+ python -m lidar_slam --no-model /working/3b6aabfb-a509-487c-8d1a-457a32c96ccc Lidar SLAM 0.0.13 ===================================================== The recording path: /working/3b6aabfb-a509-487c-8d1a-457a32c96ccc 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 0.004975926 Adjusted end_distance from 9.223372036854776e+18 to 40.664975926 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004975926 meters Centerline goodness [0,1] 0.9927401875016322 Centerline is valid? [0, True] SLAMing on 0.034975926 meters Centerline goodness [0,1] 0.9927401875016322 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:-0.00 [[ 1.00000000e+00 4.98924005e-16 -1.73472348e-17 3.00000000e-02] [-5.22657868e-16 1.00000000e+00 -5.15754973e-16 -3.46547789e-04] [ 0.00000000e+00 5.16080234e-16 1.00000000e+00 -4.86920360e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.064975926 meters Centerline goodness [0,1] 0.9927401875016322 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:-0.00 [[ 1.00000000e+00 1.50364188e-15 -3.12250226e-17 6.00000000e-02] [-1.55211969e-15 1.00000000e+00 -9.93454451e-16 -6.93095579e-04] [-3.46944695e-18 9.94104972e-16 1.00000000e+00 -9.73840720e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.094975926 meters Centerline goodness [0,1] 0.9927401875016322 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.00, Z:-0.00 [[ 1.00000000e+00 3.42416288e-15 -3.81639165e-17 9.00000000e-02] [-3.49526452e-15 1.00000000e+00 -1.30985175e-15 -1.03964337e-03] [-1.73472348e-17 1.31058359e-15 1.00000000e+00 -1.46076108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.124975926 meters Centerline goodness [0,1] 0.9927401875016322 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:-0.00 [[ 1.00000000e+00 7.33603165e-15 -3.12250226e-17 1.20000000e-01] [-7.43062872e-15 1.00000000e+00 -1.63329636e-15 -1.38619116e-03] [-4.16333634e-17 1.63486846e-15 1.00000000e+00 -1.94768144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15497592599999999 meters Centerline goodness [0,1] 0.9927401875016322 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.00, Z:-0.00 [[ 1.00000000e+00 1.51557356e-14 -2.03501462e-29 1.50000000e-01] [-1.52668045e-14 1.00000000e+00 -2.04139006e-15 -1.73273895e-03] [-9.36750677e-17 2.04317899e-15 1.00000000e+00 -2.43460180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18497592599999998 meters Centerline goodness [0,1] 0.9927401875016322 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.00, Z:-0.00 [[ 1.00000000e+00 3.06414211e-14 7.97972799e-17 1.80000000e-01] [-3.07705686e-14 1.00000000e+00 -2.23979906e-15 -2.07928674e-03] [-1.87350135e-16 2.24213009e-15 1.00000000e+00 -2.92152216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21497592599999998 meters Centerline goodness [0,1] 0.9927401875016322 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.00, Z:-0.00 [[ 1.00000000e+00 6.23499572e-14 2.53269627e-16 2.10000000e-01] [-6.25003004e-14 1.00000000e+00 -3.18866569e-15 -2.42583453e-03] [-3.78169718e-16 3.19137620e-15 1.00000000e+00 -3.40844252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24497592599999998 meters Centerline goodness [0,1] 0.9927401875016322 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.00, Z:-0.00 [[ 1.00000000e+00 1.25208517e-13 6.14092110e-16 2.40000000e-01] [-1.25376141e-13 1.00000000e+00 -3.55696917e-15 -2.77238231e-03] [-7.56339436e-16 3.56000494e-15 1.00000000e+00 -3.89536288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27497592600000004 meters Centerline goodness [0,1] 0.9927401875016322 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.00, Z:-0.00 [[ 1.00000000e+00 2.51376717e-13 1.34961486e-15 2.70000000e-01] [-2.51558259e-13 1.00000000e+00 -4.30336105e-15 -3.11893010e-03] [-1.50573998e-15 4.30669497e-15 1.00000000e+00 -4.38228324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.304975926 meters Centerline goodness [0,1] 0.9927401875016322 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.00, Z:-0.00 [[ 1.00000000e+00 5.03382488e-13 2.84147705e-15 3.00000000e-01] [-5.03583636e-13 1.00000000e+00 -4.73980664e-15 -3.46547789e-03] [-3.01494940e-15 4.74338450e-15 1.00000000e+00 -4.86920360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.334975926 meters Centerline goodness [0,1] 0.9927401875016322 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.00, Z:-0.01 [[ 1.00000000e+00 1.00724225e-12 5.83907922e-15 3.30000000e-01] [-1.00745301e-12 1.00000000e+00 -5.18240507e-15 -3.81202568e-03] [-6.02989880e-15 5.18628109e-15 1.00000000e+00 -5.35612396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.364975926 meters Centerline goodness [0,1] 0.9927401875016322 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.00, Z:-0.01 [[ 1.00000000e+00 1.00768183e-12 5.88765148e-15 3.60000000e-01] [-1.00793598e-12 1.00000000e+00 -4.50946789e-16 -4.15857347e-03] [-6.09581829e-15 4.54877021e-16 1.00000000e+00 -5.84304432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39497592600000003 meters Centerline goodness [0,1] 0.9927401875016322 Centerline is valid? [True, True] Translation: X:0.39, Y:-0.00, Z:-0.01 [[ 1.00000000e+00 1.00830932e-12 5.87377369e-15 3.90000000e-01] [-1.00859926e-12 1.00000000e+00 -4.48344703e-16 -4.50512126e-03] [-6.09928774e-15 4.52437567e-16 1.00000000e+00 -6.32996468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.424975926 meters Centerline goodness [0,1] 0.9927401875016322 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.00, Z:-0.01 [[ 1.00000000e+00 1.00932535e-12 5.88418203e-15 4.20000000e-01] [-1.00964988e-12 1.00000000e+00 -7.89814178e-16 -4.85166905e-03] [-6.12704332e-15 7.94015461e-16 1.00000000e+00 -6.81688504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.454975926 meters Centerline goodness [0,1] 0.9931719267154883 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.02, Z:-0.00 [[ 9.99966537e-01 -7.64844806e-03 2.90262425e-03 4.49638400e-01] [ 7.64857279e-03 9.99970749e-01 -3.18729812e-05 -1.82289122e-02] [-2.90229556e-03 5.40728474e-05 9.99995787e-01 -4.71025684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.484975926 meters Centerline goodness [0,1] 0.9940725785577471 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.02, Z:-0.00 [[ 9.99957904e-01 -8.38675196e-03 3.72200305e-03 4.79421756e-01] [ 8.38697410e-03 9.99964828e-01 -4.40779501e-05 -1.98606529e-02] [-3.72150247e-03 7.52924378e-05 9.99993072e-01 -2.52427054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.514975926 meters Centerline goodness [0,1] 0.9937243297022883 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.02, Z:-0.01 [[ 9.99970148e-01 -7.72167090e-03 -2.79467391e-04 5.08422178e-01] [ 7.72167200e-03 9.99970187e-01 2.84311271e-06 -1.82464911e-02] [ 2.79437106e-04 -5.00098336e-06 9.99999961e-01 -1.30393699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.544975926 meters Centerline goodness [0,1] 0.9927904895820018 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.02, Z:-0.01 [[ 9.99953452e-01 -9.51908384e-03 -1.57490157e-03 5.36916952e-01] [ 9.51911541e-03 9.99954692e-01 1.25535494e-05 -2.06347275e-02] [ 1.57471071e-03 -2.75446348e-05 9.99998760e-01 -1.41531253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5749759259999999 meters Centerline goodness [0,1] 0.9926695174098962 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.03, Z:-0.01 [[ 9.99850729e-01 -1.69249275e-02 3.47375083e-03 5.65127093e-01] [ 1.69251698e-02 9.99856758e-01 -4.03462903e-05 -3.24005601e-02] [-3.47257039e-03 9.91340903e-05 9.99993966e-01 -1.01419939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6049759259999999 meters Centerline goodness [0,1] 0.992879847425302 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.03, Z:-0.01 [[ 9.99804554e-01 -1.93060814e-02 4.25772796e-03 5.93755826e-01] [ 1.93064757e-02 9.99813611e-01 -5.15262656e-05 -3.24332736e-02] [-4.25593959e-03 1.33717917e-04 9.99990935e-01 -1.06567354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.634975926 meters Centerline goodness [0,1] 0.9928077665955067 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.03, Z:-0.01 [[ 9.99757805e-01 -2.13559320e-02 5.31556997e-03 6.21583983e-01] [ 2.13565506e-02 9.99771921e-01 -5.96369939e-05 -3.48916239e-02] [-5.31308399e-03 1.73144789e-04 9.99985870e-01 -1.08614695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6649759259999999 meters Centerline goodness [0,1] 0.990305627838155 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.04, Z:-0.01 [[ 9.99653274e-01 -2.61674528e-02 2.93179423e-03 6.49780323e-01] [ 2.61676607e-02 9.99657568e-01 -3.25483819e-05 -4.09841682e-02] [-2.92993858e-03 1.09255293e-04 9.99995702e-01 -1.26121297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6949759259999999 meters Centerline goodness [0,1] 0.9862476951444377 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.05, Z:-0.02 [[ 9.99561344e-01 -2.95879297e-02 1.29413417e-03 6.79060605e-01] [ 2.95879735e-02 9.99562180e-01 -1.47278479e-05 -4.63508888e-02] [-1.29313180e-03 5.30121948e-05 9.99999162e-01 -1.52254295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7249759259999999 meters Centerline goodness [0,1] 0.9835056306595182 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.05, Z:-0.02 [[ 9.99407314e-01 -3.43208294e-02 2.66501153e-03 7.08421898e-01] [ 3.43210285e-02 9.99410860e-01 -2.90064264e-05 -5.13729212e-02] [-2.66244594e-03 1.20455171e-04 9.99996448e-01 -1.52570225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.754975926 meters Centerline goodness [0,1] 0.9736625090196886 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.06, Z:-0.02 [[ 9.99136404e-01 -4.15497740e-02 2.49578037e-04 7.38304696e-01] [ 4.15497761e-02 9.99136435e-01 -2.98829193e-06 -5.84389225e-02] [-2.49238348e-04 1.33556228e-05 9.99999969e-01 -2.15737148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.784975926 meters Centerline goodness [0,1] 0.9637510469011725 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.07, Z:-0.03 [[ 9.98908086e-01 -4.66567251e-02 -2.40521747e-03 7.68397323e-01] [ 4.66569198e-02 9.98910973e-01 2.48809821e-05 -6.54380049e-02] [ 2.40143726e-03 -1.37073853e-04 9.99997107e-01 -2.51591294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8149759259999999 meters Centerline goodness [0,1] 0.9590216178892017 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.07, Z:-0.03 [[ 9.98789722e-01 -4.91496106e-02 -1.84557775e-03 7.96979358e-01] [ 4.91497275e-02 9.98791422e-01 1.80056462e-05 -6.99921838e-02] [ 1.84246226e-03 -1.08693498e-04 9.99998297e-01 -2.80556545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8449759259999999 meters Centerline goodness [0,1] 0.9537366548042705 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.07, Z:-0.03 [[ 9.98783889e-01 -4.92336420e-02 -2.60588508e-03 8.25124513e-01] [ 4.92338711e-02 9.98787277e-01 2.37817483e-05 -7.43686588e-02] [ 2.60155400e-03 -1.52050637e-04 9.99996604e-01 -2.96065397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.874975926 meters Centerline goodness [0,1] 0.9801313762063093 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.05, Z:-0.03 [[ 9.99705942e-01 -2.42100643e-02 -1.37952486e-03 8.56097161e-01] [ 2.42101065e-02 9.99706892e-01 1.38465734e-05 -5.40185428e-02] [ 1.37878528e-03 -4.72409453e-05 9.99999048e-01 -3.00425162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9049759259999999 meters Centerline goodness [0,1] 0.9801313762063093 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.05, Z:-0.03 [[ 9.99697104e-01 -2.45722751e-02 -1.37958666e-03 8.83697203e-01] [ 2.45723091e-02 9.99698055e-01 7.66092916e-06 -5.40097278e-02] [ 1.37898185e-03 -4.15582384e-05 9.99999048e-01 -3.04903766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9349759259999999 meters Centerline goodness [0,1] 0.9889405656806014 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.02, Z:-0.04 [[ 9.99926249e-01 1.11008321e-02 -4.92622942e-03 9.14018669e-01] [-1.11007302e-02 9.99938384e-01 4.80321500e-05 -2.49067457e-02] [ 4.92645908e-03 6.65613588e-06 9.99987865e-01 -3.85315761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9649759259999999 meters Centerline goodness [0,1] 0.9887932434627253 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.03, Z:-0.04 [[ 9.99930958e-01 1.07928251e-02 -4.64698988e-03 9.44016999e-01] [-1.07927300e-02 9.99941756e-01 4.55418756e-05 -2.55767980e-02] [ 4.64721074e-03 4.61497574e-06 9.99989202e-01 -3.96956803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.994975926 meters Centerline goodness [0,1] 0.9887095900796015 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.03, Z:-0.04 [[ 9.99938206e-01 1.02552363e-02 -4.29121901e-03 9.75053297e-01] [-1.02551463e-02 9.99947414e-01 4.29796855e-05 -2.66095738e-02] [ 4.29143412e-03 1.03004895e-06 9.99990792e-01 -3.92719546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.024975926 meters Centerline goodness [0,1] 0.9887095900796015 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.03, Z:-0.04 [[ 9.99937743e-01 1.03002699e-02 -4.29121709e-03 1.00587821e+00] [-1.03001794e-02 9.99946951e-01 4.31725568e-05 -2.69674340e-02] [ 4.29143414e-03 1.03043712e-06 9.99990792e-01 -3.97724397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.054975926 meters Centerline goodness [0,1] 0.9897170144070326 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.03, Z:-0.04 [[ 9.99926680e-01 1.09585563e-02 -5.15218613e-03 1.03695688e+00] [-1.09584343e-02 9.99939953e-01 5.19105951e-05 -2.82860422e-02] [ 5.15244562e-03 4.55310418e-06 9.99986726e-01 -4.01723368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.084975926 meters Centerline goodness [0,1] 0.9891248198798293 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.03, Z:-0.04 [[ 9.99935046e-01 1.06874481e-02 -3.96002995e-03 1.06780427e+00] [-1.06873761e-02 9.99942888e-01 3.93429142e-05 -3.00413996e-02] [ 3.96022426e-03 2.98197062e-06 9.99992158e-01 -4.00065307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1149759259999998 meters Centerline goodness [0,1] 0.9891248198798293 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.03, Z:-0.04 [[ 9.99934562e-01 1.07326732e-02 -3.96002086e-03 1.09862869e+00] [-1.07325980e-02 9.99942403e-01 4.02560029e-05 -3.04028222e-02] [ 3.96022483e-03 2.24794318e-06 9.99992158e-01 -4.05068321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1449759259999999 meters Centerline goodness [0,1] 0.989945105712267 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.03, Z:-0.04 [[ 9.99939565e-01 1.02979361e-02 -3.84942543e-03 1.12971766e+00] [-1.02978610e-02 9.99946975e-01 3.93233868e-05 -3.11767606e-02] [ 3.84962626e-03 3.19837793e-07 9.99992590e-01 -3.99485245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.174975926 meters Centerline goodness [0,1] 0.989945105712267 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.03, Z:-0.04 [[ 9.99939099e-01 1.03430953e-02 -3.84942365e-03 1.16054197e+00] [-1.03430199e-02 9.99946509e-01 3.94984015e-05 -3.15408323e-02] [ 3.84962628e-03 3.18669322e-07 9.99992590e-01 -4.04490032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.204975926 meters Centerline goodness [0,1] 0.9893544610525743 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.03, Z:-0.04 [[ 9.99948470e-01 9.64751904e-03 -3.15939078e-03 1.19154152e+00] [-9.64746391e-03 9.99953462e-01 3.26886551e-05 -3.16156882e-02] [ 3.15955911e-03 -2.20686221e-06 9.99995009e-01 -4.09721280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.234975926 meters Centerline goodness [0,1] 0.9893544610525743 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.03, Z:-0.04 [[ 9.99948036e-01 9.69244606e-03 -3.15938933e-03 1.22236545e+00] [-9.69239071e-03 9.99953027e-01 3.28297380e-05 -3.19824719e-02] [ 3.15955912e-03 -2.20599622e-06 9.99995009e-01 -4.14726005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.264975926 meters Centerline goodness [0,1] 0.9895912392930717 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.03, Z:-0.04 [[ 9.99936265e-01 1.07921091e-02 -3.31601566e-03 1.25402625e+00] [-1.07920538e-02 9.99941763e-01 3.45641423e-05 -3.12953885e-02] [ 3.31619557e-03 1.22468006e-06 9.99994501e-01 -4.27814128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.294975926 meters Centerline goodness [0,1] 0.9887326238053866 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.03, Z:-0.05 [[ 9.99911665e-01 1.19295229e-02 -5.86076137e-03 1.28567842e+00] [-1.19293716e-02 9.99928841e-01 6.07883793e-05 -3.08182208e-02] [ 5.86106949e-03 9.13219042e-06 9.99982824e-01 -4.56165380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3249759259999998 meters Centerline goodness [0,1] 0.9896287020905923 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.03, Z:-0.05 [[ 9.99907050e-01 1.19251551e-02 -6.60926160e-03 1.31648008e+00] [-1.19249645e-02 9.99928893e-01 6.82445035e-05 -3.29344955e-02] [ 6.60960546e-03 1.05770499e-05 9.99978156e-01 -4.67302281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3549759259999998 meters Centerline goodness [0,1] 0.9904813855175235 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.04, Z:-0.05 [[ 9.99937589e-01 1.01198595e-02 -4.73352321e-03 1.34630014e+00] [-1.01197449e-02 9.99948793e-01 4.81633911e-05 -3.51348144e-02] [ 4.73376823e-03 -2.58337915e-07 9.99988796e-01 -4.90690953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3849759259999999 meters Centerline goodness [0,1] 0.9919025028627515 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.04, Z:-0.05 [[ 9.99967320e-01 7.29360666e-03 -3.48749369e-03 1.37700460e+00] [-7.29351852e-03 9.99973401e-01 3.79899758e-05 -3.84938168e-02] [ 3.48767801e-03 -1.25526345e-05 9.99993918e-01 -5.06342385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4149759259999999 meters Centerline goodness [0,1] 0.9924499398183608 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.04, Z:-0.05 [[ 9.99991028e-01 3.78933107e-03 -1.89323263e-03 1.40706430e+00] [-3.78929999e-03 9.99992820e-01 2.00005262e-05 -4.48354850e-02] [ 1.89329483e-03 -1.28263204e-05 9.99998208e-01 -5.11102564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.444975926 meters Centerline goodness [0,1] 0.9907575009599034 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.05, Z:-0.05 [[ 9.99993258e-01 2.21460790e-03 -2.92890461e-03 1.43772776e+00] [-2.21452716e-03 9.99997547e-01 3.08066464e-05 -4.57656228e-02] [ 2.92896565e-03 -2.43202999e-05 9.99995710e-01 -5.39738831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.474975926 meters Centerline goodness [0,1] 0.9914654226125137 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.05, Z:-0.05 [[ 9.99998724e-01 -3.05843855e-04 -1.56791021e-03 1.46714338e+00] [ 3.05869248e-04 9.99999953e-01 1.59556851e-05 -4.89748470e-02] [ 1.56790525e-03 -1.64352403e-05 9.99998771e-01 -5.31991472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.504975926 meters Centerline goodness [0,1] 0.990508586163384 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.05, Z:-0.05 [[ 9.99996711e-01 -2.40024094e-03 -9.03482397e-04 1.49667165e+00] [ 2.40025008e-03 9.99997119e-01 9.04221465e-06 -5.16128751e-02] [ 9.03458091e-04 -1.12107686e-05 9.99999592e-01 -5.45180688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.534975926 meters Centerline goodness [0,1] 0.9909959371911716 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.06, Z:-0.06 [[ 9.99980780e-01 -6.19516316e-03 -2.43706825e-04 1.52496095e+00] [ 6.19516372e-03 9.99980810e-01 1.55248788e-06 -5.68783206e-02] [ 2.43692530e-04 -3.06226172e-06 9.99999970e-01 -5.53193028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.564975926 meters Centerline goodness [0,1] 0.9901971552528969 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.06, Z:-0.06 [[ 9.99963185e-01 -8.53645579e-03 8.70199589e-04 1.55395668e+00] [ 8.53647051e-03 9.99963564e-01 -1.32063107e-05 -5.73660149e-02] [-8.70055147e-04 2.06342576e-05 9.99999621e-01 -5.58271078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5949759259999998 meters Centerline goodness [0,1] 0.9877695085914414 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.06, Z:-0.06 [[ 9.99958638e-01 -9.09329380e-03 -1.83211841e-04 1.58240350e+00] [ 9.09329411e-03 9.99958655e-01 8.75770802e-07 -5.79778538e-02] [ 1.83196303e-04 -2.54173374e-06 9.99999983e-01 -5.86715760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6249759259999998 meters Centerline goodness [0,1] 0.9857443839439626 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.06, Z:-0.06 [[ 9.99921181e-01 -1.25504964e-02 3.42408259e-04 1.61060700e+00] [ 1.25504991e-02 9.99921239e-01 -5.73763629e-06 -6.17333457e-02] [-3.42309281e-04 1.00345786e-05 9.99999941e-01 -5.88413593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6549759259999999 meters Centerline goodness [0,1] 0.9836106146019524 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.07, Z:-0.06 [[ 9.99873236e-01 -1.58973627e-02 8.86949840e-04 1.63822494e+00] [ 1.58973780e-02 9.99873629e-01 -1.01600835e-05 -6.64102785e-02] [-8.86676236e-04 2.42589724e-05 9.99999607e-01 -5.98326293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.684975926 meters Centerline goodness [0,1] 0.9902512700810105 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.06, Z:-0.06 [[ 9.99819098e-01 -1.89967516e-02 9.46192276e-04 1.66762547e+00] [ 1.89967738e-02 9.99819545e-01 -1.44573213e-05 -5.73499076e-02] [-9.45746889e-04 3.24293066e-05 9.99999552e-01 -5.50902461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.714975926 meters Centerline goodness [0,1] 0.9909053441406787 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.06, Z:-0.06 [[ 9.99759708e-01 -2.18781070e-02 1.36897217e-03 1.69645181e+00] [ 2.18781520e-02 9.99760644e-01 -1.79396743e-05 -5.95481945e-02] [-1.36825202e-03 4.78859449e-05 9.99999063e-01 -5.57729214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.744975926 meters Centerline goodness [0,1] 0.9892959611564776 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.06, Z:-0.06 [[ 9.99708350e-01 -2.40907037e-02 1.68928857e-03 1.72389743e+00] [ 2.40907669e-02 9.99709775e-01 -1.70361402e-05 -6.29256225e-02] [-1.68838788e-03 5.77274287e-05 9.99998573e-01 -5.68840361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.774975926 meters Centerline goodness [0,1] 0.988798987230295 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.07, Z:-0.06 [[ 9.99609662e-01 -2.78818231e-02 1.76849968e-03 1.75281396e+00] [ 2.78819034e-02 9.99611224e-01 -2.07352302e-05 -6.50454111e-02] [-1.76723399e-03 7.00362735e-05 9.99998436e-01 -5.70325041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8049759259999998 meters Centerline goodness [0,1] 0.9880152082874146 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.07, Z:-0.06 [[ 9.99557100e-01 -2.96413401e-02 2.64461692e-03 1.78176276e+00] [ 2.96415160e-02 9.99560593e-01 -2.73393851e-05 -6.69088186e-02] [-2.64264448e-03 1.05717731e-04 9.99996503e-01 -5.77286010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8349759259999998 meters Centerline goodness [0,1] 0.9871688741721855 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.07, Z:-0.06 [[ 9.99502502e-01 -3.14277316e-02 2.65440546e-03 1.81106263e+00] [ 3.14279128e-02 9.99506021e-01 -2.65570605e-05 -6.82168846e-02] [-2.65225961e-03 1.09966272e-04 9.99996477e-01 -5.83692996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8649759259999998 meters Centerline goodness [0,1] 0.9875597821579631 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.07, Z:-0.06 [[ 9.99500159e-01 -3.15429228e-02 2.11566273e-03 1.83935208e+00] [ 3.15430404e-02 9.99502394e-01 -2.22288694e-05 -6.84446728e-02] [-2.11390880e-03 8.89521936e-05 9.99997762e-01 -5.92640524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8949759259999999 meters Centerline goodness [0,1] 0.9883608682461318 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.07, Z:-0.06 [[ 9.99486641e-01 -3.19101176e-02 2.86321382e-03 1.86727307e+00] [ 3.19103250e-02 9.99490736e-01 -2.67458248e-05 -6.71459050e-02] [-2.86090222e-03 1.18098178e-04 9.99995901e-01 -5.94647962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.924975926 meters Centerline goodness [0,1] 0.9877722266692429 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.07, Z:-0.06 [[ 9.99515267e-01 -3.10516879e-02 2.24145029e-03 1.89661352e+00] [ 3.10518074e-02 9.99517776e-01 -1.85263792e-05 -6.59125024e-02] [-2.23979413e-03 8.81184814e-05 9.99997488e-01 -6.12997963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.954975926 meters Centerline goodness [0,1] 0.9892627057981389 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.07, Z:-0.06 [[ 9.99519507e-01 -3.08696846e-02 2.79595615e-03 1.92542527e+00] [ 3.08698722e-02 9.99523412e-01 -2.39451727e-05 -6.56707341e-02] [-2.79388445e-03 1.10244476e-04 9.99996091e-01 -6.21098731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.984975926 meters Centerline goodness [0,1] 0.9888246628131021 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.07, Z:-0.06 [[ 9.99550747e-01 -2.98448504e-02 2.75479209e-03 1.95460817e+00] [ 2.98450262e-02 9.99554538e-01 -2.27450332e-05 -6.52671306e-02] [-2.75288611e-03 1.04951657e-04 9.99996205e-01 -6.25019813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.014975926 meters Centerline goodness [0,1] 0.989907878454558 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.06, Z:-0.06 [[ 9.99579817e-01 -2.88352970e-02 2.95217266e-03 1.98378422e+00] [ 2.88354903e-02 9.99584171e-01 -2.29521477e-05 -6.42902432e-02] [-2.95028323e-03 1.08069850e-04 9.99995642e-01 -6.32364004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.044975926 meters Centerline goodness [0,1] 0.9886416636944773 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.07, Z:-0.07 [[ 9.99636876e-01 -2.67763061e-02 3.02422990e-03 2.01182818e+00] [ 2.67764872e-02 9.99641445e-01 -1.94170653e-05 -6.71383070e-02] [-3.02262563e-03 1.00388268e-04 9.99995427e-01 -6.58647178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.074975926 meters Centerline goodness [0,1] 0.9912892943504067 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.06, Z:-0.06 [[ 9.99663140e-01 -2.57437817e-02 3.29620865e-03 2.04086268e+00] [ 2.57439988e-02 9.99668568e-01 -2.34522251e-05 -6.25259926e-02] [-3.29451243e-03 1.08301916e-04 9.99994567e-01 -6.46741363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1049759260000003 meters Centerline goodness [0,1] 0.991716950082282 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.06, Z:-0.07 [[ 9.99697730e-01 -2.42445584e-02 4.08047412e-03 2.06995929e+00] [ 2.42448676e-02 9.99706050e-01 -2.63132185e-05 -6.11389101e-02] [-4.07863671e-03 1.25235819e-04 9.99991674e-01 -6.51837098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.134975926 meters Centerline goodness [0,1] 0.9913303519986831 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.06, Z:-0.07 [[ 9.99770749e-01 -2.10965491e-02 3.65845085e-03 2.09767830e+00] [ 2.10967666e-02 9.99777438e-01 -2.08685819e-05 -5.95998739e-02] [-3.65719637e-03 9.80452816e-05 9.99993308e-01 -6.66535589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1649759260000003 meters Centerline goodness [0,1] 0.9915499890614745 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.06, Z:-0.07 [[ 9.99816634e-01 -1.87778864e-02 3.75365616e-03 2.12644693e+00] [ 1.87781038e-02 9.99823676e-01 -2.26859700e-05 -5.53576119e-02] [-3.75256830e-03 9.31683551e-05 9.99992955e-01 -6.70148912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.194975926 meters Centerline goodness [0,1] 0.991488665193551 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.05, Z:-0.07 [[ 9.99841602e-01 -1.72026341e-02 4.56521146e-03 2.15544642e+00] [ 1.72029267e-02 9.99852018e-01 -2.48435702e-05 -5.39328168e-02] [-4.56410852e-03 1.03374633e-04 9.99989579e-01 -6.74554558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.224975926 meters Centerline goodness [0,1] 0.9914933064318238 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.05, Z:-0.07 [[ 9.99870866e-01 -1.55268205e-02 4.14367772e-03 2.18430260e+00] [ 1.55270434e-02 9.99879448e-01 -2.16396938e-05 -5.13297754e-02] [-4.14284219e-03 8.59759632e-05 9.99991415e-01 -6.78036996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.254975926 meters Centerline goodness [0,1] 0.9914243711205488 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.05, Z:-0.07 [[ 9.99896219e-01 -1.38145113e-02 4.08779331e-03 2.21301037e+00] [ 1.38147086e-02 9.99904572e-01 -2.00269589e-05 -4.97420444e-02] [-4.08712656e-03 7.64965537e-05 9.99991645e-01 -6.82841886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.284975926 meters Centerline goodness [0,1] 0.9909170020667899 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.05, Z:-0.07 [[ 9.99899726e-01 -1.33220595e-02 4.80214327e-03 2.24130766e+00] [ 1.33222999e-02 9.99911254e-01 -1.80625813e-05 -5.17134384e-02] [-4.80147647e-03 8.20363627e-05 9.99988469e-01 -7.02673171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3149759260000002 meters Centerline goodness [0,1] 0.9906628555873146 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.05, Z:-0.07 [[ 9.99905983e-01 -1.29406766e-02 4.53485324e-03 2.27098290e+00] [ 1.29408834e-02 9.99916263e-01 -1.62501321e-05 -5.02494582e-02] [-4.53426322e-03 7.49336112e-05 9.99989717e-01 -7.00082545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.344975926 meters Centerline goodness [0,1] 0.9913976152882887 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.05, Z:-0.07 [[ 9.99907871e-01 -1.26137410e-02 5.01435743e-03 2.30025947e+00] [ 1.26139881e-02 9.99920440e-01 -1.76525637e-05 -4.93062026e-02] [-5.01373582e-03 8.09019825e-05 9.99987428e-01 -6.98533048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3749759260000003 meters Centerline goodness [0,1] 0.9894042982049955 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.05, Z:-0.07 [[ 9.99927844e-01 -1.11033276e-02 4.58509976e-03 2.33009821e+00] [ 1.11035176e-02 9.99938354e-01 -1.59880298e-05 -4.75740907e-02] [-4.58463958e-03 6.68976120e-05 9.99989488e-01 -7.04234101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.404975926 meters Centerline goodness [0,1] 0.9901741970604246 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.05, Z:-0.07 [[ 9.99940691e-01 -1.01148572e-02 4.03776611e-03 2.35993508e+00] [ 1.01149961e-02 9.99948842e-01 -1.39864443e-05 -4.67128811e-02] [-4.03741808e-03 5.48276032e-05 9.99991848e-01 -7.09766253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.434975926 meters Centerline goodness [0,1] 0.9903490648107873 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.05, Z:-0.07 [[ 9.99934919e-01 -1.02555364e-02 4.99816966e-03 2.38989133e+00] [ 1.02557475e-02 9.99947408e-01 -1.65969107e-05 -4.61936636e-02] [-4.99773659e-03 6.78557964e-05 9.99987509e-01 -7.15946834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.464975926 meters Centerline goodness [0,1] 0.9899913203862428 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.05, Z:-0.07 [[ 9.99950100e-01 -9.16451134e-03 3.97615869e-03 2.42012003e+00] [ 9.16463504e-03 9.99958004e-01 -1.28891409e-05 -4.58944096e-02] [-3.97587359e-03 4.93285410e-05 9.99992095e-01 -7.24475495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.494975926 meters Centerline goodness [0,1] 0.9895537333225082 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.05, Z:-0.07 [[ 9.99949059e-01 -8.95894093e-03 4.64940648e-03 2.44995968e+00] [ 8.95911044e-03 9.99959866e-01 -1.56306107e-05 -4.56380885e-02] [-4.64907985e-03 5.72843606e-05 9.99989191e-01 -7.36851054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.524975926 meters Centerline goodness [0,1] 0.9904607485474936 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.05, Z:-0.07 [[ 9.99947369e-01 -9.13418952e-03 4.67191175e-03 2.48050593e+00] [ 9.13435890e-03 9.99958281e-01 -1.49188839e-05 -4.59049723e-02] [-4.67158057e-03 5.75930174e-05 9.99989086e-01 -7.43249259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.554975926 meters Centerline goodness [0,1] 0.9914571374673242 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.05, Z:-0.07 [[ 9.99933848e-01 -1.05011299e-02 4.69307733e-03 2.50983813e+00] [ 1.05013172e-02 9.99944860e-01 -1.52616257e-05 -4.81309614e-02] [-4.69265829e-03 6.45441097e-05 9.99988987e-01 -7.42484349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5849759260000003 meters Centerline goodness [0,1] 0.9917142080956262 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.05, Z:-0.07 [[ 9.99915839e-01 -1.20240728e-02 4.87194345e-03 2.53914585e+00] [ 1.20242934e-02 9.99927705e-01 -1.59905120e-05 -4.86337054e-02] [-4.87139896e-03 7.45708436e-05 9.99988132e-01 -7.43830410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.614975926 meters Centerline goodness [0,1] 0.992317298295146 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.05, Z:-0.08 [[ 9.99907694e-01 -1.26625063e-02 4.92581686e-03 2.56761801e+00] [ 1.26627397e-02 9.99919824e-01 -1.61876613e-05 -5.15758695e-02] [-4.92521695e-03 7.85605037e-05 9.99987868e-01 -7.65829687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.644975926 meters Centerline goodness [0,1] 0.9922242021707436 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.05, Z:-0.08 [[ 9.99894793e-01 -1.35554359e-02 5.16270312e-03 2.59764022e+00] [ 1.35557005e-02 9.99908117e-01 -1.62706519e-05 -5.01386367e-02] [-5.16200820e-03 8.62529975e-05 9.99986673e-01 -7.62061518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.674975926 meters Centerline goodness [0,1] 0.9918462751066779 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.05, Z:-0.08 [[ 9.99888005e-01 -1.44805045e-02 3.78046961e-03 2.62709498e+00] [ 1.44806531e-02 9.99895150e-01 -1.19439940e-05 -5.08379321e-02] [-3.77990027e-03 6.66863253e-05 9.99992854e-01 -7.71578189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.704975926 meters Centerline goodness [0,1] 0.9925558312655087 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.05, Z:-0.08 [[ 9.99868199e-01 -1.58796663e-02 3.37950120e-03 2.65471225e+00] [ 1.58797958e-02 9.99873908e-01 -1.15073861e-05 -5.29746793e-02] [-3.37889234e-03 6.51716584e-05 9.99994289e-01 -7.79796716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.734975926 meters Centerline goodness [0,1] 0.9922098439244954 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.05, Z:-0.08 [[ 9.99833075e-01 -1.78283013e-02 3.99674258e-03 2.68353428e+00] [ 1.78285055e-02 9.99841059e-01 -1.54606749e-05 -5.45310777e-02] [-3.99583170e-03 8.67140412e-05 9.99992013e-01 -7.81229756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.764975926 meters Centerline goodness [0,1] 0.9920803396472894 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.06, Z:-0.08 [[ 9.99810245e-01 -1.90973783e-02 3.84228544e-03 2.71240625e+00] [ 1.90975722e-02 9.99817625e-01 -1.37729025e-05 -5.61332965e-02] [-3.84132167e-03 8.71486124e-05 9.99992618e-01 -7.84003982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.794975926 meters Centerline goodness [0,1] 0.9931486283608572 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.06, Z:-0.08 [[ 9.99795757e-01 -1.98124351e-02 3.98896128e-03 2.74058976e+00] [ 1.98126459e-02 9.99803710e-01 -1.33538684e-05 -5.58230122e-02] [-3.98791371e-03 9.23830185e-05 9.99992044e-01 -7.85298831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.824975926 meters Centerline goodness [0,1] 0.9931486283608572 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.06, Z:-0.08 [[ 9.99788011e-01 -2.01995568e-02 3.98896494e-03 2.76818114e+00] [ 2.01997646e-02 9.99795964e-01 -1.18041026e-05 -5.56094018e-02] [-3.98791261e-03 9.23777529e-05 9.99992044e-01 -7.89760148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8549759260000003 meters Centerline goodness [0,1] 0.9927175891959458 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.05, Z:-0.08 [[ 9.99796704e-01 -1.97931121e-02 3.84486017e-03 2.79555206e+00] [ 1.97932846e-02 9.99804094e-01 -6.80050399e-06 -5.48763086e-02] [-3.84397234e-03 8.29015330e-05 9.99992608e-01 -8.00038430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.884975926 meters Centerline goodness [0,1] 0.9930613904323079 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.05, Z:-0.08 [[ 9.99826296e-01 -1.83964415e-02 2.99161114e-03 2.82439927e+00] [ 1.83965485e-02 9.99830769e-01 -8.26104443e-06 -5.29051827e-02] [-2.99095289e-03 6.32949289e-05 9.99995525e-01 -8.05716145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.914975926 meters Centerline goodness [0,1] 0.9934297688251994 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.05, Z:-0.08 [[ 9.99817295e-01 -1.87880875e-02 3.51901814e-03 2.85245432e+00] [ 1.87882326e-02 9.99823486e-01 -8.17853470e-06 -5.26336781e-02] [-3.51824333e-03 7.42931717e-05 9.99993808e-01 -8.07878557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.944975926 meters Centerline goodness [0,1] 0.9935604825562439 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.05, Z:-0.08 [[ 9.99791627e-01 -1.99438000e-02 4.35282104e-03 2.88057383e+00] [ 1.99440192e-02 9.99801098e-01 -6.95508781e-06 -5.27221330e-02] [-4.35181655e-03 9.37663851e-05 9.99990526e-01 -8.09001715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.974975926 meters Centerline goodness [0,1] 0.993721631832142 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.05, Z:-0.08 [[ 9.99769727e-01 -2.11653908e-02 3.53837355e-03 2.90918035e+00] [ 2.11655404e-02 9.99775985e-01 -4.83046629e-06 -5.33907558e-02] [-3.53747866e-03 7.97209424e-05 9.99993740e-01 -8.15562505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.004975926 meters Centerline goodness [0,1] 0.9940137602253644 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.05, Z:-0.08 [[ 9.99763786e-01 -2.14474828e-02 3.51820729e-03 2.93714305e+00] [ 2.14476305e-02 9.99769973e-01 -4.26006339e-06 -5.45355270e-02] [-3.51730664e-03 7.97162672e-05 9.99993811e-01 -8.25667591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.034975926 meters Centerline goodness [0,1] 0.9932809536710918 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.06, Z:-0.08 [[ 9.99715555e-01 -2.36029806e-02 3.42175539e-03 2.96609577e+00] [ 2.36031268e-02 9.99721407e-01 -2.35352587e-06 -5.50870345e-02] [-3.42074656e-03 8.31169829e-05 9.99994146e-01 -8.27007983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0649759260000002 meters Centerline goodness [0,1] 0.993246358729556 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.05, Z:-0.08 [[ 9.99696584e-01 -2.43337703e-02 3.82207697e-03 2.99387399e+00] [ 2.43339530e-02 9.99703886e-01 -1.30657391e-06 -5.42355681e-02] [-3.82091340e-03 9.43124189e-05 9.99992696e-01 -8.29709320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.094975926 meters Centerline goodness [0,1] 0.9932094741416775 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.05, Z:-0.08 [[ 9.99674707e-01 -2.52008034e-02 3.92429214e-03 3.02320190e+00] [ 2.52009938e-02 9.99682405e-01 9.31016991e-07 -5.39672310e-02] [-3.92306927e-03 9.79653477e-05 9.99992300e-01 -8.35382733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1249759260000003 meters Centerline goodness [0,1] 0.9924599945755357 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.05, Z:-0.08 [[ 9.99646204e-01 -2.62918267e-02 4.02570152e-03 3.05206460e+00] [ 2.62920298e-02 9.99654305e-01 2.46903121e-06 -5.42053196e-02] [-4.02437477e-03 1.03375707e-04 9.99991897e-01 -8.40291443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.154975926 meters Centerline goodness [0,1] 0.9923383057638682 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.05, Z:-0.08 [[ 9.99603908e-01 -2.77668935e-02 4.58553403e-03 3.08140372e+00] [ 2.77671620e-02 9.99614418e-01 5.10942569e-06 -5.43984694e-02] [-4.58390780e-03 1.22219865e-04 9.99989486e-01 -8.40850561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.184975926 meters Centerline goodness [0,1] 0.99349716855881 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.05, Z:-0.08 [[ 9.99576315e-01 -2.88022211e-02 4.19796592e-03 3.11052530e+00] [ 2.88024513e-02 9.99585123e-01 5.62817905e-06 -5.45493144e-02] [-4.19638639e-03 1.15285915e-04 9.99991188e-01 -8.39520587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.214975926 meters Centerline goodness [0,1] 0.9936255414203601 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.05, Z:-0.08 [[ 9.99569719e-01 -2.90533238e-02 4.03504731e-03 3.13829308e+00] [ 2.90535362e-02 9.99577857e-01 5.97343166e-06 -5.44192748e-02] [-4.03351749e-03 1.11261532e-04 9.99991859e-01 -8.47722838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.244975926 meters Centerline goodness [0,1] 0.9936700300267807 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.05, Z:-0.09 [[ 9.99547313e-01 -2.98128236e-02 4.04522815e-03 3.16758169e+00] [ 2.98130344e-02 9.99555493e-01 8.17004455e-06 -5.48927561e-02] [-4.04367359e-03 1.12434180e-04 9.99991818e-01 -8.51667116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.274975926 meters Centerline goodness [0,1] 0.9939259178914258 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.05, Z:-0.09 [[ 9.99541864e-01 -2.99916999e-02 4.06939692e-03 3.19565476e+00] [ 2.99919115e-02 9.99550141e-01 9.04301972e-06 -5.36067728e-02] [-4.06783748e-03 1.13010115e-04 9.99991720e-01 -8.58733183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.304975926 meters Centerline goodness [0,1] 0.9933733636265282 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.05, Z:-0.09 [[ 9.99574700e-01 -2.89286444e-02 3.68134061e-03 3.22467440e+00] [ 2.89288050e-02 9.99581474e-01 9.61159926e-06 -5.23438479e-02] [-3.68007793e-03 9.68892733e-05 9.99993224e-01 -8.67221223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3349759260000003 meters Centerline goodness [0,1] 0.9945111399524118 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.05, Z:-0.09 [[ 9.99568398e-01 -2.91665134e-02 3.51160014e-03 3.25239293e+00] [ 2.91666599e-02 9.99574562e-01 9.48525225e-06 -5.15972107e-02] [-3.51038282e-03 9.29404886e-05 9.99993834e-01 -8.67432142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.364975926 meters Centerline goodness [0,1] 0.9942914074911813 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.05, Z:-0.09 [[ 9.99580341e-01 -2.86478165e-02 4.29470313e-03 3.28099415e+00] [ 2.86480152e-02 9.99589561e-01 1.52449271e-05 -5.07899041e-02] [-4.29337715e-03 1.07796191e-04 9.99990778e-01 -8.71987048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.394975926 meters Centerline goodness [0,1] 0.9932366889415822 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.05, Z:-0.09 [[ 9.99653844e-01 -2.60743365e-02 3.51018060e-03 3.31037865e+00] [ 2.60744517e-02 9.99660004e-01 1.29563702e-05 -4.84178041e-02] [-3.50932498e-03 7.85741492e-05 9.99993839e-01 -8.74358527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.424975926 meters Centerline goodness [0,1] 0.9939990850622965 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.05, Z:-0.09 [[ 9.99672109e-01 -2.53570154e-02 3.56309278e-03 3.33909730e+00] [ 2.53571264e-02 9.99678456e-01 1.40355709e-05 -4.81266008e-02] [-3.56230299e-03 7.63188253e-05 9.99993652e-01 -8.77587634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.454975926 meters Centerline goodness [0,1] 0.9936559139784946 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.05, Z:-0.09 [[ 9.99684534e-01 -2.49052737e-02 3.24970724e-03 3.36671382e+00] [ 2.49053637e-02 9.99689813e-01 1.27838327e-05 -4.82361481e-02] [-3.24901761e-03 6.81553409e-05 9.99994720e-01 -8.83370200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.484975926 meters Centerline goodness [0,1] 0.9943960988226419 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.05, Z:-0.09 [[ 9.99688427e-01 -2.47899297e-02 2.91704715e-03 3.39442713e+00] [ 2.47900002e-02 9.99692681e-01 1.19724869e-05 -4.78541688e-02] [-2.91644748e-03 6.03448430e-05 9.99995745e-01 -8.90657643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.514975926 meters Centerline goodness [0,1] 0.9950996230479268 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.05, Z:-0.09 [[ 9.99716589e-01 -2.35453288e-02 3.51563393e-03 3.42320579e+00] [ 2.35454121e-02 9.99722768e-01 1.76886455e-05 -4.50695904e-02] [-3.51507577e-03 6.50934175e-05 9.99993820e-01 -8.95420310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.544975926 meters Centerline goodness [0,1] 0.9944448917156429 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.04, Z:-0.09 [[ 9.99710957e-01 -2.37038817e-02 4.01600073e-03 3.45167795e+00] [ 2.37039855e-02 9.99719021e-01 2.17518048e-05 -4.40453244e-02] [-4.01538792e-03 7.34497057e-05 9.99991936e-01 -8.99511402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.574975926 meters Centerline goodness [0,1] 0.994454267802604 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.04, Z:-0.09 [[ 9.99719313e-01 -2.33731328e-02 3.87187972e-03 3.47966546e+00] [ 2.33732091e-02 9.99726809e-01 2.55391217e-05 -4.40728472e-02] [-3.87141889e-03 6.49663011e-05 9.99992504e-01 -9.06044505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.604975926 meters Centerline goodness [0,1] 0.9939392314087264 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.04, Z:-0.09 [[ 9.99735470e-01 -2.26584245e-02 3.94795248e-03 3.50881362e+00] [ 2.26585069e-02 9.99743263e-01 2.38596052e-05 -4.23240260e-02] [-3.94747951e-03 6.56014147e-05 9.99992207e-01 -9.04228398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.634975926 meters Centerline goodness [0,1] 0.9932390572390573 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.04, Z:-0.09 [[ 9.99720247e-01 -2.34041122e-02 3.41683835e-03 3.53813352e+00] [ 2.34041768e-02 9.99726085e-01 2.10800444e-05 -4.32414993e-02] [-3.41639578e-03 5.88941416e-05 9.99994162e-01 -9.10752626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.664975926 meters Centerline goodness [0,1] 0.9933349523732427 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.04, Z:-0.09 [[ 9.99709379e-01 -2.38107880e-02 3.76888744e-03 3.56591656e+00] [ 2.38108648e-02 9.99716481e-01 2.44805529e-05 -4.31732724e-02] [-3.76840179e-03 6.52670312e-05 9.99992897e-01 -9.15617946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.694975926 meters Centerline goodness [0,1] 0.9937677053824363 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.04, Z:-0.09 [[ 9.99708365e-01 -2.39695922e-02 2.94001903e-03 3.59443914e+00] [ 2.39696405e-02 9.99712687e-01 1.88356502e-05 -4.28880806e-02] [-2.93962581e-03 5.16410421e-05 9.99995678e-01 -9.05623214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.724975926 meters Centerline goodness [0,1] 0.9944705184226142 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.04, Z:-0.09 [[ 9.99672249e-01 -2.54103573e-02 3.11580278e-03 3.62326657e+00] [ 2.54104115e-02 9.99677103e-01 2.21875663e-05 -4.30586527e-02] [-3.11536049e-03 5.69935365e-05 9.99995146e-01 -9.12693613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.754975926 meters Centerline goodness [0,1] 0.993679604570132 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.04, Z:-0.09 [[ 9.99677976e-01 -2.52981384e-02 1.98729346e-03 3.65100279e+00] [ 2.52981644e-02 9.99679950e-01 1.20551041e-05 -4.30387013e-02] [-1.98696240e-03 3.82236546e-05 9.99998025e-01 -9.24439156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.784975926 meters Centerline goodness [0,1] 0.9939330205468371 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.04, Z:-0.09 [[ 9.99656302e-01 -2.61375714e-02 2.02612608e-03 3.67915399e+00] [ 2.61375905e-02 9.99658355e-01 1.70647825e-05 -4.42175034e-02] [-2.02587989e-03 3.58991364e-05 9.99997947e-01 -9.36190209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8149759260000002 meters Centerline goodness [0,1] 0.9932650862068966 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.04, Z:-0.09 [[ 9.99650271e-01 -2.64005320e-02 1.53220856e-03 3.70731884e+00] [ 2.64005496e-02 9.99651445e-01 8.74232127e-06 -4.43774650e-02] [-1.53190531e-03 3.17118843e-05 9.99998826e-01 -9.38691840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.844975926 meters Centerline goodness [0,1] 0.9961324631375392 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.04, Z:-0.09 [[ 9.99624432e-01 -2.72860163e-02 2.54344614e-03 3.73475457e+00] [ 2.72860471e-02 9.99627666e-01 2.25956693e-05 -4.44914440e-02] [-2.54311567e-03 4.68134081e-05 9.99996765e-01 -9.33205272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.874975926 meters Centerline goodness [0,1] 0.9941918309177445 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.04, Z:-0.09 [[ 9.99625261e-01 -2.72980822e-02 2.03789758e-03 3.76309309e+00] [ 2.72981088e-02 9.99627337e-01 1.47657059e-05 -4.31850577e-02] [-2.03754121e-03 4.08705774e-05 9.99997923e-01 -9.35381749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.904975926 meters Centerline goodness [0,1] 0.995083948959033 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.04, Z:-0.09 [[ 9.99611012e-01 -2.78059315e-02 2.15748610e-03 3.79166027e+00] [ 2.78059599e-02 9.99613339e-01 1.68400261e-05 -4.23591465e-02] [-2.15712014e-03 4.31574966e-05 9.99997672e-01 -9.41371933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.934975926 meters Centerline goodness [0,1] 0.9944276261151446 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.04, Z:-0.09 [[ 9.99605620e-01 -2.80060885e-02 2.06491724e-03 3.81981476e+00] [ 2.80061139e-02 9.99607752e-01 1.66329483e-05 -4.19301082e-02] [-2.06457310e-03 4.12039187e-05 9.99997868e-01 -9.48162035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.964975926 meters Centerline goodness [0,1] 0.9951965651415537 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.04, Z:-0.10 [[ 9.99585597e-01 -2.86986911e-02 2.24035922e-03 3.84798579e+00] [ 2.86987195e-02 9.99588107e-01 1.94763111e-05 -4.12368703e-02] [-2.23999537e-03 4.48272008e-05 9.99997490e-01 -9.55165455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.994975926 meters Centerline goodness [0,1] 0.9940098943709053 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.04, Z:-0.10 [[ 9.99594801e-01 -2.84355990e-02 1.28467987e-03 3.87566142e+00] [ 2.84356109e-02 9.99595626e-01 8.99668263e-06 -3.91500449e-02] [-1.28441621e-03 2.75376199e-05 9.99999175e-01 -9.64895805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.024975926 meters Centerline goodness [0,1] 0.9940765248946049 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.04, Z:-0.10 [[ 9.99626541e-01 -2.72377088e-02 2.21043534e-03 3.90381514e+00] [ 2.72377229e-02 9.99628984e-01 2.37603247e-05 -3.73780263e-02] [-2.21026241e-03 3.64557741e-05 9.99997557e-01 -9.71178918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.054975926 meters Centerline goodness [0,1] 0.9940138877803496 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.03, Z:-0.10 [[ 9.99664601e-01 -2.58144152e-02 2.07422543e-03 3.93248331e+00] [ 2.58144285e-02 9.99666752e-01 2.03840326e-05 -3.39779321e-02] [-2.07406040e-03 3.31677482e-05 9.99997849e-01 -9.65496585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084975926 meters Centerline goodness [0,1] 0.9936584066080469 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.03, Z:-0.10 [[ 9.99683442e-01 -2.50684767e-02 2.14167676e-03 3.96106852e+00] [ 2.50684873e-02 9.99685736e-01 2.19183782e-05 -3.28509681e-02] [-2.14155317e-03 3.17771570e-05 9.99997706e-01 -9.71311972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.114975926 meters Centerline goodness [0,1] 0.9935737810265884 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.03, Z:-0.10 [[ 9.99673557e-01 -2.54720814e-02 1.98811167e-03 3.98884520e+00] [ 2.54720924e-02 9.99675533e-01 1.97822553e-05 -3.31026491e-02] [-1.98797049e-03 3.08655667e-05 9.99998024e-01 -9.73456300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144975926 meters Centerline goodness [0,1] 0.9938609189855772 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.03, Z:-0.10 [[ 9.99659973e-01 -2.59765664e-02 2.27065405e-03 4.01663949e+00] [ 2.59765781e-02 9.99662551e-01 2.43820788e-05 -3.29069461e-02] [-2.27052119e-03 3.46100340e-05 9.99997422e-01 -9.80375967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.174975926 meters Centerline goodness [0,1] 0.9932425213675213 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.03, Z:-0.10 [[ 9.99654821e-01 -2.61837805e-02 2.15593278e-03 4.04450802e+00] [ 2.61837904e-02 9.99657146e-01 2.36534345e-05 -3.24628484e-02] [-2.15581295e-03 3.28052222e-05 9.99997676e-01 -9.85651932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.204975926 meters Centerline goodness [0,1] 0.992837982832618 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.03, Z:-0.10 [[ 9.99657294e-01 -2.60769628e-02 2.29940994e-03 4.07221322e+00] [ 2.60769708e-02 9.99659938e-01 2.65159794e-05 -3.14564309e-02] [-2.29931945e-03 3.34547536e-05 9.99997356e-01 -9.83971563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.234975926 meters Centerline goodness [0,1] 0.9928214981453313 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.03, Z:-0.10 [[ 9.99668537e-01 -2.55538759e-02 3.13298202e-03 4.09996994e+00] [ 2.55538663e-02 9.99673446e-01 4.30967324e-05 -3.15128725e-02] [-3.13306022e-03 3.69773563e-05 9.99995091e-01 -1.00444364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.264975926 meters Centerline goodness [0,1] 0.9928372888603806 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.03, Z:-0.10 [[ 9.99680218e-01 -2.51442325e-02 2.68882736e-03 4.12754971e+00] [ 2.51442332e-02 9.99683833e-01 3.35533750e-05 -2.88975536e-02] [-2.68882092e-03 3.40658569e-05 9.99996385e-01 -9.93846689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.294975926 meters Centerline goodness [0,1] 0.9919703355919544 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.02, Z:-0.10 [[ 9.99761797e-01 -2.17325793e-02 2.01113812e-03 4.15628744e+00] [ 2.17325731e-02 9.99763819e-01 2.49628312e-05 -2.42883890e-02] [-2.01120563e-03 1.87503212e-05 9.99997977e-01 -1.00541383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3249759260000005 meters Centerline goodness [0,1] 0.9920937042459737 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.02, Z:-0.10 [[ 9.99775507e-01 -2.10796834e-02 2.14057620e-03 4.18446857e+00] [ 2.10796743e-02 9.99777799e-01 2.68455496e-05 -2.21877615e-02] [-2.14066646e-03 1.82831261e-05 9.99997709e-01 -1.00814697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.354975926 meters Centerline goodness [0,1] 0.9915663615255278 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.02, Z:-0.10 [[ 9.99772171e-01 -2.11438205e-02 2.92332747e-03 4.21226372e+00] [ 2.11437937e-02 9.99776444e-01 4.00818703e-05 -2.09516745e-02] [-2.92352143e-03 2.17374945e-05 9.99995726e-01 -1.00959593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384975926 meters Centerline goodness [0,1] 0.9919180603344803 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.02, Z:-0.10 [[ 9.99760064e-01 -2.17093305e-02 2.91867716e-03 4.24030349e+00] [ 2.17093029e-02 9.99764324e-01 4.11301980e-05 -2.04646113e-02] [-2.91888220e-03 2.22421171e-05 9.99995740e-01 -1.01089743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.414975926 meters Centerline goodness [0,1] 0.9913168548902621 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.02, Z:-0.10 [[ 9.99740756e-01 -2.26147593e-02 2.64449561e-03 4.26802135e+00] [ 2.26147387e-02 9.99744253e-01 3.76961912e-05 -2.06097389e-02] [-2.64467178e-03 2.21181584e-05 9.99996503e-01 -1.01473935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.444975926 meters Centerline goodness [0,1] 0.9930114527143731 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.02, Z:-0.10 [[ 9.99718987e-01 -2.35156725e-02 2.99322412e-03 4.29570434e+00] [ 2.35156443e-02 9.99723468e-01 4.46404807e-05 -1.97275017e-02] [-2.99344615e-03 2.57596574e-05 9.99995519e-01 -1.01813678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.474975926 meters Centerline goodness [0,1] 0.9952169638349321 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.03, Z:-0.10 [[ 9.99490927e-01 -3.17999074e-02 2.57927758e-03 4.32473312e+00] [ 3.17999120e-02 9.99494254e-01 3.92475615e-05 -2.75996659e-02] [-2.57922119e-03 4.27932183e-05 9.99996673e-01 -1.01351712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504975926 meters Centerline goodness [0,1] 0.9949403973509934 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.03, Z:-0.10 [[ 9.99446514e-01 -3.31785750e-02 2.41832464e-03 4.35386715e+00] [ 3.31785819e-02 9.99449439e-01 3.72920252e-05 -2.82071654e-02] [-2.41823050e-03 4.29651976e-05 9.99997075e-01 -1.01753407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.534975926 meters Centerline goodness [0,1] 0.9952298926725851 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.03, Z:-0.10 [[ 9.99439984e-01 -3.33673294e-02 2.51771704e-03 4.38146703e+00] [ 3.33673365e-02 9.99443155e-01 3.92239246e-05 -2.65572430e-02] [-2.51762386e-03 4.48075531e-05 9.99996830e-01 -1.01724108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.564975926 meters Centerline goodness [0,1] 0.9959380890434598 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.02, Z:-0.10 [[ 9.99448851e-01 -3.30678137e-02 2.91775392e-03 4.41042664e+00] [ 3.30678139e-02 9.99453109e-01 4.82034653e-05 -2.39359479e-02] [-2.91775221e-03 4.83068455e-05 9.99995742e-01 -1.02334902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.594975926 meters Centerline goodness [0,1] 0.9952952370883332 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.02, Z:-0.10 [[ 9.99462956e-01 -3.26875660e-02 2.30727642e-03 4.43749092e+00] [ 3.26875604e-02 9.99465618e-01 4.01320912e-05 -2.31163908e-02] [-2.30735528e-03 3.53086989e-05 9.99997337e-01 -1.03161248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624975926 meters Centerline goodness [0,1] 0.9959743630488903 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.02, Z:-0.10 [[ 9.99465580e-01 -3.25466963e-02 3.04412461e-03 4.46629795e+00] [ 3.25466885e-02 9.99470215e-01 5.21078166e-05 -2.14898019e-02] [-3.04420781e-03 4.69962061e-05 9.99995365e-01 -1.02134127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.654975926 meters Centerline goodness [0,1] 0.9963279970412638 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.02, Z:-0.10 [[ 9.99450652e-01 -3.30247974e-02 2.78508080e-03 4.49437111e+00] [ 3.30247933e-02 9.99454532e-01 4.74814244e-05 -1.97961978e-02] [-2.78512969e-03 4.45213772e-05 9.99996121e-01 -1.02773791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684975926 meters Centerline goodness [0,1] 0.9959356030614938 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.02, Z:-0.10 [[ 9.99452235e-01 -3.29903823e-02 2.62019066e-03 4.52279761e+00] [ 3.29903769e-02 9.99455668e-01 4.52940254e-05 -1.81876656e-02] [-2.62025867e-03 4.11718624e-05 9.99996566e-01 -1.03632591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.714975926 meters Centerline goodness [0,1] 0.9957213036817918 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.02, Z:-0.10 [[ 9.99475710e-01 -3.23230894e-02 1.87694323e-03 4.55116516e+00] [ 3.23230875e-02 9.99477472e-01 3.13859616e-05 -1.73088646e-02] [-1.87697697e-03 2.92990940e-05 9.99998238e-01 -1.04392309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744975926 meters Centerline goodness [0,1] 0.9957213036817918 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.02, Z:-0.10 [[ 9.99463128e-01 -3.27098219e-02 1.87692993e-03 4.57873840e+00] [ 3.27098193e-02 9.99464890e-01 3.21027352e-05 -1.64939532e-02] [-1.87697564e-03 2.93085385e-05 9.99998238e-01 -1.04838380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.774975926 meters Centerline goodness [0,1] 0.9960048682400254 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.02, Z:-0.11 [[ 9.99468739e-01 -3.25253087e-02 2.08406671e-03 4.60698914e+00] [ 3.25252940e-02 9.99470912e-01 4.09309465e-05 -1.61326294e-02] [-2.08429534e-03 2.68756810e-05 9.99997827e-01 -1.05441208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804975926 meters Centerline goodness [0,1] 0.9953715948161862 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.02, Z:-0.11 [[ 9.99480120e-01 -3.21476993e-02 2.45251808e-03 4.63537228e+00] [ 3.21476851e-02 9.99483129e-01 4.52290825e-05 -1.51864072e-02] [-2.45270445e-03 3.36372100e-05 9.99996992e-01 -1.06211182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.834975926 meters Centerline goodness [0,1] 0.9952470227878852 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.01, Z:-0.11 [[ 9.99557862e-01 -2.96371131e-02 2.39225611e-03 4.66417174e+00] [ 2.96370891e-02 9.99560724e-01 4.55063683e-05 -1.19950144e-02] [-2.39255392e-03 2.54132591e-05 9.99997138e-01 -1.06156794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864975926 meters Centerline goodness [0,1] 0.9947397636858661 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.01, Z:-0.11 [[ 9.99603941e-01 -2.80517136e-02 2.25008907e-03 4.69200849e+00] [ 2.80516890e-02 9.99606473e-01 4.24811617e-05 -9.77761785e-03] [-2.25039527e-03 2.06544622e-05 9.99997468e-01 -1.06184381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.894975926 meters Centerline goodness [0,1] 0.9951520610363463 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.01, Z:-0.11 [[ 9.99633299e-01 -2.69325162e-02 2.81198273e-03 4.72135250e+00] [ 2.69324632e-02 9.99637254e-01 5.67362926e-05 -7.37624370e-03] [-2.81249075e-03 1.90181341e-05 9.99996045e-01 -1.06531307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924975926 meters Centerline goodness [0,1] 0.9932954995380757 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.00, Z:-0.11 [[ 9.99793697e-01 -2.01276780e-02 2.72775979e-03 4.74860500e+00] [ 2.01275937e-02 9.99797418e-01 5.83545099e-05 -1.13863581e-03] [-2.72838174e-03 -3.43923030e-06 9.99996278e-01 -1.07036735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.954975926 meters Centerline goodness [0,1] 0.9930238088946437 Centerline is valid? [True, True] Translation: X:4.78, Y:0.00, Z:-0.11 [[ 9.99833939e-01 -1.80781014e-02 2.29717869e-03 4.77607387e+00] [ 1.80780383e-02 9.99836578e-01 4.82078668e-05 1.50662204e-03] [-2.29767479e-03 -6.67137691e-06 9.99997360e-01 -1.07664847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.984975926 meters Centerline goodness [0,1] 0.9929360288884789 Centerline is valid? [True, True] Translation: X:4.80, Y:0.00, Z:-0.11 [[ 9.99862096e-01 -1.64674335e-02 2.14756905e-03 4.80469785e+00] [ 1.64673785e-02 9.99864403e-01 4.32937041e-05 4.65794218e-03] [-2.14799078e-03 -7.92290142e-06 9.99997693e-01 -1.08436394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.014975926 meters Centerline goodness [0,1] 0.9925886990801577 Centerline is valid? [True, True] Translation: X:4.83, Y:0.00, Z:-0.11 [[ 9.99845790e-01 -1.73865320e-02 2.47060561e-03 4.83228509e+00] [ 1.73864510e-02 9.99848843e-01 5.42796720e-05 4.57204192e-03] [-2.47117589e-03 -1.13162383e-05 9.99996947e-01 -1.09387816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044975926 meters Centerline goodness [0,1] 0.992832674571805 Centerline is valid? [True, True] Translation: X:4.86, Y:0.00, Z:-0.11 [[ 9.99822016e-01 -1.87138591e-02 2.39310138e-03 4.86009171e+00] [ 1.87137946e-02 9.99824880e-01 4.93355007e-05 4.18792609e-03] [-2.39360556e-03 -4.54271208e-06 9.99997135e-01 -1.09790060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.074975926 meters Centerline goodness [0,1] 0.9937287555005139 Centerline is valid? [True, True] Translation: X:4.89, Y:0.00, Z:-0.11 [[ 9.99803855e-01 -1.96030902e-02 2.82318058e-03 4.88809233e+00] [ 1.96029981e-02 9.99807841e-01 6.02921252e-05 4.43944985e-03] [-2.82381999e-03 -4.93749550e-06 9.99996013e-01 -1.09940959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104975926 meters Centerline goodness [0,1] 0.9935160780179231 Centerline is valid? [True, True] Translation: X:4.92, Y:0.00, Z:-0.11 [[ 9.99788177e-01 -2.03882070e-02 2.81457837e-03 4.91602993e+00] [ 2.03881156e-02 9.99792139e-01 6.11614726e-05 4.98794275e-03] [-2.81524030e-03 -3.76456796e-06 9.99996037e-01 -1.10817440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.134975926 meters Centerline goodness [0,1] 0.993460605421369 Centerline is valid? [True, True] Translation: X:4.94, Y:0.01, Z:-0.11 [[ 9.99777354e-01 -2.09423289e-02 2.58097549e-03 4.94400556e+00] [ 2.09422526e-02 9.99780685e-01 5.65575652e-05 6.08365491e-03] [-2.58159389e-03 -2.49353210e-06 9.99996668e-01 -1.12253063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164975926 meters Centerline goodness [0,1] 0.9930652603823336 Centerline is valid? [True, True] Translation: X:4.97, Y:0.01, Z:-0.11 [[ 9.99760552e-01 -2.17614847e-02 2.29725931e-03 4.97176963e+00] [ 2.17614260e-02 9.99763191e-01 5.05535657e-05 6.90370015e-03] [-2.29781542e-03 -5.49822092e-07 9.99997360e-01 -1.13138854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.194975926 meters Centerline goodness [0,1] 0.9933989059541343 Centerline is valid? [True, True] Translation: X:5.00, Y:0.01, Z:-0.11 [[ 9.99747338e-01 -2.23367422e-02 2.51579112e-03 4.99924613e+00] [ 2.23366661e-02 9.99750504e-01 5.83454350e-05 7.38425076e-03] [-2.51646669e-03 -2.13630714e-06 9.99996834e-01 -1.13481229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224975926 meters Centerline goodness [0,1] 0.9939414693253957 Centerline is valid? [True, True] Translation: X:5.03, Y:0.01, Z:-0.11 [[ 9.99732252e-01 -2.30361615e-02 2.18171225e-03 5.02757964e+00] [ 2.30361102e-02 9.99734632e-01 4.86483735e-05 8.25248945e-03] [-2.18225397e-03 1.62281586e-06 9.99997619e-01 -1.12189410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.254975926 meters Centerline goodness [0,1] 0.9926372330669462 Centerline is valid? [True, True] Translation: X:5.06, Y:0.01, Z:-0.11 [[ 9.99778642e-01 -2.09497683e-02 1.94276815e-03 5.05679329e+00] [ 2.09497222e-02 9.99780530e-01 4.40512145e-05 1.19560082e-02] [-1.94326464e-03 -3.34101024e-06 9.99998112e-01 -1.12523329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2849759259999995 meters Centerline goodness [0,1] 0.9925465186468257 Centerline is valid? [True, True] Translation: X:5.08, Y:0.01, Z:-0.12 [[ 9.99790803e-01 -2.03260679e-02 2.28075176e-03 5.08334853e+00] [ 2.03259935e-02 9.99793404e-01 5.58216911e-05 1.46134785e-02] [-2.28141520e-03 -9.45146787e-06 9.99997398e-01 -1.15271532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.314975926 meters Centerline goodness [0,1] 0.9921699052008589 Centerline is valid? [True, True] Translation: X:5.11, Y:0.02, Z:-0.11 [[ 9.99824281e-01 -1.86293257e-02 2.08696261e-03 5.11247468e+00] [ 1.86292644e-02 9.99826459e-01 4.87976061e-05 1.63022114e-02] [-2.08750950e-03 -9.91045321e-06 9.99997821e-01 -1.13150931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344975926 meters Centerline goodness [0,1] 0.9923308467478079 Centerline is valid? [True, True] Translation: X:5.14, Y:0.02, Z:-0.11 [[ 9.99816240e-01 -1.90213805e-02 2.38178789e-03 5.14026321e+00] [ 1.90212997e-02 9.99819077e-01 5.65739441e-05 1.72528825e-02] [-2.38243309e-03 -1.12588467e-05 9.99997162e-01 -1.12808002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.374975926 meters Centerline goodness [0,1] 0.9917061301378823 Centerline is valid? [True, True] Translation: X:5.17, Y:0.02, Z:-0.11 [[ 9.99816042e-01 -1.91092392e-02 1.64923864e-03 5.16940995e+00] [ 1.91092015e-02 9.99817402e-01 3.86173239e-05 1.78589841e-02] [-1.64967544e-03 -7.09458626e-06 9.99998639e-01 -1.13456979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.404975926 meters Centerline goodness [0,1] 0.9918470474850877 Centerline is valid? [True, True] Translation: X:5.20, Y:0.02, Z:-0.11 [[ 9.99826644e-01 -1.85490444e-02 1.61683929e-03 5.19629717e+00] [ 1.85490051e-02 9.99827952e-01 3.93526142e-05 1.99992904e-02] [-1.61729107e-03 -9.35503209e-06 9.99998692e-01 -1.14197881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.434975926 meters Centerline goodness [0,1] 0.991958014569571 Centerline is valid? [True, True] Translation: X:5.22, Y:0.02, Z:-0.11 [[ 9.99822436e-01 -1.87834067e-02 1.50991469e-03 5.22433506e+00] [ 1.87833750e-02 9.99823576e-01 3.52027630e-05 2.11003269e-02] [-1.51030953e-03 -6.83521847e-06 9.99998859e-01 -1.14082358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464975926 meters Centerline goodness [0,1] 0.9929207225027328 Centerline is valid? [True, True] Translation: X:5.25, Y:0.02, Z:-0.12 [[ 9.99805662e-01 -1.96373708e-02 1.73538892e-03 5.25223130e+00] [ 1.96373209e-02 9.99807168e-01 4.57939209e-05 2.11473703e-02] [-1.73595355e-03 -1.17066324e-05 9.99998493e-01 -1.15078562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.494975926 meters Centerline goodness [0,1] 0.9930890598513495 Centerline is valid? [True, True] Translation: X:5.28, Y:0.02, Z:-0.11 [[ 9.99767780e-01 -2.13959160e-02 2.56932957e-03 5.28108778e+00] [ 2.13958165e-02 9.99771081e-01 6.62113819e-05 1.98299270e-02] [-2.57015805e-03 -1.12231023e-05 9.99996697e-01 -1.14937950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.524975926 meters Centerline goodness [0,1] 0.9932552083333334 Centerline is valid? [True, True] Translation: X:5.31, Y:0.02, Z:-0.12 [[ 9.99770073e-01 -2.13833402e-02 1.59835342e-03 5.30897235e+00] [ 2.13832991e-02 9.99771350e-01 4.27678192e-05 2.14273820e-02] [-1.59890247e-03 -8.57991649e-06 9.99998722e-01 -1.16869345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.554975926 meters Centerline goodness [0,1] 0.9930944963655244 Centerline is valid? [True, True] Translation: X:5.34, Y:0.02, Z:-0.12 [[ 9.99766528e-01 -2.15199991e-02 1.94412830e-03 5.33651947e+00] [ 2.15199443e-02 9.99768418e-01 4.91374789e-05 2.28693329e-02] [-1.94473552e-03 -7.28847392e-06 9.99998109e-01 -1.16980000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584975926 meters Centerline goodness [0,1] 0.9932206031325489 Centerline is valid? [True, True] Translation: X:5.36, Y:0.03, Z:-0.12 [[ 9.99784760e-01 -2.06720350e-02 1.76069681e-03 5.36471803e+00] [ 2.06719837e-02 9.99786311e-01 4.73340700e-05 2.53356212e-02] [-1.76129906e-03 -1.09267861e-05 9.99998449e-01 -1.17351832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.614975926 meters Centerline goodness [0,1] 0.994371335504886 Centerline is valid? [True, True] Translation: X:5.39, Y:0.03, Z:-0.12 [[ 9.99775995e-01 -2.10955469e-02 1.71406618e-03 5.39263809e+00] [ 2.10955039e-02 9.99777464e-01 4.31641682e-05 2.54736933e-02] [-1.71459531e-03 -6.99540948e-06 9.99998530e-01 -1.15969057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644975926 meters Centerline goodness [0,1] 0.9943543981059916 Centerline is valid? [True, True] Translation: X:5.42, Y:0.03, Z:-0.12 [[ 9.99758153e-01 -2.19211032e-02 1.76100699e-03 5.42089739e+00] [ 2.19210576e-02 9.99759704e-01 4.51845854e-05 2.63572452e-02] [-1.76157432e-03 -6.57052188e-06 9.99998448e-01 -1.16383582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.674975926 meters Centerline goodness [0,1] 0.9939290161892902 Centerline is valid? [True, True] Translation: X:5.45, Y:0.03, Z:-0.12 [[ 9.99746088e-01 -2.24706858e-02 1.68179956e-03 5.44895026e+00] [ 2.24706444e-02 9.99747502e-01 4.35165318e-05 2.72406084e-02] [-1.68235276e-03 -5.71436254e-06 9.99998585e-01 -1.17279830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704975926 meters Centerline goodness [0,1] 0.9945013616910906 Centerline is valid? [True, True] Translation: X:5.48, Y:0.03, Z:-0.12 [[ 9.99738021e-01 -2.27661608e-02 2.36474044e-03 5.47728233e+00] [ 2.27660715e-02 9.99740817e-01 6.46441045e-05 2.84680608e-02] [-2.36559924e-03 -1.07913189e-05 9.99997202e-01 -1.17099338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.734975926 meters Centerline goodness [0,1] 0.9949122624857232 Centerline is valid? [True, True] Translation: X:5.50, Y:0.03, Z:-0.12 [[ 9.99731308e-01 -2.30392998e-02 2.55004944e-03 5.50485610e+00] [ 2.30391932e-02 9.99734560e-01 7.11664046e-05 2.99581979e-02] [-2.55101218e-03 -1.23962009e-05 9.99996746e-01 -1.17176180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764975926 meters Centerline goodness [0,1] 0.9952930774431789 Centerline is valid? [True, True] Translation: X:5.53, Y:0.03, Z:-0.12 [[ 9.99712668e-01 -2.37578751e-02 3.18510528e-03 5.53267398e+00] [ 2.37576926e-02 9.99717742e-01 9.51333530e-05 3.03909554e-02] [-3.18646643e-03 -1.94352660e-05 9.99994923e-01 -1.17773892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.794975926 meters Centerline goodness [0,1] 0.9954035525085696 Centerline is valid? [True, True] Translation: X:5.56, Y:0.03, Z:-0.12 [[ 9.99708388e-01 -2.39256364e-02 3.27162439e-03 5.56109127e+00] [ 2.39254545e-02 9.99713741e-01 9.47391818e-05 3.27255866e-02] [-3.27295455e-03 -1.64364543e-05 9.99994644e-01 -1.18644256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824975926 meters Centerline goodness [0,1] 0.9947918016220558 Centerline is valid? [True, True] Translation: X:5.59, Y:0.03, Z:-0.12 [[ 9.99705446e-01 -2.38996659e-02 4.22213610e-03 5.58963565e+00] [ 2.38993470e-02 9.99714362e-01 1.25985163e-04 3.42403088e-02] [-4.22394110e-03 -2.50417583e-05 9.99991079e-01 -1.18218956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.854975926 meters Centerline goodness [0,1] 0.9949214903871068 Centerline is valid? [True, True] Translation: X:5.62, Y:0.04, Z:-0.12 [[ 9.99713445e-01 -2.36713792e-02 3.56280134e-03 5.61837309e+00] [ 2.36711482e-02 9.99719793e-01 1.06998358e-04 3.60576417e-02] [-3.56433582e-03 -2.26320983e-05 9.99993647e-01 -1.19424778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884975926 meters Centerline goodness [0,1] 0.9952350123009194 Centerline is valid? [True, True] Translation: X:5.65, Y:0.04, Z:-0.12 [[ 9.99710731e-01 -2.36998613e-02 4.09511211e-03 5.64571134e+00] [ 2.36995391e-02 9.99719118e-01 1.27186245e-04 3.79310230e-02] [-4.09697616e-03 -3.00971843e-05 9.99991607e-01 -1.19719637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.914975926 meters Centerline goodness [0,1] 0.9967105263157895 Centerline is valid? [True, True] Translation: X:5.67, Y:0.04, Z:-0.12 [[ 9.99711073e-01 -2.32498985e-02 6.10027209e-03 5.67457840e+00] [ 2.32491731e-02 9.99729683e-01 1.89807824e-04 4.06562766e-02] [-6.10303610e-03 -4.79267010e-05 9.99981375e-01 -1.16645984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.944975926 meters Centerline goodness [0,1] 0.9969649425139535 Centerline is valid? [True, True] Translation: X:5.70, Y:0.04, Z:-0.12 [[ 9.99694867e-01 -2.39320275e-02 6.11804469e-03 5.70116686e+00] [ 2.39312924e-02 9.99713587e-01 1.93344429e-04 4.19803351e-02] [-6.12091952e-03 -4.68727169e-05 9.99981266e-01 -1.18017998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974975926 meters Centerline goodness [0,1] 0.996768650783474 Centerline is valid? [True, True] Translation: X:5.73, Y:0.04, Z:-0.12 [[ 9.99694453e-01 -2.38910986e-02 6.34164921e-03 5.72796580e+00] [ 2.38902889e-02 9.99714566e-01 2.03413680e-04 4.33725069e-02] [-6.34469886e-03 -5.18476964e-05 9.99979871e-01 -1.18462321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004975926 meters Centerline goodness [0,1] 0.9970715166461159 Centerline is valid? [True, True] Translation: X:5.76, Y:0.04, Z:-0.12 [[ 9.99679529e-01 -2.45432203e-02 6.20236825e-03 5.75610115e+00] [ 2.45424649e-02 9.99698769e-01 1.97893264e-04 4.44394288e-02] [-6.20535684e-03 -4.56084401e-05 9.99980746e-01 -1.19210928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0349759259999995 meters Centerline goodness [0,1] 0.9971460159925951 Centerline is valid? [True, True] Translation: X:5.78, Y:0.05, Z:-0.12 [[ 9.99670884e-01 -2.49152625e-02 6.11170842e-03 5.78407031e+00] [ 2.49145238e-02 9.99689566e-01 1.96989805e-04 4.50316363e-02] [-6.11471918e-03 -4.46546682e-05 9.99981304e-01 -1.18991412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064975926 meters Centerline goodness [0,1] 0.9969468390804598 Centerline is valid? [True, True] Translation: X:5.81, Y:0.05, Z:-0.12 [[ 9.99673939e-01 -2.47907232e-02 6.11840604e-03 5.81219308e+00] [ 2.47899663e-02 9.99692662e-01 1.99540278e-04 4.67938073e-02] [-6.12147236e-03 -4.78001369e-05 9.99981262e-01 -1.18509763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.094975926 meters Centerline goodness [0,1] 0.9968745196495363 Centerline is valid? [True, True] Translation: X:5.84, Y:0.05, Z:-0.12 [[ 9.99688714e-01 -2.43247437e-02 5.54820097e-03 5.84013304e+00] [ 2.43240880e-02 9.99704108e-01 1.85642578e-04 4.97154296e-02] [-5.55107501e-03 -5.06298611e-05 9.99984591e-01 -1.22756922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124975926 meters Centerline goodness [0,1] 0.9971754313886606 Centerline is valid? [True, True] Translation: X:5.87, Y:0.05, Z:-0.12 [[ 9.99693962e-01 -2.40966108e-02 5.59782275e-03 5.86836035e+00] [ 2.40959521e-02 9.99709633e-01 1.85091469e-04 5.10066193e-02] [-5.60065741e-03 -5.01499551e-05 9.99984315e-01 -1.19809938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.154975926 meters Centerline goodness [0,1] 0.9974874371859297 Centerline is valid? [True, True] Translation: X:5.90, Y:0.05, Z:-0.12 [[ 9.99686444e-01 -2.44706878e-02 5.31029404e-03 5.89660801e+00] [ 2.44700906e-02 9.99700547e-01 1.77409405e-04 5.25290523e-02] [-5.31304519e-03 -4.74104007e-05 9.99985885e-01 -1.21549280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184975926 meters Centerline goodness [0,1] 0.9973087963912242 Centerline is valid? [True, True] Translation: X:5.92, Y:0.05, Z:-0.12 [[ 9.99672320e-01 -2.48065360e-02 6.31578824e-03 5.92430819e+00] [ 2.48056568e-02 9.99692269e-01 2.17516640e-04 5.36305183e-02] [-6.31924051e-03 -6.07780887e-05 9.99980032e-01 -1.20421652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.214975926 meters Centerline goodness [0,1] 0.9976412675623013 Centerline is valid? [True, True] Translation: X:5.95, Y:0.05, Z:-0.12 [[ 9.99661658e-01 -2.52616108e-02 6.19849993e-03 5.95192054e+00] [ 2.52607854e-02 9.99680873e-01 2.11430228e-04 5.45769728e-02] [-6.20186289e-03 -5.47797160e-05 9.99980767e-01 -1.20402712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244975926 meters Centerline goodness [0,1] 0.9974115838031778 Centerline is valid? [True, True] Translation: X:5.98, Y:0.06, Z:-0.12 [[ 9.99671020e-01 -2.49666695e-02 5.87519021e-03 5.97919399e+00] [ 2.49658941e-02 9.99688282e-01 2.05281132e-04 5.74411833e-02] [-5.87848400e-03 -5.85342220e-05 9.99982720e-01 -1.23884202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.274975926 meters Centerline goodness [0,1] 0.9972894185035545 Centerline is valid? [True, True] Translation: X:6.01, Y:0.06, Z:-0.12 [[ 9.99685335e-01 -2.43698365e-02 5.94488816e-03 6.00693869e+00] [ 2.43690440e-02 9.99703010e-01 2.05713314e-04 5.88560507e-02] [-5.94813579e-03 -6.07773416e-05 9.99982308e-01 -1.22012423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304975926 meters Centerline goodness [0,1] 0.9977786855946484 Centerline is valid? [True, True] Translation: X:6.03, Y:0.06, Z:-0.12 [[ 9.99672858e-01 -2.46976499e-02 6.64857178e-03 6.03477321e+00] [ 2.46966263e-02 9.99694964e-01 2.36017617e-04 6.05652398e-02] [-6.65237280e-03 -7.17431124e-05 9.99977870e-01 -1.22271739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.334975926 meters Centerline goodness [0,1] 0.9974637495516729 Centerline is valid? [True, True] Translation: X:6.06, Y:0.06, Z:-0.12 [[ 9.99678830e-01 -2.44647863e-02 6.61147176e-03 6.06295354e+00] [ 2.44637808e-02 9.99700690e-01 2.32918630e-04 6.20479000e-02] [-6.61519118e-03 -7.11022276e-05 9.99978117e-01 -1.22472202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364975926 meters Centerline goodness [0,1] 0.9979069886160601 Centerline is valid? [True, True] Translation: X:6.09, Y:0.07, Z:-0.12 [[ 9.99742219e-01 -2.18568687e-02 6.14603101e-03 6.09018250e+00] [ 2.18559235e-02 9.99761106e-01 2.20926915e-04 6.68660047e-02] [-6.14939153e-03 -8.65427812e-05 9.99981089e-01 -1.23910497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.394975926 meters Centerline goodness [0,1] 0.9997504616459549 Centerline is valid? [True, True] Translation: X:6.12, Y:0.07, Z:-0.13 [[ 9.99735368e-01 -2.25134707e-02 4.72617091e-03 6.11738584e+00] [ 2.25129169e-02 9.99746538e-01 1.70348229e-04 7.28615836e-02] [-4.72880813e-03 -6.39032564e-05 9.99988817e-01 -1.26529773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424975926 meters Centerline goodness [0,1] 0.9998004539672246 Centerline is valid? [True, True] Translation: X:6.15, Y:0.07, Z:-0.13 [[ 9.99723441e-01 -2.29565448e-02 5.10277232e-03 6.14570029e+00] [ 2.29559155e-02 9.99736462e-01 1.81856623e-04 7.40206130e-02] [-5.10560234e-03 -6.46675182e-05 9.99986964e-01 -1.26261256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.454975926 meters Centerline goodness [0,1] 0.9998751279938064 Centerline is valid? [True, True] Translation: X:6.17, Y:0.08, Z:-0.13 [[ 9.99707465e-01 -2.35307759e-02 5.59350674e-03 6.17381700e+00] [ 2.35300140e-02 9.99723110e-01 2.01979491e-04 7.52774930e-02] [-5.59671069e-03 -7.03051128e-05 9.99984336e-01 -1.25054200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.484975926 meters Centerline goodness [0,1] 0.9998751279938064 Centerline is valid? [True, True] Translation: X:6.20, Y:0.08, Z:-0.13 [[ 9.99698728e-01 -2.38991078e-02 5.59343084e-03 6.20135406e+00] [ 2.38983402e-02 9.99714373e-01 2.04040283e-04 7.65601236e-02] [-5.59670959e-03 -7.03050982e-05 9.99984336e-01 -1.25500252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.514975926 meters Centerline goodness [0,1] 0.9998505827273633 Centerline is valid? [True, True] Translation: X:6.23, Y:0.08, Z:-0.13 [[ 9.99689187e-01 -2.42710379e-02 5.69607264e-03 6.22951967e+00] [ 2.42702353e-02 9.99705412e-01 2.10005704e-04 7.79276599e-02] [-5.69949170e-03 -7.16954086e-05 9.99983755e-01 -1.26291483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544975926 meters Centerline goodness [0,1] 0.9998505827273633 Centerline is valid? [True, True] Translation: X:6.26, Y:0.08, Z:-0.13 [[ 9.99680204e-01 -2.46383078e-02 5.69599393e-03 6.25705576e+00] [ 2.46374992e-02 9.99696428e-01 2.12100184e-04 7.92309857e-02] [-5.69949058e-03 -7.16973089e-05 9.99983755e-01 -1.26737538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574975926 meters Centerline goodness [0,1] 0.9998505827273633 Centerline is valid? [True, True] Translation: X:6.28, Y:0.08, Z:-0.13 [[ 9.99671085e-01 -2.50055744e-02 5.69591453e-03 6.28459137e+00] [ 2.50047598e-02 9.99687309e-01 2.14192720e-04 8.05444283e-02] [-5.69948948e-03 -7.16972944e-05 9.99983755e-01 -1.27183593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604975926 meters Centerline goodness [0,1] 0.9998505827273633 Centerline is valid? [True, True] Translation: X:6.31, Y:0.08, Z:-0.13 [[ 9.99661831e-01 -2.53728376e-02 5.69583436e-03 6.31212649e+00] [ 2.53720170e-02 9.99678055e-01 2.16285227e-04 8.18679869e-02] [-5.69948839e-03 -7.16972799e-05 9.99983755e-01 -1.27629648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.634975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.34, Y:0.08, Z:-0.12 [[ 9.99640531e-01 -2.59189408e-02 6.85698029e-03 6.34096921e+00] [ 2.59177359e-02 9.99664044e-01 2.64536983e-04 8.34937132e-02] [-6.86153316e-03 -8.67244861e-05 9.99976456e-01 -1.24124922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664975926 meters Centerline goodness [0,1] 0.9997507166895176 Centerline is valid? [True, True] Translation: X:6.37, Y:0.08, Z:-0.13 [[ 9.99658568e-01 -2.55708544e-02 5.37395493e-03 6.37014772e+00] [ 2.55701060e-02 9.99673010e-01 2.07933213e-04 8.47604981e-02] [-5.37751473e-03 -7.04496207e-05 9.99985539e-01 -1.29958837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.694975926 meters Centerline goodness [0,1] 0.9997507166895176 Centerline is valid? [True, True] Translation: X:6.40, Y:0.09, Z:-0.13 [[ 9.99649100e-01 -2.59383363e-02 5.37390678e-03 6.39768199e+00] [ 2.59375866e-02 9.99663542e-01 2.09165673e-04 8.61122862e-02] [-5.37752410e-03 -6.97061041e-05 9.99985539e-01 -1.30405066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.43, Y:0.09, Z:-0.13 [[ 9.99621603e-01 -2.66043355e-02 6.99002697e-03 6.42619678e+00] [ 2.66030499e-02 9.99646038e-01 2.76861396e-04 8.79217414e-02] [-6.99491848e-03 -9.08005965e-05 9.99975531e-01 -1.25574242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.754975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.45, Y:0.09, Z:-0.13 [[ 9.99611738e-01 -2.69724534e-02 6.98995413e-03 6.45372951e+00] [ 2.69711640e-02 9.99636173e-01 2.78681991e-04 8.92925979e-02] [-6.99492773e-03 -9.00465908e-05 9.99975531e-01 -1.26020463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7849759259999995 meters Centerline goodness [0,1] 0.9997757959244682 Centerline is valid? [True, True] Translation: X:6.48, Y:0.09, Z:-0.13 [[ 9.99620820e-01 -2.70289167e-02 5.25872009e-03 6.48218015e+00] [ 2.70281826e-02 9.99634650e-01 2.10628095e-04 9.03675464e-02] [-5.26249187e-03 -6.84145819e-05 9.99986151e-01 -1.31762787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.814975926 meters Centerline goodness [0,1] 0.9998510463990467 Centerline is valid? [True, True] Translation: X:6.51, Y:0.10, Z:-0.13 [[ 9.99870494e-01 -1.56817921e-02 3.61623769e-03 6.51154892e+00] [ 1.56813589e-02 9.99877029e-01 1.48124726e-04 1.02737587e-01] [-3.61811586e-03 -9.13980215e-05 9.99993450e-01 -1.30936035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844975926 meters Centerline goodness [0,1] 0.9997761639474732 Centerline is valid? [True, True] Translation: X:6.54, Y:0.10, Z:-0.13 [[ 9.99828907e-01 -1.81692191e-02 3.46933286e-03 6.53993312e+00] [ 1.81688373e-02 9.99834923e-01 1.41561371e-04 1.00671970e-01] [-3.47133221e-03 -7.85034073e-05 9.99993972e-01 -1.32482129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.874975926 meters Centerline goodness [0,1] 0.9997010388898577 Centerline is valid? [True, True] Translation: X:6.57, Y:0.10, Z:-0.13 [[ 9.99806083e-01 -1.94683937e-02 2.96277308e-03 6.56898880e+00] [ 1.94681311e-02 9.99810471e-01 1.17430646e-04 1.00852517e-01] [-2.96449773e-03 -5.97282191e-05 9.99995604e-01 -1.34369637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904975926 meters Centerline goodness [0,1] 0.9997262046993229 Centerline is valid? [True, True] Translation: X:6.60, Y:0.10, Z:-0.13 [[ 9.99794403e-01 -2.00433590e-02 3.06849164e-03 6.59663723e+00] [ 2.00430790e-02 9.99799110e-01 1.22003240e-04 1.00750201e-01] [-3.07032056e-03 -6.04761364e-05 9.99995285e-01 -1.33386873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934975926 meters Centerline goodness [0,1] 0.9997757679946184 Centerline is valid? [True, True] Translation: X:6.63, Y:0.10, Z:-0.13 [[ 9.99828200e-01 -1.82762493e-02 3.09018468e-03 6.62583459e+00] [ 1.82759509e-02 9.99832973e-01 1.24765088e-04 1.03731299e-01] [-3.09194877e-03 -6.82675896e-05 9.99995218e-01 -1.33206126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964975926 meters Centerline goodness [0,1] 0.9997261842531053 Centerline is valid? [True, True] Translation: X:6.65, Y:0.11, Z:-0.13 [[ 9.99864015e-01 -1.62254667e-02 2.94718335e-03 6.65459858e+00] [ 1.62251841e-02 9.99868356e-01 1.19773801e-04 1.07339388e-01] [-2.94873876e-03 -7.19389211e-05 9.99995650e-01 -1.33780363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9949759259999995 meters Centerline goodness [0,1] 0.9996020593429005 Centerline is valid? [True, True] Translation: X:6.68, Y:0.11, Z:-0.14 [[ 9.99884307e-01 -1.50374085e-02 2.29089158e-03 6.68314332e+00] [ 1.50372356e-02 9.99886930e-01 9.26744194e-05 1.09702187e-01] [-2.29202613e-03 -5.82150214e-05 9.99997372e-01 -1.36696004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024975926 meters Centerline goodness [0,1] 0.9996271346541052 Centerline is valid? [True, True] Translation: X:6.71, Y:0.11, Z:-0.14 [[ 9.99894005e-01 -1.44088933e-02 2.08870044e-03 6.71217659e+00] [ 1.44087478e-02 9.99896185e-01 8.46835732e-05 1.10888390e-01] [-2.08970380e-03 -5.45790393e-05 9.99997815e-01 -1.36520139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.054975926 meters Centerline goodness [0,1] 0.9998255451713396 Centerline is valid? [True, True] Translation: X:6.74, Y:0.12, Z:-0.13 [[ 9.99922799e-01 -1.20201015e-02 3.14860067e-03 6.74005435e+00] [ 1.20197393e-02 9.99927751e-01 1.33927386e-04 1.15225470e-01] [-3.14998301e-03 -9.60716876e-05 9.99995034e-01 -1.34166273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084975926 meters Centerline goodness [0,1] 0.999601385186477 Centerline is valid? [True, True] Translation: X:6.77, Y:0.12, Z:-0.14 [[ 9.99924008e-01 -1.20462421e-02 2.62045457e-03 6.76995527e+00] [ 1.20459865e-02 9.99927438e-01 1.13276842e-04 1.15919582e-01] [-2.62162898e-03 -8.17022733e-05 9.99996560e-01 -1.37620792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114975926 meters Centerline goodness [0,1] 0.9997759019944723 Centerline is valid? [True, True] Translation: X:6.80, Y:0.12, Z:-0.14 [[ 9.99903166e-01 -1.35789065e-02 3.04484818e-03 6.79978524e+00] [ 1.35785677e-02 9.99907798e-01 1.31912060e-04 1.16166766e-01] [-3.04635866e-03 -9.05546098e-05 9.99995356e-01 -1.35812880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144975926 meters Centerline goodness [0,1] 0.9997513983840896 Centerline is valid? [True, True] Translation: X:6.83, Y:0.12, Z:-0.14 [[ 9.99948475e-01 -1.00096209e-02 1.68941322e-03 6.82901593e+00] [ 1.00095120e-02 9.99949901e-01 7.29160260e-05 1.20025738e-01] [-1.69005844e-03 -5.60020672e-05 9.99998570e-01 -1.38263162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.174975926 meters Centerline goodness [0,1] 0.9996024350851037 Centerline is valid? [True, True] Translation: X:6.86, Y:0.12, Z:-0.14 [[ 9.99962590e-01 -8.54565689e-03 1.33837123e-03 6.85873882e+00] [ 8.54558735e-03 9.99963484e-01 5.76720149e-05 1.22543211e-01] [-1.33881520e-03 -4.62326891e-05 9.99999103e-01 -1.40061044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2049759259999995 meters Centerline goodness [0,1] 0.9997264566185065 Centerline is valid? [True, True] Translation: X:6.89, Y:0.12, Z:-0.14 [[ 9.99958308e-01 -8.85528639e-03 2.22856988e-03 6.88740851e+00] [ 8.85509365e-03 9.99960788e-01 9.63378915e-05 1.24466595e-01] [-2.22933559e-03 -7.65996800e-05 9.99997512e-01 -1.38969605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.234975926 meters Centerline goodness [0,1] 0.9996764317893322 Centerline is valid? [True, True] Translation: X:6.92, Y:0.12, Z:-0.14 [[ 9.99960208e-01 -8.85877012e-03 1.05142677e-03 6.91735785e+00] [ 8.85872744e-03 9.99960760e-01 4.52463187e-05 1.23650955e-01] [-1.05178633e-03 -3.59302151e-05 9.99999446e-01 -1.40092930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264975926 meters Centerline goodness [0,1] 0.9998506162081414 Centerline is valid? [True, True] Translation: X:6.95, Y:0.13, Z:-0.14 [[ 9.99957358e-01 -9.06614388e-03 1.75704869e-03 6.94633584e+00] [ 9.06602450e-03 9.99958900e-01 7.58971534e-05 1.26342033e-01] [-1.75766457e-03 -5.99644705e-05 9.99998454e-01 -1.38508090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.294975926 meters Centerline goodness [0,1] 0.9996767616490129 Centerline is valid? [True, True] Translation: X:6.98, Y:0.13, Z:-0.14 [[ 9.99968867e-01 -7.80429160e-03 1.16506979e-03 6.97554591e+00] [ 7.80423818e-03 9.99969545e-01 5.03936761e-05 1.28838660e-01] [-1.16542759e-03 -4.12996251e-05 9.99999320e-01 -1.41831607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324975926 meters Centerline goodness [0,1] 0.9996024449634746 Centerline is valid? [True, True] Translation: X:7.00, Y:0.13, Z:-0.14 [[ 9.99975142e-01 -7.01586787e-03 7.01876165e-04 7.00478756e+00] [ 7.01584850e-03 9.99975388e-01 3.00601290e-05 1.29732398e-01] [-7.02069789e-04 -2.51351250e-05 9.99999753e-01 -1.42323156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354975926 meters Centerline goodness [0,1] 0.9999751330382454 Centerline is valid? [True, True] Translation: X:7.03, Y:0.13, Z:-0.14 [[ 9.99966465e-01 -7.77946244e-03 2.55906400e-03 7.03460005e+00] [ 7.77920160e-03 9.99969735e-01 1.11867405e-04 1.31224940e-01] [-2.55985682e-03 -9.19561792e-05 9.99996719e-01 -1.36972176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384975926 meters Centerline goodness [0,1] 0.9996265219231631 Centerline is valid? [True, True] Translation: X:7.06, Y:0.13, Z:-0.14 [[ 9.99975359e-01 -6.98796549e-03 6.70888479e-04 7.06374383e+00] [ 6.98794750e-03 9.99975584e-01 2.91550072e-05 1.32851911e-01] [-6.71075833e-04 -2.44661553e-05 9.99999775e-01 -1.43465142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.414975926 meters Centerline goodness [0,1] 0.9996760851148652 Centerline is valid? [True, True] Translation: X:7.09, Y:0.13, Z:-0.14 [[ 9.99972676e-01 -7.35738411e-03 7.18687439e-04 7.09312834e+00] [ 7.35736381e-03 9.99972934e-01 3.08941921e-05 1.33670626e-01] [-7.18895287e-04 -2.56057030e-05 9.99999741e-01 -1.43112179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444975926 meters Centerline goodness [0,1] 0.9997510889856877 Centerline is valid? [True, True] Translation: X:7.12, Y:0.13, Z:-0.14 [[ 9.99974942e-01 -7.01498765e-03 9.51629971e-04 7.12306060e+00] [ 7.01495162e-03 9.99975394e-01 4.11987282e-05 1.34400216e-01] [-9.51895564e-04 -3.45220576e-05 9.99999546e-01 -1.42263904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.474975926 meters Centerline goodness [0,1] 0.999800538545926 Centerline is valid? [True, True] Translation: X:7.15, Y:0.14, Z:-0.14 [[ 9.99975926e-01 -6.88228464e-03 8.84592359e-04 7.15310097e+00] [ 6.88225345e-03 9.99976316e-01 3.82898528e-05 1.36665765e-01] [-8.84834930e-04 -3.22009422e-05 9.99999608e-01 -1.42156974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504975926 meters Centerline goodness [0,1] 0.9996511251214832 Centerline is valid? [True, True] Translation: X:7.18, Y:0.14, Z:-0.14 [[ 9.99980860e-01 -6.15785929e-03 6.00955694e-04 7.18152556e+00] [ 6.15784514e-03 9.99981040e-01 2.54008629e-05 1.38994466e-01] [-6.01100715e-04 -2.16997846e-05 9.99999819e-01 -1.44632580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5349759259999995 meters Centerline goodness [0,1] 0.9996020098502562 Centerline is valid? [True, True] Translation: X:7.21, Y:0.14, Z:-0.15 [[ 9.99986193e-01 -5.21682323e-03 6.31287897e-04 7.21133784e+00] [ 5.21680711e-03 9.99986392e-01 2.71802513e-05 1.40950056e-01] [-6.31421101e-04 -2.38865689e-05 9.99999800e-01 -1.45479790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564975926 meters Centerline goodness [0,1] 0.9997259045151001 Centerline is valid? [True, True] Translation: X:7.24, Y:0.14, Z:-0.15 [[ 9.99981754e-01 -6.03200788e-03 3.25040833e-04 7.24114801e+00] [ 6.03200364e-03 9.99981807e-01 1.40196411e-05 1.42100046e-01] [-3.25119486e-04 -1.20587378e-05 9.99999947e-01 -1.45332277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.594975926 meters Centerline goodness [0,1] 0.9996757376967399 Centerline is valid? [True, True] Translation: X:7.27, Y:0.14, Z:-0.15 [[ 9.99978494e-01 -6.55764714e-03 9.35580801e-05 7.27095556e+00] [ 6.55764685e-03 9.99978498e-01 3.35836977e-06 1.43158273e-01] [-9.35780914e-05 -2.74477670e-06 9.99999996e-01 -1.46193116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624975926 meters Centerline goodness [0,1] 0.9997504865512251 Centerline is valid? [True, True] Translation: X:7.30, Y:0.14, Z:-0.15 [[ 9.99965878e-01 -8.25552295e-03 2.98968622e-04 7.30045353e+00] [ 8.25552088e-03 9.99965923e-01 8.15814107e-06 1.42754330e-01] [-2.99025784e-04 -5.68972099e-06 9.99999955e-01 -1.45450453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.654975926 meters Centerline goodness [0,1] 0.9998504486540379 Centerline is valid? [True, True] Translation: X:7.33, Y:0.15, Z:-0.15 [[ 9.99966980e-01 -8.11278257e-03 4.71250903e-04 7.32921653e+00] [ 8.11277408e-03 9.99967091e-01 1.99247067e-05 1.45640441e-01] [-4.71397039e-04 -1.61008967e-05 9.99999889e-01 -1.45302338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684975926 meters Centerline goodness [0,1] 0.9996267078117612 Centerline is valid? [True, True] Translation: X:7.36, Y:0.15, Z:-0.15 [[ 9.99979379e-01 -6.38169582e-03 -7.18000564e-04 7.35803033e+00] [ 6.38167481e-03 9.99979636e-01 -3.15424647e-05 1.48909872e-01] [ 7.18187237e-04 2.69597682e-05 9.99999742e-01 -1.49419706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.714975926 meters Centerline goodness [0,1] 0.9997007779772591 Centerline is valid? [True, True] Translation: X:7.39, Y:0.15, Z:-0.15 [[ 9.99982985e-01 -5.74947288e-03 -9.86709962e-04 7.38714315e+00] [ 5.74943088e-03 9.99983471e-01 -4.53968866e-05 1.50888308e-01] [ 9.86954660e-04 3.97230934e-05 9.99999512e-01 -1.48836194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7449759259999995 meters Centerline goodness [0,1] 0.9999005296794569 Centerline is valid? [True, True] Translation: X:7.42, Y:0.15, Z:-0.15 [[ 9.99990390e-01 -4.37725444e-03 2.46016136e-04 7.41571100e+00] [ 4.37725320e-03 9.99990420e-01 5.58009896e-06 1.53089871e-01] [-2.46038204e-04 -4.50317042e-06 9.99999970e-01 -1.45484174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.774975926 meters Centerline goodness [0,1] 0.9998510537944046 Centerline is valid? [True, True] Translation: X:7.45, Y:0.16, Z:-0.15 [[ 9.99994784e-01 -3.22338596e-03 -2.05795175e-04 7.44534753e+00] [ 3.22338404e-03 9.99994805e-01 -9.69150219e-06 1.57853410e-01] [ 2.05825346e-04 9.02809475e-06 9.99999979e-01 -1.48007911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804975926 meters Centerline goodness [0,1] 0.9998507759649821 Centerline is valid? [True, True] Translation: X:7.48, Y:0.16, Z:-0.15 [[ 9.99997286e-01 -2.14025512e-03 -9.19993087e-04 7.47533252e+00] [ 2.14021701e-03 9.99997709e-01 -4.23982685e-05 1.59347740e-01] [ 9.20081723e-04 4.04291685e-05 9.99999576e-01 -1.47971004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.834975926 meters Centerline goodness [0,1] 0.9998264663592642 Centerline is valid? [True, True] Translation: X:7.51, Y:0.16, Z:-0.15 [[ 9.99999538e-01 -6.66396952e-04 -6.92228397e-04 7.50512678e+00] [ 6.66374875e-04 9.99999777e-01 -3.21232930e-05 1.62408222e-01] [ 6.92249649e-04 3.16619946e-05 9.99999760e-01 -1.48311902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864975926 meters Centerline goodness [0,1] 0.9995276569297701 Centerline is valid? [True, True] Translation: X:7.54, Y:0.16, Z:-0.15 [[ 9.99998034e-01 8.22929103e-04 -1.80382553e-03 7.53554927e+00] [-8.23077822e-04 9.99999658e-01 -8.17055979e-05 1.64926438e-01] [ 1.80375768e-03 8.31901261e-05 9.99998370e-01 -1.50422713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894975926 meters Centerline goodness [0,1] 0.9986821493398315 Centerline is valid? [True, True] Translation: X:7.56, Y:0.17, Z:-0.15 [[ 9.99996739e-01 8.89164684e-04 -2.39383487e-03 7.56484587e+00] [-8.89427829e-04 9.99999599e-01 -1.08863898e-04 1.66896269e-01] [ 2.39373711e-03 