e-01 -1.47490363e-01 -1.70245599e-02 -9.97948755e+01] [ 1.47013077e-01 9.88778772e-01 -2.65272521e-02 -5.35691135e+01] [ 2.07460375e-02 2.37304166e-02 9.99503111e-01 8.49122839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.179259764 meters Centerline goodness [0,1] 0.20374983610856168 Centerline is valid? [False, False] Translation: X:-99.80, Y:-53.57, Z:84.91 [[ 9.89152420e-01 -1.45895305e-01 -1.70894591e-02 -9.97959822e+01] [ 1.45434661e-01 9.89035037e-01 -2.56603666e-02 -5.35730201e+01] [ 2.06458008e-02 2.28966140e-02 9.99524635e-01 8.49129046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.209259764 meters Centerline goodness [0,1] 0.17453088393072191 Centerline is valid? [False, False] Translation: X:-99.81, Y:-53.61, Z:84.92 [[ 9.89783459e-01 -1.41624355e-01 -1.64695661e-02 -9.98124586e+01] [ 1.41119334e-01 9.89579489e-01 -2.85966522e-02 -5.36112213e+01] [ 2.03479272e-02 2.59803191e-02 9.99455344e-01 8.49175447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.239259764 meters Centerline goodness [0,1] 0.20834154783027758 Centerline is valid? [False, False] Translation: X:-99.82, Y:-53.65, Z:84.92 [[ 9.89845934e-01 -1.40049841e-01 -2.43118969e-02 -9.98235998e+01] [ 1.39382415e-01 9.89863005e-01 -2.72722071e-02 -5.36492594e+01] [ 2.78849156e-02 2.36066324e-02 9.99332356e-01 8.49228850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.269259764 meters Centerline goodness [0,1] 0.15252233315817132 Centerline is valid? [False, False] Translation: X:-99.85, Y:-53.70, Z:84.92 [[ 9.89375816e-01 -1.42834007e-01 -2.70913657e-02 -9.98506926e+01] [ 1.42237432e-01 9.89569729e-01 -2.28092962e-02 -5.37032831e+01] [ 3.00667386e-02 1.87135598e-02 9.99372700e-01 8.49236565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.299259764 meters Centerline goodness [0,1] 0.208776275124389 Centerline is valid? [False, False] Translation: X:-99.87, Y:-53.74, Z:84.92 [[ 9.88813548e-01 -1.45585667e-01 -3.24434939e-02 -9.98676597e+01] [ 1.45063506e-01 9.89260085e-01 -1.79182208e-02 -5.37383317e+01] [ 3.47036897e-02 1.30114125e-02 9.99312943e-01 8.49247391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.329259764 meters Centerline goodness [0,1] 0.16540826822489219 Centerline is valid? [False, False] Translation: X:-99.89, Y:-53.79, Z:84.93 [[ 9.88706510e-01 -1.45552470e-01 -3.56919487e-02 -9.98945193e+01] [ 1.44925147e-01 9.89248699e-01 -1.95886195e-02 -5.37934339e+01] [ 3.81593857e-02 1.41947347e-02 9.99170842e-01 8.49291550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.359259764 meters Centerline goodness [0,1] 0.20904140148284234 Centerline is valid? [False, False] Translation: X:-99.91, Y:-53.82, Z:84.93 [[ 9.88396202e-01 -1.48125887e-01 -3.36403041e-02 -9.99071152e+01] [ 1.47387757e-01 9.88800363e-01 -2.34668216e-02 -5.38167421e+01] [ 3.67395887e-02 1.82363483e-02 9.99158465e-01 8.49349453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 11365.95 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%| | 0/8812 [00:00