1.10992686e-04 9.99997129e-01 -1.52488550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924975926 meters Centerline goodness [0,1] 0.9994769223105089 Centerline is valid? [True, True] Translation: X:7.60, Y:0.16, Z:-0.15 [[ 9.99997913e-01 8.23948087e-05 -2.04121087e-03 7.59514870e+00] [-8.25865134e-05 9.99999992e-01 -9.38330090e-05 1.64799960e-01] [ 2.04120312e-03 9.40013897e-05 9.99997912e-01 -1.51099863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9549759259999995 meters Centerline goodness [0,1] 0.9996276067527309 Centerline is valid? [True, True] Translation: X:7.62, Y:0.16, Z:-0.15 [[ 9.99998258e-01 -8.09874398e-04 -1.68196005e-03 7.62483143e+00] [ 8.09745659e-04 9.99999669e-01 -7.72203986e-05 1.63839884e-01] [ 1.68202203e-03 7.58583042e-05 9.99998583e-01 -1.50433631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.984975926 meters Centerline goodness [0,1] 0.9999004108054276 Centerline is valid? [True, True] Translation: X:7.65, Y:0.16, Z:-0.15 [[ 9.99992888e-01 -3.65479750e-03 -9.30799420e-04 7.65492542e+00] [ 3.65475932e-03 9.99993320e-01 -4.27121895e-05 1.62722622e-01] [ 9.30949307e-04 3.93100379e-05 9.99999566e-01 -1.49093578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.014975926 meters Centerline goodness [0,1] 0.999576935519996 Centerline is valid? [True, True] Translation: X:7.68, Y:0.16, Z:-0.15 [[ 9.99990597e-01 -3.90668516e-03 -1.88223649e-03 7.68417430e+00] [ 3.90652931e-03 9.99992366e-01 -8.64704314e-05 1.62570743e-01] [ 1.88255993e-03 7.91166063e-05 9.99998225e-01 -1.51887280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044975926 meters Centerline goodness [0,1] 0.9996516199671528 Centerline is valid? [True, True] Translation: X:7.71, Y:0.16, Z:-0.15 [[ 9.99985574e-01 -5.19449469e-03 -1.36682576e-03 7.71258167e+00] [ 5.19441274e-03 9.99986507e-01 -6.35026899e-05 1.63449112e-01] [ 1.36713719e-03 5.64019166e-05 9.99999064e-01 -1.51673116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.074975926 meters Centerline goodness [0,1] 0.9993792983588649 Centerline is valid? [True, True] Translation: X:7.74, Y:0.17, Z:-0.15 [[ 9.99985994e-01 -5.14082188e-03 -1.25858079e-03 7.74083723e+00] [ 5.14075214e-03 9.99986785e-01 -5.86386372e-05 1.69586241e-01] [ 1.25886560e-03 5.21677640e-05 9.99999206e-01 -1.53402566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104975926 meters Centerline goodness [0,1] 0.9998510759760729 Centerline is valid? [True, True] Translation: X:7.77, Y:0.17, Z:-0.15 [[ 9.99985369e-01 -5.38020328e-03 -5.61091173e-04 7.76993591e+00] [ 5.38018659e-03 9.99985526e-01 -3.12511161e-05 1.68135353e-01] [ 5.61251190e-04 2.82318836e-05 9.99999842e-01 -1.51105595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.134975926 meters Centerline goodness [0,1] 0.9994536469068964 Centerline is valid? [True, True] Translation: X:7.80, Y:0.17, Z:-0.15 [[ 9.99991201e-01 -3.78995326e-03 -1.79842236e-03 7.79946850e+00] [ 3.78980907e-03 9.99992815e-01 -8.35722321e-05 1.71797895e-01] [ 1.79872617e-03 7.67558194e-05 9.99998379e-01 -1.54021692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164975926 meters Centerline goodness [0,1] 0.9992303108550998 Centerline is valid? [True, True] Translation: X:7.83, Y:0.18, Z:-0.16 [[ 9.99994367e-01 -2.88984727e-03 -1.70726863e-03 7.82806778e+00] [ 2.88971512e-03 9.99995822e-01 -7.98670842e-05 1.75586858e-01] [ 1.70749230e-03 7.49331143e-05 9.99998539e-01 -1.55035854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.194975926 meters Centerline goodness [0,1] 0.9983130736789878 Centerline is valid? [True, True] Translation: X:7.86, Y:0.18, Z:-0.16 [[ 9.99996909e-01 -1.02744226e-03 -2.26403626e-03 7.85747980e+00] [ 1.02720658e-03 9.99999467e-01 -1.05256826e-04 1.78494771e-01] [ 2.26414320e-03 1.02930868e-04 9.99997432e-01 -1.56757725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224975925999999 meters Centerline goodness [0,1] 0.9980869089915277 Centerline is valid? [True, True] Translation: X:7.89, Y:0.18, Z:-0.16 [[ 9.99996755e-01 -1.44341578e-03 -2.09937286e-03 7.88679704e+00] [ 1.44320848e-03 9.99998954e-01 -1.00254612e-04 1.80285612e-01] [ 2.09951537e-03 9.72244537e-05 9.99997791e-01 -1.57240734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.254975926 meters Centerline goodness [0,1] 0.9985367789296166 Centerline is valid? [True, True] Translation: X:7.92, Y:0.18, Z:-0.16 [[ 9.99999445e-01 -3.83055479e-04 -9.80991749e-04 7.91502726e+00] [ 3.83009919e-04 9.99999926e-01 -4.66301130e-05 1.84069496e-01] [ 9.81009538e-04 4.62543576e-05 9.99999518e-01 -1.56131717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284975926 meters Centerline goodness [0,1] 0.9995034879968223 Centerline is valid? [True, True] Translation: X:7.95, Y:0.18, Z:-0.16 [[ 9.99999230e-01 8.50797710e-04 -9.03454878e-04 7.94579462e+00] [-8.50835939e-04 9.99999637e-01 -4.19299352e-05 1.81603312e-01] [ 9.03418876e-04 4.26985948e-05 9.99999591e-01 -1.55199103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.314975926 meters Centerline goodness [0,1] 0.9993791596304759 Centerline is valid? [True, True] Translation: X:7.98, Y:0.18, Z:-0.16 [[ 9.99999279e-01 9.15779595e-04 -7.76397195e-04 7.97610182e+00] [-9.15807847e-04 9.99999580e-01 -3.60331045e-05 1.82072405e-01] [ 7.76363871e-04 3.67441092e-05 9.99999698e-01 -1.55795611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344975926 meters Centerline goodness [0,1] 0.9993294424438097 Centerline is valid? [True, True] Translation: X:8.01, Y:0.18, Z:-0.16 [[ 9.99999690e-01 -5.68618004e-04 -5.45550065e-04 8.00655274e+00] [ 5.68604275e-04 9.99999838e-01 -2.53193374e-05 1.82437925e-01] [ 5.45564373e-04 2.50091274e-05 9.99999851e-01 -1.56690333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.374975926 meters Centerline goodness [0,1] 0.9988554081962726 Centerline is valid? [True, True] Translation: X:8.04, Y:0.19, Z:-0.16 [[ 9.99997537e-01 -2.21841132e-03 6.29838937e-05 8.03574074e+00] [ 2.21841116e-03 9.99997539e-01 2.53357444e-06 1.85646538e-01] [-6.29893593e-05 -2.39384402e-06 9.99999998e-01 -1.57879815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404975926 meters Centerline goodness [0,1] 0.999453130826021 Centerline is valid? [True, True] Translation: X:8.07, Y:0.18, Z:-0.16 [[ 9.99996423e-01 -2.67193597e-03 -1.18302929e-04 8.06668165e+00] [ 2.67193534e-03 9.99996430e-01 -5.49337124e-06 1.83729393e-01] [ 1.18317185e-04 5.17725381e-06 9.99999993e-01 -1.56799423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.434975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.10, Y:0.18, Z:-0.15 [[ 9.99996215e-01 -2.72557846e-03 3.75736810e-04 8.09670197e+00] [ 2.72557239e-03 9.99996285e-01 1.66719315e-05 1.84994207e-01] [-3.75780855e-04 -1.56477705e-05 9.99999929e-01 -1.54854619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464975926 meters Centerline goodness [0,1] 0.9996277361393756 Centerline is valid? [True, True] Translation: X:8.13, Y:0.19, Z:-0.16 [[ 9.99995643e-01 -2.86803207e-03 6.99148181e-04 8.12578726e+00] [ 2.86801031e-03 9.99995887e-01 3.21237140e-05 1.86560013e-01] [-6.99237437e-04 -3.01184098e-05 9.99999755e-01 -1.56986469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.494975926 meters Centerline goodness [0,1] 0.9998509687034277 Centerline is valid? [True, True] Translation: X:8.15, Y:0.19, Z:-0.16 [[ 9.99997867e-01 -1.58398986e-03 1.32546569e-03 8.15485084e+00] [ 1.58391001e-03 9.99998744e-01 6.12886792e-05 1.90311882e-01] [-1.32556111e-03 -5.91891301e-05 9.99999120e-01 -1.56349008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524975926 meters Centerline goodness [0,1] 0.9998509687034277 Centerline is valid? [True, True] Translation: X:8.18, Y:0.19, Z:-0.16 [[ 9.99997867e-01 -1.58399614e-03 1.32544769e-03 8.18484806e+00] [ 1.58391578e-03 9.99998744e-01 6.16755746e-05 1.91707540e-01] [-1.32554372e-03 -5.95760455e-05 9.99999120e-01 -1.56836295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554975926 meters Centerline goodness [0,1] 0.9988595512582125 Centerline is valid? [True, True] Translation: X:8.22, Y:0.20, Z:-0.16 [[ 9.99999844e-01 1.68273776e-04 5.32607971e-04 8.21507492e+00] [-1.68287527e-04 9.99999986e-01 2.57729412e-05 1.96165988e-01] [-5.32603627e-04 -2.58625685e-05 9.99999858e-01 -1.60559455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584975926 meters Centerline goodness [0,1] 0.9982176011882659 Centerline is valid? [True, True] Translation: X:8.25, Y:0.20, Z:-0.16 [[ 9.99999220e-01 1.15191850e-03 4.82284828e-04 8.24531722e+00] [-1.15192944e-03 9.99999336e-01 2.24111701e-05 1.97541131e-01] [-4.82258692e-04 -2.29667107e-05 9.99999883e-01 -1.61642567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.614975926 meters Centerline goodness [0,1] 0.9988598339323336 Centerline is valid? [True, True] Translation: X:8.28, Y:0.20, Z:-0.16 [[ 9.99999680e-01 4.48692188e-04 6.62881265e-04 8.27554233e+00] [-4.48712943e-04 9.99999899e-01 3.11615267e-05 2.00810682e-01] [-6.62867216e-04 -3.14589601e-05 9.99999780e-01 -1.59956096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644975926 meters Centerline goodness [0,1] 0.9992072732677683 Centerline is valid? [True, True] Translation: X:8.31, Y:0.20, Z:-0.16 [[ 9.99999807e-01 4.73648431e-04 4.02571817e-04 8.30610118e+00] [-4.73655996e-04 9.99999888e-01 1.86977285e-05 1.99129597e-01] [-4.02562915e-04 -1.88884054e-05 9.99999919e-01 -1.60322152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.674975926 meters Centerline goodness [0,1] 0.9975490196078431 Centerline is valid? [True, True] Translation: X:8.34, Y:0.20, Z:-0.16 [[ 9.99999853e-01 4.90168357e-04 2.32344876e-04 8.33643000e+00] [-4.90170965e-04 9.99999880e-01 1.11671194e-05 2.03150881e-01] [-2.32339375e-04 -1.12810065e-05 9.99999973e-01 -1.63384486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704975926 meters Centerline goodness [0,1] 0.9986349647572719 Centerline is valid? [True, True] Translation: X:8.37, Y:0.20, Z:-0.16 [[ 9.99999713e-01 -6.78293572e-04 3.36509286e-04 8.36733451e+00] [ 6.78288354e-04 9.99999770e-01 1.56214944e-05 2.01987331e-01] [-3.36519804e-04 -1.53932396e-05 9.99999943e-01 -1.63081396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.734975926 meters Centerline goodness [0,1] 0.9984605070394558 Centerline is valid? [True, True] Translation: X:8.40, Y:0.20, Z:-0.16 [[ 9.99999111e-01 -1.16382887e-03 6.51424788e-04 8.39776077e+00] [ 1.16380919e-03 9.99999322e-01 3.05978798e-05 2.04291152e-01] [-6.51459957e-04 -2.98397185e-05 9.99999787e-01 -1.63494396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764975926 meters Centerline goodness [0,1] 0.9974175605880016 Centerline is valid? [True, True] Translation: X:8.43, Y:0.21, Z:-0.17 [[ 9.99999571e-01 -6.72688180e-04 6.36254295e-04 8.42837434e+00] [ 6.72669310e-04 9.99999773e-01 2.98713618e-05 2.06729321e-01] [-6.36274245e-04 -2.94433603e-05 9.99999797e-01 -1.65030049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794975926 meters Centerline goodness [0,1] 0.9992791986677603 Centerline is valid? [True, True] Translation: X:8.46, Y:0.21, Z:-0.16 [[ 9.99997905e-01 1.90481063e-03 7.49062654e-04 8.45855478e+00] [-1.90483719e-03 9.99998185e-01 3.47390950e-05 2.08846930e-01] [-7.48995123e-04 -3.61658646e-05 9.99999719e-01 -1.62823245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824975926 meters Centerline goodness [0,1] 0.9972243562736983 Centerline is valid? [True, True] Translation: X:8.49, Y:0.21, Z:-0.17 [[ 9.99985640e-01 5.35359902e-03 2.41808261e-04 8.48821028e+00] [-5.35360224e-03 9.99985669e-01 1.26572351e-05 2.14063948e-01] [-2.41737033e-04 -1.39515986e-05 9.99999971e-01 -1.65105389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.854975926 meters Centerline goodness [0,1] 0.9974931744849839 Centerline is valid? [True, True] Translation: X:8.52, Y:0.22, Z:-0.17 [[ 9.99985440e-01 5.39603115e-03 -5.26425244e-05 8.51932160e+00] [-5.39603125e-03 9.99985441e-01 -1.69001200e-06 2.15737873e-01] [ 5.26326386e-05 1.97404810e-06 9.99999999e-01 -1.65128512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884975926 meters Centerline goodness [0,1] 0.9961193064504092 Centerline is valid? [True, True] Translation: X:8.55, Y:0.22, Z:-0.17 [[ 9.99994899e-01 3.13517597e-03 -6.10859973e-04 8.55007104e+00] [-3.13519334e-03 9.99995085e-01 -2.74756626e-05 2.15337167e-01] [ 6.10770829e-04 2.93906865e-05 9.99999813e-01 -1.67292819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.914975926 meters Centerline goodness [0,1] 0.9976104542626011 Centerline is valid? [True, True] Translation: X:8.58, Y:0.22, Z:-0.17 [[ 9.99998207e-01 1.88040202e-03 -2.25781807e-04 8.58075586e+00] [-1.88040442e-03 9.99998232e-01 -1.04299075e-05 2.15815984e-01] [ 2.25761795e-04 1.08544500e-05 9.99999974e-01 -1.65469941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944975926 meters Centerline goodness [0,1] 0.9976091450202974 Centerline is valid? [True, True] Translation: X:8.61, Y:0.22, Z:-0.17 [[ 9.99999876e-01 -4.55899306e-04 2.01287705e-04 8.61192680e+00] [ 4.55897371e-04 9.99999896e-01 9.65791291e-06 2.15542451e-01] [-2.01292087e-04 -9.56614518e-06 9.99999980e-01 -1.65989266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.974975925999999 meters Centerline goodness [0,1] 0.9983024614309252 Centerline is valid? [True, True] Translation: X:8.64, Y:0.21, Z:-0.17 [[ 9.99993530e-01 -3.58481693e-03 -2.96992189e-04 8.64276079e+00] [ 3.58481302e-03 9.99993574e-01 -1.37127747e-05 2.11690810e-01] [ 2.97039439e-04 1.26480245e-05 9.99999956e-01 -1.66795121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004975926 meters Centerline goodness [0,1] 0.9977530334049034 Centerline is valid? [True, True] Translation: X:8.67, Y:0.21, Z:-0.17 [[ 9.99989624e-01 -4.51563696e-03 -6.00869876e-04 8.67215943e+00] [ 4.51562087e-03 9.99989804e-01 -2.81309879e-05 2.13833165e-01] [ 6.00990779e-04 2.54173955e-05 9.99999819e-01 -1.67710523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.034975926 meters Centerline goodness [0,1] 0.9988013185495954 Centerline is valid? [True, True] Translation: X:8.70, Y:0.21, Z:-0.17 [[ 9.99982873e-01 -5.85249592e-03 5.42784613e-05 8.70167695e+00] [ 5.85249605e-03 9.99982874e-01 -2.36899497e-06 2.13127051e-01] [-5.42636672e-05 2.68661887e-06 9.99999999e-01 -1.67214524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064975926 meters Centerline goodness [0,1] 0.9986007695767328 Centerline is valid? [True, True] Translation: X:8.73, Y:0.21, Z:-0.17 [[ 9.99969216e-01 -7.84436903e-03 1.79567472e-04 8.73107678e+00] [ 7.84436779e-03 9.99969232e-01 7.60867310e-06 2.13094986e-01] [-1.79621632e-04 -6.19984559e-06 9.99999984e-01 -1.67977248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.094975926 meters Centerline goodness [0,1] 0.9992001599680064 Centerline is valid? [True, True] Translation: X:8.76, Y:0.21, Z:-0.17 [[ 9.99953935e-01 -9.58532351e-03 5.00259132e-04 8.76003151e+00] [ 9.58531568e-03 9.99954060e-01 1.80481231e-05 2.11929240e-01] [-5.00409147e-04 -1.32521500e-05 9.99999875e-01 -1.67656558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124975926 meters Centerline goodness [0,1] 0.9985736449627146 Centerline is valid? [True, True] Translation: X:8.79, Y:0.21, Z:-0.17 [[ 9.99946805e-01 -1.03137971e-02 -1.09398837e-04 8.78870581e+00] [ 1.03137964e-02 9.99946811e-01 -6.60421720e-06 2.14019886e-01] [ 1.09461133e-04 5.47554855e-06 9.99999994e-01 -1.69957349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.154975926 meters Centerline goodness [0,1] 0.9983257534109651 Centerline is valid? [True, True] Translation: X:8.82, Y:0.22, Z:-0.17 [[ 9.99933230e-01 -1.15528311e-02 -2.60008530e-04 8.81772848e+00] [ 1.15528269e-02 9.99933264e-01 -1.75711719e-05 2.15113785e-01] [ 2.60194175e-04 1.45661652e-05 9.99999966e-01 -1.71139122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184975926 meters Centerline goodness [0,1] 0.998603177770572 Centerline is valid? [True, True] Translation: X:8.85, Y:0.22, Z:-0.17 [[ 9.99928252e-01 -1.19784351e-02 9.11530211e-05 8.84612443e+00] [ 1.19784353e-02 9.99928256e-01 -1.65839455e-06 2.17391914e-01] [-9.11266165e-05 2.75014613e-06 9.99999996e-01 -1.71479456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214975926 meters Centerline goodness [0,1] 0.9979797475931561 Centerline is valid? [True, True] Translation: X:8.87, Y:0.22, Z:-0.17 [[ 9.99918394e-01 -1.27734466e-02 2.08609005e-04 8.87402440e+00] [ 1.27734452e-02 9.99918416e-01 8.11764567e-06 2.19081810e-01] [-2.08695676e-04 -5.45232753e-06 9.99999978e-01 -1.72981106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244975926 meters Centerline goodness [0,1] 0.9995252136538557 Centerline is valid? [True, True] Translation: X:8.90, Y:0.22, Z:-0.17 [[ 9.99908141e-01 -1.35292837e-02 8.17761596e-04 8.90285132e+00] [ 1.35292605e-02 9.99908475e-01 3.38324405e-05 2.17507514e-01] [-8.18144479e-04 -2.27656230e-05 9.99999665e-01 -1.69737182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.274975926 meters Centerline goodness [0,1] 0.998928028319996 Centerline is valid? [True, True] Translation: X:8.93, Y:0.22, Z:-0.17 [[ 9.99918302e-01 -1.27773022e-02 3.60751426e-04 8.93177207e+00] [ 1.27772987e-02 9.99918367e-01 1.20112995e-05 2.20711845e-01] [-3.60875449e-04 -7.40088950e-06 9.99999935e-01 -1.71051631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304975926 meters Centerline goodness [0,1] 0.9978577122359505 Centerline is valid? [True, True] Translation: X:8.96, Y:0.23, Z:-0.17 [[ 9.99924484e-01 -1.22752431e-02 5.87490436e-04 8.95935110e+00] [ 1.22752302e-02 9.99924656e-01 2.56517170e-05 2.25811302e-01] [-5.87761054e-04 -1.84381995e-05 9.99999827e-01 -1.73621225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.334975926 meters Centerline goodness [0,1] 0.9977141153377892 Centerline is valid? [True, True] Translation: X:8.99, Y:0.23, Z:-0.17 [[ 9.99971694e-01 -7.51918749e-03 2.71082965e-04 8.98897961e+00] [ 7.51918439e-03 9.99971730e-01 1.24338800e-05 2.30931232e-01] [-2.71168794e-04 -1.03952052e-05 9.99999963e-01 -1.73815183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364975926 meters Centerline goodness [0,1] 0.9980104451628948 Centerline is valid? [True, True] Translation: X:9.02, Y:0.24, Z:-0.17 [[ 9.99997093e-01 -2.40251300e-03 -2.03343898e-04 9.01923967e+00] [ 2.40251104e-03 9.99997114e-01 -9.89921891e-06 2.35293743e-01] [ 2.03367094e-04 9.41065418e-06 9.99999979e-01 -1.73243064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394975925999999 meters Centerline goodness [0,1] 0.9961987577639752 Centerline is valid? [True, True] Translation: X:9.05, Y:0.24, Z:-0.17 [[ 9.99999070e-01 -1.33403012e-03 -2.83259463e-04 9.04818833e+00] [ 1.33402615e-03 9.99999110e-01 -1.41851651e-05 2.41296012e-01] [ 2.83278134e-04 1.38072763e-05 9.99999960e-01 -1.74177368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424975926 meters Centerline goodness [0,1] 0.9971451268556676 Centerline is valid? [True, True] Translation: X:9.08, Y:0.24, Z:-0.17 [[ 9.99999650e-01 -8.34077141e-04 -6.13429882e-05 9.07879360e+00] [ 8.34076959e-04 9.99999652e-01 -2.98778006e-06 2.39969807e-01] [ 6.13454589e-05 2.93661424e-06 9.99999998e-01 -1.73812333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.454975926 meters Centerline goodness [0,1] 0.9953571517243092 Centerline is valid? [True, True] Translation: X:9.11, Y:0.24, Z:-0.18 [[ 9.99999224e-01 -1.24392499e-03 -6.66324209e-05 9.10803613e+00] [ 1.24392475e-03 9.99999226e-01 -3.63476721e-06 2.42750807e-01] [ 6.66368907e-05 3.55187867e-06 9.99999998e-01 -1.75729426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484975926 meters Centerline goodness [0,1] 0.9942595859943838 Centerline is valid? [True, True] Translation: X:9.14, Y:0.25, Z:-0.18 [[ 9.99999585e-01 -8.94897757e-04 -1.72902527e-04 9.13742439e+00] [ 8.94896249e-04 9.99999600e-01 -8.80325369e-06 2.45279639e-01] [ 1.72910336e-04 8.64852021e-06 9.99999985e-01 -1.76448794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.514975926 meters Centerline goodness [0,1] 0.9949878417944519 Centerline is valid? [True, True] Translation: X:9.17, Y:0.24, Z:-0.18 [[ 9.99999029e-01 -1.39224916e-03 -6.31731906e-05 9.16804812e+00] [ 1.39224897e-03 9.99999031e-01 -3.07989052e-06 2.44157902e-01] [ 6.31774173e-05 2.99193472e-06 9.99999998e-01 -1.76880304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544975926 meters Centerline goodness [0,1] 0.993811973458585 Centerline is valid? [True, True] Translation: X:9.20, Y:0.25, Z:-0.18 [[ 9.99998229e-01 -1.74477638e-03 -7.04969281e-04 9.19751000e+00] [ 1.74475231e-03 9.99998477e-01 -3.47642824e-05 2.47185101e-01] [ 7.05028864e-04 3.35342240e-05 9.99999751e-01 -1.78164421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.574975926 meters Centerline goodness [0,1] 0.9948860533240653 Centerline is valid? [True, True] Translation: X:9.23, Y:0.25, Z:-0.18 [[ 9.99999534e-01 -9.65063640e-04 -2.94964977e-05 9.22720053e+00] [ 9.65063575e-04 9.99999534e-01 -2.20484466e-06 2.47595244e-01] [ 2.94986118e-05 2.17637764e-06 1.00000000e+00 -1.77439944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604975926 meters Centerline goodness [0,1] 0.9935003721161002 Centerline is valid? [True, True] Translation: X:9.26, Y:0.25, Z:-0.18 [[ 9.99999628e-01 -7.53049713e-04 4.20151492e-04 9.25639319e+00] [ 7.53041315e-04 9.99999716e-01 2.01448177e-05 2.52094160e-01] [-4.20166543e-04 -1.98284188e-05 9.99999912e-01 -1.77367555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.634975926 meters Centerline goodness [0,1] 0.9931389365351629 Centerline is valid? [True, True] Translation: X:9.29, Y:0.25, Z:-0.18 [[ 9.99999235e-01 -1.11084231e-03 5.43530286e-04 9.28705289e+00] [ 1.11082805e-03 9.99999383e-01 2.65498273e-05 2.53213019e-01] [-5.43559444e-04 -2.59460383e-05 9.99999852e-01 -1.78590544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664975926 meters Centerline goodness [0,1] 0.991769240333209 Centerline is valid? [True, True] Translation: X:9.32, Y:0.25, Z:-0.18 [[ 9.99999753e-01 -6.97069388e-04 8.52481460e-05 9.31722480e+00] [ 6.97069036e-04 9.99999757e-01 4.16411671e-06 2.53840052e-01] [-8.52510279e-05 -4.10469184e-06 9.99999996e-01 -1.80095240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.694975926 meters Centerline goodness [0,1] 0.9957016497714172 Centerline is valid? [True, True] Translation: X:9.35, Y:0.26, Z:-0.18 [[ 9.99999243e-01 -7.59388988e-04 9.68047988e-04 9.34764392e+00] [ 7.59343568e-04 9.99999711e-01 4.72862461e-05 2.55292961e-01] [-9.68083616e-04 -4.65511293e-05 9.99999530e-01 -1.77789524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724975925999999 meters Centerline goodness [0,1] 0.9914551145114014 Centerline is valid? [True, True] Translation: X:9.38, Y:0.26, Z:-0.18 [[ 9.99999892e-01 -4.47542937e-04 1.27140969e-04 9.37826296e+00] [ 4.47542151e-04 9.99999900e-01 6.21045569e-06 2.55962848e-01] [-1.27143735e-04 -6.15355407e-06 9.99999992e-01 -1.81719956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.754975926 meters Centerline goodness [0,1] 0.989711985288636 Centerline is valid? [True, True] Translation: X:9.41, Y:0.26, Z:-0.18 [[ 9.99999858e-01 -5.27397116e-04 7.73384290e-05 9.40783820e+00] [ 5.27396854e-04 9.99999861e-01 3.41349730e-06 2.58915958e-01] [-7.73402186e-05 -3.37270877e-06 9.99999997e-01 -1.83261178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784975926 meters Centerline goodness [0,1] 0.9939666302512663 Centerline is valid? [True, True] Translation: X:9.44, Y:0.26, Z:-0.18 [[ 9.99999889e-01 3.02210250e-04 3.61689559e-04 9.43806968e+00] [-3.02216623e-04 9.99999954e-01 1.75654208e-05 2.55725790e-01] [-3.61684234e-04 -1.76747274e-05 9.99999934e-01 -1.81713821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.814975926 meters Centerline goodness [0,1] 0.9908966546449447 Centerline is valid? [True, True] Translation: X:9.47, Y:0.26, Z:-0.18 [[ 9.99996864e-01 2.41744384e-03 6.53732590e-04 9.46760044e+00] [-2.41746524e-03 9.99997077e-01 3.19521909e-05 2.62865911e-01] [-6.53653437e-04 -3.35324665e-05 9.99999786e-01 -1.82755600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844975926 meters Centerline goodness [0,1] 0.9903510521591702 Centerline is valid? [True, True] Translation: X:9.50, Y:0.26, Z:-0.18 [[ 9.99997346e-01 2.21764495e-03 6.24223722e-04 9.49888573e+00] [-2.21766487e-03 9.99997540e-01 3.12144355e-05 2.63908894e-01] [-6.24152964e-04 -3.25986717e-05 9.99999805e-01 -1.83947861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874975926 meters Centerline goodness [0,1] 0.9940152610842352 Centerline is valid? [True, True] Translation: X:9.53, Y:0.26, Z:-0.18 [[ 9.99998115e-01 6.65852672e-04 1.82409831e-03 9.53058989e+00] [-6.66017485e-04 9.99999774e-01 8.97472833e-05 2.60852200e-01] [-1.82403814e-03 -9.09619955e-05 9.99998332e-01 -1.82878366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904975926 meters Centerline goodness [0,1] 0.9964835274459436 Centerline is valid? [True, True] Translation: X:9.56, Y:0.26, Z:-0.18 [[ 9.99996393e-01 -1.78535780e-03 2.00682130e-03 9.56209009e+00] [ 1.78516358e-03 9.99998402e-01 9.85700105e-05 2.60067617e-01] [-2.00699408e-03 -9.49871507e-05 9.99997981e-01 -1.81639661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.934975926 meters Centerline goodness [0,1] 0.9923339223934091 Centerline is valid? [True, True] Translation: X:9.59, Y:0.26, Z:-0.19 [[ 9.99996789e-01 -2.20608346e-03 1.24717018e-03 9.59202613e+00] [ 2.20600893e-03 9.99997565e-01 6.11293108e-05 2.61543911e-01] [-1.24730200e-03 -5.83778459e-05 9.99999220e-01 -1.85159141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964975926 meters Centerline goodness [0,1] 0.993597728065368 Centerline is valid? [True, True] Translation: X:9.62, Y:0.26, Z:-0.18 [[ 9.99998515e-01 -1.47161029e-03 8.96864225e-04 9.62269548e+00] [ 1.47157170e-03 9.99998916e-01 4.36901087e-05 2.62725612e-01] [-8.96927547e-04 -4.23702438e-05 9.99999597e-01 -1.84963959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.994975926 meters Centerline goodness [0,1] 0.9930337861372344 Centerline is valid? [True, True] Translation: X:9.65, Y:0.26, Z:-0.19 [[ 9.99995222e-01 -2.76204490e-03 1.38802808e-03 9.65285157e+00] [ 2.76195322e-03 9.99996183e-01 6.79588169e-05 2.64952193e-01] [-1.38821049e-03 -6.41248236e-05 9.99999034e-01 -1.86162001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024975926 meters Centerline goodness [0,1] 0.9943646519050469 Centerline is valid? [True, True] Translation: X:9.68, Y:0.26, Z:-0.19 [[ 9.99972562e-01 -7.28166064e-03 1.36118765e-03 9.68389519e+00] [ 7.28157671e-03 9.99973487e-01 6.66081967e-05 2.63101494e-01] [-1.36163657e-03 -5.66947769e-05 9.99999071e-01 -1.87198149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.054975926 meters Centerline goodness [0,1] 0.9975551342181419 Centerline is valid? [True, True] Translation: X:9.71, Y:0.26, Z:-0.19 [[ 9.99922715e-01 -1.22719912e-02 1.99074298e-03 9.71465698e+00] [ 1.22718233e-02 9.99924694e-01 9.65546946e-05 2.56613520e-01] [-1.99177798e-03 -7.21171864e-05 9.99998014e-01 -1.85997346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084975926 meters Centerline goodness [0,1] 0.9987270049671767 Centerline is valid? [True, True] Translation: X:9.74, Y:0.25, Z:-0.19 [[ 9.99845450e-01 -1.74299907e-02 2.29618262e-03 9.74399511e+00] [ 1.74297813e-02 9.99848084e-01 1.11161688e-04 2.54526163e-01] [-2.29777134e-03 -7.11225474e-05 9.99997358e-01 -1.85593413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.114975926 meters Centerline goodness [0,1] 0.9987262419141337 Centerline is valid? [True, True] Translation: X:9.77, Y:0.25, Z:-0.19 [[ 9.99814171e-01 -1.91916650e-02 1.81730199e-03 9.77318597e+00] [ 1.91915441e-02 9.99815822e-01 8.39029664e-05 2.54731884e-01] [-1.81857752e-03 -4.90105435e-05 9.99998345e-01 -1.87033131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144975925999999 meters Centerline goodness [0,1] 0.9986778096544843 Centerline is valid? [True, True] Translation: X:9.80, Y:0.26, Z:-0.19 [[ 9.99811849e-01 -1.93467913e-02 1.40293856e-03 9.80195471e+00] [ 1.93467207e-02 9.99812833e-01 6.38974399e-05 2.55517435e-01] [-1.40391219e-03 -3.67431570e-05 9.99999014e-01 -1.88025589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.174975926 meters Centerline goodness [0,1] 0.9970319008305689 Centerline is valid? [True, True] Translation: X:9.83, Y:0.26, Z:-0.19 [[ 9.99871662e-01 -1.60132202e-02 4.85880589e-04 9.82992708e+00] [ 1.60132111e-02 9.99871780e-01 2.25526957e-05 2.60988976e-01] [-4.86179430e-04 -1.47692929e-05 9.99999882e-01 -1.90799214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204975926 meters Centerline goodness [0,1] 0.9979306390087013 Centerline is valid? [True, True] Translation: X:9.86, Y:0.27, Z:-0.19 [[ 9.99917009e-01 -1.27910875e-02 1.53748108e-03 9.85765608e+00] [ 1.27909882e-02 9.99918189e-01 7.44007254e-05 2.66476888e-01] [-1.53830697e-03 -5.47286484e-05 9.99998815e-01 -1.88841768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.234975926 meters Centerline goodness [0,1] 0.9958475271651291 Centerline is valid? [True, True] Translation: X:9.89, Y:0.27, Z:-0.19 [[ 9.99956825e-01 -9.24798141e-03 9.06986842e-04 9.88652212e+00] [ 9.24794537e-03 9.99957236e-01 4.39242218e-05 2.70533854e-01] [-9.07354266e-04 -3.55345606e-05 9.99999588e-01 -1.91197982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264975926 meters Centerline goodness [0,1] 0.9957109371103685 Centerline is valid? [True, True] Translation: X:9.92, Y:0.27, Z:-0.19 [[ 9.99937209e-01 -1.11424731e-02 1.19318137e-03 9.91523437e+00] [ 1.11424116e-02 9.99937920e-01 5.82351739e-05 2.71718883e-01] [-1.19375619e-03 -4.49365993e-05 9.99999286e-01 -1.92186903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.294975926 meters Centerline goodness [0,1] 0.9994244244244245 Centerline is valid? [True, True] Translation: X:9.94, Y:0.27, Z:-0.19 [[ 9.99904465e-01 -1.35453806e-02 2.75383332e-03 9.94453463e+00] [ 1.35450660e-02 9.99908253e-01 1.32843890e-04 2.72070379e-01] [-2.75538008e-03 -9.55303442e-05 9.99996199e-01 -1.87595959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324975926 meters Centerline goodness [0,1] 0.9980270223021404 Centerline is valid? [True, True] Translation: X:9.97, Y:0.27, Z:-0.19 [[ 9.99888979e-01 -1.47017214e-02 2.42661330e-03 9.97333843e+00] [ 1.47014806e-02 9.99891921e-01 1.17023925e-04 2.71427272e-01] [-2.42807149e-03 -8.13361247e-05 9.99997049e-01 -1.91662049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.354975926 meters Centerline goodness [0,1] 0.998627265012729 Centerline is valid? [True, True] Translation: X:10.00, Y:0.27, Z:-0.19 [[ 9.99861530e-01 -1.63393846e-02 3.15368078e-03 1.00023828e+01] [ 1.63389778e-02 9.99866498e-01 1.54692311e-04 2.72637186e-01] [-3.15578734e-03 -1.03142970e-04 9.99995015e-01 -1.91569019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384975926 meters Centerline goodness [0,1] 0.9994253304349999 Centerline is valid? [True, True] Translation: X:10.03, Y:0.27, Z:-0.19 [[ 9.99827989e-01 -1.83241696e-02 2.86654868e-03 1.00314808e+01] [ 1.83238410e-02 9.99832094e-01 1.40864138e-04 2.71297517e-01] [-2.86864859e-03 -8.83137252e-05 9.99995882e-01 -1.90804871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.414975926 meters Centerline goodness [0,1] 0.9994253304349999 Centerline is valid? [True, True] Translation: X:10.06, Y:0.27, Z:-0.19 [[ 9.99820945e-01 -1.87045743e-02 2.86653393e-03 1.00590098e+01] [ 1.87042464e-02 9.99825050e-01 1.41172176e-04 2.72950725e-01] [-2.86867299e-03 -8.75305419e-05 9.99995882e-01 -1.91251298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444975926 meters Centerline goodness [0,1] 0.9988515217337028 Centerline is valid? [True, True] Translation: X:10.09, Y:0.27, Z:-0.19 [[ 9.99818161e-01 -1.88555604e-02 2.84832317e-03 1.00863281e+01] [ 1.88552242e-02 9.99822214e-01 1.44847018e-04 2.74185105e-01] [-2.85054795e-03 -9.11149071e-05 9.99995933e-01 -1.93369933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.474975925999999 meters Centerline goodness [0,1] 0.9989519389130109 Centerline is valid? [True, True] Translation: X:10.12, Y:0.28, Z:-0.19 [[ 9.99816171e-01 -1.90350939e-02 2.30006299e-03 1.01152460e+01] [ 1.90348821e-02 9.99818814e-01 1.13940133e-04 2.76818699e-01] [-2.30181511e-03 -7.01377590e-05 9.99997348e-01 -1.93736694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504975926 meters Centerline goodness [0,1] 0.999174731787831 Centerline is valid? [True, True] Translation: X:10.14, Y:0.28, Z:-0.19 [[ 9.99793601e-01 -2.01340686e-02 2.71562128e-03 1.01426985e+01] [ 2.01337646e-02 9.99797286e-01 1.39245157e-04 2.78675921e-01] [-2.71787436e-03 -8.45407378e-05 9.99996303e-01 -1.93484464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.534975926 meters Centerline goodness [0,1] 0.9997748874437219 Centerline is valid? [True, True] Translation: X:10.17, Y:0.28, Z:-0.19 [[ 9.99740562e-01 -2.26256814e-02 2.62434064e-03 1.01715743e+01] [ 2.26254133e-02 9.99744004e-01 1.31791233e-04 2.76665859e-01] [-2.62665069e-03 -7.23802493e-05 9.99996548e-01 -1.92925987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564975925999999 meters Centerline goodness [0,1] 0.9998246536910398 Centerline is valid? [True, True] Translation: X:10.20, Y:0.28, Z:-0.19 [[ 9.99704000e-01 -2.41381350e-02 3.04343773e-03 1.01995941e+01] [ 2.41377669e-02 9.99708629e-01 1.57615994e-04 2.77847899e-01] [-3.04635552e-03 -8.41075488e-05 9.99995356e-01 -1.92986518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.594975926 meters Centerline goodness [0,1] 0.9998498009863068 Centerline is valid? [True, True] Translation: X:10.23, Y:0.28, Z:-0.19 [[ 9.99690271e-01 -2.47583600e-02 2.52691098e-03 1.02272050e+01] [ 2.47581176e-02 9.99693463e-01 1.27206689e-04 2.79366717e-01] [-2.52928582e-03 -6.46057300e-05 9.99996799e-01 -1.93348492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624975926 meters Centerline goodness [0,1] 0.9999749429953143 Centerline is valid? [True, True] Translation: X:10.26, Y:0.28, Z:-0.19 [[ 9.99726626e-01 -2.31203079e-02 3.48212010e-03 1.02555568e+01] [ 2.31198224e-02 9.99732685e-01 1.79627398e-04 2.83022368e-01] [-3.48534231e-03 -9.90722941e-05 9.99993921e-01 -1.91988443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.654975926 meters Centerline goodness [0,1] 0.999325590108655 Centerline is valid? [True, True] Translation: X:10.28, Y:0.29, Z:-0.20 [[ 9.99823096e-01 -1.86683404e-02 2.29579304e-03 1.02833442e+01] [ 1.86681124e-02 9.99825728e-01 1.20693450e-04 2.89592904e-01] [-2.29764609e-03 -7.78139765e-05 9.99997357e-01 -1.96415815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684975926 meters Centerline goodness [0,1] 0.9991255465334166 Centerline is valid? [True, True] Translation: X:10.31, Y:0.29, Z:-0.20 [[ 9.99865199e-01 -1.62815364e-02 2.12002791e-03 1.03119402e+01] [ 1.62813434e-02 9.99867444e-01 1.08260131e-04 2.93719981e-01] [-2.12150953e-03 -7.37286353e-05 9.99997747e-01 -1.96990998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714975926 meters Centerline goodness [0,1] 0.9991259614424134 Centerline is valid? [True, True] Translation: X:10.34, Y:0.30, Z:-0.20 [[ 9.99865177e-01 -1.60154886e-02 3.62372663e-03 1.03406312e+01] [ 1.60149049e-02 9.99871735e-01 1.90036008e-04 2.96676319e-01] [-3.62630535e-03 -1.31976749e-04 9.99993416e-01 -1.97474960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744975926 meters Centerline goodness [0,1] 0.9995995294471003 Centerline is valid? [True, True] Translation: X:10.37, Y:0.30, Z:-0.20 [[ 9.99836874e-01 -1.75853162e-02 4.12084295e-03 1.03693959e+01] [ 1.75845661e-02 9.99845356e-01 2.18195699e-04 2.97746884e-01] [-4.12404272e-03 -1.45696870e-04 9.99991485e-01 -1.97240553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.774975926 meters Centerline goodness [0,1] 0.999849981247656 Centerline is valid? [True, True] Translation: X:10.40, Y:0.30, Z:-0.20 [[ 9.99787974e-01 -1.99622728e-02 5.05119543e-03 1.03985038e+01] [ 1.99611623e-02 9.99800720e-01 2.70179285e-04 2.97181194e-01] [-5.05558222e-03 -1.69294268e-04 9.99987206e-01 -1.96790488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804975926 meters Centerline goodness [0,1] 0.9997000824773188 Centerline is valid? [True, True] Translation: X:10.43, Y:0.30, Z:-0.20 [[ 9.99742294e-01 -2.20956092e-02 5.20869078e-03 1.04275152e+01] [ 2.20944482e-02 9.99755849e-01 2.80323706e-04 2.95110959e-01] [-5.21361299e-03 -1.65168316e-04 9.99986395e-01 -1.98366063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.834975926 meters Centerline goodness [0,1] 0.9998250918267909 Centerline is valid? [True, True] Translation: X:10.46, Y:0.30, Z:-0.20 [[ 9.99713129e-01 -2.31537745e-02 6.12884015e-03 1.04562230e+01] [ 2.31521686e-02 9.99731897e-01 3.32855364e-04 2.96003565e-01] [-6.13490385e-03 -1.90863937e-04 9.99981163e-01 -1.97363696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.49, Y:0.30, Z:-0.19 [[ 9.99699729e-01 -2.33706514e-02 7.36640850e-03 1.04851873e+01] [ 2.33683107e-02 9.99726842e-01 4.03676537e-04 2.98221564e-01] [-7.37383049e-03 -2.31414803e-04 9.99972786e-01 -1.94961761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.894975925999999 meters Centerline goodness [0,1] 0.9998252010188283 Centerline is valid? [True, True] Translation: X:10.51, Y:0.30, Z:-0.20 [[ 9.99698880e-01 -2.34974988e-02 7.07226381e-03 1.05136447e+01] [ 2.34953109e-02 9.99723870e-01 3.92295554e-04 3.02217887e-01] [-7.07952891e-03 -2.26012388e-04 9.99974914e-01 -1.98875861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924975926 meters Centerline goodness [0,1] 0.999576397886973 Centerline is valid? [True, True] Translation: X:10.54, Y:0.30, Z:-0.20 [[ 9.99685412e-01 -2.42397264e-02 6.44305575e-03 1.05425005e+01] [ 2.42379392e-02 9.99706155e-01 3.55322192e-04 3.03472387e-01] [-6.44977540e-03 -1.99044019e-04 9.99979180e-01 -2.02734616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.954975926 meters Centerline goodness [0,1] 0.99975019359996 Centerline is valid? [True, True] Translation: X:10.57, Y:0.30, Z:-0.20 [[ 9.99601466e-01 -2.74101072e-02 6.75235564e-03 1.05708076e+01] [ 2.74081999e-02 9.99624254e-01 3.74852018e-04 3.04132409e-01] [-6.76009321e-03 -1.89632714e-04 9.99977132e-01 -2.02885681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984975926 meters Centerline goodness [0,1] 0.999700553975146 Centerline is valid? [True, True] Translation: X:10.60, Y:0.30, Z:-0.20 [[ 9.99547762e-01 -2.91731890e-02 7.29352950e-03 1.06001059e+01] [ 2.91709918e-02 9.99574353e-01 4.07479112e-04 3.02110920e-01] [-7.30231250e-03 -1.94535346e-04 9.99973319e-01 -2.02715546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.014975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.63, Y:0.30, Z:-0.20 [[ 9.99464133e-01 -3.16038871e-02 8.52301371e-03 1.06293098e+01] [ 3.16009424e-02 9.99500450e-01 4.79992314e-04 3.04250655e-01] [-8.53392566e-03 -2.10399837e-04 9.99963563e-01 -1.98813648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044975926 meters Centerline goodness [0,1] 0.9997756170531039 Centerline is valid? [True, True] Translation: X:10.66, Y:0.30, Z:-0.20 [[ 9.99378041e-01 -3.43462038e-02 7.99178627e-03 1.06586960e+01] [ 3.43436820e-02 9.99409979e-01 4.52610689e-04 3.02611154e-01] [-8.00261641e-03 -1.77861817e-04 9.99967963e-01 -2.02874118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.074975926 meters Centerline goodness [0,1] 0.9997007481296758 Centerline is valid? [True, True] Translation: X:10.69, Y:0.30, Z:-0.20 [[ 9.99326234e-01 -3.58255011e-02 7.97573518e-03 1.06878750e+01] [ 3.58230183e-02 9.99358047e-01 4.53979153e-04 3.03992473e-01] [-7.98687916e-03 -1.67958370e-04 9.99968090e-01 -2.04269423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104975926 meters Centerline goodness [0,1] 0.9997258156982975 Centerline is valid? [True, True] Translation: X:10.72, Y:0.30, Z:-0.20 [[ 9.99257954e-01 -3.77148568e-02 7.81861614e-03 1.07171557e+01] [ 3.77125095e-02 9.99288530e-01 4.47498872e-04 3.04129223e-01] [-7.82993079e-03 -1.52307172e-04 9.99969334e-01 -2.04127623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.134975926 meters Centerline goodness [0,1] 0.9998258013139558 Centerline is valid? [True, True] Translation: X:10.75, Y:0.31, Z:-0.20 [[ 9.99184788e-01 -3.95315157e-02 8.18652503e-03 1.07458924e+01] [ 3.95289773e-02 9.99218313e-01 4.71701423e-04 3.05327147e-01] [-8.19877280e-03 -1.47711924e-04 9.99966379e-01 -2.03525087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164975926 meters Centerline goodness [0,1] 0.9997512809033477 Centerline is valid? [True, True] Translation: X:10.77, Y:0.31, Z:-0.21 [[ 9.99166297e-01 -4.01309865e-02 7.49761061e-03 1.07738311e+01] [ 4.01288613e-02 9.99194419e-01 4.33731161e-04 3.07501555e-01] [-7.50897673e-03 -1.32498982e-04 9.99971798e-01 -2.05832519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.194975926 meters Centerline goodness [0,1] 0.9997510889856877 Centerline is valid? [True, True] Translation: X:10.80, Y:0.31, Z:-0.21 [[ 9.99164169e-01 -4.01501037e-02 7.67678121e-03 1.08013816e+01] [ 4.01478520e-02 9.99193650e-01 4.47256905e-04 3.10143665e-01] [-7.68854845e-03 -1.38676798e-04 9.99970433e-01 -2.05968686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224975925999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.83, Y:0.31, Z:-0.20 [[ 9.99218484e-01 -3.85534141e-02 8.72099307e-03 1.08302905e+01] [ 3.85504064e-02 9.99256525e-01 5.12777986e-04 3.14413328e-01] [-8.73427858e-03 -1.76179414e-04 9.99961840e-01 -2.02130487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.254975926 meters Centerline goodness [0,1] 0.9997263817720511 Centerline is valid? [True, True] Translation: X:10.86, Y:0.32, Z:-0.21 [[ 9.99271939e-01 -3.74249712e-02 7.41379646e-03 1.08591296e+01] [ 3.74227541e-02 9.99299428e-01 4.37599378e-04 3.17462654e-01] [-7.42497970e-03 -1.59836097e-04 9.99972422e-01 -2.07585018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284975926 meters Centerline goodness [0,1] 0.9999005321529816 Centerline is valid? [True, True] Translation: X:10.89, Y:0.32, Z:-0.21 [[ 9.99295281e-01 -3.65863733e-02 8.38922388e-03 1.08876274e+01] [ 3.65834743e-02 9.99330476e-01 4.98806332e-04 3.20988596e-01] [-8.40185661e-03 -1.91547857e-04 9.99964685e-01 -2.05063307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.314975925999999 meters Centerline goodness [0,1] 0.9996768500335579 Centerline is valid? [True, True] Translation: X:10.92, Y:0.32, Z:-0.21 [[ 9.99272127e-01 -3.73590142e-02 7.71499682e-03 1.09152789e+01] [ 3.73565719e-02 9.99301894e-01 4.60482333e-04 3.22469330e-01] [-7.72681410e-03 -1.71941326e-04 9.99970133e-01 -2.09146566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344975926 meters Centerline goodness [0,1] 0.9999751058003485 Centerline is valid? [True, True] Translation: X:10.94, Y:0.32, Z:-0.20 [[ 9.99159205e-01 -3.99791916e-02 9.08559580e-03 1.09437064e+01] [ 3.99758666e-02 9.99200496e-01 5.47344882e-04 3.23894183e-01] [-9.10021424e-03 -1.83680111e-04 9.99958575e-01 -2.04413197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.374975926 meters Centerline goodness [0,1] 0.9999251833009127 Centerline is valid? [True, True] Translation: X:10.97, Y:0.33, Z:-0.21 [[ 9.99109658e-01 -4.12408737e-02 8.89279912e-03 1.09728468e+01] [ 4.12377124e-02 9.99149219e-01 5.38640734e-04 3.25015121e-01] [-8.90744731e-03 -1.71442466e-04 9.99960313e-01 -2.06313808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404975926 meters Centerline goodness [0,1] 0.9998002746223942 Centerline is valid? [True, True] Translation: X:11.00, Y:0.33, Z:-0.21 [[ 9.99056206e-01 -4.26598201e-02 8.17540729e-03 1.10011342e+01] [ 4.26571766e-02 9.99089645e-01 4.97523981e-04 3.26679214e-01] [-8.18918905e-03 -1.48314629e-04 9.99966457e-01 -2.09244721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.434975926 meters Centerline goodness [0,1] 0.999800299550674 Centerline is valid? [True, True] Translation: X:11.03, Y:0.33, Z:-0.21 [[ 9.99073245e-01 -4.22472372e-02 8.23535614e-03 1.10294462e+01] [ 4.22445175e-02 9.99107175e-01 5.03998164e-04 3.29652488e-01] [-8.24929593e-03 -1.55632435e-04 9.99965962e-01 -2.10125041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464975926 meters Centerline goodness [0,1] 0.9998005832938655 Centerline is valid? [True, True] Translation: X:11.06, Y:0.33, Z:-0.21 [[ 9.99136178e-01 -4.08256297e-02 7.75661815e-03 1.10582038e+01] [ 4.08231568e-02 9.99166274e-01 4.76945980e-04 3.33200718e-01] [-7.76962287e-03 -1.59884345e-04 9.99969803e-01 -2.11475786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.494975926 meters Centerline goodness [0,1] 0.9998251267830822 Centerline is valid? [True, True] Translation: X:11.09, Y:0.33, Z:-0.21 [[ 9.99113134e-01 -4.13668258e-02 7.85691546e-03 1.10866640e+01] [ 4.13642890e-02 9.99144014e-01 4.85176521e-04 3.33782052e-01] [-7.87026026e-03 -1.59750513e-04 9.99969016e-01 -2.10295791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.12, Y:0.33, Z:-0.21 [[ 9.99021228e-01 -4.33031387e-02 9.02352262e-03 1.11153681e+01] [ 4.32998281e-02 9.99061965e-01 5.62012661e-04 3.34278287e-01] [-9.03939515e-03 -1.70745600e-04 9.99959129e-01 -2.07056884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.554975926 meters Centerline goodness [0,1] 0.9997257815226605 Centerline is valid? [True, True] Translation: X:11.14, Y:0.33, Z:-0.21 [[ 9.98943967e-01 -4.53534750e-02 7.34932167e-03 1.11438374e+01] [ 4.53513232e-02 9.98970994e-01 4.59259744e-04 3.34698732e-01] [-7.36258820e-03 -1.25473288e-04 9.99972888e-01 -2.13669177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584975926 meters Centerline goodness [0,1] 0.9999250805384212 Centerline is valid? [True, True] Translation: X:11.17, Y:0.34, Z:-0.21 [[ 9.98884589e-01 -4.65556671e-02 7.88343440e-03 1.11729261e+01] [ 4.65532042e-02 9.98915689e-01 4.95720999e-04 3.36169813e-01] [-7.89796493e-03 -1.28168934e-04 9.99968802e-01 -2.10751232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.614975926 meters Centerline goodness [0,1] 0.9999751175694842 Centerline is valid? [True, True] Translation: X:11.20, Y:0.34, Z:-0.21 [[ 9.98948295e-01 -4.51670527e-02 7.88934568e-03 1.12014120e+01] [ 4.51645214e-02 9.98979438e-01 4.98815244e-04 3.40154886e-01] [-7.90382412e-03 -1.41972116e-04 9.99968754e-01 -2.10794173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644975925999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.23, Y:0.34, Z:-0.21 [[ 9.99006378e-01 -4.37588317e-02 8.45116882e-03 1.12286928e+01] [ 4.37558339e-02 9.99042109e-01 5.39375894e-04 3.44072190e-01] [-8.46667598e-03 -1.69052018e-04 9.99964143e-01 -2.10109961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.674975926 meters Centerline goodness [0,1] 0.9999751076593733 Centerline is valid? [True, True] Translation: X:11.26, Y:0.35, Z:-0.21 [[ 9.99039772e-01 -4.30474504e-02 8.15178100e-03 1.12571935e+01] [ 4.30446446e-02 9.99073015e-01 5.19415096e-04 3.46579879e-01] [-8.16658391e-03 -1.68025823e-04 9.99966639e-01 -2.10946308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704975926 meters Centerline goodness [0,1] 0.9998755816557593 Centerline is valid? [True, True] Translation: X:11.29, Y:0.35, Z:-0.21 [[ 9.99055947e-01 -4.26920541e-02 8.03764100e-03 1.12860572e+01] [ 4.26892939e-02 9.99088264e-01 5.14738068e-04 3.48396811e-01] [-8.05228802e-03 -1.71130909e-04 9.99967565e-01 -2.13401481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.734975926 meters Centerline goodness [0,1] 0.9999252988047809 Centerline is valid? [True, True] Translation: X:11.31, Y:0.35, Z:-0.21 [[ 9.99094327e-01 -4.17936094e-02 7.98870740e-03 1.13148104e+01] [ 4.17908319e-02 9.99126249e-01 5.14356207e-04 3.51423291e-01] [-8.00322406e-03 -1.80035640e-04 9.99967957e-01 -2.13086321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764975926 meters Centerline goodness [0,1] 0.9998257579529048 Centerline is valid? [True, True] Translation: X:11.34, Y:0.35, Z:-0.22 [[ 9.99128353e-01 -4.10442920e-02 7.60920830e-03 1.13438724e+01] [ 4.10417320e-02 9.99157312e-01 4.92345488e-04 3.54236794e-01] [-7.62300408e-03 -1.79621249e-04 9.99970928e-01 -2.16043650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.794975926 meters Centerline goodness [0,1] 0.9998010395682558 Centerline is valid? [True, True] Translation: X:11.37, Y:0.36, Z:-0.22 [[ 9.99119338e-01 -4.13617913e-02 7.05343467e-03 1.13722827e+01] [ 4.13595881e-02 9.99144221e-01 4.57995209e-04 3.56545056e-01] [-7.06634199e-03 -1.65864717e-04 9.99975019e-01 -2.17169784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824975926 meters Centerline goodness [0,1] 0.9998506942716369 Centerline is valid? [True, True] Translation: X:11.40, Y:0.36, Z:-0.22 [[ 9.99023604e-01 -4.34693673e-02 7.89007086e-03 1.14006928e+01] [ 4.34666416e-02 9.99054745e-01 5.16689841e-04 3.57702374e-01] [-7.90507292e-03 -1.73230465e-04 9.99968739e-01 -2.17312824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.854975926 meters Centerline goodness [0,1] 0.9997510827898641 Centerline is valid? [True, True] Translation: X:11.43, Y:0.36, Z:-0.22 [[ 9.98959923e-01 -4.50241304e-02 7.20417970e-03 1.14300461e+01] [ 4.50218822e-02 9.98985889e-01 4.74022435e-04 3.58521570e-01] [-7.21821630e-03 -1.49183686e-04 9.99973937e-01 -2.19570139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884975926 meters Centerline goodness [0,1] 0.9997505799017284 Centerline is valid? [True, True] Translation: X:11.46, Y:0.36, Z:-0.22 [[ 9.98917965e-01 -4.60110060e-02 6.77389173e-03 1.14582911e+01] [ 4.60090199e-02 9.98940924e-01 4.48820894e-04 3.60578326e-01] [-6.78736836e-03 -1.36675135e-04 9.99976956e-01 -2.20753799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.914975926 meters Centerline goodness [0,1] 0.9997508967716222 Centerline is valid? [True, True] Translation: X:11.49, Y:0.36, Z:-0.22 [[ 9.98866743e-01 -4.71098887e-02 6.77411868e-03 1.14864483e+01] [ 4.71079319e-02 9.98889705e-01 4.48224321e-04 3.62339065e-01] [-6.78771320e-03 -1.28601646e-04 9.99976955e-01 -2.21358753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944975926 meters Centerline goodness [0,1] 0.9999502351389684 Centerline is valid? [True, True] Translation: X:11.51, Y:0.36, Z:-0.22 [[ 9.98851404e-01 -4.72685424e-02 7.84587021e-03 1.15143237e+01] [ 4.72658919e-02 9.98882206e-01 5.22998160e-04 3.64078376e-01] [-7.86182151e-03 -1.51555393e-04 9.99969084e-01 -2.17853718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974975925999999 meters Centerline goodness [0,1] 0.9997015816174276 Centerline is valid? [True, True] Translation: X:11.54, Y:0.37, Z:-0.22 [[ 9.98955291e-01 -4.53594788e-02 5.55381703e-03 1.15420591e+01] [ 4.53581034e-02 9.98970722e-01 3.73423392e-04 3.68033607e-01] [-5.56503890e-03 -1.21122666e-04 9.99984508e-01 -2.23371599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004975926 meters Centerline goodness [0,1] 0.999676914282874 Centerline is valid? [True, True] Translation: X:11.57, Y:0.37, Z:-0.22 [[ 9.99144388e-01 -4.09948465e-02 5.46946587e-03 1.15701266e+01] [ 4.09934436e-02 9.99159348e-01 3.68406956e-04 3.73859726e-01] [-5.47997073e-03 -1.43879502e-04 9.99984974e-01 -2.23481159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.034975926 meters Centerline goodness [0,1] 0.9997264974265895 Centerline is valid? [True, True] Translation: X:11.60, Y:0.38, Z:-0.22 [[ 9.99288912e-01 -3.73946345e-02 4.82828195e-03 1.15983620e+01] [ 3.73934949e-02 9.99300565e-01 3.26114111e-04 3.79443727e-01] [-4.83709980e-03 -1.45335878e-04 9.99988291e-01 -2.23418215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064975925999999 meters Centerline goodness [0,1] 0.9997765640516385 Centerline is valid? [True, True] Translation: X:11.63, Y:0.38, Z:-0.22 [[ 9.99392671e-01 -3.45002445e-02 4.90120805e-03 1.16272787e+01] [ 3.44990481e-02 9.99404677e-01 3.28470024e-04 3.84217026e-01] [-4.90962254e-03 -1.59183523e-04 9.99987935e-01 -2.23554388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.094975926 meters Centerline goodness [0,1] 0.9997268098845151 Centerline is valid? [True, True] Translation: X:11.66, Y:0.39, Z:-0.22 [[ 9.99504810e-01 -3.11132008e-02 4.70143081e-03 1.16551501e+01] [ 3.11120439e-02 9.99515852e-01 3.19035891e-04 3.89730001e-01] [-4.70908085e-03 -1.72606786e-04 9.99988897e-01 -2.24934581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124975926 meters Centerline goodness [0,1] 0.9997022332506204 Centerline is valid? [True, True] Translation: X:11.68, Y:0.39, Z:-0.23 [[ 9.99580121e-01 -2.86595568e-02 4.26746264e-03 1.16838603e+01] [ 2.86585925e-02 9.99589217e-01 2.86957709e-04 3.90379401e-01] [-4.27393372e-03 -1.64537748e-04 9.99990853e-01 -2.25220095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.154975926 meters Centerline goodness [0,1] 0.9998262811763247 Centerline is valid? [True, True] Translation: X:11.71, Y:0.39, Z:-0.22 [[ 9.99641148e-01 -2.64301737e-02 4.36141685e-03 1.17111073e+01] [ 2.64291278e-02 9.99650645e-01 2.97284651e-04 3.94992454e-01] [-4.36775045e-03 -1.81909526e-04 9.99990445e-01 -2.24788627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184975926 meters Centerline goodness [0,1] 0.9997519410611961 Centerline is valid? [True, True] Translation: X:11.74, Y:0.40, Z:-0.23 [[ 9.99687670e-01 -2.46914499e-02 3.85932211e-03 1.17399742e+01] [ 2.46906263e-02 9.99695106e-01 2.60898677e-04 3.97520773e-01] [-3.86458739e-03 -1.65528110e-04 9.99992519e-01 -2.25650552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214975926 meters Centerline goodness [0,1] 0.9998264319365237 Centerline is valid? [True, True] Translation: X:11.77, Y:0.40, Z:-0.22 [[ 9.99692397e-01 -2.43629721e-02 4.64305038e-03 1.17690267e+01] [ 2.43617636e-02 9.99703158e-01 3.16659080e-04 4.00695271e-01] [-4.64938688e-03 -2.03448779e-04 9.99989171e-01 -2.24583974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244975926 meters Centerline goodness [0,1] 0.9995040543556426 Centerline is valid? [True, True] Translation: X:11.80, Y:0.40, Z:-0.23 [[ 9.99693943e-01 -2.44785150e-02 3.58086128e-03 1.17981733e+01] [ 2.44777971e-02 9.99700344e-01 2.44177774e-04 4.02576824e-01] [-3.58576536e-03 -1.56451446e-04 9.99993559e-01 -2.27819851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.274975926 meters Centerline goodness [0,1] 0.9996530015367074 Centerline is valid? [True, True] Translation: X:11.83, Y:0.40, Z:-0.23 [[ 9.99660598e-01 -2.56671419e-02 4.45952623e-03 1.18262207e+01] [ 2.56660157e-02 9.99670526e-01 3.09594672e-04 4.04894751e-01] [-4.46600334e-03 -1.95031325e-04 9.99990008e-01 -2.28080242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304975926 meters Centerline goodness [0,1] 0.9997270810073192 Centerline is valid? [True, True] Translation: X:11.86, Y:0.40, Z:-0.23 [[ 9.99594922e-01 -2.79843363e-02 5.18345990e-03 1.18550733e+01] [ 2.79828541e-02 9.99608339e-01 3.58270229e-04 4.03367828e-01] [-5.19145570e-03 -2.13077099e-04 9.99986502e-01 -2.27724959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.334975926 meters Centerline goodness [0,1] 0.9997270810073192 Centerline is valid? [True, True] Translation: X:11.88, Y:0.41, Z:-0.23 [[ 9.99583682e-01 -2.83830263e-02 5.18337210e-03 1.18825759e+01] [ 2.83815429e-02 9.99597098e-01 3.59533334e-04 4.05533574e-01] [-5.19148835e-03 -2.12271556e-04 9.99986502e-01 -2.28171533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364975926 meters Centerline goodness [0,1] 0.9996276806989675 Centerline is valid? [True, True] Translation: X:11.91, Y:0.41, Z:-0.23 [[ 9.99555108e-01 -2.93557486e-02 5.27498889e-03 1.19102034e+01] [ 2.93541981e-02 9.99569004e-01 3.71142800e-04 4.11640983e-01] [-5.28361056e-03 -2.16134613e-04 9.99986018e-01 -2.29429936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.394975925999999 meters Centerline goodness [0,1] 0.9996272828922848 Centerline is valid? [True, True] Translation: X:11.94, Y:0.41, Z:-0.23 [[ 9.99514428e-01 -3.07221598e-02 5.20166032e-03 1.19394796e+01] [ 3.07206774e-02 9.99527942e-01 3.64674891e-04 4.13219369e-01] [-5.21040844e-03 -2.04699286e-04 9.99986405e-01 -2.30407884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424975926 meters Centerline goodness [0,1] 0.9997022110827108 Centerline is valid? [True, True] Translation: X:11.97, Y:0.41, Z:-0.23 [[ 9.99472125e-01 -3.20079883e-02 5.56419020e-03 1.19684542e+01] [ 3.20063033e-02 9.99487590e-01 3.91634923e-04 4.11221366e-01] [-5.57387450e-03 -2.13339030e-04 9.99984443e-01 -2.30387692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.454975926 meters Centerline goodness [0,1] 0.9996770747944457 Centerline is valid? [True, True] Translation: X:12.00, Y:0.41, Z:-0.23 [[ 9.99437098e-01 -3.30648606e-02 5.67476726e-03 1.19972588e+01] [ 3.30631131e-02 9.99453185e-01 4.01499701e-04 4.13500626e-01] [-5.68493974e-03 -2.13648224e-04 9.99983818e-01 -2.30909416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484975926 meters Centerline goodness [0,1] 0.9997764697116459 Centerline is valid? [True, True] Translation: X:12.02, Y:0.42, Z:-0.23 [[ 9.99425207e-01 -3.34588714e-02 5.45526418e-03 1.20247959e+01] [ 3.34572563e-02 9.99440074e-01 3.87090378e-04 4.16226155e-01] [-5.46516125e-03 -2.04349709e-04 9.99985045e-01 -2.30979148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.514975926 meters Centerline goodness [0,1] 0.9997767358785443 Centerline is valid? [True, True] Translation: X:12.05, Y:0.42, Z:-0.23 [[ 9.99400037e-01 -3.41710364e-02 5.64864646e-03 1.20528613e+01] [ 3.41693022e-02 9.99415978e-01 4.03258431e-04 4.18988761e-01] [-5.65912728e-03 -2.10006182e-04 9.99983965e-01 -2.31997823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544975926 meters Centerline goodness [0,1] 0.9996020098502562 Centerline is valid? [True, True] Translation: X:12.08, Y:0.42, Z:-0.23 [[ 9.99340898e-01 -3.58389348e-02 5.77407876e-03 1.20801401e+01] [ 3.58371248e-02 9.99357557e-01 4.16666286e-04 4.22230404e-01] [-5.78530212e-03 -2.09465279e-04 9.99983243e-01 -2.33584952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.574975926 meters Centerline goodness [0,1] 0.9996768741300457 Centerline is valid? [True, True] Translation: X:12.11, Y:0.42, Z:-0.23 [[ 9.99299517e-01 -3.69472298e-02 5.94785139e-03 1.21091535e+01] [ 3.69453308e-02 9.99317196e-01 4.28866709e-04 4.23485652e-01] [-5.95963562e-03 -2.08820958e-04 9.99982219e-01 -2.33612850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604975926 meters Centerline goodness [0,1] 0.9997765640516385 Centerline is valid? [True, True] Translation: X:12.14, Y:0.42, Z:-0.23 [[ 9.99249457e-01 -3.83527496e-02 5.43961573e-03 1.21381849e+01] [ 3.83511757e-02 9.99264246e-01 3.93392569e-04 4.23629526e-01] [-5.45070120e-03 -1.84481652e-04 9.99985128e-01 -2.33792256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.634975926 meters Centerline goodness [0,1] 0.9997020558148774 Centerline is valid? [True, True] Translation: X:12.17, Y:0.43, Z:-0.23 [[ 9.99178734e-01 -4.01544499e-02 5.42927209e-03 1.21663448e+01] [ 4.01528857e-02 9.99193469e-01 3.96830819e-04 4.25149098e-01] [-5.44082773e-03 -1.78503974e-04 9.99985183e-01 -2.34673997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664975926 meters Centerline goodness [0,1] 0.9996764962050516 Centerline is valid? [True, True] Translation: X:12.19, Y:0.43, Z:-0.24 [[ 9.99106642e-01 -4.19233023e-02 5.32484918e-03 1.21949001e+01] [ 4.19218319e-02 9.99120818e-01 3.87498852e-04 4.26959406e-01] [-5.33641291e-03 -1.63925245e-04 9.99985748e-01 -2.35781834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.694975926 meters Centerline goodness [0,1] 0.9998259918464751 Centerline is valid? [True, True] Translation: X:12.22, Y:0.43, Z:-0.24 [[ 9.99075509e-01 -4.26228520e-02 5.60530411e-03 1.22230452e+01] [ 4.26212242e-02 9.99091219e-01 4.09579737e-04 4.30328200e-01] [-5.61766757e-03 -1.70296161e-04 9.99984206e-01 -2.35265574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724975925999999 meters Centerline goodness [0,1] 0.999751787132645 Centerline is valid? [True, True] Translation: X:12.25, Y:0.43, Z:-0.24 [[ 9.99064741e-01 -4.29190655e-02 5.25325416e-03 1.22499136e+01] [ 4.29176193e-02 9.99078539e-01 3.87776020e-04 4.34145282e-01] [-5.26505648e-03 -1.61956187e-04 9.99986126e-01 -2.36676130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.754975926 meters Centerline goodness [0,1] 0.9997022480273932 Centerline is valid? [True, True] Translation: X:12.28, Y:0.44, Z:-0.24 [[ 9.99023641e-01 -4.38432700e-02 5.43432296e-03 1.22790785e+01] [ 4.38417398e-02 9.99038408e-01 4.00437742e-04 4.36764553e-01] [-5.44665386e-03 -1.61796598e-04 9.99985154e-01 -2.37122895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784975926 meters Centerline goodness [0,1] 0.9997762919141955 Centerline is valid? [True, True] Translation: X:12.31, Y:0.44, Z:-0.24 [[ 9.98942741e-01 -4.56903857e-02 5.07830044e-03 1.23070048e+01] [ 4.56890552e-02 9.98955638e-01 3.77761698e-04 4.39052889e-01] [-5.09025694e-03 -1.45339557e-04 9.99987034e-01 -2.38485446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.814975925999999 meters Centerline goodness [0,1] 0.9995772721621285 Centerline is valid? [True, True] Translation: X:12.34, Y:0.44, Z:-0.24 [[ 9.98852988e-01 -4.76757342e-02 4.44210611e-03 1.23364742e+01] [ 4.76747444e-02 9.98862859e-01 3.28498934e-04 4.38177952e-01] [-4.45271623e-03 -1.16345868e-04 9.99990080e-01 -2.39431594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844975926 meters Centerline goodness [0,1] 0.9996521825544707 Centerline is valid? [True, True] Translation: X:12.36, Y:0.44, Z:-0.24 [[ 9.98805446e-01 -4.86909920e-02 4.10708185e-03 1.23649675e+01] [ 4.86901554e-02 9.98813885e-01 3.03495341e-04 4.38733443e-01] [-4.11698787e-03 -1.03158345e-04 9.99991520e-01 -2.39761233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.874975926 meters Centerline goodness [0,1] 0.9996773713207922 Centerline is valid? [True, True] Translation: X:12.39, Y:0.44, Z:-0.24 [[ 9.98796458e-01 -4.88348302e-02 4.56002949e-03 1.23924086e+01] [ 4.88337747e-02 9.98806861e-01 3.42592484e-04 4.41695903e-01] [-4.57131918e-03 -1.19496707e-04 9.99989544e-01 -2.39677658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904975926 meters Centerline goodness [0,1] 0.9997024621259081 Centerline is valid? [True, True] Translation: X:12.42, Y:0.45, Z:-0.24 [[ 9.98880330e-01 -4.71586221e-02 3.76174238e-03 1.24209667e+01] [ 4.71579023e-02 9.98887408e-01 2.79875568e-04 4.45065301e-01] [-3.77075565e-03 -1.02166320e-04 9.99992885e-01 -2.40097498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.934975926 meters Centerline goodness [0,1] 0.9998758288424765 Centerline is valid? [True, True] Translation: X:12.45, Y:0.45, Z:-0.24 [[ 9.99033287e-01 -4.37521972e-02 4.27048920e-03 1.24481613e+01] [ 4.37512171e-02 9.99042405e-01 3.22692008e-04 4.51881838e-01] [-4.28051829e-03 -1.35540958e-04 9.99990829e-01 -2.38629660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964975926 meters Centerline goodness [0,1] 0.9996276806989675 Centerline is valid? [True, True] Translation: X:12.48, Y:0.45, Z:-0.24 [[ 9.99089692e-01 -4.25293790e-02 3.32240726e-03 1.24768609e+01] [ 4.25287888e-02 9.99095211e-01 2.48139299e-04 4.54287426e-01] [-3.32995439e-03 -1.06615459e-04 9.99994450e-01 -2.40872789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.994975926 meters Centerline goodness [0,1] 0.999776957200565 Centerline is valid? [True, True] Translation: X:12.51, Y:0.46, Z:-0.24 [[ 9.99221234e-01 -3.92880065e-02 3.65765272e-03 1.25050337e+01] [ 3.92872502e-02 9.99227919e-01 2.78445401e-04 4.61034299e-01] [-3.66576828e-03 -1.34529440e-04 9.99993272e-01 -2.41020531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024975926 meters Centerline goodness [0,1] 0.999033672786739 Centerline is valid? [True, True] Translation: X:12.53, Y:0.47, Z:-0.24 [[ 9.99329070e-01 -3.64877428e-02 3.17097060e-03 1.25334760e+01] [ 3.64871611e-02 9.99334093e-01 2.41136307e-04 4.66204134e-01] [-3.17765754e-03 -1.25274807e-04 9.99994943e-01 -2.42922225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054975926 meters Centerline goodness [0,1] 0.9999752518128047 Centerline is valid? [True, True] Translation: X:12.56, Y:0.47, Z:-0.24 [[ 9.99359539e-01 -3.55476161e-02 4.10839781e-03 1.25625063e+01] [ 3.55466400e-02 9.99367970e-01 3.10385704e-04 4.68348458e-01] [-4.11683465e-03 -1.64147176e-04 9.99991512e-01 -2.39407401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084975926 meters Centerline goodness [0,1] 0.9991084474603136 Centerline is valid? [True, True] Translation: X:12.59, Y:0.47, Z:-0.24 [[ 9.99401552e-01 -3.45111774e-02 2.34859252e-03 1.25912574e+01] [ 3.45108592e-02 9.99404307e-01 1.75865230e-04 4.70860412e-01] [-2.35326280e-03 -9.47080380e-05 9.99997227e-01 -2.43631345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.114975926 meters Centerline goodness [0,1] 0.9996772591857 Centerline is valid? [True, True] Translation: X:12.62, Y:0.47, Z:-0.24 [[ 9.99358751e-01 -3.56434565e-02 3.41047532e-03 1.26187847e+01] [ 3.56427726e-02 9.99364560e-01 2.61109481e-04 4.73093452e-01] [-3.41761502e-03 -1.39383248e-04 9.99994150e-01 -2.41220141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144975925999999 meters Centerline goodness [0,1] 0.9988093761627186 Centerline is valid? [True, True] Translation: X:12.65, Y:0.47, Z:-0.25 [[ 9.99191045e-01 -4.01825275e-02 1.61862977e-03 1.26464059e+01] [ 4.01823800e-02 9.99192354e-01 1.23571503e-04 4.71917660e-01] [-1.62228790e-03 -5.84311427e-05 9.99998682e-01 -2.46205783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.174975926 meters Centerline goodness [0,1] 0.9985118309439952 Centerline is valid? [True, True] Translation: X:12.67, Y:0.48, Z:-0.25 [[ 9.99159391e-01 -4.09595018e-02 1.68269094e-03 1.26736605e+01] [ 4.09593430e-02 9.99160806e-01 1.28768989e-04 4.75450623e-01] [-1.68655315e-03 -5.97388288e-05 9.99998576e-01 -2.47054154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204975926 meters Centerline goodness [0,1] 0.9989588239668807 Centerline is valid? [True, True] Translation: X:12.70, Y:0.48, Z:-0.25 [[ 9.99090552e-01 -4.25855907e-02 2.12986740e-03 1.27028220e+01] [ 4.25853446e-02 9.99092820e-01 1.60806976e-04 4.75123467e-01] [-2.13478329e-03 -6.99595937e-05 9.99997719e-01 -2.47160186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.234975925999999 meters Centerline goodness [0,1] 0.9992553244303232 Centerline is valid? [True, True] Translation: X:12.73, Y:0.47, Z:-0.25 [[ 9.98928558e-01 -4.62530804e-02 1.54556077e-03 1.27318127e+01] [ 4.62529513e-02 9.98929752e-01 1.19161015e-04 4.74200464e-01] [-1.54941820e-03 -4.75465937e-05 9.99998799e-01 -2.47811908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264975926 meters Centerline goodness [0,1] 0.9991797981806433 Centerline is valid? [True, True] Translation: X:12.76, Y:0.48, Z:-0.25 [[ 9.98843886e-01 -4.80424928e-02 1.67645201e-03 1.27609369e+01] [ 4.80423487e-02 9.98845292e-01 1.26177926e-04 4.75381533e-01] [-1.68057810e-03 -4.54913585e-05 9.99998587e-01 -2.48414798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.294975926 meters Centerline goodness [0,1] 0.9996027410865032 Centerline is valid? [True, True] Translation: X:12.79, Y:0.47, Z:-0.25 [[ 9.98728401e-01 -5.03885226e-02 1.60581753e-03 1.27897019e+01] [ 5.03883932e-02 9.98729691e-01 1.20924267e-04 4.73992438e-01] [-1.60987084e-03 -3.98559342e-05 9.99998703e-01 -2.48449941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324975926 meters Centerline goodness [0,1] 0.999726592598116 Centerline is valid? [True, True] Translation: X:12.82, Y:0.48, Z:-0.25 [[ 9.98634444e-01 -5.22211331e-02 1.48315480e-03 1.28188122e+01] [ 5.22210247e-02 9.98635545e-01 1.11745134e-04 4.75127453e-01] [-1.48696656e-03 -3.41406763e-05 9.99998894e-01 -2.48027936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.354975926 meters Centerline goodness [0,1] 0.9995777236822495 Centerline is valid? [True, True] Translation: X:12.85, Y:0.48, Z:-0.25 [[ 9.98581410e-01 -5.32414319e-02 7.19267891e-04 1.28463945e+01] [ 5.32414091e-02 9.98581669e-01 5.08155753e-05 4.77342406e-01] [-7.20953225e-04 -1.24486528e-05 9.99999740e-01 -2.49289258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384975926 meters Centerline goodness [0,1] 0.9997016483926308 Centerline is valid? [True, True] Translation: X:12.88, Y:0.48, Z:-0.25 [[ 9.98455175e-01 -5.55504768e-02 1.18638253e-03 1.28756942e+01] [ 5.55504102e-02 9.98455880e-01 8.90632987e-05 4.78108085e-01] [-1.18949812e-03 -2.30216754e-05 9.99999292e-01 -2.48402883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.414975926 meters Centerline goodness [0,1] 0.9997766971020247 Centerline is valid? [True, True] Translation: X:12.90, Y:0.48, Z:-0.25 [[ 9.98364111e-01 -5.71719598e-02 6.85191888e-04 1.29035828e+01] [ 5.71719370e-02 9.98364346e-01 5.27855361e-05 4.80738699e-01] [-6.87089003e-04 -1.35254373e-05 9.99999764e-01 -2.49776494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444975926 meters Centerline goodness [0,1] 0.9996520355917881 Centerline is valid? [True, True] Translation: X:12.93, Y:0.48, Z:-0.25 [[ 9.98341775e-01 -5.75632180e-02 4.20865714e-04 1.29318949e+01] [ 5.75632115e-02 9.98341863e-01 2.75087499e-05 4.83213020e-01] [-4.21751353e-04 -3.23675213e-06 9.99999911e-01 -2.49981640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.474975925999999 meters Centerline goodness [0,1] 0.9995531502904523 Centerline is valid? [True, True] Translation: X:12.96, Y:0.49, Z:-0.25 [[ 9.98292445e-01 -5.84137419e-02 1.72363834e-04 1.29596508e+01] [ 5.84137415e-02 9.98292460e-01 7.65571810e-06 4.85592660e-01] [-1.72516715e-04 2.42577090e-06 9.99999985e-01 -2.52537584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504975926 meters Centerline goodness [0,1] 0.9995040051583464 Centerline is valid? [True, True] Translation: X:12.99, Y:0.49, Z:-0.25 [[ 9.98282658e-01 -5.85798141e-02 3.75636873e-04 1.29874859e+01] [ 5.85798091e-02 9.98282728e-01 2.41761279e-05 4.88361814e-01] [-3.76408035e-04 -2.12987289e-06 9.99999929e-01 -2.52702915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.534975926 meters Centerline goodness [0,1] 0.9996529585285442 Centerline is valid? [True, True] Translation: X:13.02, Y:0.49, Z:-0.25 [[ 9.98275447e-01 -5.86935021e-02 1.09770255e-03 1.30151830e+01] [ 5.86934461e-02 9.98276050e-01 8.31360222e-05 4.90919899e-01] [-1.10068971e-03 -1.85647042e-05 9.99999394e-01 -2.52178408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564975925999999 meters Centerline goodness [0,1] 0.9996281790689604 Centerline is valid? [True, True] Translation: X:13.04, Y:0.49, Z:-0.25 [[ 9.98350981e-01 -5.73985062e-02 8.55081116e-04 1.30441207e+01] [ 5.73984721e-02 9.98351347e-01 6.43860579e-05 4.94703967e-01] [-8.57367047e-04 -1.51995345e-05 9.99999632e-01 -2.52867846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.594975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.07, Y:0.50, Z:-0.25 [[ 9.98407047e-01 -5.63778266e-02 2.21568384e-03 1.30729013e+01] [ 5.63775737e-02 9.98409504e-01 1.76488755e-04 4.98541917e-01] [-2.22210985e-03 -5.12927377e-05 9.99997530e-01 -2.48921374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624975926 meters Centerline goodness [0,1] 0.9996284553651045 Centerline is valid? [True, True] Translation: X:13.10, Y:0.50, Z:-0.25 [[ 9.98573778e-01 -5.33694454e-02 1.45333196e-03 1.31012990e+01] [ 5.33693355e-02 9.98574835e-01 1.14259589e-04 5.02578285e-01] [-1.45735870e-03 -3.65332681e-05 9.99998937e-01 -2.53088774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.654975926 meters Centerline goodness [0,1] 0.9993574058970367 Centerline is valid? [True, True] Translation: X:13.13, Y:0.51, Z:-0.25 [[ 9.98647878e-01 -5.19539689e-02 1.78936103e-03 1.31284919e+01] [ 5.19537908e-02 9.98649479e-01 1.45909076e-04 5.09182158e-01] [-1.79452502e-03 -5.27477007e-05 9.99998388e-01 -2.54152571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684975926 meters Centerline goodness [0,1] 0.9995542789223455 Centerline is valid? [True, True] Translation: X:13.16, Y:0.51, Z:-0.26 [[ 9.98350010e-01 -5.74077648e-02 1.26733250e-03 1.31575244e+01] [ 5.74076799e-02 9.98350814e-01 1.03341430e-04 5.05900946e-01] [-1.27117503e-03 -3.04162996e-05 9.99999192e-01 -2.55980147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714975926 meters Centerline goodness [0,1] 0.999529061841616 Centerline is valid? [True, True] Translation: X:13.19, Y:0.51, Z:-0.26 [[ 9.98166438e-01 -6.05132910e-02 1.37964131e-03 1.31869800e+01] [ 6.05131974e-02 9.98167391e-01 1.09498197e-04 5.05565563e-01] [-1.38373906e-03 -2.58109182e-05 9.99999042e-01 -2.56589392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744975926 meters Centerline goodness [0,1] 0.9998266468548787 Centerline is valid? [True, True] Translation: X:13.22, Y:0.51, Z:-0.25 [[ 9.98034920e-01 -6.26142837e-02 2.39775278e-03 1.32161854e+01] [ 6.26139973e-02 9.98037800e-01 1.94407266e-04 5.06951431e-01] [-2.40522058e-03 -4.38923536e-05 9.99997106e-01 -2.54474754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.774975926 meters Centerline goodness [0,1] 0.9997032640949555 Centerline is valid? [True, True] Translation: X:13.24, Y:0.51, Z:-0.26 [[ 9.98022772e-01 -6.28189587e-02 2.07971877e-03 1.32435199e+01] [ 6.28187385e-02 9.98024938e-01 1.71078596e-04 5.09915740e-01] [-2.08635818e-03 -4.00950245e-05 9.99997823e-01 -2.56185494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804975926 meters Centerline goodness [0,1] 0.9995295515883824 Centerline is valid? [True, True] Translation: X:13.27, Y:0.51, Z:-0.26 [[ 9.98038405e-01 -6.25519961e-02 2.56712845e-03 1.32704694e+01] [ 6.25516569e-02 9.98041705e-01 2.12299200e-04 5.14622259e-01] [-2.57538099e-03 -5.13046175e-05 9.99996682e-01 -2.57538256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.834975926 meters Centerline goodness [0,1] 0.9997275609272835 Centerline is valid? [True, True] Translation: X:13.30, Y:0.52, Z:-0.26 [[ 9.98068175e-01 -6.20865241e-02 2.27647825e-03 1.32996414e+01] [ 6.20862613e-02 9.98070770e-01 1.85968590e-04 5.16742240e-01] [-2.28363255e-03 -4.42713074e-05 9.99997392e-01 -2.56892895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864975926 meters Centerline goodness [0,1] 0.9996532679495752 Centerline is valid? [True, True] Translation: X:13.33, Y:0.52, Z:-0.26 [[ 9.98129986e-01 -6.10881522e-02 2.18365492e-03 1.33269258e+01] [ 6.10879002e-02 9.98132374e-01 1.81976540e-04 5.20263579e-01] [-2.19069328e-03 -4.82413476e-05 9.99997599e-01 -2.58021966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.894975925999999 meters Centerline goodness [0,1] 0.999752542624533 Centerline is valid? [True, True] Translation: X:13.36, Y:0.52, Z:-0.26 [[ 9.98212402e-01 -5.97024309e-02 2.76044353e-03 1.33556757e+01] [ 5.97020286e-02 9.98216217e-01 2.27989536e-04 5.24145823e-01] [-2.76913102e-03 -6.27779040e-05 9.99996164e-01 -2.57069651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924975926 meters Centerline goodness [0,1] 0.9999504619423872 Centerline is valid? [True, True] Translation: X:13.38, Y:0.53, Z:-0.26 [[ 9.98371103e-01 -5.69886756e-02 2.72618380e-03 1.33845856e+01] [ 5.69882710e-02 9.98374822e-01 2.25916916e-04 5.28921379e-01] [-2.73462797e-03 -7.01884192e-05 9.99996258e-01 -2.55528415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.954975926 meters Centerline goodness [0,1] 0.9996783213322445 Centerline is valid? [True, True] Translation: X:13.41, Y:0.53, Z:-0.26 [[ 9.98506528e-01 -5.45645827e-02 2.72406508e-03 1.34116466e+01] [ 5.45641624e-02 9.98510240e-01 2.28427656e-04 5.33796176e-01] [-2.73247093e-03 -7.94501766e-05 9.99996264e-01 -2.58796396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984975925999999 meters Centerline goodness [0,1] 0.9996780106008818 Centerline is valid? [True, True] Translation: X:13.44, Y:0.54, Z:-0.26 [[ 9.98591007e-01 -5.29836989e-02 2.95424663e-03 1.34395987e+01] [ 5.29831912e-02 9.98595373e-01 2.49906930e-04 5.38460943e-01] [-2.96333801e-03 -9.30293993e-05 9.99995605e-01 -2.59113218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.014975926 meters Centerline goodness [0,1] 0.9997274664288192 Centerline is valid? [True, True] Translation: X:13.47, Y:0.54, Z:-0.26 [[ 9.98562685e-01 -5.35058926e-02 3.11178672e-03 1.34672812e+01] [ 5.35053412e-02 9.98567529e-01 2.60243844e-04 5.39660688e-01] [-3.12125375e-03 -9.33725816e-05 9.99995125e-01 -2.59422722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044975926 meters Centerline goodness [0,1] 0.9996028495544469 Centerline is valid? [True, True] Translation: X:13.50, Y:0.54, Z:-0.26 [[ 9.98458629e-01 -5.54395922e-02 2.61127332e-03 1.34953916e+01] [ 5.54392011e-02 9.98462040e-01 2.21956848e-04 5.41396745e-01] [-2.61956248e-03 -7.68478230e-05 9.99996566e-01 -2.61610587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.074975926 meters Centerline goodness [0,1] 0.9994787271012262 Centerline is valid? [True, True] Translation: X:13.52, Y:0.54, Z:-0.26 [[ 9.98418602e-01 -5.61889732e-02 1.75912021e-03 1.35230012e+01] [ 5.61888042e-02 9.98420151e-01 1.45351852e-04 5.42956581e-01] [-1.76450823e-03 -4.62791316e-05 9.99998442e-01 -2.62662572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104975926 meters Centerline goodness [0,1] 0.9998758411760323 Centerline is valid? [True, True] Translation: X:13.55, Y:0.55, Z:-0.26 [[ 9.98389989e-01 -5.66709142e-02 2.41619879e-03 1.35509210e+01] [ 5.66705891e-02 9.98392910e-01 2.02849684e-04 5.45746431e-01] [-2.42381142e-03 -6.55956843e-05 9.99997060e-01 -2.60600517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.134975926 meters Centerline goodness [0,1] 0.9997763141543432 Centerline is valid? [True, True] Translation: X:13.58, Y:0.55, Z:-0.26 [[ 9.98339401e-01 -5.75436424e-02 2.67763284e-03 1.35788324e+01] [ 5.75432344e-02 9.98342989e-01 2.29212329e-04 5.48524242e-01] [-2.68638568e-03 -7.47520450e-05 9.99996389e-01 -2.62432272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164975926 meters Centerline goodness [0,1] 0.9995528950048437 Centerline is valid? [True, True] Translation: X:13.61, Y:0.55, Z:-0.26 [[ 9.98310514e-01 -5.80569203e-02 2.34757960e-03 1.36070446e+01] [ 5.80566144e-02 9.98313273e-01 1.98291438e-04 5.50446434e-01] [-2.35513206e-03 -6.16639040e-05 9.99997225e-01 -2.63274516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.194975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.64, Y:0.55, Z:-0.26 [[ 9.98098400e-01 -6.15576701e-02 3.19948716e-03 1.36359575e+01] [ 6.15571075e-02 9.98103525e-01 2.74104657e-04 5.49503265e-01] [-3.21029266e-03 -7.66322442e-05 9.99994844e-01 -2.59400743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224975925999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.66, Y:0.55, Z:-0.26 [[ 9.98074884e-01 -6.19377932e-02 3.19945011e-03 1.36634015e+01] [ 6.19372312e-02 9.98080009e-01 2.74539585e-04 5.52151977e-01] [-3.21031157e-03 -7.58459836e-05 9.99994844e-01 -2.59847078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.254975926 meters Centerline goodness [0,1] 0.9996523293930665 Centerline is valid? [True, True] Translation: X:13.69, Y:0.55, Z:-0.26 [[ 9.97844207e-01 -6.55716576e-02 2.70117085e-03 1.36928029e+01] [ 6.55712686e-02 9.97847862e-01 2.32406491e-04 5.50829798e-01] [-2.71059683e-03 -5.47862715e-05 9.99996325e-01 -2.64597633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.72, Y:0.55, Z:-0.26 [[ 9.97756051e-01 -6.68796520e-02 3.15836212e-03 1.37209479e+01] [ 6.68791112e-02 9.97761048e-01 2.76648229e-04 5.53378692e-01] [-3.16979283e-03 -6.47989929e-05 9.99994974e-01 -2.60707140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.314975925999999 meters Centerline goodness [0,1] 0.9997517563240077 Centerline is valid? [True, True] Translation: X:13.75, Y:0.55, Z:-0.27 [[ 9.97626397e-01 -6.88082344e-02 2.64555869e-03 1.37495859e+01] [ 6.88078695e-02 9.97629904e-01 2.28811461e-04 5.54489700e-01] [-2.65503257e-03 -4.62330963e-05 9.99996474e-01 -2.65236731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344975926 meters Centerline goodness [0,1] 0.99990050988683 Centerline is valid? [True, True] Translation: X:13.78, Y:0.56, Z:-0.26 [[ 9.97520259e-01 -7.03322898e-02 2.58876477e-03 1.37779529e+01] [ 7.03319435e-02 9.97523617e-01 2.24668741e-04 5.56929005e-01] [-2.59815546e-03 -4.20387630e-05 9.99996624e-01 -2.63642370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.374975926 meters Centerline goodness [0,1] 0.9997519349077197 Centerline is valid? [True, True] Translation: X:13.81, Y:0.57, Z:-0.27 [[ 9.97998734e-01 -6.32249260e-02 1.06601554e-03 1.38061814e+01] [ 6.32248625e-02 9.97999303e-01 9.32044689e-05 5.66370888e-01] [-1.06977561e-03 -2.56192559e-05 9.99999427e-01 -2.66342014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404975925999999 meters Centerline goodness [0,1] 0.9995540249250514 Centerline is valid? [True, True] Translation: X:13.83, Y:0.57, Z:-0.27 [[ 9.98103099e-01 -6.15511055e-02 1.29027514e-03 1.38336843e+01] [ 6.15510108e-02 9.98103933e-01 1.13069368e-04 5.71183989e-01] [-1.29478824e-03 -3.34371471e-05 9.99999161e-01 -2.67228436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.434975926 meters Centerline goodness [0,1] 0.9998761149653121 Centerline is valid? [True, True] Translation: X:13.86, Y:0.57, Z:-0.26 [[ 9.98153534e-01 -6.07139115e-02 1.82836633e-03 1.38623428e+01] [ 6.07137235e-02 9.98155208e-01 1.58165686e-04 5.74635383e-01] [-1.83459624e-03 -4.68667103e-05 9.99998316e-01 -2.64497848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464975926 meters Centerline goodness [0,1] 0.9997521439547911 Centerline is valid? [True, True] Translation: X:13.89, Y:0.58, Z:-0.27 [[ 9.98178625e-01 -6.03018019e-02 1.76759951e-03 1.38906976e+01] [ 6.03016251e-02 9.98180189e-01 1.53204154e-04 5.76926076e-01] [-1.77362130e-03 -4.63359890e-05 9.99998426e-01 -2.66228478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.494975926 meters Centerline goodness [0,1] 0.9997271893058208 Centerline is valid? [True, True] Translation: X:13.92, Y:0.58, Z:-0.27 [[ 9.98073461e-01 -6.20139090e-02 1.90853088e-03 1.39197093e+01] [ 6.20137040e-02 9.98075284e-01 1.66423656e-04 5.78355018e-01] [-1.91517808e-03 -4.77479654e-05 9.99998165e-01 -2.66625856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524975926 meters Centerline goodness [0,1] 0.9995787595708303 Centerline is valid? [True, True] Translation: X:13.95, Y:0.58, Z:-0.27 [[ 9.98063257e-01 -6.21895219e-02 1.48287694e-03 1.39473726e+01] [ 6.21893946e-02 9.98064358e-01 1.31850137e-04 5.82614906e-01] [-1.48820632e-03 -3.93755579e-05 9.99998892e-01 -2.68832339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.554975926 meters Centerline goodness [0,1] 0.9996534224532739 Centerline is valid? [True, True] Translation: X:13.98, Y:0.59, Z:-0.27 [[ 9.98128157e-01 -6.11288280e-02 1.85723091e-03 1.39758588e+01] [ 6.11286307e-02 9.98129883e-01 1.62868199e-04 5.87057182e-01] [-1.86371362e-03 -4.90333528e-05 9.99998262e-01 -2.68311763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584975926 meters Centerline goodness [0,1] 0.9998015823805154 Centerline is valid? [True, True] Translation: X:14.00, Y:0.59, Z:-0.27 [[ 9.98097860e-01 -6.16079761e-02 2.26243540e-03 1.40040676e+01] [ 6.16076817e-02 9.98100423e-01 1.99631820e-04 5.90285623e-01] [-2.27043664e-03 -5.98686922e-05 9.99997421e-01 -2.68102638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.614975926 meters Centerline goodness [0,1] 0.9997522667591537 Centerline is valid? [True, True] Translation: X:14.03, Y:0.59, Z:-0.27 [[ 9.98098587e-01 -6.16020455e-02 2.09741730e-03 1.40325244e+01] [ 6.16017906e-02 9.98100789e-01 1.85987204e-04 5.92988423e-01] [-2.10489106e-03 -5.64289040e-05 9.99997783e-01 -2.68769395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644975925999999 meters Centerline goodness [0,1] 0.9996285197751307 Centerline is valid? [True, True] Translation: X:14.06, Y:0.60, Z:-0.27 [[ 9.98039041e-01 -6.25474015e-02 2.42787006e-03 1.40605848e+01] [ 6.25470533e-02 9.98041992e-01 2.19168673e-04 5.96714961e-01] [-2.43682470e-03 -6.68827744e-05 9.99997029e-01 -2.70698623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.674975926 meters Centerline goodness [0,1] 0.9997526222046309 Centerline is valid? [True, True] Translation: X:14.09, Y:0.60, Z:-0.27 [[ 9.98099238e-01 -6.15754416e-02 2.52509970e-03 1.40896284e+01] [ 6.15750661e-02 9.98102430e-01 2.26271432e-04 5.98424795e-01] [-2.53424091e-03 -7.03581630e-05 9.99996786e-01 -2.69637021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704975926 meters Centerline goodness [0,1] 0.9997518364105619 Centerline is valid? [True, True] Translation: X:14.12, Y:0.60, Z:-0.27 [[ 9.98233562e-01 -5.93600943e-02 2.47694489e-03 1.41178659e+01] [ 5.93597242e-02 9.98236632e-01 2.22746632e-04 6.04090093e-01] [-2.48579939e-03 -7.53223980e-05 9.99996908e-01 -2.70436731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.734975925999999 meters Centerline goodness [0,1] 0.9998513821460419 Centerline is valid? [True, True] Translation: X:14.15, Y:0.61, Z:-0.27 [[ 9.98279292e-01 -5.85778055e-02 2.66379399e-03 1.41457087e+01] [ 5.85773631e-02 9.98282842e-01 2.43864684e-04 6.09386899e-01] [-2.67350489e-03 -8.74070365e-05 9.99996422e-01 -2.69920846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.17, Y:0.61, Z:-0.27 [[ 9.98468001e-01 -5.52201546e-02 3.51925998e-03 1.41743205e+01] [ 5.52193679e-02 9.98474195e-01 3.20398084e-04 6.13441992e-01] [-3.53158271e-03 -1.25575923e-04 9.99993756e-01 -2.66974874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.794975926 meters Centerline goodness [0,1] 0.9997521808088818 Centerline is valid? [True, True] Translation: X:14.20, Y:0.62, Z:-0.27 [[ 9.98466649e-01 -5.52847738e-02 2.81858999e-03 1.42034071e+01] [ 5.52842698e-02 9.98470622e-01 2.56458278e-04 6.15833922e-01] [-2.82845754e-03 -1.00241348e-04 9.99995995e-01 -2.70467362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824975926 meters Centerline goodness [0,1] 0.9995291552053132 Centerline is valid? [True, True] Translation: X:14.23, Y:0.62, Z:-0.27 [[ 9.98490754e-01 -5.48724654e-02 2.28623593e-03 1.42305783e+01] [ 5.48721262e-02 9.98493368e-01 2.10858027e-04 6.19427851e-01] [-2.29436171e-03 -8.50891635e-05 9.99997364e-01 -2.72742780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.854975926 meters Centerline goodness [0,1] 0.999727277235087 Centerline is valid? [True, True] Translation: X:14.26, Y:0.62, Z:-0.27 [[ 9.98552633e-01 -5.37210630e-02 2.58570082e-03 1.42588584e+01] [ 5.37206240e-02 9.98555976e-01 2.39008894e-04 6.21709138e-01] [-2.59480682e-03 -9.97574988e-05 9.99996629e-01 -2.71474767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884975926 meters Centerline goodness [0,1] 0.9998265523564102 Centerline is valid? [True, True] Translation: X:14.29, Y:0.63, Z:-0.27 [[ 9.98578844e-01 -5.32083749e-02 3.02686255e-03 1.42863624e+01] [ 5.32077711e-02 9.98583424e-01 2.79711392e-04 6.28747098e-01] [-3.03745776e-03 -1.18261269e-04 9.99995380e-01 -2.71825870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.914975926 meters Centerline goodness [0,1] 0.9996784247761342 Centerline is valid? [True, True] Translation: X:14.32, Y:0.63, Z:-0.27 [[ 9.98795387e-01 -4.90198018e-02 2.19877678e-03 1.43158176e+01] [ 4.90194697e-02 9.98797802e-01 2.04689573e-04 6.31753296e-01] [-2.20616726e-03 -9.66601295e-05 9.99997562e-01 -2.73980794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944975926 meters Centerline goodness [0,1] 0.9997522544841938 Centerline is valid? [True, True] Translation: X:14.34, Y:0.63, Z:-0.27 [[ 9.98759749e-01 -4.97423444e-02 2.15957772e-03 1.43435168e+01] [ 4.97420362e-02 9.98762079e-01 1.96244785e-04 6.32897032e-01] [-2.16666601e-03 -8.85795988e-05 9.99997649e-01 -2.73658552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.974975925999999 meters Centerline goodness [0,1] 0.9996279669634663 Centerline is valid? [True, True] Translation: X:14.37, Y:0.63, Z:-0.27 [[ 9.98672920e-01 -5.14468644e-02 2.37028196e-03 1.43725670e+01] [ 5.14464924e-02 9.98675729e-01 2.17660870e-04 6.33991782e-01] [-2.37834103e-03 -9.54293239e-05 9.99997167e-01 -2.74509467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004975926 meters Centerline goodness [0,1] 0.9997024990083301 Centerline is valid? [True, True] Translation: X:14.40, Y:0.64, Z:-0.28 [[ 9.98620142e-01 -5.24674384e-02 2.23151826e-03 1.44002467e+01] [ 5.24671033e-02 9.98622631e-01 2.08493594e-04 6.39099356e-01] [-2.23938376e-03 -9.11246031e-05 9.99997488e-01 -2.75584900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.034975926 meters Centerline goodness [0,1] 0.9997520886530976 Centerline is valid? [True, True] Translation: X:14.43, Y:0.64, Z:-0.28 [[ 9.98584271e-01 -5.31244090e-02 2.69259358e-03 1.44287498e+01] [ 5.31239292e-02 9.98587896e-01 2.49442005e-04 6.39552766e-01] [-2.70204282e-03 -1.06047712e-04 9.99996344e-01 -2.75641724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064975925999999 meters Centerline goodness [0,1] 0.9996529929359276 Centerline is valid? [True, True] Translation: X:14.46, Y:0.64, Z:-0.28 [[ 9.98539161e-01 -5.39824372e-02 2.33239549e-03 1.44577733e+01] [ 5.39820799e-02 9.98541881e-01 2.15958799e-04 6.40040576e-01] [-2.34065256e-03 -8.97357580e-05 9.99997257e-01 -2.76305242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.094975926 meters Centerline goodness [0,1] 0.99980099007438 Centerline is valid? [True, True] Translation: X:14.49, Y:0.64, Z:-0.27 [[ 9.98388719e-01 -5.66414232e-02 3.42275991e-03 1.44865724e+01] [ 5.66406451e-02 9.98394578e-01 3.23913461e-04 6.39118091e-01] [-3.43561185e-03 -1.29524217e-04 9.99994090e-01 -2.74888553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124975926 meters Centerline goodness [0,1] 0.9998260350912073 Centerline is valid? [True, True] Translation: X:14.51, Y:0.64, Z:-0.27 [[ 9.98330725e-01 -5.76352724e-02 3.73336691e-03 1.45148941e+01] [ 5.76343631e-02 9.98337697e-01 3.50775831e-04 6.41626795e-01] [-3.74737798e-03 -1.35020066e-04 9.99992969e-01 -2.74522220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.154975925999999 meters Centerline goodness [0,1] 0.9998258359872612 Centerline is valid? [True, True] Translation: X:14.54, Y:0.64, Z:-0.28 [[ 9.98300077e-01 -5.81517505e-02 3.91542425e-03 1.45428816e+01] [ 5.81507373e-02 9.98307745e-01 3.72224891e-04 6.44759794e-01] [-3.93044388e-03 -1.43907331e-04 9.99992265e-01 -2.75342047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184975926 meters Centerline goodness [0,1] 0.9996023659227595 Centerline is valid? [True, True] Translation: X:14.57, Y:0.65, Z:-0.28 [[ 9.98267004e-01 -5.87422207e-02 3.51297359e-03 1.45703071e+01] [ 5.87414199e-02 9.98273177e-01 3.30777500e-04 6.47094780e-01] [-3.52633791e-03 -1.23847207e-04 9.99993775e-01 -2.78014207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.214975926 meters Centerline goodness [0,1] 0.9997759633575625 Centerline is valid? [True, True] Translation: X:14.60, Y:0.65, Z:-0.28 [[ 9.98209419e-01 -5.97074768e-02 3.60189101e-03 1.45988267e+01] [ 5.97066333e-02 9.98215909e-01 3.41358955e-04 6.49607777e-01] [-3.61584659e-03 -1.25690939e-04 9.99993455e-01 -2.77042860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244975926 meters Centerline goodness [0,1] 0.9999251963595561 Centerline is valid? [True, True] Translation: X:14.63, Y:0.65, Z:-0.28 [[ 9.98117257e-01 -6.11520403e-02 4.72950866e-03 1.46281753e+01] [ 6.11505851e-02 9.98128450e-01 4.51818270e-04 6.50903517e-01] [-4.74828676e-03 -1.61755390e-04 9.99988714e-01 -2.75019246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.274975926 meters Centerline goodness [0,1] 0.9997007406668496 Centerline is valid? [True, True] Translation: X:14.66, Y:0.66, Z:-0.28 [[ 9.98145065e-01 -6.07968153e-02 3.18995463e-03 1.46556882e+01] [ 6.07961454e-02 9.98150156e-01 3.06636700e-04 6.57114351e-01] [-3.20269625e-03 -1.12130964e-04 9.99994865e-01 -2.79802106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304975926 meters Centerline goodness [0,1] 0.9998004937778997 Centerline is valid? [True, True] Translation: X:14.68, Y:0.66, Z:-0.28 [[ 9.98186444e-01 -6.00859962e-02 3.67368751e-03 1.46844961e+01] [ 6.00851095e-02 9.98193196e-01 3.51365748e-04 6.60736683e-01] [-3.68816203e-03 -1.29994611e-04 9.99993190e-01 -2.79334776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.334975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.71, Y:0.66, Z:-0.28 [[ 9.98446712e-01 -5.55187660e-02 4.67216936e-03 1.47133946e+01] [ 5.55172548e-02 9.98457625e-01 4.52630130e-04 6.64456764e-01] [-4.69009259e-03 -1.92541048e-04 9.99988983e-01 -2.75254586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.74, Y:0.67, Z:-0.28 [[ 9.98544563e-01 -5.37519010e-02 4.41454797e-03 1.47421992e+01] [ 5.37505474e-02 9.98554304e-01 4.24777818e-04 6.69664203e-01] [-4.43099850e-03 -1.86875211e-04 9.99990166e-01 -2.75922522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.394975925999999 meters Centerline goodness [0,1] 0.9998507499813437 Centerline is valid? [True, True] Translation: X:14.77, Y:0.68, Z:-0.28 [[ 9.98864131e-01 -4.75326547e-02 3.33090127e-03 1.47716788e+01] [ 4.75318367e-02 9.98869671e-01 3.24366570e-04 6.78435096e-01] [-3.34255426e-03 -1.65674277e-04 9.99994400e-01 -2.78638267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424975926 meters Centerline goodness [0,1] 0.9993290758641254 Centerline is valid? [True, True] Translation: X:14.80, Y:0.68, Z:-0.28 [[ 9.98942358e-01 -4.58816751e-02 3.00609529e-03 1.47990363e+01] [ 4.58810051e-02 9.98946870e-01 2.91517144e-04 6.84275415e-01] [-3.01630477e-03 -1.53286150e-04 9.99995439e-01 -2.81142697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.454975926 meters Centerline goodness [0,1] 0.9994784811384012 Centerline is valid? [True, True] Translation: X:14.83, Y:0.69, Z:-0.28 [[ 9.99000729e-01 -4.45791092e-02 3.20098644e-03 1.48272723e+01] [ 4.45783411e-02 9.99005843e-01 3.10924122e-04 6.87095739e-01] [-3.21166488e-03 -1.67918759e-04 9.99994828e-01 -2.80963676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484975925999999 meters Centerline goodness [0,1] 0.9990792584297623 Centerline is valid? [True, True] Translation: X:14.86, Y:0.69, Z:-0.28 [[ 9.99012226e-01 -4.43471947e-02 2.81053015e-03 1.48554988e+01] [ 4.43466094e-02 9.99016169e-01 2.70265423e-04 6.90962594e-01] [-2.81975058e-03 -1.45360979e-04 9.99996014e-01 -2.82794402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.514975926 meters Centerline goodness [0,1] 0.9998003244727318 Centerline is valid? [True, True] Translation: X:14.89, Y:0.69, Z:-0.28 [[ 9.98865465e-01 -4.74404369e-02 4.14583631e-03 1.48857594e+01] [ 4.74391594e-02 9.98874047e-01 4.05998766e-04 6.88087956e-01] [-4.16042905e-03 -2.08863157e-04 9.99991324e-01 -2.80343041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544975926 meters Centerline goodness [0,1] 0.9996505765486946 Centerline is valid? [True, True] Translation: X:14.91, Y:0.69, Z:-0.28 [[ 9.98848963e-01 -4.78272613e-02 3.64713319e-03 1.49131311e+01] [ 4.78262782e-02 9.98855605e-01 3.56345408e-04 6.92980378e-01] [-3.66000245e-03 -1.81506435e-04 9.99993286e-01 -2.82185859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.574975926 meters Centerline goodness [0,1] 0.9997002323199521 Centerline is valid? [True, True] Translation: X:14.94, Y:0.69, Z:-0.28 [[ 9.98766725e-01 -4.94844774e-02 4.03917914e-03 1.49419303e+01] [ 4.94832930e-02 9.98774874e-01 3.92683484e-04 6.91545231e-01] [-4.05366237e-03 -1.92327312e-04 9.99991765e-01 -2.82471326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604975926 meters Centerline goodness [0,1] 0.9994240496819753 Centerline is valid? [True, True] Translation: X:14.97, Y:0.69, Z:-0.28 [[ 9.98713874e-01 -5.05597969e-02 3.78210951e-03 1.49710233e+01] [ 5.05587629e-02 9.98721020e-01 3.68574482e-04 6.92793195e-01] [-3.79590732e-03 -1.76881671e-04 9.99992780e-01 -2.83755448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.634975926 meters Centerline goodness [0,1] 0.9997499812485936 Centerline is valid? [True, True] Translation: X:15.00, Y:0.70, Z:-0.28 [[ 9.98638369e-01 -5.19558602e-02 4.69013277e-03 1.49982703e+01] [ 5.19542595e-02 9.98649358e-01 4.62579976e-04 6.99212837e-01] [-4.70783183e-03 -2.18277738e-04 9.99988894e-01 -2.82697701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664975926 meters Centerline goodness [0,1] 0.9999749568004809 Centerline is valid? [True, True] Translation: X:15.03, Y:0.69, Z:-0.28 [[ 9.98404611e-01 -5.61572206e-02 5.88216050e-03 1.50292859e+01] [ 5.61547625e-02 9.98421907e-01 5.82349699e-04 6.92216366e-01] [-5.90558104e-03 -2.51109299e-04 9.99982530e-01 -2.81063174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.694975926 meters Centerline goodness [0,1] 0.9997749324797439 Centerline is valid? [True, True] Translation: X:15.06, Y:0.70, Z:-0.28 [[ 9.98352163e-01 -5.71451498e-02 5.23365346e-03 1.50572503e+01] [ 5.71432226e-02 9.98365857e-01 5.17146682e-04 6.95434752e-01] [-5.25465335e-03 -2.17226683e-04 9.99986171e-01 -2.83828083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724975925999999 meters Centerline goodness [0,1] 0.9996244178476639 Centerline is valid? [True, True] Translation: X:15.09, Y:0.70, Z:-0.29 [[ 9.98177303e-01 -6.01627272e-02 4.74530935e-03 1.50863592e+01] [ 6.01611865e-02 9.98188566e-01 4.66876471e-04 6.96523037e-01] [-4.76480210e-03 -1.80542056e-04 9.99988632e-01 -2.86028917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.754975926 meters Centerline goodness [0,1] 0.9996992933393475 Centerline is valid? [True, True] Translation: X:15.11, Y:0.70, Z:-0.29 [[ 9.98064014e-01 -6.19969375e-02 4.96017721e-03 1.51149673e+01] [ 6.19952677e-02 9.98076323e-01 4.89825294e-04 6.97460411e-01] [-4.98100310e-03 -1.81369485e-04 9.99987578e-01 -2.86439735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784975926 meters Centerline goodness [0,1] 0.999799869915445 Centerline is valid? [True, True] Translation: X:15.14, Y:0.70, Z:-0.29 [[ 9.98091307e-01 -6.15098576e-02 5.50269927e-03 1.51434515e+01] [ 6.15077817e-02 9.98106455e-01 5.45858068e-04 7.00892401e-01] [-5.52585531e-03 -2.06357367e-04 9.99984711e-01 -2.85910130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.814975925999999 meters Centerline goodness [0,1] 0.9997251923653443 Centerline is valid? [True, True] Translation: X:15.17, Y:0.71, Z:-0.29 [[ 9.98262321e-01 -5.86559750e-02 5.64057121e-03 1.51717357e+01] [ 5.86537196e-02 9.98278229e-01 5.64586474e-04 7.07444428e-01] [-5.66397580e-03 -2.32764922e-04 9.99983932e-01 -2.86593736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844975926 meters Centerline goodness [0,1] 0.9996497460658977 Centerline is valid? [True, True] Translation: X:15.20, Y:0.71, Z:-0.29 [[ 9.98358041e-01 -5.70462358e-02 5.19126797e-03 1.52006544e+01] [ 5.70443178e-02 9.98371513e-01 5.16894916e-04 7.11083593e-01] [-5.21230097e-03 -2.19913855e-04 9.99986392e-01 -2.88183705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874975926 meters Centerline goodness [0,1] 0.9996746013866987 Centerline is valid? [True, True] Translation: X:15.23, Y:0.71, Z:-0.29 [[ 9.98295531e-01 -5.80611630e-02 5.91047028e-03 1.52298746e+01] [ 5.80586759e-02 9.98312997e-01 5.91645336e-04 7.14369902e-01] [-5.93485092e-03 -2.47482816e-04 9.99982358e-01 -2.88367897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904975925999999 meters Centerline goodness [0,1] 0.9994754982766372 Centerline is valid? [True, True] Translation: X:15.26, Y:0.72, Z:-0.29 [[ 9.98233990e-01 -5.90980243e-02 6.02704495e-03 1.52583689e+01] [ 5.90954461e-02 9.98252154e-01 6.05117056e-04 7.16638001e-01] [-6.05227182e-03 -2.47877504e-04 9.99981654e-01 -2.89491840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.934975926 meters Centerline goodness [0,1] 0.9998750218711725 Centerline is valid? [True, True] Translation: X:15.29, Y:0.72, Z:-0.29 [[ 9.98126935e-01 -6.07816104e-02 6.94388505e-03 1.52877833e+01] [ 6.07781959e-02 9.98151050e-01 7.01887488e-04 7.18352440e-01] [-6.97370800e-03 -2.78536001e-04 9.99975645e-01 -2.87831197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964975926 meters Centerline goodness [0,1] 0.9996011964107677 Centerline is valid? [True, True] Translation: X:15.32, Y:0.72, Z:-0.29 [[ 9.98078620e-01 -6.16097072e-02 6.58114829e-03 1.53152972e+01] [ 6.16066647e-02 9.98100284e-01 6.64214973e-04 7.20758800e-01] [-6.60956807e-03 -2.57496168e-04 9.99978123e-01 -2.90449082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.994975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.34, Y:0.72, Z:-0.29 [[ 9.98005077e-01 -6.26599590e-02 7.71985793e-03 1.53446011e+01] [ 6.26557671e-02 9.98034889e-01 7.83894733e-04 7.23740187e-01] [-7.75380637e-03 -2.98637302e-04 9.99969894e-01 -2.87518668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024975926 meters Centerline goodness [0,1] 0.999725733662453 Centerline is valid? [True, True] Translation: X:15.37, Y:0.73, Z:-0.29 [[ 9.98043647e-01 -6.21350760e-02 6.93617049e-03 1.53717698e+01] [ 6.21316583e-02 9.98067711e-01 7.07345455e-04 7.27547075e-01] [-6.96671877e-03 -2.75005863e-04 9.99975694e-01 -2.91548654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.054975926 meters Centerline goodness [0,1] 0.9996017027208682 Centerline is valid? [True, True] Translation: X:15.40, Y:0.73, Z:-0.29 [[ 9.98102837e-01 -6.12143929e-02 6.59727529e-03 1.54000290e+01] [ 6.12112838e-02 9.98124605e-01 6.72350831e-04 7.31592058e-01] [-6.62606034e-03 -2.67247582e-04 9.99978012e-01 -2.92655246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.43, Y:0.74, Z:-0.29 [[ 9.98126361e-01 -6.07122259e-02 7.60224032e-03 1.54290788e+01] [ 6.07080564e-02 9.98155262e-01 7.78232513e-04 7.35992637e-01] [-7.63546440e-03 -3.15257152e-04 9.99970800e-01 -2.89526715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.114975926 meters Centerline goodness [0,1] 0.9996514725285668 Centerline is valid? [True, True] Translation: X:15.46, Y:0.74, Z:-0.29 [[ 9.98142445e-01 -6.05645438e-02 6.60270129e-03 1.54570638e+01] [ 6.05613708e-02 9.98164244e-01 6.79627665e-04 7.39647238e-01] [-6.63174168e-03 -2.78496579e-04 9.99977971e-01 -2.93246096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144975926 meters Centerline goodness [0,1] 0.9996514725285668 Centerline is valid? [True, True] Translation: X:15.48, Y:0.74, Z:-0.29 [[ 9.98118859e-01 -6.09519969e-02 6.60288157e-03 1.54844768e+01] [ 6.09488439e-02 9.98140661e-01 6.77888349e-04 7.42719394e-01] [-6.63192322e-03 -2.74175148e-04 9.99977971e-01 -2.93693362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.174975926 meters Centerline goodness [0,1] 0.9997509339975094 Centerline is valid? [True, True] Translation: X:15.51, Y:0.75, Z:-0.29 [[ 9.97996678e-01 -6.28455181e-02 7.28497230e-03 1.55136050e+01] [ 6.28417012e-02 9.98023224e-01 7.51890908e-04 7.45063589e-01] [-7.31782452e-03 -2.92584576e-04 9.99973182e-01 -2.93156451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204975926 meters Centerline goodness [0,1] 0.9997257883584694 Centerline is valid? [True, True] Translation: X:15.54, Y:0.75, Z:-0.29 [[ 9.97958991e-01 -6.33793003e-02 7.80493012e-03 1.55418440e+01] [ 6.33749146e-02 9.97989462e-01 8.08212520e-04 7.48321872e-01] [-7.84046196e-03 -3.11926172e-04 9.99969214e-01 -2.93887223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.234975926 meters Centerline goodness [0,1] 0.9997261433515074 Centerline is valid? [True, True] Translation: X:15.57, Y:0.75, Z:-0.29 [[ 9.97944235e-01 -6.36538213e-02 7.44944606e-03 1.55700955e+01] [ 6.36498143e-02 9.97971995e-01 7.73977125e-04 7.51731802e-01] [-7.48360515e-03 -2.98230151e-04 9.99971953e-01 -2.94853279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264975925999998 meters Centerline goodness [0,1] 0.9997259796228484 Centerline is valid? [True, True] Translation: X:15.60, Y:0.76, Z:-0.30 [[ 9.97960979e-01 -6.34287823e-02 7.11855400e-03 1.55974267e+01] [ 6.34250864e-02 9.97986325e-01 7.43973012e-04 7.57276092e-01] [-7.15140885e-03 -2.90961133e-04 9.99974386e-01 -2.95246219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.294975926 meters Centerline goodness [0,1] 0.9998004987531172 Centerline is valid? [True, True] Translation: X:15.62, Y:0.76, Z:-0.30 [[ 9.97961735e-01 -6.34375086e-02 6.93233672e-03 1.56248975e+01] [ 6.34339952e-02 9.97985772e-01 7.25739170e-04 7.62111522e-01] [-6.96441250e-03 -2.84514107e-04 9.99975708e-01 -2.95120410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324975926 meters Centerline goodness [0,1] 0.9996268099716376 Centerline is valid? [True, True] Translation: X:15.65, Y:0.76, Z:-0.30 [[ 9.98005174e-01 -6.28516789e-02 5.94475229e-03 1.56541544e+01] [ 6.28490909e-02 9.98022848e-01 6.21331603e-04 7.62840121e-01] [-5.97205034e-03 -2.46469878e-04 9.99982137e-01 -2.97311565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.354975925999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.68, Y:0.77, Z:-0.30 [[ 9.98017738e-01 -6.25335219e-02 7.08191331e-03 1.56811768e+01] [ 6.25298073e-02 9.98042819e-01 7.44951416e-04 7.67952418e-01] [-7.11463716e-03 -3.00644053e-04 9.99974645e-01 -2.95038081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384975926 meters Centerline goodness [0,1] 0.99957706182361 Centerline is valid? [True, True] Translation: X:15.71, Y:0.77, Z:-0.30 [[ 9.97955854e-01 -6.36489494e-02 5.73801259e-03 1.57089765e+01] [ 6.36465217e-02 9.97972321e-01 6.04902859e-04 7.70471950e-01] [-5.76487917e-03 -2.38461807e-04 9.99983355e-01 -2.98640417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.414975926 meters Centerline goodness [0,1] 0.9996266706488464 Centerline is valid? [True, True] Translation: X:15.74, Y:0.77, Z:-0.30 [[ 9.97881491e-01 -6.47912950e-02 5.88369278e-03 1.57382061e+01] [ 6.47887691e-02 9.97898809e-01 6.19092176e-04 7.73581413e-01] [-5.91144180e-03 -2.36583411e-04 9.99982499e-01 -2.98649890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444975925999998 meters Centerline goodness [0,1] 0.9991304563861767 Centerline is valid? [True, True] Translation: X:15.77, Y:0.78, Z:-0.30 [[ 9.97868429e-01 -6.50631136e-02 5.03881751e-03 1.57668504e+01] [ 6.50612615e-02 9.97881130e-01 5.30789252e-04 7.77263627e-01] [-5.06267572e-03 -2.01826013e-04 9.99987164e-01 -3.00943487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.474975926 meters Centerline goodness [0,1] 0.9994023160254015 Centerline is valid? [True, True] Translation: X:15.79, Y:0.78, Z:-0.30 [[ 9.97846013e-01 -6.54024702e-02 5.08442233e-03 1.57944622e+01] [ 6.54005682e-02 9.97858945e-01 5.39625649e-04 7.81232697e-01] [-5.10882915e-03 -2.05939193e-04 9.99986929e-01 -3.00686057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504975926 meters Centerline goodness [0,1] 0.9991798389501939 Centerline is valid? [True, True] Translation: X:15.82, Y:0.78, Z:-0.30 [[ 9.97826381e-01 -6.57179766e-02 4.86431969e-03 1.58216380e+01] [ 6.57162370e-02 9.97838218e-01 5.16763071e-04 7.84757613e-01] [-4.88776471e-03 -1.95975039e-04 9.99988036e-01 -3.02133530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.534975926 meters Centerline goodness [0,1] 0.9994277895260605 Centerline is valid? [True, True] Translation: X:15.85, Y:0.79, Z:-0.30 [[ 9.97741841e-01 -6.69936052e-02 4.80367881e-03 1.58506075e+01] [ 6.69919327e-02 9.97753388e-01 5.08411833e-04 7.85649697e-01] [-4.82694715e-03 -1.85456030e-04 9.99988333e-01 -3.01959814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564975926 meters Centerline goodness [0,1] 0.9994288552272163 Centerline is valid? [True, True] Translation: X:15.88, Y:0.79, Z:-0.30 [[ 9.97661933e-01 -6.82126977e-02 4.20658841e-03 1.58797045e+01] [ 6.82114237e-02 9.97670789e-01 4.45768919e-04 7.85835432e-01] [-4.22719748e-03 -1.57789297e-04 9.99991053e-01 -3.03151606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.594975926 meters Centerline goodness [0,1] 0.9997266401590458 Centerline is valid? [True, True] Translation: X:15.91, Y:0.79, Z:-0.30 [[ 9.97565374e-01 -6.95747373e-02 4.76251016e-03 1.59080001e+01] [ 6.95731085e-02 9.97576727e-01 5.07035687e-04 7.89053841e-01] [-4.78624617e-03 -1.74458608e-04 9.99988531e-01 -3.01837317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624975926 meters Centerline goodness [0,1] 0.9996770908368315 Centerline is valid? [True, True] Translation: X:15.93, Y:0.80, Z:-0.30 [[ 9.97533798e-01 -7.00303479e-02 4.69814958e-03 1.59349817e+01] [ 7.00287487e-02 9.97544846e-01 5.04250368e-04 7.95803407e-01] [-4.72192773e-03 -1.74001249e-04 9.99988836e-01 -3.03427966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.654975926 meters Centerline goodness [0,1] 0.9987074322644792 Centerline is valid? [True, True] Translation: X:15.96, Y:0.80, Z:-0.31 [[ 9.97539165e-01 -7.00099092e-02 3.77183794e-03 1.59625577e+01] [ 7.00088802e-02 9.97546286e-01 4.04313746e-04 8.02152132e-01] [-3.79088889e-03 -1.39256647e-04 9.99992805e-01 -3.05624492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684975926 meters Centerline goodness [0,1] 0.9995774612879974 Centerline is valid? [True, True] Translation: X:15.99, Y:0.80, Z:-0.30 [[ 9.97414827e-01 -7.17824728e-02 3.30762329e-03 1.59923288e+01] [ 7.17816979e-02 9.97420304e-01 3.52548159e-04 7.98349054e-01] [-3.32439740e-03 -1.14209945e-04 9.99994468e-01 -3.04266390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.714975926 meters Centerline goodness [0,1] 0.9992551210428305 Centerline is valid? [True, True] Translation: X:16.02, Y:0.80, Z:-0.31 [[ 9.97311971e-01 -7.32165523e-02 2.85829584e-03 1.60201823e+01] [ 7.32159704e-02 9.97316062e-01 3.07822558e-04 8.02330353e-01] [-2.87316206e-03 -9.77222182e-05 9.99995868e-01 -3.05997805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744975926 meters Centerline goodness [0,1] 0.9998262294268053 Centerline is valid? [True, True] Translation: X:16.05, Y:0.81, Z:-0.30 [[ 9.97204994e-01 -7.46406983e-02 3.31149095e-03 1.60479625e+01] [ 7.46399226e-02 9.97210486e-01 3.57380501e-04 8.07249051e-01] [-3.32892863e-03 -1.09212192e-04 9.99994453e-01 -3.04861887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.774975926 meters Centerline goodness [0,1] 0.9994045846978268 Centerline is valid? [True, True] Translation: X:16.08, Y:0.81, Z:-0.31 [[ 9.97118414e-01 -7.58286413e-02 2.21047987e-03 1.60761078e+01] [ 7.58283079e-02 9.97120862e-01 2.34349389e-04 8.06792693e-01] [-2.22188598e-03 -6.60571434e-05 9.99997529e-01 -3.07262783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804975926 meters Centerline goodness [0,1] 0.9997520517715901 Centerline is valid? [True, True] Translation: X:16.10, Y:0.81, Z:-0.31 [[ 9.97057228e-01 -7.66296546e-02 2.18615673e-03 1.61034081e+01] [ 7.66293204e-02 9.97059623e-01 2.36351634e-04 8.13056895e-01] [-2.19784015e-03 -6.81324004e-05 9.99997582e-01 -3.06750085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.834975926 meters Centerline goodness [0,1] 0.999355622196337 Centerline is valid? [True, True] Translation: X:16.13, Y:0.82, Z:-0.31 [[ 9.97047940e-01 -7.67419900e-02 2.46435764e-03 1.61316738e+01] [ 7.67415730e-02 9.97050982e-01 2.63474319e-04 8.16870968e-01] [-2.47730975e-03 -7.35778448e-05 9.99996929e-01 -3.08438879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864975926 meters Centerline goodness [0,1] 0.9994302700024771 Centerline is valid? [True, True] Translation: X:16.16, Y:0.82, Z:-0.31 [[ 9.97177520e-01 -7.50548870e-02 1.93830161e-03 1.61591723e+01] [ 7.50546214e-02 9.97179402e-01 2.09529385e-04 8.23658892e-01] [-1.94856064e-03 -6.34594996e-05 9.99998100e-01 -3.08539493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.894975926 meters Centerline goodness [0,1] 0.998121555154601 Centerline is valid? [True, True] Translation: X:16.19, Y:0.83, Z:-0.31 [[ 9.97531865e-01 -7.01855608e-02 2.04074547e-03 1.61879649e+01] [ 7.01852514e-02 9.97533950e-01 2.22931309e-04 8.31402877e-01] [-2.05135945e-03 -7.91508510e-05 9.99997893e-01 -3.10442407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924975926 meters Centerline goodness [0,1] 0.9993568336425479 Centerline is valid? [True, True] Translation: X:16.22, Y:0.83, Z:-0.31 [[ 9.97636729e-01 -6.86835734e-02 1.87695334e-03 1.62165388e+01] [ 6.86833170e-02 9.97638492e-01 2.00798173e-04 8.33589584e-01] [-1.88631244e-03 -7.14082508e-05 9.99998218e-01 -3.08170681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.954975926 meters Centerline goodness [0,1] 0.9973073787702873 Centerline is valid? [True, True] Translation: X:16.24, Y:0.85, Z:-0.31 [[ 9.97920670e-01 -6.44370782e-02 1.48270217e-03 1.62439870e+01] [ 6.44369085e-02 9.97921770e-01 1.61956672e-04 8.46181308e-01] [-1.49005679e-03 -6.60791671e-05 9.99998888e-01 -3.10934295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984975926 meters Centerline goodness [0,1] 0.9969871335786432 Centerline is valid? [True, True] Translation: X:16.27, Y:0.85, Z:-0.31 [[ 9.97980320e-01 -6.35104942e-02 1.30305957e-03 1.62721288e+01] [ 6.35103632e-02 9.97981169e-01 1.41682288e-04 8.49461045e-01] [-1.30942722e-03 -5.86383486e-05 9.99999141e-01 -3.11173307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.014975925999998 meters Centerline goodness [0,1] 0.9971357317464629 Centerline is valid? [True, True] Translation: X:16.30, Y:0.85, Z:-0.31 [[ 9.98198567e-01 -5.99901977e-02 8.92949036e-04 1.63013642e+01] [ 5.99901347e-02 9.98198965e-01 9.72478103e-05 8.52144630e-01] [-8.97174719e-04 -4.35044919e-05 9.99999597e-01 -3.11443357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044975926 meters Centerline goodness [0,1] 0.9956385678732474 Centerline is valid? [True, True] Translation: X:16.33, Y:0.86, Z:-0.31 [[ 9.98329525e-01 -5.77605524e-02 1.37064585e-03 1.63288332e+01] [ 5.77604013e-02 9.98330463e-01 1.49656090e-04 8.61699308e-01] [-1.37700172e-03 -7.02370390e-05 9.99999049e-01 -3.11935703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.074975926 meters Centerline goodness [0,1] 0.9976582528100967 Centerline is valid? [True, True] Translation: X:16.36, Y:0.86, Z:-0.31 [[ 9.98349504e-01 -5.74140331e-02 1.37718847e-03 1.63577964e+01] [ 5.74138850e-02 9.98350452e-01 1.46895949e-04 8.61127796e-01] [-1.38335062e-03 -6.75837572e-05 9.99999041e-01 -3.10583305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104975925999998 meters Centerline goodness [0,1] 0.9982233627794502 Centerline is valid? [True, True] Translation: X:16.39, Y:0.87, Z:-0.31 [[ 9.98191733e-01 -6.00419687e-02 2.86821227e-03 1.63859016e+01] [ 6.00413077e-02 9.98195843e-01 3.16095026e-04 8.66100650e-01] [-2.88201653e-03 -1.43312227e-04 9.99995837e-01 -3.09655712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.134975926 meters Centerline goodness [0,1] 0.998766376353902 Centerline is valid? [True, True] Translation: X:16.42, Y:0.87, Z:-0.31 [[ 9.98059648e-01 -6.21934016e-02 2.98654775e-03 1.64150198e+01] [ 6.21927024e-02 9.98064107e-01 3.26490086e-04 8.68223696e-01] [-3.00107164e-03 -1.40115105e-04 9.99995487e-01 -3.09988224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164975926 meters Centerline goodness [0,1] 0.9991851449454294 Centerline is valid? [True, True] Translation: X:16.44, Y:0.87, Z:-0.31 [[ 9.97935943e-01 -6.41528960e-02 2.87394254e-03 1.64436938e+01] [ 6.41522545e-02 9.97940073e-01 3.14934538e-04 8.70568436e-01] [-2.88822640e-03 -1.29914601e-04 9.99995821e-01 -3.10479401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.194975925999998 meters Centerline goodness [0,1] 0.9973258059723666 Centerline is valid? [True, True] Translation: X:16.47, Y:0.86, Z:-0.32 [[ 9.97164603e-01 -7.52409093e-02 1.24891880e-03 1.64736136e+01] [ 7.52407946e-02 9.97165384e-01 1.38661205e-04 8.64266263e-01] [-1.25581159e-03 -4.42984026e-05 9.99999210e-01 -3.15991510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224975926 meters Centerline goodness [0,1] 0.9997026096007534 Centerline is valid? [True, True] Translation: X:16.50, Y:0.86, Z:-0.31 [[ 9.96980654e-01 -7.76160263e-02 2.30834994e-03 1.65032580e+01] [ 7.76156485e-02 9.96983323e-01 2.52923393e-04 8.64802696e-01] [-2.32101731e-03 -7.29956516e-05 9.99997304e-01 -3.12572898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.254975926 meters Centerline goodness [0,1] 0.9991828851582232 Centerline is valid? [True, True] Translation: X:16.53, Y:0.87, Z:-0.32 [[ 9.96776234e-01 -8.02198902e-02 1.38149246e-03 1.65307630e+01] [ 8.02197556e-02 9.96777191e-01 1.52618585e-04 8.66384059e-01] [-1.38928322e-03 -4.13035904e-05 9.99999034e-01 -3.15864170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284975926 meters Centerline goodness [0,1] 0.999875859671773 Centerline is valid? [True, True] Translation: X:16.56, Y:0.87, Z:-0.31 [[ 9.96426492e-01 -8.44309701e-02 2.37859313e-03 1.65586052e+01] [ 8.44305792e-02 9.96429329e-01 2.64455153e-04 8.67403017e-01] [-2.39242816e-03 -6.26841246e-05 9.99997136e-01 -3.14411464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.314975926 meters Centerline goodness [0,1] 0.999603017070266 Centerline is valid? [True, True] Translation: X:16.59, Y:0.87, Z:-0.32 [[ 9.95968336e-01 -8.96767840e-02 2.26876487e-03 1.65884299e+01] [ 8.96764473e-02 9.95970919e-01 2.49908678e-04 8.65437083e-01] [-2.28203484e-03 -4.54463576e-05 9.99997395e-01 -3.17489595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344975926 meters Centerline goodness [0,1] 0.999975103321217 Centerline is valid? [True, True] Translation: X:16.62, Y:0.87, Z:-0.31 [[ 9.95884490e-01 -9.05852053e-02 2.89898868e-03 1.66174698e+01] [ 9.05846550e-02 9.95888707e-01 3.20838140e-04 8.66166862e-01] [-2.91613328e-03 -5.69138380e-05 9.99995746e-01 -3.14308419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.374975926 meters Centerline goodness [0,1] 0.9996265126238734 Centerline is valid? [True, True] Translation: X:16.64, Y:0.87, Z:-0.32 [[ 9.95847001e-01 -9.10149607e-02 2.24232090e-03 1.66441732e+01] [ 9.10146312e-02 9.95849524e-01 2.48763884e-04 8.70152659e-01] [-2.25565544e-03 -4.36467581e-05 9.99997455e-01 -3.18369045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404975926 meters Centerline goodness [0,1] 0.9995780904871814 Centerline is valid? [True, True] Translation: X:16.67, Y:0.87, Z:-0.32 [[ 9.96078640e-01 -8.84265382e-02 2.84419416e-03 1.66729981e+01] [ 8.84259949e-02 9.96082699e-01 3.16439466e-04 8.73586658e-01] [-2.86103425e-03 -6.36978944e-05 9.99995905e-01 -3.17978817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.434975926 meters Centerline goodness [0,1] 0.9993289758182767 Centerline is valid? [True, True] Translation: X:16.70, Y:0.88, Z:-0.32 [[ 9.96057145e-01 -8.86690020e-02 2.82336033e-03 1.66994858e+01] [ 8.86684584e-02 9.96061145e-01 3.17378386e-04 8.78328655e-01] [-2.84038115e-03 -6.57840018e-05 9.99995964e-01 -3.19814297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464975926 meters Centerline goodness [0,1] 0.9991554893194238 Centerline is valid? [True, True] Translation: X:16.73, Y:0.88, Z:-0.32 [[ 9.96038371e-01 -8.88853290e-02 2.63847590e-03 1.67268605e+01] [ 8.88848617e-02 9.96041864e-01 2.94095605e-04 8.81564351e-01] [-2.65417324e-03 -5.84099423e-05 9.99996476e-01 -3.20857393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.494975926 meters Centerline goodness [0,1] 0.9995284774785954 Centerline is valid? [True, True] Translation: X:16.76, Y:0.88, Z:-0.32 [[ 9.96018117e-01 -8.90995954e-02 3.02854184e-03 1.67552706e+01] [ 8.90989749e-02 9.96022719e-01 3.39459268e-04 8.84286004e-01] [-3.04674217e-03 -6.82676073e-05 9.99995356e-01 -3.20292274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524975926 meters Centerline goodness [0,1] 0.9997018633540372 Centerline is valid? [True, True] Translation: X:16.78, Y:0.89, Z:-0.32 [[ 9.95941496e-01 -8.99483578e-02 3.13519783e-03 1.67833830e+01] [ 8.99476925e-02 9.95946428e-01 3.52855848e-04 8.87932226e-01] [-3.15422789e-03 -6.94199706e-05 9.99995023e-01 -3.20039564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.554975926 meters Centerline goodness [0,1] 0.9998260523830823 Centerline is valid? [True, True] Translation: X:16.81, Y:0.89, Z:-0.32 [[ 9.95836010e-01 -9.10728709e-02 4.04631625e-03 1.68121033e+01] [ 9.10717557e-02 9.95844227e-01 4.59394489e-04 8.90985754e-01] [-4.07133905e-03 -8.89764502e-05 9.99991708e-01 -3.20396637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584975926 meters Centerline goodness [0,1] 0.9997511199601792 Centerline is valid? [True, True] Translation: X:16.84, Y:0.89, Z:-0.32 [[ 9.95568728e-01 -9.39866726e-02 3.06798319e-03 1.68404449e+01] [ 9.39860460e-02 9.95573454e-01 3.48088105e-04 8.92986455e-01] [-3.08711826e-03 -5.81980228e-05 9.99995233e-01 -3.22104074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.614975926 meters Centerline goodness [0,1] 0.9995530282337166 Centerline is valid? [True, True] Translation: X:16.87, Y:0.90, Z:-0.32 [[ 9.95535841e-01 -9.43502776e-02 2.53267695e-03 1.68679861e+01] [ 9.43498535e-02 9.95539061e-01 2.86657372e-04 8.96798059e-01] [-2.54842504e-03 -4.64199886e-05 9.99996752e-01 -3.23757728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644975926 meters Centerline goodness [0,1] 0.9997017818534257 Centerline is valid? [True, True] Translation: X:16.90, Y:0.90, Z:-0.32 [[ 9.95691288e-01 -9.26916936e-02 2.66623379e-03 1.68955747e+01] [ 9.26912047e-02 9.95694856e-01 3.06591653e-04 9.02331446e-01] [-2.68317377e-03 -5.81342162e-05 9.99996399e-01 -3.23763560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674975926 meters Centerline goodness [0,1] 0.9992557862618144 Centerline is valid? [True, True] Translation: X:16.92, Y:0.91, Z:-0.32 [[ 9.95927841e-01 -9.01134039e-02 2.70367812e-03 1.69240645e+01] [ 9.01128989e-02 9.95931509e-01 3.08246032e-04 9.06422025e-01] [-2.72045533e-03 -6.33545323e-05 9.99996298e-01 -3.24806581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704975926 meters Centerline goodness [0,1] 0.9992313795497372 Centerline is valid? [True, True] Translation: X:16.95, Y:0.91, Z:-0.32 [[ 9.96087829e-01 -8.83135766e-02 3.12248502e-03 1.69512973e+01] [ 8.83128793e-02 9.96092719e-01 3.60748665e-04 9.12919105e-01] [-3.14214360e-03 -8.35817112e-05 9.99995060e-01 -3.24773162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.734975926 meters Centerline goodness [0,1] 0.9991823385118561 Centerline is valid? [True, True] Translation: X:16.98, Y:0.92, Z:-0.33 [[ 9.96051645e-01 -8.87403731e-02 2.50324723e-03 1.69792473e+01] [ 8.87399355e-02 9.96054789e-01 2.85560476e-04 9.15682753e-01] [-2.51871214e-03 -6.22949839e-05 9.99996826e-01 -3.25972675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764975925999998 meters Centerline goodness [0,1] 0.9989102706986651 Centerline is valid? [True, True] Translation: X:17.01, Y:0.92, Z:-0.33 [[ 9.95843312e-01 -9.10674335e-02 1.67969315e-03 1.70082705e+01] [ 9.10672409e-02 9.95844727e-01 1.90976036e-04 9.18558436e-01] [-1.69010526e-03 -3.72171875e-05 9.99998571e-01 -3.27126055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.794975926 meters Centerline goodness [0,1] 0.9997024178549287 Centerline is valid? [True, True] Translation: X:17.04, Y:0.92, Z:-0.33 [[ 9.95562500e-01 -9.40769656e-02 2.19858669e-03 1.70374652e+01] [ 9.40766379e-02 9.95564926e-01 2.52202293e-04 9.19770647e-01] [-2.21256222e-03 -4.42475015e-05 9.99997551e-01 -3.25053446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824975926 meters Centerline goodness [0,1] 0.9999504349334589 Centerline is valid? [True, True] Translation: X:17.07, Y:0.92, Z:-0.32 [[ 9.95372499e-01 -9.60640836e-02 2.29790501e-03 1.70667998e+01] [ 9.60637282e-02 9.95375150e-01 2.64801013e-04 9.21867079e-01] [-2.31271541e-03 -4.28303242e-05 9.99997325e-01 -3.23438627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.854975925999998 meters Centerline goodness [0,1] 0.9998513637377066 Centerline is valid? [True, True] Translation: X:17.10, Y:0.92, Z:-0.33 [[ 9.95165733e-01 -9.82003109e-02 1.36487126e-03 1.70960330e+01] [ 9.82001898e-02 9.95166669e-01 1.55638453e-04 9.24718710e-01] [-1.37355813e-03 -2.08554391e-05 9.99999056e-01 -3.25336707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884975926 meters Centerline goodness [0,1] 0.9998267112266369 Centerline is valid? [True, True] Translation: X:17.13, Y:0.93, Z:-0.33 [[ 9.94832557e-01 -1.01519857e-01 1.37893022e-03 1.71253279e+01] [ 1.01519736e-01 9.94833513e-01 1.57768797e-04 9.26890297e-01] [-1.38782266e-03 -1.69649046e-05 9.99999037e-01 -3.25386688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.914975926 meters Centerline goodness [0,1] 0.9996287588169781 Centerline is valid? [True, True] Translation: X:17.15, Y:0.93, Z:-0.33 [[ 9.94392884e-01 -1.05748145e-01 3.49989582e-04 1.71547565e+01] [ 1.05748139e-01 9.94392945e-01 3.62125092e-05 9.27868259e-01] [-3.51856577e-04 1.00128551e-06 9.99999938e-01 -3.27308663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944975925999998 meters Centerline goodness [0,1] 0.9998269853431869 Centerline is valid? [True, True] Translation: X:17.18, Y:0.93, Z:-0.33 [[ 9.94184884e-01 -1.07683574e-01 8.15391638e-04 1.71828908e+01] [ 1.07683536e-01 9.94185218e-01 9.12901033e-05 9.31727320e-01] [-8.20480758e-04 -2.95498610e-06 9.99999663e-01 -3.26908487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.974975926 meters Centerline goodness [0,1] 0.9999011466982998 Centerline is valid? [True, True] Translation: X:17.21, Y:0.93, Z:-0.33 [[ 9.93723705e-01 -1.11855555e-01 1.23775920e-03 1.72117380e+01] [ 1.11855465e-01 9.93724476e-01 1.42015510e-04 9.33266891e-01] [-1.24587684e-03 -2.67404760e-06 9.99999224e-01 -3.25782337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004975926 meters Centerline goodness [0,1] 0.9996547642533044 Centerline is valid? [True, True] Translation: X:17.24, Y:0.93, Z:-0.33 [[ 9.93229230e-01 -1.16170574e-01 3.06735776e-04 1.72402570e+01] [ 1.16170570e-01 9.93229278e-01 3.02652564e-05 9.34600976e-01] [-3.08174885e-04 5.57333261e-06 9.99999952e-01 -3.27867854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.034975925999998 meters Centerline goodness [0,1] 0.9996547642533044 Centerline is valid? [True, True] Translation: X:17.27, Y:0.94, Z:-0.33 [[ 9.93183513e-01 -1.16560781e-01 3.06723140e-04 1.72675999e+01] [ 1.16560777e-01 9.93183560e-01 3.03812715e-05 9.38124067e-01] [-3.08173645e-04 5.57770953e-06 9.99999952e-01 -3.28313898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064975926 meters Centerline goodness [0,1] 0.999728903785489 Centerline is valid? [True, True] Translation: X:17.29, Y:0.94, Z:-0.33 [[ 9.92992578e-01 -1.18175929e-01 4.35662651e-04 1.72944209e+01] [ 1.18175919e-01 9.92992674e-01 4.95755592e-05 9.41343837e-01] [-4.38468458e-04 2.25667184e-06 9.99999904e-01 -3.29748882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.094975926 meters Centerline goodness [0,1] 0.9996800944951645 Centerline is valid? [True, True] Translation: X:17.32, Y:0.94, Z:-0.33 [[ 9.92850537e-01 -1.19363606e-01 3.75575654e-04 1.73224723e+01] [ 1.19363599e-01 9.92850608e-01 3.88304504e-05 9.44722979e-01] [-3.77525459e-04 6.27722840e-06 9.99999929e-01 -3.29100066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124975926 meters Centerline goodness [0,1] 0.9997291174152876 Centerline is valid? [True, True] Translation: X:17.35, Y:0.95, Z:-0.33 [[ 9.92665301e-01 -1.20894047e-01 4.79896127e-04 1.73507786e+01] [ 1.20894036e-01 9.92665417e-01 5.15248382e-05 9.48120012e-01] [-4.82605335e-04 6.86966065e-06 9.99999884e-01 -3.28730978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.154975926 meters Centerline goodness [0,1] 0.9997535853333991 Centerline is valid? [True, True] Translation: X:17.38, Y:0.95, Z:-0.33 [[ 9.92500775e-01 -1.22235957e-01 7.62955440e-04 1.73784408e+01] [ 1.22235927e-01 9.92501068e-01 8.60862605e-05 9.51375416e-01] [-7.67756926e-04 7.81988499e-06 9.99999705e-01 -3.28544721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184975926 meters Centerline goodness [0,1] 0.9997292907417433 Centerline is valid? [True, True] Translation: X:17.41, Y:0.96, Z:-0.33 [[ 9.92363958e-01 -1.23338231e-01 1.20632971e-03 1.74061828e+01] [ 1.23338151e-01 9.92364691e-01 1.40366368e-04 9.55287292e-01] [-1.21443155e-03 9.49195275e-06 9.99999263e-01 -3.29001616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.214975926 meters Centerline goodness [0,1] 0.9997052828057077 Centerline is valid? [True, True] Translation: X:17.43, Y:0.96, Z:-0.33 [[ 9.92336168e-01 -1.23555916e-01 1.69265965e-03 1.74341703e+01] [ 1.23555747e-01 9.92337612e-01 2.04313949e-04 9.59168406e-01] [-1.70493404e-03 6.38970691e-06 9.99998547e-01 -3.29672034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244975926 meters Centerline goodness [0,1] 0.9998526269250608 Centerline is valid? [True, True] Translation: X:17.46, Y:0.96, Z:-0.33 [[ 9.92373982e-01 -1.23241418e-01 2.33066163e-03 1.74624009e+01] [ 1.23241104e-01 9.92376719e-01 2.78588562e-04 9.63363533e-01] [-2.34722799e-03 1.07692718e-05 9.99997245e-01 -3.28912383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.274975926 meters Centerline goodness [0,1] 0.9997299420602965 Centerline is valid? [True, True] Translation: X:17.49, Y:0.97, Z:-0.33 [[ 9.92513868e-01 -1.22115812e-01 1.98752281e-03 1.74890666e+01] [ 1.22115578e-01 9.92515858e-01 2.39241132e-04 9.67638128e-01] [-2.00186303e-03 5.25735462e-06 9.99997996e-01 -3.31117274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304975926 meters Centerline goodness [0,1] 0.9997544023380898 Centerline is valid? [True, True] Translation: X:17.52, Y:0.97, Z:-0.33 [[ 9.92954388e-01 -1.18476197e-01 2.23024971e-03 1.75164846e+01] [ 1.18475894e-01 9.92956893e-01 2.67769808e-04 9.73605185e-01] [-2.24626617e-03 -1.65237766e-06 9.99997477e-01 -3.31275225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.334975926 meters Centerline goodness [0,1] 0.9999508007183096 Centerline is valid? [True, True] Translation: X:17.54, Y:0.98, Z:-0.33 [[ 9.93433053e-01 -1.14342259e-01 4.07648559e-03 1.75434203e+01] [ 1.14341173e-01 9.93441416e-01 4.99184096e-04 9.79837081e-01] [-4.10682745e-03 -2.97958356e-05 9.99991567e-01 -3.29580864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364975926 meters Centerline goodness [0,1] 0.9998769715312124 Centerline is valid? [True, True] Translation: X:17.57, Y:0.98, Z:-0.33 [[ 9.93418122e-01 -1.14481479e-01 3.79811616e-03 1.75717149e+01] [ 1.14480546e-01 9.93425382e-01 4.62884185e-04 9.83324965e-01] [-3.82613666e-03 -2.50271281e-05 9.99992680e-01 -3.31297493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.394975926 meters Centerline goodness [0,1] 0.9997540398947291 Centerline is valid? [True, True] Translation: X:17.60, Y:0.99, Z:-0.33 [[ 9.93365668e-01 -1.14946729e-01 3.44956336e-03 1.75993294e+01] [ 1.14945959e-01 9.93371657e-01 4.21206203e-04 9.86784604e-01] [-3.47511475e-03 -2.18984111e-05 9.99993962e-01 -3.33150757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424975926 meters Centerline goodness [0,1] 0.9997289972899729 Centerline is valid? [True, True] Translation: X:17.63, Y:0.99, Z:-0.33 [[ 9.93064302e-01 -1.17504978e-01 3.98388854e-03 1.76279789e+01] [ 1.17503960e-01 9.93072293e-01 4.89487570e-04 9.88139714e-01] [-4.01380656e-03 -1.79699517e-05 9.99991944e-01 -3.33163893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454975926 meters Centerline goodness [0,1] 0.999729344028345 Centerline is valid? [True, True] Translation: X:17.66, Y:0.99, Z:-0.33 [[ 9.92862395e-01 -1.19188333e-01 4.29023519e-03 1.76556423e+01] [ 1.19187148e-01 9.92871664e-01 5.31687756e-04 9.90813655e-01] [-4.32302393e-03 -1.65518804e-05 9.99990656e-01 -3.34335308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.68, Y:0.99, Z:-0.33 [[ 9.92342378e-01 -1.23422558e-01 4.84531406e-03 1.76839844e+01] [ 1.23421093e-01 9.92354207e-01 6.01378385e-04 9.90376730e-01] [-4.88249145e-03 1.24070251e-06 9.99988081e-01 -3.32001979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514975925999998 meters Centerline goodness [0,1] 0.9999012906250772 Centerline is valid? [True, True] Translation: X:17.71, Y:0.99, Z:-0.33 [[ 9.92028848e-01 -1.25914826e-01 4.92150938e-03 1.77118486e+01] [ 1.25913356e-01 9.92041056e-01 6.08577220e-04 9.92491500e-01] [-4.95896825e-03 1.59576031e-05 9.99987704e-01 -3.33830534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544975926 meters Centerline goodness [0,1] 0.9998518737964746 Centerline is valid? [True, True] Translation: X:17.74, Y:0.99, Z:-0.33 [[ 9.91508847e-01 -1.29920681e-01 5.55189202e-03 1.77400575e+01] [ 1.29918842e-01 9.91524390e-01 6.92101003e-04 9.91985313e-01] [-5.59475458e-03 3.50711168e-05 9.99984349e-01 -3.34810225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.574975926 meters Centerline goodness [0,1] 0.9999258453628633 Centerline is valid? [True, True] Translation: X:17.77, Y:0.99, Z:-0.33 [[ 9.91217494e-01 -1.32124150e-01 5.57572302e-03 1.77685149e+01] [ 1.32122341e-01 9.91233175e-01 6.93249889e-04 9.94955592e-01] [-5.61843668e-03 4.95161600e-05 9.99984215e-01 -3.34323288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604975925999998 meters Centerline goodness [0,1] 0.9998268698060941 Centerline is valid? [True, True] Translation: X:17.80, Y:1.00, Z:-0.34 [[ 9.91173932e-01 -1.32451381e-01 5.55594299e-03 1.77958700e+01] [ 1.32449568e-01 9.91189502e-01 6.94584682e-04 9.97249868e-01] [-5.59899107e-03 4.74280190e-05 9.99984324e-01 -3.37184310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.634975926 meters Centerline goodness [0,1] 0.9997277429893819 Centerline is valid? [True, True] Translation: X:17.82, Y:1.00, Z:-0.34 [[ 9.91650990e-01 -1.28833524e-01 5.49884056e-03 1.78245038e+01] [ 1.28831698e-01 9.91666235e-01 6.86526871e-04 1.00433034e+00] [-5.54146219e-03 2.76299133e-05 9.99984646e-01 -3.37316303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664975926 meters Centerline goodness [0,1] 0.9997772883620797 Centerline is valid? [True, True] Translation: X:17.85, Y:1.01, Z:-0.34 [[ 9.91771014e-01 -1.27897727e-01 5.69448506e-03 1.78525986e+01] [ 1.27895743e-01 9.91787362e-01 7.12615412e-04 1.00880109e+00] [-5.73886020e-03 2.15490910e-05 9.99983532e-01 -3.37524543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.694975925999998 meters Centerline goodness [0,1] 0.9999504778883772 Centerline is valid? [True, True] Translation: X:17.88, Y:1.01, Z:-0.34 [[ 9.91917469e-01 -1.26763123e-01 5.55382212e-03 1.78798447e+01] [ 1.26761207e-01 9.91933017e-01 6.97045999e-04 1.01370914e+00] [-5.59737926e-03 1.25970915e-05 9.99984334e-01 -3.36254087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724975926 meters Centerline goodness [0,1] 0.9996285105750656 Centerline is valid? [True, True] Translation: X:17.91, Y:1.02, Z:-0.34 [[ 9.91994791e-01 -1.26149357e-01 5.71611377e-03 1.79063910e+01] [ 1.26147290e-01 9.92011260e-01 7.22213234e-04 1.01724534e+00] [-5.76155596e-03 4.64049388e-06 9.99983402e-01 -3.39607116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.754975926 meters Centerline goodness [0,1] 0.9997773379515091 Centerline is valid? [True, True] Translation: X:17.93, Y:1.02, Z:-0.34 [[ 9.91985797e-01 -1.26205100e-01 6.03742783e-03 1.79342546e+01] [ 1.26202801e-01 9.92004170e-01 7.61801824e-04 1.02108266e+00] [-6.08529686e-03 6.24371357e-06 9.99981484e-01 -3.39045313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784975925999998 meters Centerline goodness [0,1] 0.9996777871412283 Centerline is valid? [True, True] Translation: X:17.96, Y:1.02, Z:-0.34 [[ 9.91854267e-01 -1.27244904e-01 5.81787234e-03 1.79612018e+01] [ 1.27242761e-01 9.91871330e-01 7.38406836e-04 1.02354858e+00] [-5.86453928e-03 7.89017022e-06 9.99982803e-01 -3.40235235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.814975926 meters Centerline goodness [0,1] 0.999677731227844 Centerline is valid? [True, True] Translation: X:17.99, Y:1.03, Z:-0.34 [[ 9.91776333e-01 -1.27882819e-01 5.06855699e-03 1.79887559e+01] [ 1.27881196e-01 9.91789284e-01 6.44348795e-04 1.02630334e+00] [-5.10934165e-03 9.12324719e-06 9.99986947e-01 -3.41734749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844975926 meters Centerline goodness [0,1] 0.9998263113493127 Centerline is valid? [True, True] Translation: X:18.02, Y:1.03, Z:-0.34 [[ 9.91692982e-01 -1.28498122e-01 5.76734349e-03 1.80164796e+01] [ 1.28496041e-01 9.91709752e-01 7.31472317e-04 1.02960208e+00] [-5.81352360e-03 1.56848419e-05 9.99983101e-01 -3.40647712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.874975926 meters Centerline goodness [0,1] 0.9997519287539381 Centerline is valid? [True, True] Translation: X:18.04, Y:1.03, Z:-0.34 [[ 9.91694509e-01 -1.28493592e-01 5.60328186e-03 1.80430152e+01] [ 1.28491604e-01 9.91710339e-01 7.14837882e-04 1.03277395e+00] [-5.64868464e-03 1.10738742e-05 9.99984046e-01 -3.42499257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904975926 meters Centerline goodness [0,1] 0.9997769019112069 Centerline is valid? [True, True] Translation: X:18.07, Y:1.04, Z:-0.34 [[ 9.91677910e-01 -1.28622467e-01 5.58423650e-03 1.80712275e+01] [ 1.28620502e-01 9.91693633e-01 7.11050912e-04 1.03688621e+00] [-5.62930890e-03 1.31138195e-05 9.99984155e-01 -3.41805433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.934975926 meters Centerline goodness [0,1] 0.9996275050286821 Centerline is valid? [True, True] Translation: X:18.10, Y:1.04, Z:-0.34 [[ 9.91867531e-01 -1.27175774e-01 5.01241299e-03 1.80976115e+01] [ 1.27174159e-01 9.91880196e-01 6.40859195e-04 1.04084802e+00] [-5.05321494e-03 1.80197944e-06 9.99987232e-01 -3.43618986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964975926 meters Centerline goodness [0,1] 0.9996521739130435 Centerline is valid? [True, True] Translation: X:18.12, Y:1.05, Z:-0.34 [[ 9.92188398e-01 -1.24675033e-01 4.28008481e-03 1.81247129e+01] [ 1.24673823e-01 9.92197630e-01 5.49386527e-04 1.04645589e+00] [-4.31518478e-03 -1.14804032e-05 9.99990689e-01 -3.44937767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.994975926 meters Centerline goodness [0,1] 0.9997517193435459 Centerline is valid? [True, True] Translation: X:18.15, Y:1.05, Z:-0.34 [[ 9.92217306e-01 -1.24424044e-01 4.84516553e-03 1.81522627e+01] [ 1.24422500e-01 9.92229135e-01 6.20027546e-04 1.05112409e+00] [-4.88466074e-03 -1.23544552e-05 9.99988070e-01 -3.44400820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.18, Y:1.05, Z:-0.34 [[ 9.91872434e-01 -1.27095340e-01 5.98746831e-03 1.81817355e+01] [ 1.27093009e-01 9.91890505e-01 7.69720347e-04 1.05249878e+00] [-6.03674084e-03 -2.49902950e-06 9.99981779e-01 -3.40071793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054975926 meters Centerline goodness [0,1] 0.9998008315283691 Centerline is valid? [True, True] Translation: X:18.21, Y:1.05, Z:-0.34 [[ 9.91657279e-01 -1.28814837e-01 4.75175759e-03 1.82100734e+01] [ 1.28813386e-01 9.91668663e-01 6.11356170e-04 1.05482634e+00] [-4.79092085e-03 5.83418959e-06 9.99988523e-01 -3.43415406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084975926 meters Centerline goodness [0,1] 0.9997763363900694 Centerline is valid? [True, True] Translation: X:18.24, Y:1.06, Z:-0.35 [[ 9.91345065e-01 -1.31193906e-01 4.80838665e-03 1.82371981e+01] [ 1.31192431e-01 9.91356726e-01 6.22395032e-04 1.05680428e+00] [-4.84848088e-03 1.38156881e-05 9.99988246e-01 -3.46721698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.114975926 meters Centerline goodness [0,1] 0.9997762251672095 Centerline is valid? [True, True] Translation: X:18.27, Y:1.06, Z:-0.34 [[ 9.90994266e-01 -1.33814321e-01 4.90837184e-03 1.82655280e+01] [ 1.33812824e-01 9.91006421e-01 6.33621493e-04 1.05952103e+00] [-4.94901564e-03 2.88878302e-05 9.99987753e-01 -3.43912943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144975926 meters Centerline goodness [0,1] 0.999701915194873 Centerline is valid? [True, True] Translation: X:18.29, Y:1.06, Z:-0.34 [[ 9.90574584e-01 -1.36869617e-01 5.35738754e-03 1.82940497e+01] [ 1.36867864e-01 9.90589070e-01 6.94359924e-04 1.06159312e+00] [-5.40200632e-03 4.54388953e-05 9.99985408e-01 -3.44717276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174975926 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.32, Y:1.06, Z:-0.34 [[ 9.89844396e-01 -1.41990165e-01 6.84579622e-03 1.83219150e+01] [ 1.41987374e-01 9.89868065e-01 8.94510741e-04 1.06174713e+00] [-6.90344678e-03 8.65901849e-05 9.99976167e-01 -3.41354307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204975926 meters Centerline goodness [0,1] 0.9997511571193948 Centerline is valid? [True, True] Translation: X:18.35, Y:1.06, Z:-0.34 [[ 9.89456810e-01 -1.44732747e-01 5.25853622e-03 1.83510572e+01] [ 1.44731152e-01 9.89470780e-01 6.84711058e-04 1.06480407e+00] [-5.30226805e-03 8.35819855e-05 9.99985939e-01 -3.44645735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.234975926 meters Centerline goodness [0,1] 0.9997512932749701 Centerline is valid? [True, True] Translation: X:18.38, Y:1.07, Z:-0.35 [[ 9.89302217e-01 -1.45773423e-01 5.58864433e-03 1.83792479e+01] [ 1.45771627e-01 9.89317998e-01 7.29540510e-04 1.06882443e+00] [-5.63529404e-03 9.29297356e-05 9.99984117e-01 -3.45035830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264975925999998 meters Centerline goodness [0,1] 0.9998508204873198 Centerline is valid? [True, True] Translation: X:18.41, Y:1.07, Z:-0.34 [[ 9.89245258e-01 -1.46137848e-01 6.12775567e-03 1.84057479e+01] [ 1.46135662e-01 9.89264231e-01 8.05510229e-04 1.07262009e+00] [-6.17968503e-03 9.86364535e-05 9.99980901e-01 -3.44790805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.294975926 meters Centerline goodness [0,1] 0.9999751262343606 Centerline is valid? [True, True] Translation: X:18.43, Y:1.08, Z:-0.34 [[ 9.89031625e-01 -1.47551543e-01 6.70716506e-03 1.84345050e+01] [ 1.47548957e-01 9.89054361e-01 8.81446025e-04 1.07651953e+00] [-6.76380957e-03 1.17857214e-04 9.99977118e-01 -3.43973235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324975926 meters Centerline goodness [0,1] 0.9999004405505637 Centerline is valid? [True, True] Translation: X:18.46, Y:1.08, Z:-0.35 [[ 9.88744023e-01 -1.49471071e-01 6.60720588e-03 1.84625374e+01] [ 1.49468575e-01 9.88766091e-01 8.72841969e-04 1.07795774e+00] [-6.66344576e-03 1.24552365e-04 9.99977791e-01 -3.45642461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.354975925999998 meters Centerline goodness [0,1] 0.9999254917544208 Centerline is valid? [True, True] Translation: X:18.49, Y:1.08, Z:-0.35 [[ 9.88453041e-01 -1.51389786e-01 6.45902368e-03 1.84909293e+01] [ 1.51387450e-01 9.88474134e-01 8.51858369e-04 1.08180742e+00] [-6.51354050e-03 1.35793130e-04 9.99978777e-01 -3.45962061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384975926 meters Centerline goodness [0,1] 0.9998263544354038 Centerline is valid? [True, True] Translation: X:18.52, Y:1.09, Z:-0.35 [[ 9.88242496e-01 -1.52780418e-01 5.90874961e-03 1.85192927e+01] [ 1.52778479e-01 9.88260151e-01 7.80809643e-04 1.08563971e+00] [-5.95867420e-03 1.31100510e-04 9.99982238e-01 -3.47809814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.414975926 meters Centerline goodness [0,1] 0.9998755568829488 Centerline is valid? [True, True] Translation: X:18.55, Y:1.09, Z:-0.35 [[ 9.87708103e-01 -1.56185309e-01 6.23319708e-03 1.85469550e+01] [ 1.56183192e-01 9.87727759e-01 8.27960755e-04 1.08662284e+00] [-6.28601709e-03 1.55737068e-04 9.99980231e-01 -3.48107138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444975925999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.57, Y:1.09, Z:-0.35 [[ 9.87571922e-01 -1.57012321e-01 6.98784085e-03 1.85743513e+01] [ 1.57009683e-01 9.87596627e-01 9.27901200e-04 1.09189274e+00] [-7.04685997e-03 1.80789506e-04 9.99975154e-01 -3.46139691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.474975926 meters Centerline goodness [0,1] 0.9999008428358949 Centerline is valid? [True, True] Translation: X:18.60, Y:1.10, Z:-0.35 [[ 9.87598205e-01 -1.56879812e-01 6.20558138e-03 1.86008997e+01] [ 1.56877703e-01 9.87617689e-01 8.28177933e-04 1.09561516e+00] [-6.25866634e-03 1.55610311e-04 9.99980402e-01 -3.48786976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504975926 meters Centerline goodness [0,1] 0.9997523833106351 Centerline is valid? [True, True] Translation: X:18.63, Y:1.10, Z:-0.35 [[ 9.86699569e-01 -1.62449762e-01 5.83391326e-03 1.86303855e+01] [ 1.62447983e-01 9.86716800e-01 7.80748379e-04 1.09955806e+00] [-5.88325261e-03 1.77343350e-04 9.99982678e-01 -3.50697065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.534975925999998 meters Centerline goodness [0,1] 0.9997767857142857 Centerline is valid? [True, True] Translation: X:18.66, Y:1.10, Z:-0.35 [[ 9.85856229e-01 -1.67474234e-01 6.31484558e-03 1.86596083e+01] [ 1.67472251e-01 9.85876428e-01 8.45261272e-04 1.09954598e+00] [-6.36721689e-03 2.24255314e-04 9.99979704e-01 -3.51008430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564975926 meters Centerline goodness [0,1] 0.9996783292918295 Centerline is valid? [True, True] Translation: X:18.69, Y:1.10, Z:-0.35 [[ 9.85212568e-01 -1.71219924e-01 6.31923395e-03 1.86877696e+01] [ 1.71218014e-01 9.85232803e-01 8.46082759e-04 1.10079334e+00] [-6.37078280e-03 2.48395318e-04 9.99979676e-01 -3.51337256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.594975926 meters Centerline goodness [0,1] 0.9995295748842506 Centerline is valid? [True, True] Translation: X:18.72, Y:1.10, Z:-0.35 [[ 9.84665016e-01 -1.74358756e-01 5.81632554e-03 1.87171738e+01] [ 1.74357186e-01 9.84682164e-01 7.79762369e-04 1.10351879e+00] [-5.86319041e-03 2.46313428e-04 9.99982781e-01 -3.52517621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624975926 meters Centerline goodness [0,1] 0.9996550534667127 Centerline is valid? [True, True] Translation: X:18.75, Y:1.11, Z:-0.35 [[ 9.85218203e-01 -1.71211601e-01 5.62853624e-03 1.87450849e+01] [ 1.71210082e-01 9.85234256e-01 7.54266726e-04 1.11356657e+00] [-5.67456592e-03 2.20544840e-04 9.99983875e-01 -3.54148779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.654975926 meters Centerline goodness [0,1] 0.9998272074251437 Centerline is valid? [True, True] Translation: X:18.77, Y:1.12, Z:-0.35 [[ 9.85188819e-01 -1.71370110e-01 5.93947023e-03 1.87720446e+01] [ 1.71368421e-01 9.85206695e-01 7.95868860e-04 1.11689512e+00] [-5.98799396e-03 2.33756532e-04 9.99982044e-01 -3.53572989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684975926 meters Centerline goodness [0,1] 0.9996788140827672 Centerline is valid? [True, True] Translation: X:18.80, Y:1.12, Z:-0.35 [[ 9.84575963e-01 -1.74839212e-01 6.43608122e-03 1.88019326e+01] [ 1.74837286e-01 9.84596961e-01 8.65097010e-04 1.11974195e+00] [-6.48819889e-03 2.73513251e-04 9.99978914e-01 -3.53583754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.714975926 meters Centerline goodness [0,1] 0.9990623997631326 Centerline is valid? [True, True] Translation: X:18.83, Y:1.12, Z:-0.35 [[ 9.82683566e-01 -1.85189690e-01 6.14716158e-03 1.88332567e+01] [ 1.85188131e-01 9.82702739e-01 8.26807727e-04 1.11649287e+00] [-6.19394879e-03 3.25891001e-04 9.99980764e-01 -3.54749180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744975926 meters Centerline goodness [0,1] 0.9995309336888363 Centerline is valid? [True, True] Translation: X:18.86, Y:1.12, Z:-0.35 [[ 9.82422672e-01 -1.86555133e-01 6.54789425e-03 1.88617661e+01] [ 1.86553414e-01 9.82444428e-01 8.77660149e-04 1.12016674e+00] [-6.59667423e-03 3.59298801e-04 9.99978177e-01 -3.53104189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.774975926 meters Centerline goodness [0,1] 0.9988173261715863 Centerline is valid? [True, True] Translation: X:18.89, Y:1.12, Z:-0.36 [[ 9.82497729e-01 -1.86183913e-01 5.81063215e-03 1.88907261e+01] [ 1.86182535e-01 9.82514861e-01 7.82039974e-04 1.12458296e+00] [-5.85463570e-03 3.13485724e-04 9.99982812e-01 -3.57060307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804975926 meters Centerline goodness [0,1] 0.9991878122615737 Centerline is valid? [True, True] Translation: X:18.92, Y:1.13, Z:-0.36 [[ 9.83046952e-01 -1.83261490e-01 5.82381703e-03 1.89196424e+01] [ 1.83260056e-01 9.83064158e-01 7.83584708e-04 1.13110677e+00] [-5.86878668e-03 2.96972475e-04 9.99982734e-01 -3.56792838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.834975926 meters Centerline goodness [0,1] 0.9988396494259968 Centerline is valid? [True, True] Translation: X:18.95, Y:1.13, Z:-0.36 [[ 9.83337808e-01 -1.81715101e-01 5.13580302e-03 1.89476322e+01] [ 1.81713947e-01 9.83351188e-01 6.94380818e-04 1.13453551e+00] [-5.17647748e-03 2.50436125e-04 9.99986571e-01 -3.59295083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864975926 meters Centerline goodness [0,1] 0.9997530925162341 Centerline is valid? [True, True] Translation: X:18.98, Y:1.14, Z:-0.36 [[ 9.83358943e-01 -1.81552456e-01 6.62531361e-03 1.89765306e+01] [ 1.81550537e-01 9.83381209e-01 8.94989051e-04 1.13982707e+00] [-6.67769636e-03 3.22733754e-04 9.99977652e-01 -3.55249213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.894975926 meters Centerline goodness [0,1] 0.9987657673224556 Centerline is valid? [True, True] Translation: X:19.01, Y:1.14, Z:-0.36 [[ 9.83217741e-01 -1.82359916e-01 5.26640230e-03 1.90050102e+01] [ 1.82358711e-01 9.83231811e-01 7.12116160e-04 1.14390149e+00] [-5.30795572e-03 2.60209096e-04 9.99985879e-01 -3.60515416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924975926 meters Centerline goodness [0,1] 0.9990600341356024 Centerline is valid? [True, True] Translation: X:19.03, Y:1.15, Z:-0.36 [[ 9.82895545e-01 -1.84077979e-01 5.62545006e-03 1.90337137e+01] [ 1.84076619e-01 9.82911601e-01 7.63122807e-04 1.14586387e+00] [-5.66979423e-03 2.85443820e-04 9.99983886e-01 -3.59453691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.954975926 meters Centerline goodness [0,1] 0.9990600341356024 Centerline is valid? [True, True] Translation: X:19.06, Y:1.15, Z:-0.36 [[ 9.82820527e-01 -1.84478099e-01 5.62525110e-03 1.90610375e+01] [ 1.84476737e-01 9.82836583e-01 7.64584832e-04 1.14986981e+00] [-5.66975172e-03 2.86278300e-04 9.99983886e-01 -3.59900442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984975926 meters Centerline goodness [0,1] 0.9987902728058264 Centerline is valid? [True, True] Translation: X:19.09, Y:1.15, Z:-0.36 [[ 9.82598731e-01 -1.85648564e-01 5.86048868e-03 1.90900653e+01] [ 1.85647087e-01 9.82616161e-01 7.99815529e-04 1.15304334e+00] [-5.90709549e-03 3.02084930e-04 9.99982507e-01 -3.60743004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.014975925999998 meters Centerline goodness [0,1] 0.9989860771075995 Centerline is valid? [True, True] Translation: X:19.12, Y:1.16, Z:-0.36 [[ 9.82236801e-01 -1.87546135e-01 6.10845677e-03 1.91187268e+01] [ 1.87544553e-01 9.82255742e-01 8.36013529e-04 1.15730290e+00] [-6.15685784e-03 3.24444539e-04 9.99980994e-01 -3.61079748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044975926 meters Centerline goodness [0,1] 0.9989374320450727 Centerline is valid? [True, True] Translation: X:19.15, Y:1.16, Z:-0.36 [[ 9.81847546e-01 -1.89583633e-01 5.78303474e-03 1.91470538e+01] [ 1.89582224e-01 9.81864526e-01 7.95761351e-04 1.15945533e+00] [-5.82901999e-03 3.15044262e-04 9.99982961e-01 -3.62206533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.074975926 meters Centerline goodness [0,1] 0.9983953390771966 Centerline is valid? [True, True] Translation: X:19.18, Y:1.16, Z:-0.36 [[ 9.81145604e-01 -1.93183787e-01 5.77312925e-03 1.91762025e+01] [ 1.93182438e-01 9.81162531e-01 7.95701088e-04 1.16037209e+00] [-5.81809466e-03 3.34568558e-04 9.99983019e-01 -3.62765406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104975925999998 meters Centerline goodness [0,1] 0.9984198701330765 Centerline is valid? [True, True] Translation: X:19.21, Y:1.17, Z:-0.36 [[ 9.81226810e-01 -1.92778705e-01 5.50613098e-03 1.92052621e+01] [ 1.92777485e-01 9.81242207e-01 7.56495068e-04 1.16506512e+00] [-5.54868425e-03 3.19164840e-04 9.99984555e-01 -3.63740747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.134975926 meters Centerline goodness [0,1] 0.9989362228489437 Centerline is valid? [True, True] Translation: X:19.23, Y:1.17, Z:-0.36 [[ 9.82357412e-01 -1.86940524e-01 5.21103382e-03 1.92343041e+01] [ 1.86939324e-01 9.82371197e-01 7.20870182e-04 1.17295700e+00] [-5.25392939e-03 2.65994971e-04 9.99986163e-01 -3.64796136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164975926 meters Centerline goodness [0,1] 0.9994804809262283 Centerline is valid? [True, True] Translation: X:19.26, Y:1.18, Z:-0.36 [[ 9.82431463e-01 -1.86542549e-01 5.50440662e-03 1.92630138e+01] [ 1.86541222e-01 9.82446842e-01 7.57991084e-04 1.17745579e+00] [-5.54918449e-03 2.82124448e-04 9.99984563e-01 -3.63791413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.194975925999998 meters Centerline goodness [0,1] 0.9994793732645776 Centerline is valid? [True, True] Translation: X:19.29, Y:1.18, Z:-0.36 [[ 9.82150090e-01 -1.88015368e-01 5.60552309e-03 1.92914705e+01] [ 1.88014004e-01 9.82166043e-01 7.74116901e-04 1.18050938e+00] [-5.65110031e-03 2.93617857e-04 9.99983989e-01 -3.64346459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224975926 meters Centerline goodness [0,1] 0.9988387893761581 Centerline is valid? [True, True] Translation: X:19.32, Y:1.18, Z:-0.37 [[ 9.81975125e-01 -1.88915151e-01 5.99335048e-03 1.93194872e+01] [ 1.88913577e-01 9.81993364e-01 8.32693924e-04 1.17912156e+00] [-6.04273890e-03 3.14540559e-04 9.99981693e-01 -3.65222896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.254975926 meters Centerline goodness [0,1] 0.9993081465740901 Centerline is valid? [True, True] Translation: X:19.35, Y:1.19, Z:-0.36 [[ 9.81635739e-01 -1.90672749e-01 5.93118768e-03 1.93473355e+01] [ 1.90671250e-01 9.81653604e-01 8.22379017e-04 1.18657247e+00] [-5.97917703e-03 3.23630336e-04 9.99982072e-01 -3.64849687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284975925999998 meters Centerline goodness [0,1] 0.9992097594705388 Centerline is valid? [True, True] Translation: X:19.38, Y:1.19, Z:-0.36 [[ 9.81101031e-01 -1.93386506e-01 6.51360871e-03 1.93760701e+01] [ 1.93384721e-01 9.81122584e-01 9.08650294e-04 1.18578769e+00] [-6.56636931e-03 3.68154666e-04 9.99978373e-01 -3.63637341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.314975926 meters Centerline goodness [0,1] 0.9996540390935824 Centerline is valid? [True, True] Translation: X:19.40, Y:1.19, Z:-0.36 [[ 9.80751700e-01 -1.95159035e-01 6.24936267e-03 1.94039362e+01] [ 1.95157427e-01 9.80771542e-01 8.72102695e-04 1.19117943e+00] [-6.29939578e-03 3.64293336e-04 9.99980092e-01 -3.63127255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344975926 meters Centerline goodness [0,1] 0.9984457109022278 Centerline is valid? [True, True] Translation: X:19.43, Y:1.19, Z:-0.37 [[ 9.80443423e-01 -1.96718813e-01 5.69240432e-03 1.94330770e+01] [ 1.96717516e-01 9.80459887e-01 7.92518138e-04 1.19363384e+00] [-5.73707733e-03 3.42776441e-04 9.99983484e-01 -3.67469912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.374975926 meters Centerline goodness [0,1] 0.9983242150919217 Centerline is valid? [True, True] Translation: X:19.46, Y:1.20, Z:-0.37 [[ 9.80224969e-01 -1.97805559e-01 5.65433180e-03 1.94605771e+01] [ 1.97804275e-01 9.80241217e-01 7.91021175e-04 1.19554292e+00] [-5.69907747e-03 3.43072293e-04 9.99983701e-01 -3.67778050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404975926 meters Centerline goodness [0,1] 0.9982015274698202 Centerline is valid? [True, True] Translation: X:19.49, Y:1.20, Z:-0.37 [[ 9.80117830e-01 -1.98338575e-01 5.55412994e-03 1.94893981e+01] [ 1.98337348e-01 9.80133508e-01 7.76297937e-04 1.19870491e+00] [-5.59775869e-03 3.40727955e-04 9.99984274e-01 -3.69129903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.434975926 meters Centerline goodness [0,1] 0.9988650662455898 Centerline is valid? [True, True] Translation: X:19.52, Y:1.20, Z:-0.37 [[ 9.80152281e-01 -1.98163265e-01 5.72948632e-03 1.95177578e+01] [ 1.98161944e-01 9.80168965e-01 8.03002278e-04 1.20417497e+00] [-5.77499023e-03 3.48301633e-04 9.99983264e-01 -3.67324047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464975926 meters Centerline goodness [0,1] 0.9988188976377953 Centerline is valid? [True, True] Translation: X:19.55, Y:1.21, Z:-0.37 [[ 9.80652219e-01 -1.95686024e-01 5.31094238e-03 1.95455129e+01] [ 1.95684830e-01 9.80666552e-01 7.48582667e-04 1.21152806e+00] [-5.35475072e-03 3.05171605e-04 9.99985617e-01 -3.70603474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.494975926 meters Centerline goodness [0,1] 0.9995071585224613 Centerline is valid? [True, True] Translation: X:19.57, Y:1.22, Z:-0.37 [[ 9.80812345e-01 -1.94867330e-01 5.81963778e-03 1.95741867e+01] [ 1.94865894e-01 9.80829554e-01 8.18355891e-04 1.21708793e+00] [-5.86754356e-03 3.31395357e-04 9.99982731e-01 -3.68054988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524975926 meters Centerline goodness [0,1] 0.9994584215449757 Centerline is valid? [True, True] Translation: X:19.60, Y:1.22, Z:-0.37 [[ 9.81744389e-01 -1.90132277e-01 5.26036791e-03 1.96031522e+01] [ 1.90131008e-01 9.81758445e-01 7.44758098e-04 1.22488841e+00] [-5.30601317e-03 2.68996971e-04 9.99985887e-01 -3.70642216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.554975926 meters Centerline goodness [0,1] 0.999729483805917 Centerline is valid? [True, True] Translation: X:19.63, Y:1.23, Z:-0.37 [[ 9.83017578e-01 -1.83428710e-01 5.50903914e-03 1.96325711e+01] [ 1.83427214e-01 9.83032985e-01 7.79890468e-04 1.23290977e+00] [-5.55862149e-03 2.43861662e-04 9.99984521e-01 -3.71065830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584975926 meters Centerline goodness [0,1] 0.9997544264630044 Centerline is valid? [True, True] Translation: X:19.66, Y:1.24, Z:-0.37 [[ 9.83052291e-01 -1.83234457e-01 5.77300712e-03 1.96606339e+01] [ 1.83232828e-01 9.83069208e-01 8.14285596e-04 1.23861225e+00] [-5.82447072e-03 2.57319104e-04 9.99983005e-01 -3.70498578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.614975926 meters Centerline goodness [0,1] 0.9997542997542997 Centerline is valid? [True, True] Translation: X:19.69, Y:1.24, Z:-0.37 [[ 9.83005563e-01 -1.83478733e-01 5.96807741e-03 1.96880505e+01] [ 1.83476985e-01 9.83023644e-01 8.43686575e-04 1.24248808e+00] [-6.02155975e-03 2.65656257e-04 9.99981835e-01 -3.71170280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644975926 meters Centerline goodness [0,1] 0.9998773818574196 Centerline is valid? [True, True] Translation: X:19.72, Y:1.24, Z:-0.37 [[ 9.82522702e-01 -1.86024168e-01 6.64442840e-03 1.97167502e+01] [ 1.86022033e-01 9.82545120e-01 9.43365708e-04 1.24497924e+00] [-6.70393952e-03 3.09131853e-04 9.99977481e-01 -3.70174793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.674975926 meters Centerline goodness [0,1] 0.9998031447624204 Centerline is valid? [True, True] Translation: X:19.75, Y:1.25, Z:-0.37 [[ 9.81899889e-01 -1.89289812e-01 6.47878942e-03 1.97458869e+01] [ 1.89287820e-01 9.81921212e-01 9.24830009e-04 1.24565098e+00] [-6.53672166e-03 3.18265445e-04 9.99978585e-01 -3.71598520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704975926 meters Centerline goodness [0,1] 0.9999018742027279 Centerline is valid? [True, True] Translation: X:19.78, Y:1.25, Z:-0.37 [[ 9.81373929e-01 -1.91988601e-01 6.75188528e-03 1.97750431e+01] [ 1.91986500e-01 9.81397093e-01 9.64121796e-04 1.24858457e+00] [-6.81138098e-03 3.50106827e-04 9.99976741e-01 -3.70449667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.734975926 meters Centerline goodness [0,1] 0.9996812162824914 Centerline is valid? [True, True] Translation: X:19.80, Y:1.25, Z:-0.37 [[ 9.80864903e-01 -1.94582499e-01 6.45703404e-03 1.98035503e+01] [ 1.94580628e-01 9.80886093e-01 9.22658848e-04 1.24863185e+00] [-6.51314816e-03 3.51410059e-04 9.99978727e-01 -3.72957264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764975925999998 meters Centerline goodness [0,1] 0.9998035073930344 Centerline is valid? [True, True] Translation: X:19.83, Y:1.25, Z:-0.37 [[ 9.80795043e-01 -1.94917731e-01 6.93988526e-03 1.98316440e+01] [ 1.94915593e-01 9.80819521e-01 9.89751076e-04 1.25262878e+00] [-6.99969497e-03 3.81948900e-04 9.99975429e-01 -3.72517834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.794975926 meters Centerline goodness [0,1] 0.9997547155927298 Centerline is valid? [True, True] Translation: X:19.86, Y:1.26, Z:-0.37 [[ 9.80867153e-01 -1.94561726e-01 6.73514577e-03 1.98603545e+01] [ 1.94559682e-01 9.80890209e-01 9.63564231e-04 1.25723702e+00] [-6.79391126e-03 3.65259318e-04 9.99976854e-01 -3.73597900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824975926 meters Centerline goodness [0,1] 0.9999263821746706 Centerline is valid? [True, True] Translation: X:19.89, Y:1.26, Z:-0.37 [[ 9.80981912e-01 -1.93983693e-01 6.69437789e-03 1.98884885e+01] [ 1.93981646e-01 9.81004689e-01 9.59976195e-04 1.26414986e+00] [-6.75343583e-03 3.56867160e-04 9.99977132e-01 -3.72430629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.854975925999998 meters Centerline goodness [0,1] 0.9996068989238858 Centerline is valid? [True, True] Translation: X:19.92, Y:1.27, Z:-0.38 [[ 9.81271010e-01 -1.92535369e-01 6.11033648e-03 1.99165963e+01] [ 1.92533625e-01 9.81289984e-01 8.77940169e-04 1.26910972e+00] [-6.16504652e-03 3.14947999e-04 9.99980946e-01 -3.76632126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884975926 meters Centerline goodness [0,1] 0.9997300745975658 Centerline is valid? [True, True] Translation: X:19.95, Y:1.27, Z:-0.38 [[ 9.81672051e-01 -1.90474994e-01 6.26579046e-03 1.99453374e+01] [ 1.90473101e-01 9.81692000e-01 9.02919234e-04 1.27461395e+00] [-6.32305990e-03 3.07093963e-04 9.99979962e-01 -3.76615769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914975926 meters Centerline goodness [0,1] 0.9996562392574768 Centerline is valid? [True, True] Translation: X:19.97, Y:1.28, Z:-0.38 [[ 9.82179333e-01 -1.87842693e-01 6.23543790e-03 1.99732180e+01] [ 1.87840739e-01 9.82199085e-01 9.02804536e-04 1.27987101e+00] [-6.29402663e-03 2.84553304e-04 9.99980152e-01 -3.77748028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944975925999998 meters Centerline goodness [0,1] 0.9997295702625627 Centerline is valid? [True, True] Translation: X:20.00, Y:1.29, Z:-0.38 [[ 9.82778741e-01 -1.84690758e-01 5.93880897e-03 2.00021017e+01] [ 1.84688939e-01 9.82796652e-01 8.58144065e-04 1.28643465e+00] [-5.99513285e-03 2.53466581e-04 9.99981997e-01 -3.77971087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974975926 meters Centerline goodness [0,1] 0.9998033141564636 Centerline is valid? [True, True] Translation: X:20.03, Y:1.29, Z:-0.38 [[ 9.82935242e-01 -1.83845001e-01 6.27103628e-03 2.00307427e+01] [ 1.83842941e-01 9.82955212e-01 9.08227211e-04 1.29124374e+00] [-6.33112082e-03 2.60157222e-04 9.99979924e-01 -3.77381843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004975926 meters Centerline goodness [0,1] 0.9996307783193029 Centerline is valid? [True, True] Translation: X:20.06, Y:1.30, Z:-0.38 [[ 9.83031071e-01 -1.83347275e-01 5.80436167e-03 2.00587909e+01] [ 1.83345493e-01 9.83048178e-01 8.42253932e-04 1.29512300e+00] [-5.86039213e-03 2.36241767e-04 9.99982800e-01 -3.80012679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.034975925999998 meters Centerline goodness [0,1] 0.9998280394035424 Centerline is valid? [True, True] Translation: X:20.09, Y:1.30, Z:-0.38 [[ 9.82587686e-01 -1.85685213e-01 6.51462563e-03 2.00871019e+01] [ 1.85682987e-01 9.82609243e-01 9.50246469e-04 1.29701514e+00] [-6.57777808e-03 2.75954666e-04 9.99978328e-01 -3.77908314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064975926 meters Centerline goodness [0,1] 0.9995091542728121 Centerline is valid? [True, True] Translation: X:20.11, Y:1.30, Z:-0.38 [[ 9.82212017e-01 -1.87678611e-01 6.02433543e-03 2.01146463e+01] [ 1.87676742e-01 9.82230455e-01 8.79079666e-04 1.29828197e+00] [-6.08227018e-03 2.67185035e-04 9.99981467e-01 -3.81297596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.094975926 meters Centerline goodness [0,1] 0.9997787066633882 Centerline is valid? [True, True] Translation: X:20.14, Y:1.30, Z:-0.38 [[ 9.81713253e-01 -1.90268152e-01 6.09262972e-03 2.01446870e+01] [ 1.90266279e-01 9.81732117e-01 8.90868671e-04 1.30019045e+00] [-6.15083421e-03 2.84644407e-04 9.99981043e-01 -3.79100571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124975925999998 meters Centerline goodness [0,1] 0.9992380296922623 Centerline is valid? [True, True] Translation: X:20.17, Y:1.30, Z:-0.38 [[ 9.81325663e-01 -1.92240197e-01 6.60675168e-03 2.01727890e+01] [ 1.92238041e-01 9.81347850e-01 9.65765271e-04 1.30147824e+00] [-6.66918046e-03 3.22338757e-04 9.99977709e-01 -3.80094345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.154975926 meters Centerline goodness [0,1] 0.9968520977817127 Centerline is valid? [True, True] Translation: X:20.20, Y:1.30, Z:-0.38 [[ 9.80835515e-01 -1.94735789e-01 6.29806311e-03 2.02012517e+01] [ 1.94733876e-01 9.80855682e-01 9.21515349e-04 1.30209527e+00] [-6.35694300e-03 3.22591256e-04 9.99979742e-01 -3.82378560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184975926 meters Centerline goodness [0,1] 0.9966509886970869 Centerline is valid? [True, True] Translation: X:20.23, Y:1.31, Z:-0.38 [[ 9.80679639e-01 -1.95522666e-01 6.19138900e-03 2.02297816e+01] [ 1.95520843e-01 9.80699129e-01 9.04233105e-04 1.30566709e+00] [-6.24868787e-03 3.23782601e-04 9.99980424e-01 -3.82529574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.214975926 meters Centerline goodness [0,1] 0.9966546134356628 Centerline is valid? [True, True] Translation: X:20.26, Y:1.31, Z:-0.38 [[ 9.80545713e-01 -1.96193696e-01 6.17559304e-03 2.02587501e+01] [ 1.96191883e-01 9.80565106e-01 9.03880755e-04 1.30924875e+00] [-6.23290675e-03 3.25304829e-04 9.99980522e-01 -3.82186306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244975926 meters Centerline goodness [0,1] 0.9999261829187274 Centerline is valid? [True, True] Translation: X:20.29, Y:1.33, Z:-0.38 [[ 9.80551263e-01 -1.96128200e-01 7.27668228e-03 2.02854135e+01] [ 1.96125662e-01 9.80578189e-01 1.06771836e-03 1.32549376e+00] [-7.34476562e-03 3.80191542e-04 9.99972955e-01 -3.76756188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.274975926 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:20.31, Y:1.33, Z:-0.38 [[ 9.80580725e-01 -1.95978783e-01 7.33207746e-03 2.03130171e+01] [ 1.95976166e-01 9.80608064e-01 1.08064762e-03 1.32697220e+00] [-7.40167828e-03 3.77250201e-04 9.99972536e-01 -3.77578399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304975926 meters Centerline goodness [0,1] 0.9996802046690119 Centerline is valid? [True, True] Translation: X:20.34, Y:1.34, Z:-0.38 [[ 9.81210404e-01 -1.92849959e-01 5.91923264e-03 2.03408977e+01] [ 1.92848193e-01 9.81228216e-01 8.73022005e-04 1.33630394e+00] [-5.97648034e-03 2.84895044e-04 9.99982100e-01 -3.82927053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.334975926 meters Centerline goodness [0,1] 0.9998032270759544 Centerline is valid? [True, True] Translation: X:20.37, Y:1.34, Z:-0.38 [[ 9.81627178e-01 -1.90684511e-01 6.89199958e-03 2.03687827e+01] [ 1.90682058e-01 9.81651322e-01 1.01749454e-03 1.34261197e+00] [-6.95956094e-03 3.15380364e-04 9.99975732e-01 -3.81542258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364975926 meters Centerline goodness [0,1] 0.9998034494619429 Centerline is valid? [True, True] Translation: X:20.40, Y:1.35, Z:-0.38 [[ 9.82294154e-01 -1.87221704e-01 6.79910827e-03 2.03965897e+01] [ 1.87219228e-01 9.82317643e-01 1.00448856e-03 1.34678597e+00] [-6.86694607e-03 2.86220558e-04 9.99976381e-01 -3.82366851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.394975926 meters Centerline goodness [0,1] 0.9999507571094424 Centerline is valid? [True, True] Translation: X:20.42, Y:1.35, Z:-0.38 [[ 9.82372728e-01 -1.86778351e-01 7.59417874e-03 2.04247247e+01] [ 1.86775258e-01 9.82402029e-01 1.12069597e-03 1.35472869e+00] [-7.66985834e-03 3.17463541e-04 9.99970536e-01 -3.79569906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424975926 meters Centerline goodness [0,1] 0.999730233470669 Centerline is valid? [True, True] Translation: X:20.45, Y:1.36, Z:-0.38 [[ 9.82585703e-01 -1.85696089e-01 6.50369145e-03 2.04534342e+01] [ 1.85693787e-01 9.82607192e-01 9.61315982e-04 1.35974336e+00] [-6.56908661e-03 2.63119753e-04 9.99978389e-01 -3.84593037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454975926 meters Centerline goodness [0,1] 0.9996064444717747 Centerline is valid? [True, True] Translation: X:20.48, Y:1.36, Z:-0.39 [[ 9.82565367e-01 -1.85802699e-01 6.53117371e-03 2.04807955e+01] [ 1.85800367e-01 9.82587038e-01 9.67337824e-04 1.36436756e+00] [-6.59718061e-03 2.63021829e-04 9.99978204e-01 -3.86461925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484975926 meters Centerline goodness [0,1] 0.9998028245384862 Centerline is valid? [True, True] Translation: X:20.51, Y:1.37, Z:-0.38 [[ 9.82443851e-01 -1.86440950e-01 6.62214216e-03 2.05086779e+01] [ 1.86438530e-01 9.82466133e-01 9.86392831e-04 1.36740128e+00] [-6.68993441e-03 2.65546875e-04 9.99977587e-01 -3.84321218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514975925999998 meters Centerline goodness [0,1] 0.9996315311110565 Centerline is valid? [True, True] Translation: X:20.54, Y:1.37, Z:-0.39 [[ 9.82521109e-01 -1.86041044e-01 6.40310341e-03 2.05376494e+01] [ 1.86038781e-01 9.82541940e-01 9.52571705e-04 1.37228697e+00] [-6.46853509e-03 2.55303743e-04 9.99979046e-01 -3.87297948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544975926 meters Centerline goodness [0,1] 0.9996801810667192 Centerline is valid? [True, True] Translation: X:20.57, Y:1.38, Z:-0.39 [[ 9.82520066e-01 -1.86050021e-01 6.30147786e-03 2.05653479e+01] [ 1.86047822e-01 9.82540242e-01 9.38647010e-04 1.37807561e+00] [-6.36609088e-03 2.50136706e-04 9.99979705e-01 -3.87077938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.574975926 meters Centerline goodness [0,1] 0.9996068699476646 Centerline is valid? [True, True] Translation: X:20.59, Y:1.38, Z:-0.39 [[ 9.82814723e-01 -1.84492361e-01 6.14722655e-03 2.05925021e+01] [ 1.84490205e-01 9.82833921e-01 9.20868051e-04 1.38234454e+00] [-6.21159590e-03 2.29060405e-04 9.99980682e-01 -3.88509897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604975925999998 meters Centerline goodness [0,1] 0.9994358043467596 Centerline is valid? [True, True] Translation: X:20.62, Y:1.39, Z:-0.38 [[ 9.83076496e-01 -1.83098705e-01 5.95540843e-03 2.06203377e+01] [ 1.83096666e-01 9.83094511e-01 8.90399644e-04 1.39116688e+00] [-6.01776036e-03 2.15084468e-04 9.99981870e-01 -3.84174593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.634975926 meters Centerline goodness [0,1] 0.999655816697807 Centerline is valid? [True, True] Translation: X:20.65, Y:1.39, Z:-0.39 [[ 9.83215289e-01 -1.82358342e-01 5.75584217e-03 2.06479332e+01] [ 1.82356400e-01 9.83232117e-01 8.64928913e-04 1.39338823e+00] [-5.81705588e-03 1.99203326e-04 9.99983061e-01 -3.87258957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664975926 meters Centerline goodness [0,1] 0.9995335820895522 Centerline is valid? [True, True] Translation: X:20.68, Y:1.40, Z:-0.39 [[ 9.82513389e-01 -1.86143197e-01 4.26033985e-03 2.06772939e+01] [ 1.86142164e-01 9.82522612e-01 6.41122765e-04 1.39883768e+00] [-4.30522088e-03 1.63117180e-04 9.99990719e-01 -3.89847867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.694975925999998 meters Centerline goodness [0,1] 0.9995829142029982 Centerline is valid? [True, True] Translation: X:20.70, Y:1.40, Z:-0.39 [[ 9.82461286e-01 -1.86415161e-01 4.38276661e-03 2.07037544e+01] [ 1.86414077e-01 9.82471047e-01 6.58295011e-04 1.40205701e+00] [-4.42865748e-03 1.70260028e-04 9.99990179e-01 -3.91280901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724975926 meters Centerline goodness [0,1] 0.999656002751978 Centerline is valid? [True, True] Translation: X:20.73, Y:1.41, Z:-0.39 [[ 9.82343502e-01 -1.87032551e-01 4.47974203e-03 2.07311752e+01] [ 1.87031433e-01 9.82353700e-01 6.70967620e-04 1.40724304e+00] [-4.52618395e-03 1.78731892e-04 9.99989741e-01 -3.89977574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.754975926 meters Centerline goodness [0,1] 0.9997547216090262 Centerline is valid? [True, True] Translation: X:20.76, Y:1.41, Z:-0.39 [[ 9.82242520e-01 -1.87563723e-01 4.41385129e-03 2.07585260e+01] [ 1.87562635e-01 9.82252421e-01 6.62860576e-04 1.41194736e+00] [-4.45984472e-03 1.76783735e-04 9.99990039e-01 -3.90684782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784975925999998 meters Centerline goodness [0,1] 0.9997550400509516 Centerline is valid? [True, True] Translation: X:20.79, Y:1.42, Z:-0.39 [[ 9.82200318e-01 -1.87786236e-01 4.34346346e-03 2.07856306e+01] [ 1.87785165e-01 9.82209906e-01 6.56810049e-04 1.41514904e+00] [-4.38953272e-03 1.70518964e-04 9.99990351e-01 -3.91377580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.814975926 meters Centerline goodness [0,1] 0.9998281365087159 Centerline is valid? [True, True] Translation: X:20.81, Y:1.42, Z:-0.39 [[ 9.81922672e-01 -1.89235217e-01 4.23065027e-03 2.08144543e+01] [ 1.89234220e-01 9.81931771e-01 6.38328213e-04 1.42036010e+00] [-4.27500409e-03 1.73794859e-04 9.99990847e-01 -3.90625693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844975926 meters Centerline goodness [0,1] 0.9998281365087159 Centerline is valid? [True, True] Translation: X:20.84, Y:1.42, Z:-0.39 [[ 9.81846042e-01 -1.89632415e-01 4.23051856e-03 2.08417001e+01] [ 1.89631418e-01 9.81855140e-01 6.39199780e-04 1.42477621e+00] [-4.27496939e-03 1.74643458e-04 9.99990847e-01 -3.91072260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.874975925999998 meters Centerline goodness [0,1] 0.9996818248568212 Centerline is valid? [True, True] Translation: X:20.87, Y:1.43, Z:-0.39 [[ 9.82260129e-01 -1.87480345e-01 4.01979183e-03 2.08699475e+01] [ 1.87479418e-01 9.82268342e-01 6.09564738e-04 1.43390704e+00] [-4.06279566e-03 1.54877095e-04 9.99991735e-01 -3.92696552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904975926 meters Centerline goodness [0,1] 0.9998042094958395 Centerline is valid? [True, True] Translation: X:20.90, Y:1.44, Z:-0.39 [[ 9.82147291e-01 -1.88061452e-01 4.42598158e-03 2.08982842e+01] [ 1.88060329e-01 9.82157248e-01 6.72341140e-04 1.43772140e+00] [-4.47345134e-03 1.72013522e-04 9.99989979e-01 -3.91800616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934975926 meters Centerline goodness [0,1] 0.9996558082360172 Centerline is valid? [True, True] Translation: X:20.93, Y:1.44, Z:-0.39 [[ 9.81531846e-01 -1.91265673e-01 3.56050816e-03 2.09274918e+01] [ 1.91264964e-01 9.81538293e-01 5.41735226e-04 1.43674598e+00] [-3.59839045e-03 1.49270088e-04 9.99993515e-01 -3.94229490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964975926 meters Centerline goodness [0,1] 0.9998771679850637 Centerline is valid? [True, True] Translation: X:20.96, Y:1.44, Z:-0.39 [[ 9.81225487e-01 -1.92806392e-01 4.71585217e-03 2.09551277e+01] [ 1.92805141e-01 9.81236799e-01 7.22677523e-04 1.43767130e+00] [-4.76670454e-03 2.00130939e-04 9.99988619e-01 -3.91028859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994975926 meters Centerline goodness [0,1] 0.9997047462047585 Centerline is valid? [True, True] Translation: X:20.98, Y:1.44, Z:-0.39 [[ 9.80610510e-01 -1.95934301e-01 3.57454763e-03 2.09843930e+01] [ 1.95933596e-01 9.80617012e-01 5.49859414e-04 1.44312832e+00] [-3.61299854e-03 1.61176050e-04 9.99993460e-01 -3.93882555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024975926 meters Centerline goodness [0,1] 0.9993365278289716 Centerline is valid? [True, True] Translation: X:21.01, Y:1.44, Z:-0.40 [[ 9.80154264e-01 -1.98211397e-01 3.14024425e-03 2.10122006e+01] [ 1.98210867e-01 9.80159283e-01 4.82123814e-04 1.44488797e+00] [-3.17350198e-03 1.49874823e-04 9.99994953e-01 -3.96137343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054975926 meters Centerline goodness [0,1] 0.9989179618335629 Centerline is valid? [True, True] Translation: X:21.04, Y:1.45, Z:-0.40 [[ 9.79763180e-01 -2.00138630e-01 2.93941096e-03 2.10411844e+01] [ 2.00138183e-01 9.79767578e-01 4.48527987e-04 1.44764436e+00] [-2.96970733e-03 1.48837163e-04 9.99995579e-01 -3.97697809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084975926 meters Centerline goodness [0,1] 0.99950884086444 Centerline is valid? [True, True] Translation: X:21.07, Y:1.46, Z:-0.40 [[ 9.80466848e-01 -1.96659143e-01 3.15282257e-03 2.10705604e+01] [ 1.96658594e-01 9.80471907e-01 4.86300483e-04 1.45529106e+00] [-3.18688940e-03 1.43228153e-04 9.99994912e-01 -3.96625711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114975926 meters Centerline goodness [0,1] 0.9993127147766323 Centerline is valid? [True, True] Translation: X:21.10, Y:1.46, Z:-0.40 [[ 9.80793583e-01 -1.95028775e-01 2.77930195e-03 2.10990757e+01] [ 1.95028352e-01 9.80797513e-01 4.25018131e-04 1.46134778e+00] [-2.80882320e-03 1.25187623e-04 9.99996047e-01 -3.98962958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144975926 meters Centerline goodness [0,1] 0.999631413406723 Centerline is valid? [True, True] Translation: X:21.13, Y:1.47, Z:-0.40 [[ 9.80839184e-01 -1.94797235e-01 2.92103427e-03 2.11275996e+01] [ 1.94796763e-01 9.80843525e-01 4.48077634e-04 1.46612227e+00] [-2.95236183e-03 1.29515920e-04 9.99995633e-01 -3.97841095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174975926 meters Centerline goodness [0,1] 0.9995084304183257 Centerline is valid? [True, True] Translation: X:21.16, Y:1.47, Z:-0.40 [[ 9.80754542e-01 -1.95228174e-01 2.54716901e-03 2.11551126e+01] [ 1.95227818e-01 9.80757843e-01 3.90053751e-04 1.47181649e+00] [-2.57430547e-03 1.14731261e-04 9.99996680e-01 -3.99467073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204975926 meters Centerline goodness [0,1] 0.9997298359367325 Centerline is valid? [True, True] Translation: X:21.18, Y:1.48, Z:-0.40 [[ 9.80600058e-01 -1.95990180e-01 3.37263607e-03 2.11826923e+01] [ 1.95989549e-01 9.80605847e-01 5.20065997e-04 1.47589193e+00] [-3.40915448e-03 1.51024674e-04 9.99994177e-01 -3.98809093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234975926 meters Centerline goodness [0,1] 0.9997295835586804 Centerline is valid? [True, True] Translation: X:21.21, Y:1.48, Z:-0.40 [[ 9.80381077e-01 -1.97074178e-01 3.83566684e-03 2.12117457e+01] [ 1.97073357e-01 9.80388565e-01 5.94639059e-04 1.47959030e+00] [-3.87763192e-03 1.72934861e-04 9.99992467e-01 -3.98122421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264975925999998 meters Centerline goodness [0,1] 0.9996068313060572 Centerline is valid? [True, True] Translation: X:21.24, Y:1.49, Z:-0.40 [[ 9.80764724e-01 -1.95167345e-01 3.20364284e-03 2.12399868e+01] [ 1.95166762e-01 9.80769947e-01 4.96708176e-04 1.48716550e+00] [-3.23897783e-03 1.38090742e-04 9.99994745e-01 -4.00820420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294975926 meters Centerline goodness [0,1] 0.999631331875046 Centerline is valid? [True, True] Translation: X:21.27, Y:1.49, Z:-0.40 [[ 9.80539315e-01 -1.96297276e-01 3.16707392e-03 2.12687867e+01] [ 1.96296708e-01 9.80544420e-01 4.92136935e-04 1.49176781e+00] [-3.20206180e-03 1.39126571e-04 9.99994864e-01 -4.01220334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324975926 meters Centerline goodness [0,1] 0.9993608967110762 Centerline is valid? [True, True] Translation: X:21.30, Y:1.49, Z:-0.40 [[ 9.80046659e-01 -1.98741224e-01 3.23599839e-03 2.12970830e+01] [ 1.98740630e-01 9.80051991e-01 5.07186603e-04 1.49440743e+00] [-3.27224555e-03 1.46057823e-04 9.99994636e-01 -4.02662022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354975925999998 meters Centerline goodness [0,1] 0.9996068506278104 Centerline is valid? [True, True] Translation: X:21.33, Y:1.50, Z:-0.40 [[ 9.79193087e-01 -2.02900650e-01 3.49647555e-03 2.13264671e+01] [ 2.02899979e-01 9.79199314e-01 5.49287658e-04 1.49617705e+00] [-3.53519729e-03 1.71576138e-04 9.99993736e-01 -4.01430740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384975926 meters Centerline goodness [0,1] 0.9987213533982492 Centerline is valid? [True, True] Translation: X:21.35, Y:1.50, Z:-0.40 [[ 9.78462330e-01 -2.06400862e-01 3.18636280e-03 2.13548107e+01] [ 2.06400324e-01 9.78467504e-01 5.00389897e-04 1.49617292e+00] [-3.22103336e-03 1.68053649e-04 9.99994798e-01 -4.03731019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414975926 meters Centerline goodness [0,1] 0.9985725185203416 Centerline is valid? [True, True] Translation: X:21.38, Y:1.50, Z:-0.40 [[ 9.77648563e-01 -2.10219580e-01 3.31889634e-03 2.13846577e+01] [ 2.10219015e-01 9.77654179e-01 5.22276323e-04 1.49823802e+00] [-3.35452558e-03 1.87092421e-04 9.99994356e-01 -4.03501925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444975925999998 meters Centerline goodness [0,1] 0.9985491565435499 Centerline is valid? [True, True] Translation: X:21.41, Y:1.50, Z:-0.40 [[ 9.77312217e-01 -2.11780040e-01 3.16926719e-03 2.14128684e+01] [ 2.11779545e-01 9.77317338e-01 4.94787754e-04 1.50361935e+00] [-3.20216595e-03 1.87623848e-04 9.99994855e-01 -4.03876817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474975926 meters Centerline goodness [0,1] 0.9995814148179154 Centerline is valid? [True, True] Translation: X:21.44, Y:1.51, Z:-0.40 [[ 9.77372322e-01 -2.11492103e-01 3.79933474e-03 2.14411915e+01] [ 2.11491380e-01 9.77379681e-01 5.95725004e-04 1.50885591e+00] [-3.83938371e-03 2.21281418e-04 9.99992605e-01 -4.01903747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504975926 meters Centerline goodness [0,1] 0.9988918712600655 Centerline is valid? [True, True] Translation: X:21.47, Y:1.51, Z:-0.40 [[ 9.77580192e-01 -2.10537935e-01 3.27797920e-03 2.14699141e+01] [ 2.10537390e-01 9.77585670e-01 5.14362470e-04 1.51428545e+00] [-3.31279831e-03 1.87306624e-04 9.99994495e-01 -4.04779298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534975925999998 meters Centerline goodness [0,1] 0.9992848159017484 Centerline is valid? [True, True] Translation: X:21.50, Y:1.52, Z:-0.40 [[ 9.77971843e-01 -2.08702982e-01 3.76031807e-03 2.14974965e+01] [ 2.08702234e-01 9.77979051e-01 5.94650713e-04 1.51713498e+00] [-3.80161768e-03 2.03235128e-04 9.99992753e-01 -4.03445462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564975926 meters Centerline goodness [0,1] 0.9995816414421066 Centerline is valid? [True, True] Translation: X:21.53, Y:1.53, Z:-0.40 [[ 9.78486258e-01 -2.06278149e-01 3.73747075e-03 2.15255727e+01] [ 2.06277386e-01 9.78493377e-01 5.92579519e-04 1.52602467e+00] [-3.77932658e-03 1.91124782e-04 9.99992840e-01 -4.04116144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594975926 meters Centerline goodness [0,1] 0.9996299129061705 Centerline is valid? [True, True] Translation: X:21.55, Y:1.53, Z:-0.40 [[ 9.77967420e-01 -2.08720951e-01 3.91015785e-03 2.15544607e+01] [ 2.08720133e-01 9.77975215e-01 6.20778433e-04 1.52695384e+00] [-3.95360693e-03 2.09027583e-04 9.99992163e-01 -4.03956887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624975925999998 meters Centerline goodness [0,1] 0.9996052891257154 Centerline is valid? [True, True] Translation: X:21.58, Y:1.53, Z:-0.40 [[ 9.77709326e-01 -2.09936461e-01 3.34013315e-03 2.15822020e+01] [ 2.09935873e-01 9.77715014e-01 5.29683409e-04 1.53273024e+00] [-3.37689819e-03 1.83337360e-04 9.99994281e-01 -4.04557677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.654975926 meters Centerline goodness [0,1] 0.9988895195321176 Centerline is valid? [True, True] Translation: X:21.61, Y:1.54, Z:-0.41 [[ 9.77319583e-01 -2.11755226e-01 2.48129977e-03 2.16108714e+01] [ 2.11754916e-01 9.77322722e-01 3.90074734e-04 1.53608813e+00] [-2.50763101e-03 1.44199749e-04 9.99996845e-01 -4.07224336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684975926 meters Centerline goodness [0,1] 0.9991120538687319 Centerline is valid? [True, True] Translation: X:21.64, Y:1.54, Z:-0.41 [[ 9.77195205e-01 -2.12323420e-01 2.88043887e-03 2.16381954e+01] [ 2.12322992e-01 9.77199436e-01 4.57096309e-04 1.53947052e+00] [-2.91181549e-03 1.64911079e-04 9.99995747e-01 -4.06047470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.714975926 meters Centerline goodness [0,1] 0.9984949048829234 Centerline is valid? [True, True] Translation: X:21.67, Y:1.55, Z:-0.41 [[ 9.77235495e-01 -2.12147003e-01 2.10608685e-03 2.16666876e+01] [ 2.12146780e-01 9.77237757e-01 3.31392682e-04 1.54509152e+00] [-2.12845156e-03 1.22950853e-04 9.99997727e-01 -4.08551116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744975926 meters Centerline goodness [0,1] 0.9979564703565097 Centerline is valid? [True, True] Translation: X:21.69, Y:1.55, Z:-0.41 [[ 9.77076037e-01 -2.12880277e-01 2.09883112e-03 2.16942034e+01] [ 2.12880051e-01 9.77078284e-01 3.32942677e-04 1.54655235e+00] [-2.12159924e-03 1.21488964e-04 9.99997742e-01 -4.08671417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.774975926 meters Centerline goodness [0,1] 0.998052220222392 Centerline is valid? [True, True] Translation: X:21.72, Y:1.55, Z:-0.41 [[ 9.76970205e-01 -2.13370369e-01 1.51766101e-03 2.17220961e+01] [ 2.13370256e-01 9.76971380e-01 2.38099240e-04 1.55287711e+00] [-1.53351470e-03 9.12078546e-05 9.99998820e-01 -4.09843041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804975926 meters Centerline goodness [0,1] 0.997484462858834 Centerline is valid? [True, True] Translation: X:21.75, Y:1.56, Z:-0.41 [[ 9.76723321e-01 -2.14500182e-01 1.10701838e-03 2.17501289e+01] [ 2.14500120e-01 9.76723947e-01 1.75974606e-04 1.55730073e+00] [-1.11899794e-03 6.55770723e-05 9.99999372e-01 -4.10697709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834975926 meters Centerline goodness [0,1] 0.9972106341487498 Centerline is valid? [True, True] Translation: X:21.78, Y:1.56, Z:-0.41 [[ 9.76356074e-01 -2.16165773e-01 1.08445588e-03 2.17784098e+01] [ 2.16165718e-01 9.76356673e-01 1.68947785e-04 1.56118283e+00] [-1.09533646e-03 6.94689882e-05 9.99999398e-01 -4.10776060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864975926 meters Centerline goodness [0,1] 0.9975848387017275 Centerline is valid? [True, True] Translation: X:21.81, Y:1.57, Z:-0.41 [[ 9.76213326e-01 -2.16808239e-01 1.31514315e-03 2.18066240e+01] [ 2.16808157e-01 9.76214208e-01 2.05865786e-04 1.56534924e+00] [-1.32849483e-03 8.41648392e-05 9.99999114e-01 -4.10724471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.894975926 meters Centerline goodness [0,1] 0.9966915214063503 Centerline is valid? [True, True] Translation: X:21.84, Y:1.57, Z:-0.41 [[ 9.76390828e-01 -2.16008808e-01 1.07065676e-03 2.18356172e+01] [ 2.16008753e-01 9.76391413e-01 1.68025072e-04 1.56962542e+00] [-1.08167496e-03 6.72130915e-05 9.99999413e-01 -4.11511474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924975926 meters Centerline goodness [0,1] 0.9969441569323279 Centerline is valid? [True, True] Translation: X:21.86, Y:1.57, Z:-0.41 [[ 9.76610774e-01 -2.15012950e-01 9.09494286e-04 2.18641559e+01] [ 2.15012910e-01 9.76611196e-01 1.41886233e-04 1.57471602e+00] [-9.18729680e-04 5.69853892e-05 9.99999576e-01 -4.12186199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.954975926 meters Centerline goodness [0,1] 0.997854288955754 Centerline is valid? [True, True] Translation: X:21.89, Y:1.58, Z:-0.41 [[ 9.76829730e-01 -2.14017411e-01 4.75010527e-04 2.18925050e+01] [ 2.14017401e-01 9.76829845e-01 7.14146515e-05 1.58204375e+00] [-4.79288438e-04 3.19005637e-05 9.99999885e-01 -4.13177947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984975926 meters Centerline goodness [0,1] 0.9978794230057946 Centerline is valid? [True, True] Translation: X:21.92, Y:1.59, Z:-0.41 [[ 9.76771346e-01 -2.14283353e-01 6.17734810e-04 2.19203640e+01] [ 2.14283336e-01 9.76771541e-01 9.40441392e-05 1.58689661e+00] [-6.23537875e-04 4.05106551e-05 9.99999805e-01 -4.13633527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.014975925999998 meters Centerline goodness [0,1] 0.9982970531615578 Centerline is valid? [True, True] Translation: X:21.95, Y:1.59, Z:-0.41 [[ 9.76660508e-01 -2.14786915e-01 9.12680222e-04 2.19479209e+01] [ 2.14786875e-01 9.76660933e-01 1.42593432e-04 1.59121619e+00] [-9.22006321e-04 5.67663589e-05 9.99999573e-01 -4.13413535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044975926 meters Centerline goodness [0,1] 0.9984468987279361 Centerline is valid? [True, True] Translation: X:21.98, Y:1.60, Z:-0.41 [[ 9.76583836e-01 -2.15135469e-01 8.60643824e-04 2.19750285e+01] [ 2.15135434e-01 9.76584214e-01 1.34397418e-04 1.59635660e+00] [-8.69404824e-04 5.39046361e-05 9.99999621e-01 -4.13898335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.074975926 meters Centerline goodness [0,1] 0.9990634165578094 Centerline is valid? [True, True] Translation: X:22.00, Y:1.60, Z:-0.41 [[ 9.76419257e-01 -2.15878025e-01 1.45326504e-03 2.20030426e+01] [ 2.15877918e-01 9.76420335e-01 2.32148875e-04 1.60116479e+00] [-1.46911338e-03 8.70531988e-05 9.99998917e-01 -4.13299355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104975925999998 meters Centerline goodness [0,1] 0.9992596248766041 Centerline is valid? [True, True] Translation: X:22.03, Y:1.61, Z:-0.41 [[ 9.76218430e-01 -2.16782637e-01 1.69238953e-03 2.20315757e+01] [ 2.16782489e-01 9.76219892e-01 2.72928670e-04 1.60566725e+00] [-1.71131052e-03 1.00442417e-04 9.99998531e-01 -4.12643717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.134975926 meters Centerline goodness [0,1] 0.9982980192891148 Centerline is valid? [True, True] Translation: X:22.06, Y:1.61, Z:-0.41 [[ 9.76002806e-01 -2.17755181e-01 1.09765828e-03 2.20598084e+01] [ 2.17755121e-01 9.76003420e-01 1.75402772e-04 1.60931869e+00] [-1.10951310e-03 6.78271147e-05 9.99999382e-01 -4.14943585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164975926 meters Centerline goodness [0,1] 0.9968170153967627 Centerline is valid? [True, True] Translation: X:22.09, Y:1.61, Z:-0.42 [[ 9.75731820e-01 -2.18966442e-01 1.05469946e-03 2.20879661e+01] [ 2.18966384e-01 9.75732388e-01 1.71273002e-04 1.61177013e+00] [-1.06660747e-03 6.38272105e-05 9.99999429e-01 -4.15691856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.194975925999998 meters Centerline goodness [0,1] 0.997478368355995 Centerline is valid? [True, True] Translation: X:22.12, Y:1.62, Z:-0.42 [[ 9.75640640e-01 -2.19373187e-01 8.63503813e-04 2.21150120e+01] [ 2.19373152e-01 9.75641021e-01 1.36354853e-04 1.61779432e+00] [-8.72382340e-04 5.63962171e-05 9.99999618e-01 -4.16117539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224975926 meters Centerline goodness [0,1] 0.9978594626513139 Centerline is valid? [True, True] Translation: X:22.14, Y:1.63, Z:-0.42 [[ 9.76818767e-01 -2.14067857e-01 2.21888225e-04 2.21423162e+01] [ 2.14067854e-01 9.76818792e-01 3.55476765e-05 1.62738975e+00] [-2.24354203e-04 1.27754987e-05 9.99999975e-01 -4.17507628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.254975926 meters Centerline goodness [0,1] 0.9996338158826258 Centerline is valid? [True, True] Translation: X:22.17, Y:1.65, Z:-0.42 [[ 9.79111228e-01 -2.03323099e-01 9.59173709e-04 2.21691471e+01] [ 2.03323041e-01 9.79111697e-01 1.58442939e-04 1.64646501e+00] [-9.71353308e-04 3.98888548e-05 9.99999527e-01 -4.16435233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284975925999998 meters Centerline goodness [0,1] 0.9995142919591034 Centerline is valid? [True, True] Translation: X:22.20, Y:1.67, Z:-0.42 [[ 9.82204846e-01 -1.87812782e-01 1.14545602e-05 2.21959826e+01] [ 1.87812782e-01 9.82204846e-01 1.68814664e-06 1.66966763e+00] [-1.15677801e-05 4.93207001e-07 1.00000000e+00 -4.18742177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.314975926 meters Centerline goodness [0,1] 0.9996862934362934 Centerline is valid? [True, True] Translation: X:22.22, Y:1.69, Z:-0.42 [[ 9.83696280e-01 -1.79837597e-01 2.59405088e-04 2.22232420e+01] [ 1.79837593e-01 9.83696314e-01 3.77951535e-05 1.68602056e+00] [-2.61972819e-04 9.47183483e-06 9.99999966e-01 -4.17900076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344975926 meters Centerline goodness [0,1] 0.9995669641783145 Centerline is valid? [True, True] Translation: X:22.25, Y:1.69, Z:-0.42 [[ 9.84309589e-01 -1.76450077e-01 -6.36554933e-05 2.22502787e+01] [ 1.76450077e-01 9.84309591e-01 -1.26019223e-05 1.69407989e+00] [ 6.48803227e-05 1.17217623e-06 9.99999998e-01 -4.19581864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.374975925999998 meters Centerline goodness [0,1] 0.999590844544995 Centerline is valid? [True, True] Translation: X:22.28, Y:1.70, Z:-0.42 [[ 9.84028979e-01 -1.78008181e-01 2.38474613e-04 2.22785674e+01] [ 1.78008178e-01 9.84029007e-01 3.41365048e-05 1.69740135e+00] [-2.40742514e-04 8.85912144e-06 9.99999971e-01 -4.20017921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404975926 meters Centerline goodness [0,1] 0.9995888157894737 Centerline is valid? [True, True] Translation: X:22.31, Y:1.70, Z:-0.42 [[ 9.83298161e-01 -1.82001435e-01 4.52465304e-04 2.23065588e+01] [ 1.82001420e-01 9.83298265e-01 7.34954609e-05 1.69636881e+00] [-4.58284628e-04 1.00813765e-05 9.99999895e-01 -4.20650288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.434975926 meters Centerline goodness [0,1] 0.9996115656332694 Centerline is valid? [True, True] Translation: X:22.34, Y:1.69, Z:-0.42 [[ 9.82150233e-01 -1.88097708e-01 4.14516241e-04 2.23371483e+01] [ 1.88097696e-01 9.82150321e-01 6.83835048e-05 1.69283609e+00] [-4.19980040e-04 1.08066746e-05 9.99999912e-01 -4.21371883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464975926 meters Centerline goodness [0,1] 0.9995114802149487 Centerline is valid? [True, True] Translation: X:22.37, Y:1.68, Z:-0.42 [[ 9.80550520e-01 -1.96266088e-01 5.47685604e-04 2.23680960e+01] [ 1.96266068e-01 9.80550673e-01 9.06278283e-05 1.68483124e+00] [-5.54820657e-04 1.86269355e-05 9.99999846e-01 -4.22762518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.494975926 meters Centerline goodness [0,1] 0.9997304978439827 Centerline is valid? [True, True] Translation: X:22.40, Y:1.68, Z:-0.42 [[ 9.79541194e-01 -2.01237775e-01 1.55131937e-03 2.23985157e+01] [ 2.01237618e-01 9.79542421e-01 2.58236446e-04 1.68212496e+00] [-1.57155006e-03 5.92305782e-05 9.99998763e-01 -4.20646799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524975926 meters Centerline goodness [0,1] 0.9991158701311459 Centerline is valid? [True, True] Translation: X:22.43, Y:1.68, Z:-0.42 [[ 9.79235010e-01 -2.02727300e-01 6.61451361e-04 2.24273769e+01] [ 2.02727275e-01 9.79235233e-01 1.05282269e-04 1.68353442e+00] [-6.69060068e-04 3.09981483e-05 9.99999776e-01 -4.23944802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.554975926 meters Centerline goodness [0,1] 0.9995097678750888 Centerline is valid? [True, True] Translation: X:22.46, Y:1.69, Z:-0.42 [[ 9.79503416e-01 -2.01427085e-01 4.33838826e-04 2.24556430e+01] [ 2.01427075e-01 9.79503511e-01 6.71685441e-05 1.69143078e+00] [-4.38476218e-04 2.15950675e-05 9.99999904e-01 -4.23326634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584975926 meters Centerline goodness [0,1] 0.9995832618341383 Centerline is valid? [True, True] Translation: X:22.48, Y:1.70, Z:-0.42 [[ 9.80206969e-01 -1.97975374e-01 2.23904783e-04 2.24828086e+01] [ 1.97975371e-01 9.80206994e-01 3.58844470e-05 1.70224534e+00] [-2.26577272e-04 9.15344757e-06 9.99999974e-01 -4.23434198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.614975926 meters Centerline goodness [0,1] 0.9996572575709355 Centerline is valid? [True, True] Translation: X:22.51, Y:1.71, Z:-0.42 [[ 9.80813268e-01 -1.94948228e-01 7.22527571e-04 2.25100540e+01] [ 1.94948193e-01 9.80813534e-01 1.19231832e-04 1.70731297e+00] [-7.31908855e-04 2.39112818e-05 9.99999732e-01 -4.24107185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644975926 meters Centerline goodness [0,1] 0.9996577268171039 Centerline is valid? [True, True] Translation: X:22.54, Y:1.72, Z:-0.42 [[ 9.81240264e-01 -1.92788112e-01 5.37464470e-04 2.25378225e+01] [ 1.92788094e-01 9.81240411e-01 8.46019798e-05 1.71634033e+00] [-5.43692113e-04 2.06018820e-05 9.99999852e-01 -4.23576035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.674975926 meters Centerline goodness [0,1] 0.9998288383010979 Centerline is valid? [True, True] Translation: X:22.57, Y:1.72, Z:-0.42 [[ 9.81264140e-01 -1.92663970e-01 1.13216419e-03 2.25655121e+01] [ 1.92663880e-01 9.81264793e-01 1.88572678e-04 1.72068846e+00] [-1.14728402e-03 3.30875389e-05 9.99999341e-01 -4.22237938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704975926 meters Centerline goodness [0,1] 0.999828658148529 Centerline is valid? [True, True] Translation: X:22.59, Y:1.73, Z:-0.42 [[ 9.81475384e-01 -1.91585981e-01 9.39770580e-04 2.25936983e+01] [ 1.91585922e-01 9.81475833e-01 1.52726099e-04 1.72742343e+00] [-9.51622293e-04 3.01499061e-05 9.99999547e-01 -4.22654702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.734975926 meters Centerline goodness [0,1] 0.9996564585787201 Centerline is valid? [True, True] Translation: X:22.62, Y:1.73, Z:-0.43 [[ 9.81654041e-01 -1.90670710e-01 1.57591715e-04 2.26212627e+01] [ 1.90670708e-01 9.81654053e-01 2.45539480e-05 1.72896782e+00] [-1.59382264e-04 5.94464159e-06 9.99999987e-01 -4.27123104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764975925999998 meters Centerline goodness [0,1] 0.9996564585787201 Centerline is valid? [True, True] Translation: X:22.65, Y:1.73, Z:-0.43 [[ 9.81583612e-01 -1.91032947e-01 1.58242244e-04 2.26484090e+01] [ 1.91032946e-01 9.81583625e-01 2.07081584e-05 1.73383108e+00] [-1.59283936e-04 9.90269330e-06 9.99999987e-01 -4.27570187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.794975926 meters Centerline goodness [0,1] 0.9982749273005077 Centerline is valid? [True, True] Translation: X:22.68, Y:1.72, Z:-0.43 [[ 9.76461281e-01 -2.15692613e-01 2.50850124e-04 2.26818093e+01] [ 2.15692609e-01 9.76461313e-01 4.19321984e-05 1.71720863e+00] [-2.53989907e-04 1.31613495e-05 9.99999968e-01 -4.27710113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824975926 meters Centerline goodness [0,1] 0.9982497658137356 Centerline is valid? [True, True] Translation: X:22.71, Y:1.72, Z:-0.43 [[ 9.77143371e-01 -2.12581259e-01 -2.00108795e-04 2.27096978e+01] [ 2.12581256e-01 9.77143392e-01 -3.54695165e-05 1.72435577e+00] [ 2.03075141e-04 -7.88057602e-06 9.99999979e-01 -4.29741142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.854975925999998 meters Centerline goodness [0,1] 0.9981047553411441 Centerline is valid? [True, True] Translation: X:22.74, Y:1.73, Z:-0.43 [[ 9.77827051e-01 -2.09412375e-01 -8.45595563e-04 2.27381923e+01] [ 2.09412327e-01 9.77827416e-01 -1.45969107e-04 1.73232829e+00] [ 8.57414262e-04 -3.43455936e-05 9.99999632e-01 -4.32036303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884975926 meters Centerline goodness [0,1] 0.999137761135199 Centerline is valid? [True, True] Translation: X:22.77, Y:1.74, Z:-0.43 [[ 9.77864193e-01 -2.09240277e-01 -3.56063608e-04 2.27669489e+01] [ 2.09240267e-01 9.77864258e-01 -6.60481370e-05 1.73825009e+00] [ 3.62001806e-04 -9.91673620e-06 9.99999934e-01 -4.30882082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.914975926 meters Centerline goodness [0,1] 0.9993604879968516 Centerline is valid? [True, True] Translation: X:22.80, Y:1.74, Z:-0.43 [[ 9.78197688e-01 -2.07675840e-01 1.69761123e-04 2.27952666e+01] [ 2.07675839e-01 9.78197703e-01 2.33831259e-05 1.74481271e+00] [-1.70916051e-04 1.23819639e-05 9.99999985e-01 -4.31151723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944975925999998 meters Centerline goodness [0,1] 0.9986971164482903 Centerline is valid? [True, True] Translation: X:22.82, Y:1.75, Z:-0.43 [[ 9.78231535e-01 -2.07516420e-01 1.09955960e-05 2.28223448e+01] [ 2.07516420e-01 9.78231535e-01 -7.11550293e-08 1.74872393e+00] [-1.07414729e-05 2.35137280e-06 1.00000000e+00 -4.33368987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.974975926 meters Centerline goodness [0,1] 0.998473958846116 Centerline is valid? [True, True] Translation: X:22.85, Y:1.75, Z:-0.43 [[ 9.78098783e-01 -2.08141140e-01 -1.91983192e-04 2.28505871e+01] [ 2.08141136e-01 9.78098802e-01 -3.81689375e-05 1.75355898e+00] [ 1.95723056e-04 -2.62660847e-06 9.99999981e-01 -4.34158227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004975926 meters Centerline goodness [0,1] 0.9986209274263058 Centerline is valid? [True, True] Translation: X:22.88, Y:1.76, Z:-0.43 [[ 9.77766539e-01 -2.09696344e-01 1.95491030e-04 2.28792561e+01] [ 2.09696343e-01 9.77766559e-01 2.79949769e-05 1.75784512e+00] [-1.97015036e-04 1.36212024e-05 9.99999980e-01 -4.33440458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.034975925999998 meters Centerline goodness [0,1] 0.9993112439426365 Centerline is valid? [True, True] Translation: X:22.91, Y:1.77, Z:-0.43 [[ 9.78056294e-01 -2.08340791e-01 3.06458524e-05 2.29070800e+01] [ 2.08340791e-01 9.78056294e-01 -4.35947600e-07 1.76797761e+00] [-2.98825432e-05 6.81116243e-06 1.00000000e+00 -4.34125177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064975926 meters Centerline goodness [0,1] 0.9994832550013534 Centerline is valid? [True, True] Translation: X:22.94, Y:1.77, Z:-0.43 [[ 9.77696266e-01 -2.10023800e-01 1.21016435e-04 2.29357064e+01] [ 2.10023800e-01 9.77696274e-01 1.49307495e-05 1.77339371e+00] [-1.21453131e-04 1.08185936e-05 9.99999993e-01 -4.33719589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.094975926 meters Centerline goodness [0,1] 0.9996311233523509 Centerline is valid? [True, True] Translation: X:22.96, Y:1.78, Z:-0.44 [[ 9.79213226e-01 -2.02833559e-01 -7.61145069e-05 2.29639309e+01] [ 2.02833559e-01 9.79213229e-01 -1.39018805e-05 1.78275438e+00] [ 7.73520999e-05 -1.82567111e-06 9.99999997e-01 -4.35182178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124975925999998 meters Centerline goodness [0,1] 0.9995820631330514 Centerline is valid? [True, True] Translation: X:22.99, Y:1.79, Z:-0.44 [[ 9.79220392e-01 -2.02798882e-01 1.90542284e-04 2.29919726e+01] [ 2.02798881e-01 9.79220411e-01 2.71306170e-05 1.78773695e+00] [-1.92084953e-04 1.20749086e-05 9.99999981e-01 -4.35626501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.154975926 meters Centerline goodness [0,1] 0.999385024107055 Centerline is valid? [True, True] Translation: X:23.02, Y:1.79, Z:-0.44 [[ 9.79064637e-01 -2.03548435e-01 6.87170469e-04 2.30207264e+01] [ 2.03548403e-01 9.79064877e-01 1.16391722e-04 1.78712296e+00] [-6.96475824e-04 2.59174324e-05 9.99999757e-01 -4.37529434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184975926 meters Centerline goodness [0,1] 0.999385024107055 Centerline is valid? [True, True] Translation: X:23.05, Y:1.79, Z:-0.44 [[ 9.78992419e-01 -2.03895488e-01 6.87772066e-04 2.30478634e+01] [ 2.03895459e-01 9.78992660e-01 1.12905579e-04 1.79208925e+00] [-6.96344742e-04 2.96998947e-05 9.99999757e-01 -4.37976656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.214975926 meters Centerline goodness [0,1] 0.9997540761871972 Centerline is valid? [True, True] Translation: X:23.07, Y:1.80, Z:-0.44 [[ 9.78829246e-01 -2.04676519e-01 9.10611207e-04 2.30747504e+01] [ 2.04676467e-01 9.78829669e-01 1.51085178e-04 1.80212066e+00] [-9.22256855e-04 3.84940938e-05 9.99999574e-01 -4.35052840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244975926 meters Centerline goodness [0,1] 0.9994586747373342 Centerline is valid? [True, True] Translation: X:23.10, Y:1.81, Z:-0.44 [[ 9.78107350e-01 -2.08100747e-01 3.02256311e-04 2.31031449e+01] [ 2.08100742e-01 9.78107396e-01 4.65841686e-05 1.80578815e+00] [-3.05333334e-04 1.73354450e-05 9.99999953e-01 -4.37394350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.274975926 meters Centerline goodness [0,1] 0.996675122527892 Centerline is valid? [True, True] Translation: X:23.13, Y:1.80, Z:-0.44 [[ 9.77397569e-01 -2.11409534e-01 -1.36902899e-05 2.31332329e+01] [ 2.11409534e-01 9.77397570e-01 -3.61244575e-06 1.80032003e+00] [ 1.41445615e-05 6.36537883e-07 1.00000000e+00 -4.40378919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304975926 meters Centerline goodness [0,1] 0.9960389706244157 Centerline is valid? [True, True] Translation: X:23.16, Y:1.80, Z:-0.44 [[ 9.76843456e-01 -2.13955235e-01 1.40504936e-04 2.31623940e+01] [ 2.13955234e-01 9.76843466e-01 2.33066468e-05 1.80326954e+00] [-1.42237908e-04 7.29482100e-06 9.99999990e-01 -4.39938835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.334975926 meters Centerline goodness [0,1] 0.9993356626150288 Centerline is valid? [True, True] Translation: X:23.19, Y:1.82, Z:-0.44 [[ 9.76609358e-01 -2.15020776e-01 4.77904823e-04 2.31896487e+01] [ 2.15020764e-01 9.76609474e-01 7.72885316e-05 1.81665538e+00] [-4.83345018e-04 2.72787571e-05 9.99999883e-01 -4.37397869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364975926 meters Centerline goodness [0,1] 0.9991652754590985 Centerline is valid? [True, True] Translation: X:23.22, Y:1.83, Z:-0.44 [[ 9.77649218e-01 -2.10242053e-01 -5.34187237e-04 2.32175480e+01] [ 2.10242033e-01 9.77649364e-01 -9.37626556e-05 1.82609269e+00] [ 5.41960666e-04 -2.06416241e-05 9.99999853e-01 -4.39613912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.394975926 meters Centerline goodness [0,1] 0.999608495644514 Centerline is valid? [True, True] Translation: X:23.25, Y:1.84, Z:-0.44 [[ 9.78715984e-01 -2.05219396e-01 -1.45609656e-04 2.32460837e+01] [ 2.05219395e-01 9.78715995e-01 -2.57441958e-05 1.83713353e+00] [ 1.47793707e-04 -4.68566946e-06 9.99999989e-01 -4.39166127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424975926 meters Centerline goodness [0,1] 0.999657425306482 Centerline is valid? [True, True] Translation: X:23.27, Y:1.84, Z:-0.44 [[ 9.79597650e-01 -2.00968723e-01 -1.26095929e-04 2.32734488e+01] [ 2.00968722e-01 9.79597658e-01 -2.35630472e-05 1.84461273e+00] [ 1.28258712e-04 -2.25903199e-06 9.99999992e-01 -4.40352649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.454975926 meters Centerline goodness [0,1] 0.9997299221684794 Centerline is valid? [True, True] Translation: X:23.30, Y:1.85, Z:-0.44 [[ 9.79303893e-01 -2.02394977e-01 3.98660902e-04 2.33029033e+01] [ 2.02394968e-01 9.79303974e-01 6.40001988e-05 1.84629712e+00] [-4.03363524e-04 1.80113165e-05 9.99999918e-01 -4.39371151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484975926 meters Centerline goodness [0,1] 0.9997048260933733 Centerline is valid? [True, True] Translation: X:23.33, Y:1.85, Z:-0.44 [[ 9.79177133e-01 -2.03007009e-01 5.45241799e-04 2.33300771e+01] [ 2.03006991e-01 9.79177284e-01 8.85799483e-05 1.85148714e+00] [-5.51870735e-04 2.39524370e-05 9.99999847e-01 -4.39085714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514975925999998 meters Centerline goodness [0,1] 0.9997298359367325 Centerline is valid? [True, True] Translation: X:23.36, Y:1.86, Z:-0.44 [[ 9.79697614e-01 -2.00478364e-01 1.00482769e-03 2.33580910e+01] [ 2.00478295e-01 9.79698129e-01 1.70237255e-04 1.85573937e+00] [-1.01855669e-03 3.46651083e-05 9.99999481e-01 -4.41025883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544975926 meters Centerline goodness [0,1] 0.9995813014137235 Centerline is valid? [True, True] Translation: X:23.39, Y:1.86, Z:-0.44 [[ 9.79976324e-01 -1.99113953e-01 1.93918321e-04 2.33861861e+01] [ 1.99113951e-01 9.79976343e-01 2.86483458e-05 1.86165446e+00] [-1.95739653e-04 1.05371425e-05 9.99999981e-01 -4.43399654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.574975926 meters Centerline goodness [0,1] 0.9996303962152573 Centerline is valid? [True, True] Translation: X:23.41, Y:1.87, Z:-0.44 [[ 9.80103188e-01 -1.98488520e-01 2.19072990e-04 2.34140148e+01] [ 1.98488517e-01 9.80103213e-01 3.65878535e-05 1.86658483e+00] [-2.21976410e-04 7.62360097e-06 9.99999975e-01 -4.43774078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604975925999998 meters Centerline goodness [0,1] 0.9995324688107483 Centerline is valid? [True, True] Translation: X:23.44, Y:1.88, Z:-0.44 [[ 9.80165307e-01 -1.98179586e-01 -9.06596637e-04 2.34408548e+01] [ 1.98179517e-01 9.80165726e-01 -1.66408506e-04 1.87567195e+00] [ 9.21593720e-04 -1.65610399e-05 9.99999575e-01 -4.43646542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.634975926 meters Centerline goodness [0,1] 0.9997297164479827 Centerline is valid? [True, True] Translation: X:23.47, Y:1.88, Z:-0.44 [[ 9.80405280e-01 -1.96991033e-01 1.39657240e-04 2.34689766e+01] [ 1.96991032e-01 9.80405290e-01 1.87343119e-05 1.88232952e+00] [-1.40611188e-04 9.14400543e-06 9.99999990e-01 -4.41389586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664975926 meters Centerline goodness [0,1] 0.999557630867535 Centerline is valid? [True, True] Translation: X:23.50, Y:1.89, Z:-0.44 [[ 9.81541360e-01 -1.91245239e-01 -1.34811983e-03 2.34971981e+01] [ 1.91245084e-01 9.81542285e-01 -2.43860506e-04 1.89188601e+00] [ 1.36987378e-03 -1.84621177e-05 9.99999062e-01 -4.44601147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.694975925999998 meters Centerline goodness [0,1] 0.9996065412516907 Centerline is valid? [True, True] Translation: X:23.53, Y:1.89, Z:-0.45 [[ 9.81015611e-01 -1.93921976e-01 -1.62432759e-03 2.35250717e+01] [ 1.93921763e-01 9.81016955e-01 -2.89518083e-04 1.89433683e+00] [ 1.64963682e-03 -3.09707090e-05 9.99998639e-01 -4.45664103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724975926 meters Centerline goodness [0,1] 0.9996305964635768 Centerline is valid? [True, True] Translation: X:23.55, Y:1.90, Z:-0.45 [[ 9.80171704e-01 -1.98144358e-01 -1.49826430e-03 2.35542443e+01] [ 1.98144174e-01 9.80172848e-01 -2.71492391e-04 1.89748581e+00] [ 1.52235267e-03 -3.07631841e-05 9.99998841e-01 -4.45041055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.754975926 meters Centerline goodness [0,1] 0.9996798344990642 Centerline is valid? [True, True] Translation: X:23.58, Y:1.90, Z:-0.44 [[ 9.79029850e-01 -2.03712937e-01 -1.26201997e-03 2.35843690e+01] [ 2.03712817e-01 9.79030662e-01 -2.24686977e-04 1.89842311e+00] [ 1.28132790e-03 -3.71143861e-05 9.99999178e-01 -4.44410476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784975925999998 meters Centerline goodness [0,1] 0.999384463868029 Centerline is valid? [True, True] Translation: X:23.61, Y:1.90, Z:-0.45 [[ 9.78330923e-01 -2.07040390e-01 -1.69735903e-03 2.36124678e+01] [ 2.07040175e-01 9.78332394e-01 -3.03349712e-04 1.89998147e+00] [ 1.72338696e-03 -5.46451059e-05 9.99998513e-01 -4.46942490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.814975926 meters Centerline goodness [0,1] 0.9994580079327929 Centerline is valid? [True, True] Translation: X:23.64, Y:1.90, Z:-0.45 [[ 9.77674695e-01 -2.10112826e-01 -2.18867266e-03 2.36412876e+01] [ 2.10112468e-01 9.77677142e-01 -3.95142390e-04 1.90498437e+00] [ 2.22283971e-03 -7.35466968e-05 9.99997527e-01 -4.46401402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844975926 meters Centerline goodness [0,1] 0.9996059889676912 Centerline is valid? [True, True] Translation: X:23.67, Y:1.91, Z:-0.45 [[ 9.77140085e-01 -2.12589895e-01 -1.67026718e-03 2.36701063e+01] [ 2.12589687e-01 9.77141511e-01 -3.03556336e-04 1.90851529e+00] [ 1.69662041e-03 -5.84645127e-05 9.99998559e-01 -4.45885407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.874975925999998 meters Centerline goodness [0,1] 0.9998031544499397 Centerline is valid? [True, True] Translation: X:23.70, Y:1.91, Z:-0.44 [[ 9.76857145e-01 -2.13889442e-01 -1.19348184e-03 2.36988660e+01] [ 2.13889334e-01 9.76857873e-01 -2.19013282e-04 1.91335042e+00] [ 1.21270676e-03 -4.13283479e-05 9.99999264e-01 -4.44268530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904975926 meters Centerline goodness [0,1] 0.9993597478391489 Centerline is valid? [True, True] Translation: X:23.73, Y:1.92, Z:-0.45 [[ 9.76925562e-01 -2.13566261e-01 -2.42871950e-03 2.37258498e+01] [ 2.13565833e-01 9.76928577e-01 -4.37144116e-04 1.91861346e+00] [ 2.46604472e-03 -9.16342422e-05 9.99996955e-01 -4.47547538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.934975926 meters Centerline goodness [0,1] 0.9995567048393055 Centerline is valid? [True, True] Translation: X:23.75, Y:1.92, Z:-0.45 [[ 9.77189289e-01 -2.12361654e-01 -1.90319703e-03 2.37543621e+01] [ 2.12361381e-01 9.77191140e-01 -3.46826620e-04 1.92474758e+00] [ 1.93343995e-03 -6.52502909e-05 9.99998129e-01 -4.47227624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964975926 meters Centerline goodness [0,1] 0.9992605191155809 Centerline is valid? [True, True] Translation: X:23.78, Y:1.93, Z:-0.45 [[ 9.77624661e-01 -2.10340785e-01 -2.60312209e-03 2.37828372e+01] [ 2.10340271e-01 9.77628123e-01 -4.72601351e-04 1.93206891e+00] [ 2.64429270e-03 -8.55146713e-05 9.99996500e-01 -4.49401759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.994975926 meters Centerline goodness [0,1] 0.9996555033342356 Centerline is valid? [True, True] Translation: X:23.81, Y:1.94, Z:-0.45 [[ 9.78428507e-01 -2.06573952e-01 -2.20448966e-03 2.38113171e+01] [ 2.06573570e-01 9.78430988e-01 -4.01843335e-04 1.94069185e+00] [ 2.23995136e-03 -6.22143256e-05 9.99997489e-01 -4.47912054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024975926 meters Centerline goodness [0,1] 0.9995818678210394 Centerline is valid? [True, True] Translation: X:23.84, Y:1.95, Z:-0.45 [[ 9.79377369e-01 -2.02021651e-01 -2.68732041e-03 2.38392470e+01] [ 2.02021080e-01 9.79381053e-01 -4.85192589e-04 1.94946891e+00] [ 2.72993010e-03 -6.77087314e-05 9.99996271e-01 -4.49622519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.054975926 meters Centerline goodness [0,1] 0.9997786467940677 Centerline is valid? [True, True] Translation: X:23.87, Y:1.96, Z:-0.45 [[ 9.80453294e-01 -1.96744070e-01 -1.76344341e-03 2.38669739e+01] [ 1.96743814e-01 9.80454879e-01 -3.19151121e-04 1.95881951e+00] [ 1.79176779e-03 -3.40338154e-05 9.99998394e-01 -4.47494423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084975926 meters Centerline goodness [0,1] 0.9996312593721576 Centerline is valid? [True, True] Translation: X:23.89, Y:1.97, Z:-0.45 [[ 9.81488431e-01 -1.91503883e-01 -2.59295284e-03 2.38949868e+01] [ 1.91503300e-01 9.81491855e-01 -4.73570908e-04 1.96782587e+00] [ 2.63565276e-03 -3.17546584e-05 9.99996526e-01 -4.50023368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.114975926 meters Centerline goodness [0,1] 0.9996317210901056 Centerline is valid? [True, True] Translation: X:23.92, Y:1.98, Z:-0.45 [[ 9.82395576e-01 -1.86798066e-01 -2.32677657e-03 2.39230389e+01] [ 1.86797580e-01 9.82398332e-01 -4.26417011e-04 1.97727705e+00] [ 2.36547529e-03 -1.57260472e-05 9.99997202e-01 -4.49957303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144975926 meters Centerline goodness [0,1] 0.9997788263049248 Centerline is valid? [True, True] Translation: X:23.95, Y:1.99, Z:-0.45 [[ 9.83078727e-01 -1.83178357e-01 -1.38064377e-03 2.39508929e+01] [ 1.83178178e-01 9.83079696e-01 -2.55892225e-04 1.98522017e+00] [ 1.40415677e-03 -1.34160790e-06 9.99999014e-01 -4.48095474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.174975926 meters Centerline goodness [0,1] 0.9995579676334079 Centerline is valid? [True, True] Translation: X:23.98, Y:1.99, Z:-0.45 [[ 9.83635295e-01 -1.80153047e-01 -2.54683714e-03 2.39780792e+01] [ 1.80152437e-01 9.83638592e-01 -4.69007784e-04 1.99316445e+00] [ 2.58966048e-03 2.51369449e-06 9.99996647e-01 -4.51511188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204975926 meters Centerline goodness [0,1] 0.9995340510581946 Centerline is valid? [True, True] Translation: X:24.01, Y:2.00, Z:-0.45 [[ 9.83804706e-01 -1.79223897e-01 -2.66350633e-03 2.40059372e+01] [ 1.79223224e-01 9.83808312e-01 -4.91270097e-04 1.99949358e+00] [ 2.70842700e-03 5.95164325e-06 9.99996332e-01 -4.52379969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.234975926 meters Centerline goodness [0,1] 0.9997783633363706 Centerline is valid? [True, True] Translation: X:24.04, Y:1.99, Z:-0.45 [[ 9.80957650e-01 -1.94206290e-01 -2.45067938e-03 2.40367066e+01] [ 1.94205765e-01 9.80960711e-01 -4.52620031e-04 1.99141229e+00] [ 2.49192184e-03 -3.19349827e-05 9.99996895e-01 -4.50626344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264975925999998 meters Centerline goodness [0,1] 0.9997278170930866 Centerline is valid? [True, True] Translation: X:24.07, Y:1.99, Z:-0.45 [[ 9.80231436e-01 -1.97832872e-01 -2.91329333e-03 2.40652175e+01] [ 1.97832146e-01 9.80235764e-01 -5.38025125e-04 1.99428082e+00] [ 2.96215337e-03 -4.89539328e-05 9.99995612e-01 -4.52043341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.294975926 meters Centerline goodness [0,1] 0.9998270708268485 Centerline is valid? [True, True] Translation: X:24.09, Y:2.00, Z:-0.45 [[ 9.79420080e-01 -2.01816730e-01 -2.51280109e-03 2.40942348e+01] [ 2.01816199e-01 9.79423302e-01 -4.65800229e-04 1.99722718e+00] [ 2.55510222e-03 -5.09098662e-05 9.99996734e-01 -4.51193853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324975926 meters Centerline goodness [0,1] 0.9997530254383798 Centerline is valid? [True, True] Translation: X:24.12, Y:2.00, Z:-0.45 [[ 9.78977715e-01 -2.03946145e-01 -2.93306735e-03 2.41228542e+01] [ 2.03945431e-01 9.78982107e-01 -5.43802117e-04 2.00119470e+00] [ 2.98232680e-03 -6.58155312e-05 9.99995551e-01 -4.52623937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.354975925999998 meters Centerline goodness [0,1] 0.9995801847187238 Centerline is valid? [True, True] Translation: X:24.15, Y:2.00, Z:-0.45 [[ 9.78149042e-01 -2.07885881e-01 -2.81295759e-03 2.41516269e+01] [ 2.07885237e-01 9.78153084e-01 -5.22805891e-04 2.00375340e+00] [ 2.86018710e-03 -7.33902721e-05 9.99995907e-01 -4.53774366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384975926 meters Centerline goodness [0,1] 0.9998020194020986 Centerline is valid? [True, True] Translation: X:24.18, Y:2.00, Z:-0.45 [[ 9.76863266e-01 -2.13853838e-01 -2.16682772e-03 2.41810626e+01] [ 2.13853478e-01 9.76865667e-01 -3.99643637e-04 2.00473689e+00] [ 2.20216493e-03 -7.29864545e-05 9.99997573e-01 -4.52407797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.414975926 meters Centerline goodness [0,1] 0.9987852645148495 Centerline is valid? [True, True] Translation: X:24.21, Y:2.01, Z:-0.46 [[ 9.75434949e-01 -2.20264877e-01 -3.16942797e-03 2.42113199e+01] [ 2.20264142e-01 9.75440089e-01 -5.83386642e-04 2.00537755e+00] [ 3.22008669e-03 -1.29055614e-04 9.99994807e-01 -4.55695378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444975925999998 meters Centerline goodness [0,1] 0.9975481090719964 Centerline is valid? [True, True] Translation: X:24.24, Y:2.01, Z:-0.46 [[ 9.74136782e-01 -2.25932295e-01 -3.48242779e-03 2.42414876e+01] [ 2.25931444e-01 9.74142993e-01 -6.41083550e-04 2.00664162e+00] [ 3.53722411e-03 -1.62286871e-04 9.99993731e-01 -4.55587097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.474975926 meters Centerline goodness [0,1] 0.9974015689574105 Centerline is valid? [True, True] Translation: X:24.27, Y:2.01, Z:-0.46 [[ 9.74031182e-01 -2.26381817e-01 -3.81169073e-03 2.42684887e+01] [ 2.26380771e-01 9.74038625e-01 -7.09406080e-04 2.01257589e+00] [ 3.87333063e-03 -1.71909843e-04 9.99992484e-01 -4.55818534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504975926 meters Centerline goodness [0,1] 0.9985227860255558 Centerline is valid? [True, True] Translation: X:24.30, Y:2.03, Z:-0.46 [[ 9.75306154e-01 -2.20823486e-01 -3.85939939e-03 2.42964383e+01] [ 2.20822394e-01 9.75313777e-01 -7.12003362e-04 2.02645057e+00] [ 3.92135246e-03 -1.57820554e-04 9.99992299e-01 -4.56832187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.534975925999998 meters Centerline goodness [0,1] 0.9991643522501045 Centerline is valid? [True, True] Translation: X:24.32, Y:2.03, Z:-0.46 [[ 9.76316055e-01 -2.16316854e-01 -3.73896034e-03 2.43248901e+01] [ 2.16315795e-01 9.76323205e-01 -6.90408948e-04 2.03489610e+00] [ 3.79978084e-03 -1.34738837e-04 9.99992772e-01 -4.56453867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564975926 meters Centerline goodness [0,1] 0.9984489253268336 Centerline is valid? [True, True] Translation: X:24.35, Y:2.04, Z:-0.46 [[ 9.76354257e-01 -2.16140589e-01 -3.95105202e-03 2.43532011e+01] [ 2.16139398e-01 9.76362241e-01 -7.31265376e-04 2.03640401e+00] [ 4.01571413e-03 -1.40003941e-04 9.99991927e-01 -4.59433206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.594975926 meters Centerline goodness [0,1] 0.9991857481247532 Centerline is valid? [True, True] Translation: X:24.38, Y:2.04, Z:-0.46 [[ 9.76808720e-01 -2.14079189e-01 -3.85025928e-03 2.43818360e+01] [ 2.14078034e-01 9.76816301e-01 -7.14381003e-04 2.04302216e+00] [ 3.91393013e-03 -1.26442343e-04 9.99992333e-01 -4.58567956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624975925999998 meters Centerline goodness [0,1] 0.9995810331230284 Centerline is valid? [True, True] Translation: X:24.41, Y:2.05, Z:-0.46 [[ 9.77692192e-01 -2.10013631e-01 -3.50039135e-03 2.44100306e+01] [ 2.10012637e-01 9.77698453e-01 -6.53305536e-04 2.05136333e+00] [ 3.55953027e-03 -9.63946969e-05 9.99993660e-01 -4.58165188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.654975926 meters Centerline goodness [0,1] 0.9995810331230284 Centerline is valid? [True, True] Translation: X:24.44, Y:2.06, Z:-0.46 [[ 9.77607323e-01 -2.10408347e-01 -3.49990579e-03 2.44371148e+01] [ 2.10407346e-01 9.77613584e-01 -6.55920032e-04 2.05664112e+00] [ 3.55956649e-03 -9.51736610e-05 9.99993660e-01 -4.58611731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684975926 meters Centerline goodness [0,1] 0.9995575438768989 Centerline is valid? [True, True] Translation: X:24.46, Y:2.07, Z:-0.46 [[ 9.78583516e-01 -2.05821582e-01 -3.43187635e-03 2.44645608e+01] [ 2.05820607e-01 9.78589531e-01 -6.38660646e-04 2.06569212e+00] [ 3.48984841e-03 -8.13680942e-05 9.99993907e-01 -4.59834571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.714975925999997 meters Centerline goodness [0,1] 0.9995083216559727 Centerline is valid? [True, True] Translation: X:24.49, Y:2.07, Z:-0.46 [[ 9.78843965e-01 -2.04578557e-01 -3.47932514e-03 2.44923970e+01] [ 2.04577528e-01 9.78850146e-01 -6.52893933e-04 2.07159489e+00] [ 3.53930602e-03 -7.27104499e-05 9.99993734e-01 -4.60852565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744975926 meters Centerline goodness [0,1] 0.999631087063453 Centerline is valid? [True, True] Translation: X:24.52, Y:2.08, Z:-0.46 [[ 9.79226809e-01 -2.02749761e-01 -2.71862604e-03 2.45200571e+01] [ 2.02749119e-01 9.79230582e-01 -5.12412309e-04 2.07952896e+00] [ 2.76605323e-03 -4.94311646e-05 9.99996173e-01 -4.60153301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.774975926 meters Centerline goodness [0,1] 0.9996558928351973 Centerline is valid? [True, True] Translation: X:24.55, Y:2.09, Z:-0.46 [[ 9.79316461e-01 -2.02317454e-01 -2.62996914e-03 2.45488145e+01] [ 2.02316849e-01 9.79319991e-01 -4.96808779e-04 2.08507902e+00] [ 2.67609444e-03 -4.55540541e-05 9.99996418e-01 -4.60368927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804975926 meters Centerline goodness [0,1] 0.9994839026787908 Centerline is valid? [True, True] Translation: X:24.58, Y:2.09, Z:-0.46 [[ 9.79445689e-01 -2.01680272e-01 -3.34806579e-03 2.45759197e+01] [ 2.01679286e-01 9.79451410e-01 -6.33160364e-04 2.09172213e+00] [ 3.40696371e-03 -5.50893272e-05 9.99994195e-01 -4.62885568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.834975926 meters Centerline goodness [0,1] 0.9995080313875975 Centerline is valid? [True, True] Translation: X:24.60, Y:2.10, Z:-0.46 [[ 9.79274004e-01 -2.02521486e-01 -2.73377729e-03 2.46035810e+01] [ 2.02520825e-01 9.79277818e-01 -5.19348416e-04 2.09642156e+00] [ 2.78230667e-03 -4.50624280e-05 9.99996128e-01 -4.62810468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864975926 meters Centerline goodness [0,1] 0.9996558336201387 Centerline is valid? [True, True] Translation: X:24.63, Y:2.10, Z:-0.46 [[ 9.79275983e-01 -2.02521671e-01 -1.87687197e-03 2.46309804e+01] [ 2.02521364e-01 9.79277781e-01 -3.54281538e-04 2.10109931e+00] [ 1.90972871e-03 -3.31672706e-05 9.99998176e-01 -4.62654343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.894975926 meters Centerline goodness [0,1] 0.9997784342688331 Centerline is valid? [True, True] Translation: X:24.66, Y:2.11, Z:-0.46 [[ 9.79450496e-01 -2.01682727e-01 -8.96583454e-04 2.46585424e+01] [ 2.01682652e-01 9.79450906e-01 -1.74436845e-04 2.10863434e+00] [ 9.13340375e-04 -9.97307386e-06 9.99999583e-01 -4.60555495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924975926 meters Centerline goodness [0,1] 0.9997286362739294 Centerline is valid? [True, True] Translation: X:24.69, Y:2.11, Z:-0.46 [[ 9.78704190e-01 -2.05271761e-01 -1.27016991e-03 2.46867817e+01] [ 2.05271621e-01 9.78705014e-01 -2.41060956e-04 2.11034332e+00] [ 1.29260467e-03 -2.48024692e-05 9.99999164e-01 -4.62426394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.954975926 meters Centerline goodness [0,1] 0.9997043825290075 Centerline is valid? [True, True] Translation: X:24.72, Y:2.12, Z:-0.46 [[ 9.78505844e-01 -2.06215878e-01 -1.15092866e-03 2.47150992e+01] [ 2.06215758e-01 9.78506521e-01 -2.22703438e-04 2.11545970e+00] [ 1.17211618e-03 -1.94230112e-05 9.99999313e-01 -4.63290382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984975926 meters Centerline goodness [0,1] 0.9996296479186213 Centerline is valid? [True, True] Translation: X:24.74, Y:2.12, Z:-0.47 [[ 9.78239418e-01 -2.07472787e-01 -1.63834826e-03 2.47434398e+01] [ 2.07472550e-01 9.78240789e-01 -3.15115197e-04 2.11982324e+00] [ 1.66807693e-03 -3.16541855e-05 9.99998608e-01 -4.65095087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.014975925999998 meters Centerline goodness [0,1] 0.9996545853790926 Centerline is valid? [True, True] Translation: X:24.77, Y:2.12, Z:-0.47 [[ 9.77852824e-01 -2.09286911e-01 -1.68601336e-03 2.47724117e+01] [ 2.09286662e-01 9.77854277e-01 -3.24706050e-04 2.12409199e+00] [ 1.71663210e-03 -3.53453811e-05 9.99998526e-01 -4.65421153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044975926 meters Centerline goodness [0,1] 0.9996299859394657 Centerline is valid? [True, True] Translation: X:24.80, Y:2.13, Z:-0.47 [[ 9.77170652e-01 -2.12448637e-01 -1.75880921e-03 2.48014679e+01] [ 2.12448371e-01 9.77172234e-01 -3.39074709e-04 2.12780908e+00] [ 1.79069548e-03 -4.23222966e-05 9.99998396e-01 -4.66128042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.074975926 meters Centerline goodness [0,1] 0.9996543721917741 Centerline is valid? [True, True] Translation: X:24.83, Y:2.13, Z:-0.47 [[ 9.76486349e-01 -2.15571234e-01 -1.85853910e-03 2.48301356e+01] [ 2.15570941e-01 9.76488116e-01 -3.58638768e-04 2.13095789e+00] [ 1.89215355e-03 -5.04411624e-05 9.99998209e-01 -4.67093920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104975925999998 meters Centerline goodness [0,1] 0.9996043912570468 Centerline is valid? [True, True] Translation: X:24.86, Y:2.13, Z:-0.47 [[ 9.76062126e-01 -2.17486592e-01 -1.51950792e-03 2.48585725e+01] [ 2.17486397e-01 9.76063308e-01 -2.94784169e-04 2.13494197e+00] [ 1.54724753e-03 -4.27446403e-05 9.99998802e-01 -4.67207762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.134975926 meters Centerline goodness [0,1] 0.9996796293558086 Centerline is valid? [True, True] Translation: X:24.89, Y:2.14, Z:-0.47 [[ 9.76575317e-01 -2.15168146e-01 -1.82185551e-03 2.48853005e+01] [ 2.15167869e-01 9.76577015e-01 -3.48904283e-04 2.14269335e+00] [ 1.85425530e-03 -5.12734580e-05 9.99998280e-01 -4.67665142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164975926 meters Centerline goodness [0,1] 0.999753961224289 Centerline is valid? [True, True] Translation: X:24.91, Y:2.16, Z:-0.47 [[ 9.77852785e-01 -2.09292482e-01 -7.67076313e-04 2.49137112e+01] [ 2.09292432e-01 9.77853085e-01 -1.46478767e-04 2.15516330e+00] [ 7.80744844e-04 -1.73085965e-05 9.99999695e-01 -4.66758831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194975925999998 meters Centerline goodness [0,1] 0.9996076892899176 Centerline is valid? [True, True] Translation: X:24.94, Y:2.17, Z:-0.47 [[ 9.78971860e-01 -2.03989913e-01 -1.48734339e-03 2.49403744e+01] [ 2.03989709e-01 9.78972990e-01 -2.89178724e-04 2.16618590e+00] [ 1.51505855e-03 -2.03049124e-05 9.99998852e-01 -4.69600004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224975926 meters Centerline goodness [0,1] 0.999656568134429 Centerline is valid? [True, True] Translation: X:24.97, Y:2.18, Z:-0.47 [[ 9.80090694e-01 -1.98547515e-01 -1.05635120e-03 2.49679182e+01] [ 1.98547410e-01 9.80091263e-01 -2.04471832e-04 2.17789064e+00] [ 1.07591795e-03 -9.33485470e-06 9.99999421e-01 -4.69638258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.254975926 meters Centerline goodness [0,1] 0.9997301606770513 Centerline is valid? [True, True] Translation: X:25.00, Y:2.18, Z:-0.47 [[ 9.80338961e-01 -1.97320108e-01 -5.44397546e-04 2.49954923e+01] [ 1.97320079e-01 9.80339112e-01 -1.05931183e-04 2.18315444e+00] [ 5.54596560e-04 -3.57210110e-06 9.99999846e-01 -4.69440863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284975925999998 meters Centerline goodness [0,1] 0.9997537370404117 Centerline is valid? [True, True] Translation: X:25.02, Y:2.19, Z:-0.47 [[ 9.80122713e-01 -1.98390958e-01 -7.03736484e-04 2.50236723e+01] [ 1.98390908e-01 9.80122966e-01 -1.41421247e-04 2.18715147e+00] [ 7.17804987e-04 -1.00474326e-06 9.99999742e-01 -4.67737529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.314975926 meters Centerline goodness [0,1] 0.9995813735871358 Centerline is valid? [True, True] Translation: X:25.05, Y:2.19, Z:-0.47 [[ 9.79855153e-01 -1.99707616e-01 -8.64178834e-04 2.50514568e+01] [ 1.99707546e-01 9.79855534e-01 -1.68083363e-04 2.18704592e+00] [ 8.80337940e-04 -7.88568454e-06 9.99999612e-01 -4.72659130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344975926 meters Centerline goodness [0,1] 0.9996060471758507 Centerline is valid? [True, True] Translation: X:25.08, Y:2.19, Z:-0.47 [[ 9.80011300e-01 -1.98940395e-01 -7.55927485e-04 2.50790316e+01] [ 1.98940340e-01 9.80011591e-01 -1.47761326e-04 2.19289703e+00] [ 7.70213394e-04 -5.57670113e-06 9.99999703e-01 -4.73122114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.374975925999998 meters Centerline goodness [0,1] 0.9998273012113587 Centerline is valid? [True, True] Translation: X:25.11, Y:2.20, Z:-0.47 [[ 9.79612608e-01 -2.00895527e-01 3.53491735e-04 2.51062207e+01] [ 2.00895518e-01 9.79612672e-01 6.12843240e-05 2.19926991e+00] [-3.58596730e-04 1.09800086e-05 9.99999936e-01 -4.67435114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404975926 meters Centerline goodness [0,1] 0.9996796925048046 Centerline is valid? [True, True] Translation: X:25.13, Y:2.20, Z:-0.47 [[ 9.79122168e-01 -2.03272123e-01 -4.74275665e-04 2.51347976e+01] [ 2.03272100e-01 9.79122282e-01 -9.71498733e-05 2.20341121e+00] [ 4.84121733e-04 -1.28541572e-06 9.99999883e-01 -4.70527264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.434975926 meters Centerline goodness [0,1] 0.9995557968510932 Centerline is valid? [True, True] Translation: X:25.16, Y:2.20, Z:-0.48 [[ 9.78229162e-01 -2.07526414e-01 -7.02520126e-04 2.51630581e+01] [ 2.07526368e-01 9.78229415e-01 -1.37876214e-04 2.20150678e+00] [ 7.15838808e-04 -1.09169171e-05 9.99999744e-01 -4.75846941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464975925999997 meters Centerline goodness [0,1] 0.9997528789601147 Centerline is valid? [True, True] Translation: X:25.19, Y:2.20, Z:-0.47 [[ 9.75827037e-01 -2.18542941e-01 -7.58900761e-04 2.51932530e+01] [ 2.18542893e-01 9.75827332e-01 -1.46717977e-04 2.20354426e+00] [ 7.72620283e-04 -2.26809993e-05 9.99999701e-01 -4.71231000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.494975926 meters Centerline goodness [0,1] 0.999604743083004 Centerline is valid? [True, True] Translation: X:25.22, Y:2.21, Z:-0.47 [[ 9.75784142e-01 -2.18733651e-01 -9.47228219e-04 2.52210667e+01] [ 2.18733575e-01 9.75784602e-01 -1.84789166e-04 2.20796852e+00] [ 9.64710319e-04 -2.68762763e-05 9.99999534e-01 -4.73231137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524975926 meters Centerline goodness [0,1] 0.999752542624533 Centerline is valid? [True, True] Translation: X:25.25, Y:2.21, Z:-0.47 [[ 9.75655734e-01 -2.19307554e-01 -2.91334866e-04 2.52473321e+01] [ 2.19307546e-01 9.75655778e-01 -5.90809174e-05 2.21204489e+00] [ 2.97199437e-04 -6.24929874e-06 9.99999956e-01 -4.72152190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.554975926 meters Centerline goodness [0,1] 0.999851514551574 Centerline is valid? [True, True] Translation: X:25.27, Y:2.22, Z:-0.47 [[ 9.75677797e-01 -2.19208899e-01 -5.43717938e-04 2.52744408e+01] [ 2.19208871e-01 9.75677948e-01 -1.11903909e-04 2.21982756e+00] [ 5.55023935e-04 -1.00056352e-05 9.99999846e-01 -4.71397050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584975926 meters Centerline goodness [0,1] 0.9997776515057935 Centerline is valid? [True, True] Translation: X:25.30, Y:2.23, Z:-0.47 [[ 9.75898622e-01 -2.18223572e-01 -5.92731863e-04 2.53025461e+01] [ 2.18223539e-01 9.75898802e-01 -1.20803593e-04 2.22620130e+00] [ 6.04808507e-04 -1.14559851e-05 9.99999817e-01 -4.72233127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.614975926 meters Centerline goodness [0,1] 0.9996541758268903 Centerline is valid? [True, True] Translation: X:25.33, Y:2.23, Z:-0.47 [[ 9.76272083e-01 -2.16547178e-01 -3.74330703e-04 2.53303574e+01] [ 2.16547163e-01 9.76272155e-01 -7.85426310e-05 2.23300897e+00] [ 3.82456827e-04 -4.38127390e-06 9.99999927e-01 -4.73524715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644975926 meters Centerline goodness [0,1] 0.9996540476425818 Centerline is valid? [True, True] Translation: X:25.36, Y:2.24, Z:-0.47 [[ 9.77390769e-01 -2.11440145e-01 -5.91000604e-04 2.53582763e+01] [ 2.11440113e-01 9.77390948e-01 -1.16515398e-04 2.24163525e+00] [ 6.02274673e-04 -1.10801602e-05 9.99999819e-01 -4.74620617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.674975926 meters Centerline goodness [0,1] 0.9996305964635768 Centerline is valid? [True, True] Translation: X:25.39, Y:2.25, Z:-0.48 [[ 9.78145710e-01 -2.07917138e-01 -1.19741279e-03 2.53858629e+01] [ 2.07917002e-01 9.78146443e-01 -2.38980375e-04 2.25130675e+00] [ 1.22093318e-03 -1.52048491e-05 9.99999255e-01 -4.75780798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704975926 meters Centerline goodness [0,1] 0.999604801659833 Centerline is valid? [True, True] Translation: X:25.41, Y:2.26, Z:-0.48 [[ 9.78926981e-01 -2.04205022e-01 -1.50810177e-03 2.54139409e+01] [ 2.04204802e-01 9.78928143e-01 -3.00008063e-04 2.25906933e+00] [ 1.53758642e-03 -1.42756361e-05 9.99998818e-01 -4.76807985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.734975926 meters Centerline goodness [0,1] 0.9996054448609193 Centerline is valid? [True, True] Translation: X:25.44, Y:2.27, Z:-0.48 [[ 9.79587221e-01 -2.01018889e-01 -5.32653208e-04 2.54421994e+01] [ 2.01018859e-01 9.79587365e-01 -1.09503636e-04 2.26747297e+00] [ 5.43792651e-04 1.95022191e-07 9.99999852e-01 -4.76886322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764975925999998 meters Centerline goodness [0,1] 0.9996547983035803 Centerline is valid? [True, True] Translation: X:25.47, Y:2.27, Z:-0.48 [[ 9.79712976e-01 -2.00405592e-01 -2.87171379e-04 2.54696826e+01] [ 2.00405582e-01 9.79713019e-01 -6.28969218e-05 2.27391642e+00] [ 2.93950433e-04 4.07018316e-06 9.99999957e-01 -4.76294933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.794975926 meters Centerline goodness [0,1] 0.9996550024642681 Centerline is valid? [True, True] Translation: X:25.50, Y:2.28, Z:-0.48 [[ 9.79649476e-01 -2.00715665e-01 -3.54236816e-04 2.54971870e+01] [ 2.00715650e-01 9.79649540e-01 -7.61771663e-05 2.27933850e+00] [ 3.62317884e-04 3.52604820e-06 9.99999934e-01 -4.77156719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824975926 meters Centerline goodness [0,1] 0.9995316621065345 Centerline is valid? [True, True] Translation: X:25.53, Y:2.28, Z:-0.48 [[ 9.79149031e-01 -2.03142925e-01 -3.57496849e-04 2.55261015e+01] [ 2.03142911e-01 9.79149096e-01 -7.61002145e-05 2.28365331e+00] [ 3.65501936e-04 1.89050077e-06 9.99999933e-01 -4.78642667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.854975925999998 meters Centerline goodness [0,1] 0.9995313733228098 Centerline is valid? [True, True] Translation: X:25.55, Y:2.29, Z:-0.48 [[ 9.78554228e-01 -2.05988644e-01 -5.48790405e-04 2.55545655e+01] [ 2.05988612e-01 9.78554382e-01 -1.13917050e-04 2.28693883e+00] [ 5.60486875e-04 -1.57056282e-06 9.99999843e-01 -4.79183095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884975926 meters Centerline goodness [0,1] 0.9997286161892779 Centerline is valid? [True, True] Translation: X:25.58, Y:2.29, Z:-0.48 [[ 9.78019074e-01 -2.08515436e-01 6.81134454e-05 2.55830942e+01] [ 2.08515436e-01 9.78019076e-01 7.62160368e-06 2.29185341e+00] [-6.82054710e-05 6.74863098e-06 9.99999998e-01 -4.77567515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.914975926 meters Centerline goodness [0,1] 0.999630022445305 Centerline is valid? [True, True] Translation: X:25.61, Y:2.30, Z:-0.48 [[ 9.77697948e-01 -2.10015017e-01 -6.43940648e-04 2.56112911e+01] [ 2.10014974e-01 9.77698160e-01 -1.33149290e-04 2.29682804e+00] [ 6.57542937e-04 -5.05739049e-06 9.99999784e-01 -4.79467924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944975925999998 meters Centerline goodness [0,1] 0.999753567115996 Centerline is valid? [True, True] Translation: X:25.64, Y:2.30, Z:-0.48 [[ 9.77425493e-01 -2.11280396e-01 1.59066156e-05 2.56388685e+01] [ 2.11280396e-01 9.77425493e-01 -3.53230844e-06 2.30256616e+00] [-1.48012241e-05 6.81332437e-06 1.00000000e+00 -4.78640216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.974975926 meters Centerline goodness [0,1] 0.9996055518576042 Centerline is valid? [True, True] Translation: X:25.67, Y:2.31, Z:-0.48 [[ 9.77354320e-01 -2.11609084e-01 -3.57694469e-04 2.56663865e+01] [ 2.11609069e-01 9.77354386e-01 -7.76921515e-05 2.30745513e+00] [ 3.66034623e-04 2.41366145e-07 9.99999933e-01 -4.80804268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004975926 meters Centerline goodness [0,1] 0.9995058434017741 Centerline is valid? [True, True] Translation: X:25.69, Y:2.31, Z:-0.48 [[ 9.77588848e-01 -2.10520885e-01 -1.00059617e-03 2.56934441e+01] [ 2.10520785e-01 9.77589360e-01 -2.05772333e-04 2.31404385e+00] [ 1.02149155e-03 -9.48555385e-06 9.99999478e-01 -4.82527324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034975925999998 meters Centerline goodness [0,1] 0.9997286496620454 Centerline is valid? [True, True] Translation: X:25.72, Y:2.32, Z:-0.48 [[ 9.76792493e-01 -2.14187649e-01 -2.75770101e-04 2.57213360e+01] [ 2.14187642e-01 9.76792532e-01 -5.69646231e-05 2.31658881e+00] [ 2.81571294e-04 -3.42393124e-06 9.99999960e-01 -4.80927656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064975926 meters Centerline goodness [0,1] 0.9998518847663482 Centerline is valid? [True, True] Translation: X:25.75, Y:2.32, Z:-0.48 [[ 9.75718004e-01 -2.19029597e-01 6.42544856e-04 2.57500373e+01] [ 2.19029564e-01 9.75718215e-01 1.22337681e-04 2.31927325e+00] [-6.53738293e-04 2.13692417e-05 9.99999786e-01 -4.79690957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.094975926 meters Centerline goodness [0,1] 0.9997530437359544 Centerline is valid? [True, True] Translation: X:25.78, Y:2.32, Z:-0.48 [[ 9.75546291e-01 -2.19794064e-01 -5.41008088e-05 2.57782053e+01] [ 2.19794064e-01 9.75546293e-01 -1.66480221e-05 2.32461392e+00] [ 5.64369798e-05 4.34987954e-06 9.99999998e-01 -4.81932067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124975925999998 meters Centerline goodness [0,1] 0.9997035939236755 Centerline is valid? [True, True] Translation: X:25.81, Y:2.33, Z:-0.48 [[ 9.75191780e-01 -2.21361676e-01 -1.03065524e-05 2.58065655e+01] [ 2.21361676e-01 9.75191780e-01 -7.90225678e-06 2.32949187e+00] [ 1.18001220e-05 5.42474013e-06 1.00000000e+00 -4.82719610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.154975926 meters Centerline goodness [0,1] 0.999802048794972 Centerline is valid? [True, True] Translation: X:25.83, Y:2.33, Z:-0.48 [[ 9.74819171e-01 -2.22996537e-01 3.58158644e-04 2.58349665e+01] [ 2.22996528e-01 9.74819237e-01 6.59794827e-05 2.33439963e+00] [-3.63853132e-04 1.55500695e-05 9.99999934e-01 -4.82117959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184975926 meters Centerline goodness [0,1] 0.9995547199683357 Centerline is valid? [True, True] Translation: X:25.86, Y:2.34, Z:-0.48 [[ 9.74613380e-01 -2.23893838e-01 -5.56208681e-04 2.58632305e+01] [ 2.23893807e-01 9.74613538e-01 -1.17624663e-04 2.33942183e+00] [ 5.68423948e-04 -9.89310867e-06 9.99999838e-01 -4.84755922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.214975925999997 meters Centerline goodness [0,1] 0.9996529585285442 Centerline is valid? [True, True] Translation: X:25.89, Y:2.34, Z:-0.48 [[ 9.74131765e-01 -2.25980492e-01 -3.47833578e-04 2.58916343e+01] [ 2.25980479e-01 9.74131827e-01 -7.58971298e-05 2.34413403e+00] [ 3.55987029e-04 -4.66979352e-06 9.99999937e-01 -4.84444470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244975926 meters Centerline goodness [0,1] 0.9996033123419448 Centerline is valid? [True, True] Translation: X:25.92, Y:2.35, Z:-0.48 [[ 9.73848105e-01 -2.27199992e-01 -1.81439719e-04 2.59197210e+01] [ 2.27199989e-01 9.73848121e-01 -3.86210048e-05 2.34834299e+00] [ 1.85469422e-04 -3.61210979e-06 9.99999983e-01 -4.84973746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.274975926 meters Centerline goodness [0,1] 0.9998019017432647 Centerline is valid? [True, True] Translation: X:25.95, Y:2.35, Z:-0.48 [[ 9.73523512e-01 -2.28585984e-01 6.47189240e-04 2.59484171e+01] [ 2.28585951e-01 9.73523727e-01 1.24743054e-04 2.35433761e+00] [-6.58568595e-04 2.64980719e-05 9.99999783e-01 -4.82893600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304975926 meters Centerline goodness [0,1] 0.9996048309417372 Centerline is valid? [True, True] Translation: X:25.98, Y:2.36, Z:-0.49 [[ 9.74484941e-01 -2.24452641e-01 -3.33590704e-04 2.59763546e+01] [ 2.24452629e-01 9.74484998e-01 -7.28325979e-05 2.36395904e+00] [ 3.41426605e-04 -3.90104066e-06 9.99999942e-01 -4.85685275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334975926 meters Centerline goodness [0,1] 0.9997298757428417 Centerline is valid? [True, True] Translation: X:26.00, Y:2.38, Z:-0.49 [[ 9.75931174e-01 -2.18078590e-01 2.68954093e-04 2.60035437e+01] [ 2.18078583e-01 9.75931211e-01 5.35629388e-05 2.37776205e+00] [-2.74161624e-04 6.37938570e-06 9.99999962e-01 -4.85505778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364975926 meters Centerline goodness [0,1] 0.9995599344791336 Centerline is valid? [True, True] Translation: X:26.03, Y:2.40, Z:-0.49 [[ 9.78197169e-01 -2.07677700e-01 -5.20446914e-04 2.60290825e+01] [ 2.07677673e-01 9.78197308e-01 -1.06957849e-04 2.39517707e+00] [ 5.31312530e-04 -3.45933864e-06 9.99999859e-01 -4.87444564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.394975926 meters Centerline goodness [0,1] 0.9998540891515284 Centerline is valid? [True, True] Translation: X:26.06, Y:2.41, Z:-0.48 [[ 9.79678309e-01 -2.00571455e-01 1.22593121e-03 2.60555591e+01] [ 2.00571308e-01 9.79679076e-01 2.42655948e-04 2.41157030e+00] [-1.24968901e-03 8.16185769e-06 9.99999219e-01 -4.84049349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424975926 meters Centerline goodness [0,1] 0.999733449646215 Centerline is valid? [True, True] Translation: X:26.08, Y:2.42, Z:-0.49 [[ 9.80677951e-01 -1.95629125e-01 5.05922634e-05 2.60829715e+01] [ 1.95629125e-01 9.80677952e-01 4.45254975e-06 2.42369623e+00] [-5.04857657e-05 5.53080285e-06 9.99999999e-01 -4.87084934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.454975926 meters Centerline goodness [0,1] 0.9997099767981439 Centerline is valid? [True, True] Translation: X:26.11, Y:2.43, Z:-0.49 [[ 9.80886670e-01 -1.94579725e-01 -2.68696291e-04 2.61104179e+01] [ 1.94579716e-01 9.80886706e-01 -6.04570399e-05 2.43151291e+00] [ 2.75324334e-04 7.01865664e-06 9.99999962e-01 -4.88244036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484975926 meters Centerline goodness [0,1] 0.9996120930007031 Centerline is valid? [True, True] Translation: X:26.14, Y:2.43, Z:-0.49 [[ 9.80226046e-01 -1.97878600e-01 -9.78897388e-04 2.61382114e+01] [ 1.97878493e-01 9.80226535e-01 -2.06146258e-04 2.43448821e+00] [ 1.00033313e-03 8.36719213e-06 9.99999500e-01 -4.90239029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514975925999998 meters Centerline goodness [0,1] 0.999611046285492 Centerline is valid? [True, True] Translation: X:26.17, Y:2.43, Z:-0.49 [[ 9.78866107e-01 -2.04500229e-01 -8.94915475e-04 2.61676206e+01] [ 2.04500141e-01 9.78866516e-01 -1.89338846e-04 2.43266081e+00] [ 9.14722630e-04 2.32703778e-06 9.99999582e-01 -4.91062058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544975926 meters Centerline goodness [0,1] 0.9997291974396849 Centerline is valid? [True, True] Translation: X:26.20, Y:2.42, Z:-0.49 [[ 9.75124409e-01 -2.21658266e-01 1.73143922e-05 2.62008428e+01] [ 2.21658266e-01 9.75124409e-01 2.30279344e-06 2.41692932e+00] [-1.73941197e-05 1.59236805e-06 1.00000000e+00 -4.89682452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.574975926 meters Centerline goodness [0,1] 0.9997291974396849 Centerline is valid? [True, True] Translation: X:26.23, Y:2.42, Z:-0.49 [[ 9.75035322e-01 -2.22049814e-01 1.83765629e-05 2.62278153e+01] [ 2.22049814e-01 9.75035322e-01 -2.88947477e-06 2.42270546e+00] [-1.72761906e-05 6.89785234e-06 1.00000000e+00 -4.90129815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604975925999998 meters Centerline goodness [0,1] 0.999753269183321 Centerline is valid? [True, True] Translation: X:26.26, Y:2.42, Z:-0.49 [[ 9.73624000e-01 -2.28157761e-01 5.85821392e-04 2.62582650e+01] [ 2.28157731e-01 9.73624176e-01 1.19135357e-04 2.42175387e+00] [-5.97551526e-04 1.76666368e-05 9.99999821e-01 -4.90177356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.634975926 meters Centerline goodness [0,1] 0.9998273523245776 Centerline is valid? [True, True] Translation: X:26.29, Y:2.43, Z:-0.49 [[ 9.73308729e-01 -2.29499612e-01 2.12165533e-04 2.62868962e+01] [ 2.29499610e-01 9.73308753e-01 3.76866447e-05 2.42832816e+00] [-2.15151641e-04 1.20111668e-05 9.99999977e-01 -4.90003290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664975926 meters Centerline goodness [0,1] 0.9995067452585888 Centerline is valid? [True, True] Translation: X:26.32, Y:2.43, Z:-0.49 [[ 9.72770795e-01 -2.31769097e-01 -2.55804480e-04 2.63152741e+01] [ 2.31769091e-01 9.72770829e-01 -5.45734591e-05 2.43000572e+00] [ 2.61487577e-04 -6.20010465e-06 9.99999966e-01 -4.93585912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.694975925999998 meters Centerline goodness [0,1] 0.9992837914598306 Centerline is valid? [True, True] Translation: X:26.34, Y:2.43, Z:-0.49 [[ 9.71867267e-01 -2.35528026e-01 -7.51452600e-04 2.63448130e+01] [ 2.35527977e-01 9.71867557e-01 -1.55133222e-04 2.43411096e+00] [ 7.66850624e-04 -2.62192101e-05 9.99999706e-01 -4.94216086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724975926 meters Centerline goodness [0,1] 0.9994556611243072 Centerline is valid? [True, True] Translation: X:26.37, Y:2.44, Z:-0.49 [[ 9.71454407e-01 -2.37225546e-01 -6.13161132e-04 2.63724602e+01] [ 2.37225512e-01 9.71454600e-01 -1.28141043e-04 2.44052246e+00] [ 6.26056531e-04 -2.09742830e-05 9.99999804e-01 -4.93846858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.754975926 meters Centerline goodness [0,1] 0.9988619495299357 Centerline is valid? [True, True] Translation: X:26.40, Y:2.44, Z:-0.49 [[ 9.71079977e-01 -2.38754192e-01 -3.38108267e-04 2.64004145e+01] [ 2.38754181e-01 9.71080036e-01 -7.16451013e-05 2.44198441e+00] [ 3.45435756e-04 -1.11516392e-05 9.99999940e-01 -4.94497730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784975925999998 meters Centerline goodness [0,1] 0.9986143758505506 Centerline is valid? [True, True] Translation: X:26.43, Y:2.45, Z:-0.50 [[ 9.71101582e-01 -2.38665139e-01 -8.17817247e-04 2.64282109e+01] [ 2.38665077e-01 9.71101926e-01 -1.75075654e-04 2.44815598e+00] [ 8.35968359e-04 -2.51681716e-05 9.99999650e-01 -4.96430232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.814975926 meters Centerline goodness [0,1] 0.9990584504075919 Centerline is valid? [True, True] Translation: X:26.46, Y:2.45, Z:-0.50 [[ 9.71000710e-01 -2.39075460e-01 -7.38106538e-04 2.64551899e+01] [ 2.39075408e-01 9.71000991e-01 -1.59096901e-04 2.45492074e+00] [ 7.54738344e-04 -2.19799185e-05 9.99999715e-01 -4.96033324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844975926 meters Centerline goodness [0,1] 0.9982654376053127 Centerline is valid? [True, True] Translation: X:26.48, Y:2.46, Z:-0.50 [[ 9.71113217e-01 -2.38614408e-01 -1.51106735e-03 2.64834661e+01] [ 2.38614201e-01 9.71114392e-01 -3.18353443e-04 2.46133237e+00] [ 1.54338297e-03 -5.14048928e-05 9.99998808e-01 -4.98474565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.874975925999998 meters Centerline goodness [0,1] 0.9995790724738158 Centerline is valid? [True, True] Translation: X:26.51, Y:2.47, Z:-0.50 [[ 9.71028357e-01 -2.38964261e-01 -1.10572333e-04 2.65119458e+01] [ 2.38964259e-01 9.71028363e-01 -2.87812407e-05 2.46785814e+00] [ 1.14246559e-04 1.52456528e-06 9.99999993e-01 -4.95357731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904975926 meters Centerline goodness [0,1] 0.9992073321773595 Centerline is valid? [True, True] Translation: X:26.54, Y:2.47, Z:-0.50 [[ 9.71221570e-01 -2.38176964e-01 -6.29188760e-04 2.65399950e+01] [ 2.38176925e-01 9.71221774e-01 -1.36463498e-04 2.47446253e+00] [ 6.43584285e-04 -1.73219511e-05 9.99999793e-01 -4.97407823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.934975926 meters Centerline goodness [0,1] 0.9996789251401615 Centerline is valid? [True, True] Translation: X:26.57, Y:2.48, Z:-0.50 [[ 9.71656622e-01 -2.36396473e-01 -3.41560219e-04 2.65676843e+01] [ 2.36396460e-01 9.71656682e-01 -7.68515994e-05 2.48237909e+00] [ 3.50046716e-04 -6.07026123e-06 9.99999939e-01 -4.97229787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964975925999997 meters Centerline goodness [0,1] 0.9996536368134586 Centerline is valid? [True, True] Translation: X:26.60, Y:2.49, Z:-0.50 [[ 9.72273898e-01 -2.33844816e-01 -2.61825689e-04 2.65959786e+01] [ 2.33844808e-01 9.72273934e-01 -5.99599491e-05 2.49043876e+00] [ 2.68587616e-04 -2.92908448e-06 9.99999964e-01 -4.98165615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.994975926 meters Centerline goodness [0,1] 0.9997279920870425 Centerline is valid? [True, True] Translation: X:26.62, Y:2.50, Z:-0.50 [[ 9.72860724e-01 -2.31390702e-01 -5.95242700e-04 2.66234755e+01] [ 2.31390666e-01 9.72860906e-01 -1.29993840e-04 2.49831483e+00] [ 6.09167719e-04 -1.12677033e-05 9.99999814e-01 -4.98397970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024975926 meters Centerline goodness [0,1] 0.9997037768452234 Centerline is valid? [True, True] Translation: X:26.65, Y:2.51, Z:-0.50 [[ 9.73434033e-01 -2.28967248e-01 -4.28135379e-04 2.66510249e+01] [ 2.28967228e-01 9.73434127e-01 -9.53097197e-05 2.50639332e+00] [ 4.38584393e-04 -5.25124618e-06 9.99999904e-01 -4.99511128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.054975926 meters Centerline goodness [0,1] 0.9996294557940762 Centerline is valid? [True, True] Translation: X:26.68, Y:2.51, Z:-0.50 [[ 9.74032196e-01 -2.26407946e-01 -8.50051548e-04 2.66793792e+01] [ 2.26407875e-01 9.74032567e-01 -1.80864491e-04 2.51422573e+00] [ 8.68927050e-04 -1.62905267e-05 9.99999622e-01 -5.01502287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084975926 meters Centerline goodness [0,1] 0.9997535914052682 Centerline is valid? [True, True] Translation: X:26.71, Y:2.52, Z:-0.50 [[ 9.74536548e-01 -2.24228362e-01 -3.97867450e-04 2.67076248e+01] [ 2.24228344e-01 9.74536629e-01 -8.87790694e-05 2.52261348e+00] [ 4.07643188e-04 -2.69471153e-06 9.99999917e-01 -4.99880337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.114975926 meters Centerline goodness [0,1] 0.9997041493059836 Centerline is valid? [True, True] Translation: X:26.74, Y:2.53, Z:-0.50 [[ 9.75327322e-01 -2.20762421e-01 -7.53739570e-04 2.67353369e+01] [ 2.20762360e-01 9.75327613e-01 -1.64012077e-04 2.53192491e+00] [ 7.71350719e-04 -6.43186633e-06 9.99999702e-01 -5.01757498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144975926 meters Centerline goodness [0,1] 0.9997287901575482 Centerline is valid? [True, True] Translation: X:26.76, Y:2.54, Z:-0.50 [[ 9.75733770e-01 -2.18959331e-01 -6.48793339e-04 2.67637055e+01] [ 2.18959285e-01 9.75733986e-01 -1.42224858e-04 2.53947755e+00] [ 6.64191170e-04 -3.28572848e-06 9.99999779e-01 -5.01694582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.174975926 meters Centerline goodness [0,1] 0.9996800078767292 Centerline is valid? [True, True] Translation: X:26.79, Y:2.55, Z:-0.50 [[ 9.75999773e-01 -2.17768375e-01 -1.17429265e-03 2.67897483e+01] [ 2.17768229e-01 9.76000479e-01 -2.51728830e-04 2.54636528e+00] [ 1.20092876e-03 -1.00363498e-05 9.99999279e-01 -5.03246282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204975926 meters Centerline goodness [0,1] 0.9997779587003183 Centerline is valid? [True, True] Translation: X:26.82, Y:2.55, Z:-0.50 [[ 9.75638111e-01 -2.19385639e-01 -4.66885220e-04 2.68174067e+01] [ 2.19385614e-01 9.75638223e-01 -1.05136114e-04 2.55164494e+00] [ 4.78576420e-04 1.46899439e-07 9.99999885e-01 -5.01696329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.234975926 meters Centerline goodness [0,1] 0.9996792736782375 Centerline is valid? [True, True] Translation: X:26.85, Y:2.56, Z:-0.50 [[ 9.74918532e-01 -2.22560972e-01 -6.85626583e-04 2.68457872e+01] [ 2.22560921e-01 9.74918773e-01 -1.50692961e-04 2.55513923e+00] [ 7.01968599e-04 -5.68032421e-06 9.99999754e-01 -5.03334133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264975925999998 meters Centerline goodness [0,1] 0.9997531108038712 Centerline is valid? [True, True] Translation: X:26.87, Y:2.56, Z:-0.50 [[ 9.74432711e-01 -2.24678944e-01 -5.13593143e-04 2.68741343e+01] [ 2.24678914e-01 9.74432846e-01 -1.14549780e-04 2.56015982e+00] [ 5.26198952e-04 -3.77249727e-06 9.99999862e-01 -5.02723423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.294975926 meters Centerline goodness [0,1] 0.9998273097323301 Centerline is valid? [True, True] Translation: X:26.90, Y:2.57, Z:-0.50 [[ 9.74116942e-01 -2.26044635e-01 -8.24507548e-05 2.69025990e+01] [ 2.26044634e-01 9.74116945e-01 -2.32993306e-05 2.56717569e+00] [ 8.55833661e-05 4.05872191e-06 9.99999996e-01 -5.02057389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324975926 meters Centerline goodness [0,1] 0.9998523585718152 Centerline is valid? [True, True] Translation: X:26.93, Y:2.57, Z:-0.50 [[ 9.74204645e-01 -2.25666277e-01 -2.05305409e-04 2.69294250e+01] [ 2.25666271e-01 9.74204666e-01 -5.02937608e-05 2.57498980e+00] [ 2.11359094e-04 2.66590921e-06 9.99999978e-01 -5.02323444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.354975925999998 meters Centerline goodness [0,1] 0.9998025666337611 Centerline is valid? [True, True] Translation: X:26.96, Y:2.58, Z:-0.50 [[ 9.73143478e-01 -2.30199168e-01 -3.37578300e-04 2.69587982e+01] [ 2.30199155e-01 9.73143537e-01 -7.76746391e-05 2.57576762e+00] [ 3.46392778e-04 -2.12167085e-06 9.99999940e-01 -5.03508083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384975926 meters Centerline goodness [0,1] 0.999580661075481 Centerline is valid? [True, True] Translation: X:26.99, Y:2.58, Z:-0.51 [[ 9.72923067e-01 -2.31126588e-01 -1.09830432e-03 2.69873020e+01] [ 2.31126464e-01 9.72923687e-01 -2.39998992e-04 2.58152136e+00] [ 1.12403643e-03 -2.03466375e-05 9.99999368e-01 -5.06465183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.414975926 meters Centerline goodness [0,1] 0.9996054156699302 Centerline is valid? [True, True] Translation: X:27.01, Y:2.59, Z:-0.51 [[ 9.72751177e-01 -2.31849349e-01 -1.01298542e-03 2.70148467e+01] [ 2.31849243e-01 9.72751705e-01 -2.23070004e-04 2.58748824e+00] [ 1.03710193e-03 -1.78682925e-05 9.99999462e-01 -5.06552283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444975925999998 meters Centerline goodness [0,1] 0.9995802676411042 Centerline is valid? [True, True] Translation: X:27.04, Y:2.59, Z:-0.51 [[ 9.72057424e-01 -2.34740725e-01 -1.07567466e-03 2.70433858e+01] [ 2.34740607e-01 9.72058019e-01 -2.36022208e-04 2.59208195e+00] [ 1.10102220e-03 -2.30773826e-05 9.99999394e-01 -5.06228527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.474975926 meters Centerline goodness [0,1] 0.9997528972793991 Centerline is valid? [True, True] Translation: X:27.07, Y:2.60, Z:-0.51 [[ 9.71344481e-01 -2.37675382e-01 -5.57760286e-04 2.70716318e+01] [ 2.37675350e-01 9.71344641e-01 -1.25406847e-04 2.59641585e+00] [ 5.71583585e-04 -1.07526226e-05 9.99999837e-01 -5.05823717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504975926 meters Centerline goodness [0,1] 0.9991334703275482 Centerline is valid? [True, True] Translation: X:27.10, Y:2.60, Z:-0.51 [[ 9.70057608e-01 -2.42874597e-01 -4.08987902e-04 2.71015694e+01] [ 2.42874582e-01 9.70057694e-01 -8.85277454e-05 2.59851401e+00] [ 4.18243002e-04 -1.34557527e-05 9.99999912e-01 -5.06298341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534975925999998 meters Centerline goodness [0,1] 0.9981697665215671 Centerline is valid? [True, True] Translation: X:27.13, Y:2.60, Z:-0.51 [[ 9.69434408e-01 -2.45345752e-01 -1.54618780e-03 2.71288783e+01] [ 2.45345531e-01 9.69435639e-01 -3.33801161e-04 2.60297647e+00] [ 1.58082626e-03 -5.57519360e-05 9.99998749e-01 -5.08486530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564975926 meters Centerline goodness [0,1] 0.9977462416722391 Centerline is valid? [True, True] Translation: X:27.16, Y:2.61, Z:-0.51 [[ 9.68626262e-01 -2.48519032e-01 -1.20668220e-03 2.71571851e+01] [ 2.48518900e-01 9.68627012e-01 -2.61135372e-04 2.60705708e+00] [ 1.23372208e-03 -4.69407535e-05 9.99999238e-01 -5.08117147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.594975926 meters Centerline goodness [0,1] 0.9980741691768308 Centerline is valid? [True, True] Translation: X:27.19, Y:2.61, Z:-0.51 [[ 9.67986915e-01 -2.51000343e-01 -3.99522609e-04 2.71857865e+01] [ 2.51000327e-01 9.67986998e-01 -9.17196956e-05 2.61162027e+00] [ 4.09754366e-04 -1.14968403e-05 9.99999916e-01 -5.07178721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624975925999998 meters Centerline goodness [0,1] 0.9989135265939059 Centerline is valid? [True, True] Translation: X:27.21, Y:2.62, Z:-0.51 [[ 9.67690293e-01 -2.52141781e-01 -1.41421139e-04 2.72136271e+01] [ 2.52141778e-01 9.67690303e-01 -3.63360400e-05 2.61833325e+00] [ 1.46013698e-04 -4.96144198e-07 9.99999989e-01 -5.06375558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.654975926 meters Centerline goodness [0,1] 0.9978510559466469 Centerline is valid? [True, True] Translation: X:27.24, Y:2.63, Z:-0.51 [[ 9.67887120e-01 -2.51383758e-01 -8.54194471e-04 2.72420905e+01] [ 2.51383688e-01 9.67887496e-01 -1.89754488e-04 2.62560473e+00] [ 8.74465344e-04 -3.10696321e-05 9.99999617e-01 -5.08902856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684975926 meters Centerline goodness [0,1] 0.9979474751471389 Centerline is valid? [True, True] Translation: X:27.27, Y:2.63, Z:-0.51 [[ 9.68156080e-01 -2.50344746e-01 -1.14541171e-03 2.72690170e+01] [ 2.50344626e-01 9.68156757e-01 -2.49349991e-04 2.63217256e+00] [ 1.17136155e-03 -4.53379570e-05 9.99999313e-01 -5.09531499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714975925999997 meters Centerline goodness [0,1] 0.9985436054404977 Centerline is valid? [True, True] Translation: X:27.30, Y:2.64, Z:-0.51 [[ 9.68559961e-01 -2.48776483e-01 -1.36484036e-03 2.72972145e+01] [ 2.48776310e-01 9.68560922e-01 -2.97984460e-04 2.64065792e+00] [ 1.39606257e-03 -5.09241327e-05 9.99999024e-01 -5.10759425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744975926 meters Centerline goodness [0,1] 0.998273821266522 Centerline is valid? [True, True] Translation: X:27.32, Y:2.65, Z:-0.51 [[ 9.69404391e-01 -2.45459264e-01 -2.20814177e-03 2.73246695e+01] [ 2.45458809e-01 9.69406903e-01 -4.79045868e-04 2.64978504e+00] [ 2.25817412e-03 -7.76186816e-05 9.99997447e-01 -5.12318354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.774975926 meters Centerline goodness [0,1] 0.9996055032299423 Centerline is valid? [True, True] Translation: X:27.35, Y:2.66, Z:-0.51 [[ 9.71573100e-01 -2.36735635e-01 -1.39647981e-03 2.73529924e+01] [ 2.36735444e-01 9.71574103e-01 -3.02357897e-04 2.66291199e+00] [ 1.42836250e-03 -3.68334683e-05 9.99998979e-01 -5.10771899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804975925999997 meters Centerline goodness [0,1] 0.9995565191682271 Centerline is valid? [True, True] Translation: X:27.38, Y:2.67, Z:-0.51 [[ 9.71427002e-01 -2.37333196e-01 -1.59150243e-03 2.73807566e+01] [ 2.37332939e-01 9.71428305e-01 -3.51482398e-04 2.66902941e+00] [ 1.62944895e-03 -3.62764556e-05 9.99998672e-01 -5.12098773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834975926 meters Centerline goodness [0,1] 0.9997536763800281 Centerline is valid? [True, True] Translation: X:27.41, Y:2.67, Z:-0.51 [[ 9.70934655e-01 -2.39342610e-01 -1.00509620e-03 2.74095057e+01] [ 2.39342506e-01 9.70935175e-01 -2.23955718e-04 2.67442946e+00] [ 1.02948540e-03 -2.31158755e-05 9.99999470e-01 -5.10427957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864975926 meters Centerline goodness [0,1] 0.9995560378847672 Centerline is valid? [True, True] Translation: X:27.44, Y:2.68, Z:-0.51 [[ 9.70573392e-01 -2.40801126e-01 -1.45239519e-03 2.74378815e+01] [ 2.40800914e-01 9.70574478e-01 -3.21572500e-04 2.67970160e+00] [ 1.48709273e-03 -3.76283786e-05 9.99998894e-01 -5.12371648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894975926 meters Centerline goodness [0,1] 0.9995312923995362 Centerline is valid? [True, True] Translation: X:27.47, Y:2.68, Z:-0.51 [[ 9.69405586e-01 -2.45463540e-01 -6.77957238e-04 2.74679227e+01] [ 2.45463496e-01 9.69405823e-01 -1.48243104e-04 2.68240422e+00] [ 6.93603972e-04 -2.27060608e-05 9.99999759e-01 -5.11431480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924975926 meters Centerline goodness [0,1] 0.9984491544199099 Centerline is valid? [True, True] Translation: X:27.50, Y:2.69, Z:-0.51 [[ 9.68583830e-01 -2.48684416e-01 -1.19413298e-03 2.74971430e+01] [ 2.48684283e-01 9.68584565e-01 -2.60989382e-04 2.68583827e+00] [ 1.22152276e-03 -4.41720079e-05 9.99999253e-01 -5.13330459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954975926 meters Centerline goodness [0,1] 0.9993593850096092 Centerline is valid? [True, True] Translation: X:27.53, Y:2.70, Z:-0.51 [[ 9.70301645e-01 -2.41891968e-01 -1.72988746e-03 2.75252441e+01] [ 2.41891681e-01 9.70303186e-01 -3.76728516e-04 2.69913967e+00] [ 1.76964292e-03 -5.29050869e-05 9.99998433e-01 -5.14545758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984975926 meters Centerline goodness [0,1] 0.9994822229892992 Centerline is valid? [True, True] Translation: X:27.55, Y:2.70, Z:-0.51 [[ 9.69821363e-01 -2.43810889e-01 -1.66575519e-03 2.75543651e+01] [ 2.43810614e-01 9.69822792e-01 -3.68833754e-04 2.70322619e+00] [ 1.70541303e-03 -4.84259419e-05 9.99998545e-01 -5.14625320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014975925999998 meters Centerline goodness [0,1] 0.9995067087608525 Centerline is valid? [True, True] Translation: X:27.58, Y:2.71, Z:-0.52 [[ 9.69630167e-01 -2.44571015e-01 -1.53566485e-03 2.75814059e+01] [ 2.44570780e-01 9.69631382e-01 -3.41971343e-04 2.70871980e+00] [ 1.57266511e-03 -4.39930209e-05 9.99998762e-01 -5.15137227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044975926 meters Centerline goodness [0,1] 0.999358515704029 Centerline is valid? [True, True] Translation: X:27.61, Y:2.72, Z:-0.52 [[ 9.69634072e-01 -2.44556780e-01 -1.32217915e-03 2.76100895e+01] [ 2.44556605e-01 9.69634973e-01 -2.95009446e-04 2.71503794e+00] [ 1.35417770e-03 -3.72964338e-05 9.99999082e-01 -5.15440056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074975926 meters Centerline goodness [0,1] 0.9993080439886322 Centerline is valid? [True, True] Translation: X:27.64, Y:2.72, Z:-0.52 [[ 9.69606568e-01 -2.44665842e-01 -1.31465313e-03 2.76375050e+01] [ 2.44665667e-01 9.69607459e-01 -2.94777422e-04 2.72118843e+00] [ 1.34681945e-03 -3.58323610e-05 9.99999092e-01 -5.15675136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104975925999998 meters Centerline goodness [0,1] 0.9990128331688055 Centerline is valid? [True, True] Translation: X:27.66, Y:2.73, Z:-0.52 [[ 9.69649307e-01 -2.44495365e-01 -1.49610266e-03 2.76646567e+01] [ 2.44495139e-01 9.69650460e-01 -3.35182303e-04 2.72771603e+00] [ 1.53264715e-03 -4.07805392e-05 9.99998825e-01 -5.17143896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.134975926 meters Centerline goodness [0,1] 0.9997038280228052 Centerline is valid? [True, True] Translation: X:27.69, Y:2.73, Z:-0.51 [[ 9.69582408e-01 -2.44763249e-01 -9.52187810e-04 2.76919534e+01] [ 2.44763155e-01 9.69582875e-01 -2.16146709e-04 2.73483677e+00] [ 9.76129766e-04 -2.34884453e-05 9.99999523e-01 -5.14812469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164975926 meters Centerline goodness [0,1] 0.9996052112120016 Centerline is valid? [True, True] Translation: X:27.72, Y:2.74, Z:-0.52 [[ 9.69458258e-01 -2.45253988e-01 -1.08070100e-03 2.77192690e+01] [ 2.45253867e-01 9.69458860e-01 -2.44880225e-04 2.74077892e+00] [ 1.10775301e-03 -2.76449438e-05 9.99999386e-01 -5.15911099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194975925999998 meters Centerline goodness [0,1] 0.9995311304691163 Centerline is valid? [True, True] Translation: X:27.75, Y:2.75, Z:-0.52 [[ 9.69337740e-01 -2.45729325e-01 -1.20158012e-03 2.77465404e+01] [ 2.45729177e-01 9.69338485e-01 -2.72027274e-04 2.74700717e+00] [ 1.23158293e-03 -3.15769907e-05 9.99999241e-01 -5.16908898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224975926 meters Centerline goodness [0,1] 0.9995315812829743 Centerline is valid? [True, True] Translation: X:27.77, Y:2.75, Z:-0.52 [[ 9.69237757e-01 -2.46122323e-01 -1.40441633e-03 2.77742196e+01] [ 2.46122122e-01 9.69238774e-01 -3.17405730e-04 2.75365421e+00] [ 1.43933540e-03 -3.80163092e-05 9.99998963e-01 -5.16937451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254975926 meters Centerline goodness [0,1] 0.9990877487117532 Centerline is valid? [True, True] Translation: X:27.80, Y:2.76, Z:-0.52 [[ 9.68438867e-01 -2.49246205e-01 -1.57768632e-03 2.78031556e+01] [ 2.49245957e-01 9.68440151e-01 -3.55510298e-04 2.75814018e+00] [ 1.61650437e-03 -4.89419466e-05 9.99998692e-01 -5.18044454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284975925999998 meters Centerline goodness [0,1] 0.9991113524721681 Centerline is valid? [True, True] Translation: X:27.83, Y:2.76, Z:-0.52 [[ 9.67970247e-01 -2.51061653e-01 -1.28338290e-03 2.78311259e+01] [ 2.51061493e-01 9.67971097e-01 -2.86670018e-04 2.76288070e+00] [ 1.31424941e-03 -4.47199807e-05 9.99999135e-01 -5.17702968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314975926 meters Centerline goodness [0,1] 0.9980975441023867 Centerline is valid? [True, True] Translation: X:27.86, Y:2.77, Z:-0.52 [[ 9.67350623e-01 -2.53437033e-01 -1.56275602e-03 2.78595953e+01] [ 2.53436793e-01 9.67351884e-01 -3.52972963e-04 2.76724567e+00] [ 1.60119140e-03 -5.46112590e-05 9.99998717e-01 -5.19398722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344975926 meters Centerline goodness [0,1] 0.9984933807547915 Centerline is valid? [True, True] Translation: X:27.89, Y:2.77, Z:-0.52 [[ 9.66843238e-01 -2.55369271e-01 -8.30114673e-04 2.78866399e+01] [ 2.55369204e-01 9.66843594e-01 -1.86994847e-04 2.77150763e+00] [ 8.50343791e-04 -3.11910206e-05 9.99999638e-01 -5.18276882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374975925999998 meters Centerline goodness [0,1] 0.9988396494259968 Centerline is valid? [True, True] Translation: X:27.91, Y:2.78, Z:-0.52 [[ 9.66269429e-01 -2.57531886e-01 -8.47385621e-04 2.79146326e+01] [ 2.57531815e-01 9.66269800e-01 -1.94530478e-04 2.77770978e+00] [ 8.68900935e-04 -3.02599032e-05 9.99999622e-01 -5.18502470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404975926 meters Centerline goodness [0,1] 0.9972307387993274 Centerline is valid? [True, True] Translation: X:27.94, Y:2.78, Z:-0.52 [[ 9.65822897e-01 -2.59199271e-01 -1.36710398e-03 2.79427346e+01] [ 2.59199090e-01 9.65823863e-01 -3.10758662e-04 2.78270610e+00] [ 1.40093007e-03 -5.42142771e-05 9.99999017e-01 -5.20230052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434975926 meters Centerline goodness [0,1] 0.996886505720428 Centerline is valid? [True, True] Translation: X:27.97, Y:2.79, Z:-0.52 [[ 9.65718801e-01 -2.59584204e-01 -1.79948379e-03 2.79695928e+01] [ 2.59583892e-01 9.65720475e-01 -4.08798881e-04 2.78923643e+00] [ 1.84391607e-03 -7.23322403e-05 9.99998297e-01 -5.21586561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464975925999997 meters Centerline goodness [0,1] 0.996886505720428 Centerline is valid? [True, True] Translation: X:28.00, Y:2.80, Z:-0.52 [[ 9.65613657e-01 -2.59975053e-01 -1.79932050e-03 2.79964807e+01] [ 2.59974741e-01 9.65615330e-01 -4.09522934e-04 2.79551440e+00] [ 1.84391720e-03 -7.23369416e-05 9.99998297e-01 -5.22033014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494975926 meters Centerline goodness [0,1] 0.9964733155766006 Centerline is valid? [True, True] Translation: X:28.02, Y:2.80, Z:-0.52 [[ 9.65686116e-01 -2.59705293e-01 -1.86727913e-03 2.80242345e+01] [ 2.59704957e-01 9.65687918e-01 -4.24557659e-04 2.80230451e+00] [ 1.91346877e-03 -7.49522099e-05 9.99998167e-01 -5.22797750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524975926 meters Centerline goodness [0,1] 0.9983224787842905 Centerline is valid? [True, True] Translation: X:28.05, Y:2.81, Z:-0.52 [[ 9.66617940e-01 -2.56218366e-01 -1.38075004e-03 2.80519733e+01] [ 2.56218177e-01 9.66618925e-01 -3.15471635e-04 2.81220790e+00] [ 1.41548875e-03 -4.88327158e-05 9.99998997e-01 -5.22211048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554975925999997 meters Centerline goodness [0,1] 0.9994332183341548 Centerline is valid? [True, True] Translation: X:28.08, Y:2.82, Z:-0.52 [[ 9.67871070e-01 -2.51442301e-01 -1.53664474e-03 2.80797617e+01] [ 2.51442068e-01 9.67872288e-01 -3.46003470e-04 2.82339850e+00] [ 1.57427577e-03 -5.14903840e-05 9.99998760e-01 -5.22070142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584975926 meters Centerline goodness [0,1] 0.9990133688520546 Centerline is valid? [True, True] Translation: X:28.11, Y:2.83, Z:-0.53 [[ 9.68509520e-01 -2.48966836e-01 -2.19625488e-03 2.81073795e+01] [ 2.48966342e-01 9.68512009e-01 -5.00004676e-04 2.83031547e+00] [ 2.25158381e-03 -6.25342539e-05 9.99997463e-01 -5.25280700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614975926 meters Centerline goodness [0,1] 0.9996054545902893 Centerline is valid? [True, True] Translation: X:28.13, Y:2.84, Z:-0.52 [[ 9.69640683e-01 -2.44528960e-01 -1.59166059e-03 2.81347094e+01] [ 2.44528698e-01 9.69641989e-01 -3.59955232e-04 2.84052066e+00] [ 1.63136042e-03 -4.01794564e-05 9.99998669e-01 -5.23465829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644975926 meters Centerline goodness [0,1] 0.9997043242577307 Centerline is valid? [True, True] Translation: X:28.16, Y:2.85, Z:-0.52 [[ 9.70206758e-01 -2.42274625e-01 -1.36125092e-03 2.81627653e+01] [ 2.42274425e-01 9.70207712e-01 -3.12777289e-04 2.84902820e+00] [ 1.39647414e-03 -2.63376433e-05 9.99999025e-01 -5.23647860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674975926 meters Centerline goodness [0,1] 0.9996055907511031 Centerline is valid? [True, True] Translation: X:28.19, Y:2.86, Z:-0.53 [[ 9.70484005e-01 -2.41156737e-01 -2.05551711e-03 2.81910177e+01] [ 2.41156282e-01 9.70486181e-01 -4.70071833e-04 2.85678267e+00] [ 2.10821194e-03 -3.95036681e-05 9.99997777e-01 -5.25252876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704975926 meters Centerline goodness [0,1] 0.9998026542996694 Centerline is valid? [True, True] Translation: X:28.22, Y:2.86, Z:-0.52 [[ 9.70519427e-01 -2.41018888e-01 -1.39175582e-03 2.82189636e+01] [ 2.41018676e-01 9.70520425e-01 -3.20670024e-04 2.86413351e+00] [ 1.42801498e-03 -2.42226559e-05 9.99998980e-01 -5.23423020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734975926 meters Centerline goodness [0,1] 0.9996797950688441 Centerline is valid? [True, True] Translation: X:28.25, Y:2.87, Z:-0.53 [[ 9.69734565e-01 -2.44156978e-01 -1.49821716e-03 2.82474628e+01] [ 2.44156735e-01 9.69735721e-01 -3.45302134e-04 2.86966385e+00] [ 1.53718262e-03 -3.09483957e-05 9.99998818e-01 -5.25455201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764975925999998 meters Centerline goodness [0,1] 0.999432896910521 Centerline is valid? [True, True] Translation: X:28.28, Y:2.88, Z:-0.53 [[ 9.69602532e-01 -2.44677533e-01 -1.95820308e-03 2.82760774e+01] [ 2.44677122e-01 9.69604509e-01 -4.50253956e-04 2.87584858e+00] [ 2.00884956e-03 -4.25601195e-05 9.99997981e-01 -5.27555638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794975926 meters Centerline goodness [0,1] 0.9998027856526562 Centerline is valid? [True, True] Translation: X:28.30, Y:2.88, Z:-0.53 [[ 9.69320813e-01 -2.45794525e-01 -1.48751793e-03 2.83035848e+01] [ 2.45794285e-01 9.69321954e-01 -3.44917444e-04 2.88210941e+00] [ 1.52666260e-03 -3.12877471e-05 9.99998834e-01 -5.25322608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824975926 meters Centerline goodness [0,1] 0.9996547472256474 Centerline is valid? [True, True] Translation: X:28.33, Y:2.89, Z:-0.53 [[ 9.69152793e-01 -2.46454830e-01 -1.69741634e-03 2.83313090e+01] [ 2.46454519e-01 9.69154278e-01 -3.93344519e-04 2.88835916e+00] [ 1.74199997e-03 -3.71249891e-05 9.99998482e-01 -5.27060394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854975925999998 meters Centerline goodness [0,1] 0.9996797161792604 Centerline is valid? [True, True] Translation: X:28.36, Y:2.89, Z:-0.53 [[ 9.68908706e-01 -2.47413484e-01 -1.57728709e-03 2.83593446e+01] [ 2.47413217e-01 9.68909989e-01 -3.65733696e-04 2.89436909e+00] [ 1.61873666e-03 -3.58791103e-05 9.99998689e-01 -5.27381296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884975926 meters Centerline goodness [0,1] 0.9998519176662224 Centerline is valid? [True, True] Translation: X:28.39, Y:2.90, Z:-0.53 [[ 9.68608282e-01 -2.48590213e-01 -9.49498313e-04 2.83878045e+01] [ 2.48590114e-01 9.68608747e-01 -2.22851568e-04 2.90046579e+00] [ 9.75091091e-04 -2.01800194e-05 9.99999524e-01 -5.25362708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914975926 meters Centerline goodness [0,1] 0.9997041493059836 Centerline is valid? [True, True] Translation: X:28.42, Y:2.91, Z:-0.53 [[ 9.68520027e-01 -2.48930438e-01 -1.61086802e-03 2.84163608e+01] [ 2.48930159e-01 9.68521366e-01 -3.74595877e-04 2.90716058e+00] [ 1.65340841e-03 -3.81900222e-05 9.99998632e-01 -5.28075761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944975925999998 meters Centerline goodness [0,1] 0.999802683504341 Centerline is valid? [True, True] Translation: X:28.44, Y:2.91, Z:-0.53 [[ 9.68527089e-01 -2.48904172e-01 -1.41082737e-03 2.84433408e+01] [ 2.48903954e-01 9.68528116e-01 -3.30266070e-04 2.91444334e+00] [ 1.44863057e-03 -3.12888749e-05 9.99998950e-01 -5.27452510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974975926 meters Centerline goodness [0,1] 0.999581105388956 Centerline is valid? [True, True] Translation: X:28.47, Y:2.92, Z:-0.53 [[ 9.68515091e-01 -2.48946026e-01 -2.09638019e-03 2.84708187e+01] [ 2.48945552e-01 9.68517358e-01 -4.88341189e-04 2.92133534e+00] [ 2.15195121e-03 -4.89187139e-05 9.99997683e-01 -5.30122490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004975926 meters Centerline goodness [0,1] 0.9995063800380087 Centerline is valid? [True, True] Translation: X:28.50, Y:2.93, Z:-0.53 [[ 9.68224219e-01 -2.50072648e-01 -2.35220761e-03 2.84994730e+01] [ 2.50072056e-01 9.68227074e-01 -5.47164922e-04 2.92660048e+00] [ 2.41430207e-03 -5.84430650e-05 9.99997084e-01 -5.30495224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034975925999998 meters Centerline goodness [0,1] 0.9996047528470147 Centerline is valid? [True, True] Translation: X:28.53, Y:2.93, Z:-0.53 [[ 9.68080477e-01 -2.50631310e-01 -2.03366663e-03 2.85263053e+01] [ 2.50630864e-01 9.68082612e-01 -4.75722012e-04 2.93344311e+00] [ 2.08798813e-03 -4.91624312e-05 9.99997819e-01 -5.30142732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064975926 meters Centerline goodness [0,1] 0.9996297210565293 Centerline is valid? [True, True] Translation: X:28.55, Y:2.94, Z:-0.53 [[ 9.68025977e-01 -2.50841766e-01 -2.02887016e-03 2.85537855e+01] [ 2.50841320e-01 9.68028102e-01 -4.75510811e-04 2.94044089e+00] [ 2.08328130e-03 -4.86176510e-05 9.99997829e-01 -5.30235950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094975926 meters Centerline goodness [0,1] 0.9997035866021144 Centerline is valid? [True, True] Translation: X:28.58, Y:2.95, Z:-0.53 [[ 9.68101025e-01 -2.50552187e-01 -2.00154682e-03 2.85822107e+01] [ 2.50551753e-01 9.68103093e-01 -4.69068517e-04 2.94742445e+00] [ 2.05522981e-03 -4.73853523e-05 9.99997887e-01 -5.30768380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124975925999998 meters Centerline goodness [0,1] 0.9996547301963106 Centerline is valid? [True, True] Translation: X:28.61, Y:2.95, Z:-0.53 [[ 9.68188568e-01 -2.50218657e-01 -1.23270584e-03 2.86094220e+01] [ 2.50218493e-01 9.68189353e-01 -2.88603174e-04 2.95322082e+00] [ 1.26570656e-03 -2.90235018e-05 9.99999199e-01 -5.30695605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154975926 meters Centerline goodness [0,1] 0.9995804230323074 Centerline is valid? [True, True] Translation: X:28.64, Y:2.96, Z:-0.53 [[ 9.68268955e-01 -2.49907871e-01 -1.13440168e-03 2.86378557e+01] [ 2.49907727e-01 9.68269619e-01 -2.68971294e-04 2.96014555e+00] [ 1.16562473e-03 -2.30591935e-05 9.99999320e-01 -5.32676214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184975926 meters Centerline goodness [0,1] 0.9997043606799705 Centerline is valid? [True, True] Translation: X:28.67, Y:2.97, Z:-0.53 [[ 9.68292610e-01 -2.49817415e-01 -8.24764628e-04 2.86658070e+01] [ 2.49817337e-01 9.68292961e-01 -1.97453049e-04 2.96727774e+00] [ 8.47940995e-04 -1.48481746e-05 9.99999640e-01 -5.32396101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214975925999997 meters Centerline goodness [0,1] 0.9997289238275956 Centerline is valid? [True, True] Translation: X:28.69, Y:2.97, Z:-0.53 [[ 9.68263752e-01 -2.49930571e-01 -1.31427258e-04 2.86934135e+01] [ 2.49930568e-01 9.68263760e-01 -3.64284390e-05 2.97405370e+00] [ 1.36360832e-04 2.42464774e-06 9.99999991e-01 -5.32416310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244975926 meters Centerline goodness [0,1] 0.9996546876156179 Centerline is valid? [True, True] Translation: X:28.72, Y:2.98, Z:-0.53 [[ 9.68325046e-01 -2.49692465e-01 -5.28164870e-04 2.87210231e+01] [ 2.49692432e-01 9.68325190e-01 -1.29416751e-04 2.98140933e+00] [ 5.43749736e-04 -6.56128981e-06 9.99999852e-01 -5.33646430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274975926 meters Centerline goodness [0,1] 0.9997042003549595 Centerline is valid? [True, True] Translation: X:28.75, Y:2.99, Z:-0.53 [[ 9.68564720e-01 -2.48761171e-01 -5.12970616e-04 2.87493768e+01] [ 2.48761140e-01 9.68564856e-01 -1.25172392e-04 2.98930667e+00] [ 5.27983342e-04 -6.36959208e-06 9.99999861e-01 -5.33939308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304975925999997 meters Centerline goodness [0,1] 0.999679012345679 Centerline is valid? [True, True] Translation: X:28.78, Y:3.00, Z:-0.54 [[ 9.70071110e-01 -2.42820820e-01 -3.01922891e-04 2.87769135e+01] [ 2.42820810e-01 9.70071157e-01 -7.21752734e-05 2.99888536e+00] [ 3.10412347e-04 -3.29801340e-06 9.99999952e-01 -5.35195566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334975926 meters Centerline goodness [0,1] 0.9996050845365914 Centerline is valid? [True, True] Translation: X:28.80, Y:3.01, Z:-0.54 [[ 9.70003613e-01 -2.43090057e-01 -4.63218819e-04 2.88043456e+01] [ 2.43090030e-01 9.70003724e-01 -1.15057036e-04 3.00555907e+00] [ 4.77293201e-04 -9.98136148e-07 9.99999886e-01 -5.36631273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364975926 meters Centerline goodness [0,1] 0.9996542953799047 Centerline is valid? [True, True] Translation: X:28.83, Y:3.01, Z:-0.54 [[ 9.69969422e-01 -2.43226508e-01 -4.31301106e-04 2.88312136e+01] [ 2.43226485e-01 9.69969518e-01 -1.07799489e-04 3.01233340e+00] [ 4.44568619e-04 -3.41643853e-07 9.99999901e-01 -5.36248979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394975926 meters Centerline goodness [0,1] 0.9997036158861885 Centerline is valid? [True, True] Translation: X:28.86, Y:3.02, Z:-0.54 [[ 9.69861225e-01 -2.43657814e-01 -2.71759695e-04 2.88589275e+01] [ 2.43657804e-01 9.69861263e-01 -7.00709185e-05 3.01931739e+00] [ 2.80642528e-04 1.74269637e-06 9.99999961e-01 -5.36195897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424975926 meters Centerline goodness [0,1] 0.9998025958643834 Centerline is valid? [True, True] Translation: X:28.89, Y:3.03, Z:-0.54 [[ 9.69869538e-01 -2.43624872e-01 -4.24115257e-05 2.88858539e+01] [ 2.43624871e-01 9.69869539e-01 -1.20259574e-05 3.02543961e+00] [ 4.40634692e-05 1.33110722e-06 9.99999999e-01 -5.36171204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454975926 meters Centerline goodness [0,1] 0.9999259423831741 Centerline is valid? [True, True] Translation: X:28.91, Y:3.03, Z:-0.53 [[ 9.69780547e-01 -2.43977595e-01 7.89288335e-04 2.89131929e+01] [ 2.43977530e-01 9.69780868e-01 1.79041861e-04 3.03291138e+00] [-8.09118930e-04 1.89373052e-05 9.99999672e-01 -5.33587060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484975926 meters Centerline goodness [0,1] 0.9997532630955612 Centerline is valid? [True, True] Translation: X:28.94, Y:3.04, Z:-0.54 [[ 9.69774595e-01 -2.44002431e-01 -2.20709690e-04 2.89412435e+01] [ 2.44002424e-01 9.69774620e-01 -5.78747295e-05 3.03956310e+00] [ 2.28160231e-04 2.27174278e-06 9.99999974e-01 -5.36977843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514975925999998 meters Centerline goodness [0,1] 0.9997529827334931 Centerline is valid? [True, True] Translation: X:28.97, Y:3.05, Z:-0.54 [[ 9.69744237e-01 -2.44122950e-01 3.16470545e-04 2.89683402e+01] [ 2.44122940e-01 9.69744289e-01 6.79051514e-05 3.04637074e+00] [-3.23472709e-04 1.14070907e-05 9.99999948e-01 -5.36027485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544975926 meters Centerline goodness [0,1] 0.9996544148502876 Centerline is valid? [True, True] Translation: X:28.99, Y:3.05, Z:-0.54 [[ 9.69828740e-01 -2.43786995e-01 3.40837878e-04 2.89944917e+01] [ 2.43786983e-01 9.69828800e-01 7.59661556e-05 3.05282713e+00] [-3.49073951e-04 9.41767707e-06 9.99999939e-01 -5.37965606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574975926 meters Centerline goodness [0,1] 0.9997037549065594 Centerline is valid? [True, True] Translation: X:29.02, Y:3.06, Z:-0.54 [[ 9.69976351e-01 -2.43199084e-01 -2.88055412e-04 2.90212166e+01] [ 2.43199073e-01 9.69976394e-01 -7.49240586e-05 3.06055249e+00] [ 2.97628412e-04 2.61975589e-06 9.99999956e-01 -5.38114606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604975925999998 meters Centerline goodness [0,1] 0.9998766254595701 Centerline is valid? [True, True] Translation: X:29.05, Y:3.07, Z:-0.54 [[ 9.70066108e-01 -2.42840929e-01 1.72632254e-04 2.90488210e+01] [ 2.42840927e-01 9.70066123e-01 3.51139521e-05 3.06800872e+00] [-1.75991806e-04 7.85932169e-06 9.99999984e-01 -5.36529849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634975926 meters Centerline goodness [0,1] 0.9997534577549864 Centerline is valid? [True, True] Translation: X:29.08, Y:3.07, Z:-0.54 [[ 9.70029074e-01 -2.42988484e-01 -4.37165431e-04 2.90757358e+01] [ 2.42988459e-01 9.70029173e-01 -1.10517366e-04 3.07471164e+00] [ 4.50917669e-04 9.78903993e-07 9.99999898e-01 -5.38998867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664975926 meters Centerline goodness [0,1] 0.9998273480662984 Centerline is valid? [True, True] Translation: X:29.10, Y:3.08, Z:-0.54 [[ 9.69696859e-01 -2.44311269e-01 7.05244176e-05 2.91030614e+01] [ 2.44311269e-01 9.69696862e-01 1.01788253e-05 3.08094057e+00] [-7.08741082e-05 7.35953511e-06 9.99999997e-01 -5.38156782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694975925999998 meters Centerline goodness [0,1] 0.9998519615099926 Centerline is valid? [True, True] Translation: X:29.13, Y:3.09, Z:-0.54 [[ 9.69510615e-01 -2.45049254e-01 -1.75247817e-04 2.91298130e+01] [ 2.45049249e-01 9.69510631e-01 -4.84993869e-05 3.08770900e+00] [ 1.81789360e-04 4.07632443e-06 9.99999983e-01 -5.38296204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724975926 meters Centerline goodness [0,1] 0.9997044043748152 Centerline is valid? [True, True] Translation: X:29.16, Y:3.09, Z:-0.54 [[ 9.69500121e-01 -2.45089871e-01 -6.85820932e-04 2.91565657e+01] [ 2.45089816e-01 9.69500364e-01 -1.65708148e-04 3.09435881e+00] [ 7.05517032e-04 -7.43365591e-06 9.99999751e-01 -5.41011121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754975926 meters Centerline goodness [0,1] 0.9998270152720803 Centerline is valid? [True, True] Translation: X:29.18, Y:3.10, Z:-0.54 [[ 9.68926789e-01 -2.47347604e-01 2.00252381e-04 2.91848409e+01] [ 2.47347600e-01 9.68926810e-01 4.20040506e-05 3.09961212e+00] [-2.04419502e-04 8.83309589e-06 9.99999979e-01 -5.38829354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784975925999998 meters Centerline goodness [0,1] 0.9996301866324795 Centerline is valid? [True, True] Translation: X:29.21, Y:3.11, Z:-0.54 [[ 9.68726742e-01 -2.48129616e-01 -4.40106806e-04 2.92125504e+01] [ 2.48129591e-01 9.68726842e-01 -1.11180342e-04 3.10597763e+00] [ 4.53930412e-04 -1.50015171e-06 9.99999897e-01 -5.42302180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814975926 meters Centerline goodness [0,1] 0.9997532630955612 Centerline is valid? [True, True] Translation: X:29.24, Y:3.11, Z:-0.54 [[ 9.68410967e-01 -2.49358845e-01 -6.03840075e-04 2.92407025e+01] [ 2.49358800e-01 9.68411156e-01 -1.50617428e-04 3.11330891e+00] [ 6.22323253e-04 -4.71326759e-06 9.99999806e-01 -5.41479167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844975926 meters Centerline goodness [0,1] 0.9996551214465191 Centerline is valid? [True, True] Translation: X:29.27, Y:3.12, Z:-0.54 [[ 9.67838111e-01 -2.51573638e-01 -3.09649168e-04 2.92692032e+01] [ 2.51573626e-01 9.67838160e-01 -8.01990481e-05 3.11872219e+00] [ 3.19866247e-04 -2.79868513e-07 9.99999949e-01 -5.42579701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874975925999998 meters Centerline goodness [0,1] 0.9998521293375394 Centerline is valid? [True, True] Translation: X:29.30, Y:3.13, Z:-0.54 [[ 9.67411043e-01 -2.53211092e-01 -1.32246221e-04 2.92973222e+01] [ 2.53211090e-01 9.67411052e-01 -3.76590092e-05 3.12561848e+00] [ 1.37472135e-04 2.94553151e-06 9.99999991e-01 -5.40515891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904975926 meters Centerline goodness [0,1] 0.9996301227992307 Centerline is valid? [True, True] Translation: X:29.33, Y:3.13, Z:-0.54 [[ 9.67320961e-01 -2.53553409e-01 -9.08949112e-04 2.93254458e+01] [ 2.53553310e-01 9.67321388e-01 -2.24773320e-04 3.13269395e+00] [ 9.36237958e-04 -1.30391121e-05 9.99999562e-01 -5.44140627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934975926 meters Centerline goodness [0,1] 0.9998025617611491 Centerline is valid? [True, True] Translation: X:29.35, Y:3.14, Z:-0.54 [[ 9.66866343e-01 -2.55282250e-01 -6.69410724e-04 2.93536342e+01] [ 2.55282195e-01 9.66866574e-01 -1.67334862e-04 3.13840744e+00] [ 6.89948474e-04 -9.09819321e-06 9.99999762e-01 -5.42516148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964975925999997 meters Centerline goodness [0,1] 0.9997037695326965 Centerline is valid? [True, True] Translation: X:29.38, Y:3.15, Z:-0.54 [[ 9.66806141e-01 -2.55510565e-01 -4.85852803e-04 2.93812852e+01] [ 2.55510535e-01 9.66806263e-01 -1.24094357e-04 3.14510898e+00] [ 5.01432953e-04 -4.16532315e-06 9.99999874e-01 -5.43812262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994975926 meters Centerline goodness [0,1] 0.9997284285890631 Centerline is valid? [True, True] Translation: X:29.41, Y:3.15, Z:-0.54 [[ 9.66816748e-01 -2.55469515e-01 -8.38241510e-04 2.94083438e+01] [ 2.55469429e-01 9.66817111e-01 -2.09624595e-04 3.15229538e+00] [ 8.63978928e-04 -1.14765106e-05 9.99999627e-01 -5.44521355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024975926 meters Centerline goodness [0,1] 0.9998516980572445 Centerline is valid? [True, True] Translation: X:29.44, Y:3.16, Z:-0.54 [[ 9.66672480e-01 -2.56016124e-01 -2.48430957e-04 2.94352942e+01] [ 2.56016115e-01 9.66672511e-01 -6.69592331e-05 3.15856625e+00] [ 2.57294020e-04 1.12531959e-06 9.99999967e-01 -5.42926670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054975925999997 meters Centerline goodness [0,1] 0.9997534881427796 Centerline is valid? [True, True] Translation: X:29.46, Y:3.17, Z:-0.54 [[ 9.66966809e-01 -2.54900849e-01 -8.64221557e-04 2.94625169e+01] [ 2.54900758e-01 9.66967195e-01 -2.15748327e-04 3.16685070e+00] [ 8.90668327e-04 -1.16692585e-05 9.99999603e-01 -5.44988625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084975926 meters Centerline goodness [0,1] 0.9997531778353697 Centerline is valid? [True, True] Translation: X:29.49, Y:3.18, Z:-0.54 [[ 9.67128132e-01 -2.54289037e-01 -5.12365657e-04 2.94900145e+01] [ 2.54289004e-01 9.67128267e-01 -1.30498154e-04 3.17507554e+00] [ 5.28707560e-04 -4.08051697e-06 9.99999860e-01 -5.44895549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114975926 meters Centerline goodness [0,1] 0.9997286965100506 Centerline is valid? [True, True] Translation: X:29.52, Y:3.18, Z:-0.55 [[ 9.67113647e-01 -2.54343296e-01 -8.25360777e-04 2.95168740e+01] [ 2.54343211e-01 9.67113999e-01 -2.07811248e-04 3.18196962e+00] [ 8.51073360e-04 -8.94781610e-06 9.99999638e-01 -5.45848598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144975926 meters Centerline goodness [0,1] 0.999655223366005 Centerline is valid? [True, True] Translation: X:29.54, Y:3.19, Z:-0.55 [[ 9.67047318e-01 -2.54595158e-01 -8.88783240e-04 2.95440174e+01] [ 2.54595060e-01 9.67047726e-01 -2.23656985e-04 3.18916565e+00] [ 9.16437797e-04 -9.99293510e-06 9.99999580e-01 -5.46961324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174975926 meters Centerline goodness [0,1] 0.9997289438667389 Centerline is valid? [True, True] Translation: X:29.57, Y:3.20, Z:-0.55 [[ 9.66831570e-01 -2.55411036e-01 -1.38496320e-03 2.95722162e+01] [ 2.55410805e-01 9.66832562e-01 -3.44426041e-04 3.19606423e+00] [ 1.42699773e-03 -2.07325970e-05 9.99998982e-01 -5.46961198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204975926 meters Centerline goodness [0,1] 0.9996553591649845 Centerline is valid? [True, True] Translation: X:29.60, Y:3.20, Z:-0.55 [[ 9.66756024e-01 -2.55696805e-01 -1.39068248e-03 2.95989753e+01] [ 2.55696570e-01 9.66757024e-01 -3.47269856e-04 3.20337740e+00] [ 1.43324785e-03 -1.98675165e-05 9.99998973e-01 -5.48292915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.234975926 meters Centerline goodness [0,1] 0.9997777558277361 Centerline is valid? [True, True] Translation: X:29.63, Y:3.21, Z:-0.55 [[ 9.66458046e-01 -2.56824308e-01 -3.45473902e-04 2.96270307e+01] [ 2.56824292e-01 9.66458108e-01 -9.14795460e-05 3.20877546e+00] [ 3.57380224e-04 -3.14946913e-07 9.99999936e-01 -5.46713315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264975925999998 meters Centerline goodness [0,1] 0.9997775140907742 Centerline is valid? [True, True] Translation: X:29.65, Y:3.22, Z:-0.55 [[ 9.66309138e-01 -2.57384181e-01 -1.83823015e-04 2.96545138e+01] [ 2.57384176e-01 9.66309155e-01 -5.18890354e-05 3.21568353e+00] [ 1.90985279e-04 2.82771374e-06 9.99999982e-01 -5.47328255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.294975926 meters Centerline goodness [0,1] 0.9997533726292944 Centerline is valid? [True, True] Translation: X:29.68, Y:3.22, Z:-0.55 [[ 9.66322371e-01 -2.57334213e-01 -4.21700084e-04 2.96805784e+01] [ 2.57334191e-01 9.66322463e-01 -1.06603262e-04 3.22174297e+00] [ 4.34930930e-04 -5.50473352e-06 9.99999905e-01 -5.48935123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324975926 meters Centerline goodness [0,1] 0.999629483252643 Centerline is valid? [True, True] Translation: X:29.71, Y:3.23, Z:-0.55 [[ 9.66257874e-01 -2.57574560e-01 -1.03260717e-03 2.97074483e+01] [ 2.57574429e-01 9.66258426e-01 -2.61081967e-04 3.22924534e+00] [ 1.06501346e-03 -1.37006965e-05 9.99999433e-01 -5.50657332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354975925999998 meters Centerline goodness [0,1] 0.9998272202201708 Centerline is valid? [True, True] Translation: X:29.73, Y:3.24, Z:-0.55 [[ 9.66092693e-01 -2.58195148e-01 -4.16181008e-04 2.97343136e+01] [ 2.58195125e-01 9.66092783e-01 -1.09336923e-04 3.23576897e+00] [ 4.30299731e-04 -1.82630514e-06 9.99999907e-01 -5.48733205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384975926 meters Centerline goodness [0,1] 0.9998272202201708 Centerline is valid? [True, True] Translation: X:29.76, Y:3.24, Z:-0.55 [[ 9.65990024e-01 -2.58579003e-01 -4.16138237e-04 2.97610289e+01] [ 2.58578980e-01 9.65990113e-01 -1.09504762e-04 3.24262733e+00] [ 4.30301055e-04 -1.82409289e-06 9.99999907e-01 -5.49179326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414975926 meters Centerline goodness [0,1] 0.9997284822155851 Centerline is valid? [True, True] Translation: X:29.79, Y:3.25, Z:-0.55 [[ 9.65996755e-01 -2.58552263e-01 -9.98565491e-04 2.97880151e+01] [ 2.58552139e-01 9.65997271e-01 -2.53973637e-04 3.25015742e+00] [ 1.03027700e-03 -1.28435339e-05 9.99999469e-01 -5.51497923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444975925999998 meters Centerline goodness [0,1] 0.9998026689030858 Centerline is valid? [True, True] Translation: X:29.82, Y:3.26, Z:-0.55 [[ 9.65944899e-01 -2.58745726e-01 -1.04906468e-03 2.98154075e+01] [ 2.58745589e-01 9.65945469e-01 -2.66930987e-04 3.25733604e+00] [ 1.08240652e-03 -1.36002320e-05 9.99999414e-01 -5.50769234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474975926 meters Centerline goodness [0,1] 0.9998273054719494 Centerline is valid? [True, True] Translation: X:29.84, Y:3.26, Z:-0.55 [[ 9.66002496e-01 -2.58531577e-01 -7.76124892e-04 2.98429784e+01] [ 2.58531501e-01 9.66002807e-01 -1.98662408e-04 3.26467251e+00] [ 8.01099330e-04 -8.74435078e-06 9.99999679e-01 -5.50579751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504975926 meters Centerline goodness [0,1] 0.9996547301963106 Centerline is valid? [True, True] Translation: X:29.87, Y:3.27, Z:-0.55 [[ 9.66552372e-01 -2.56461332e-01 -2.02425834e-03 2.98703834e+01] [ 2.56460828e-01 9.66554491e-01 -5.09481171e-04 3.27377246e+00] [ 2.08721821e-03 -2.67027352e-05 9.99997821e-01 -5.53513201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534975925999998 meters Centerline goodness [0,1] 0.9998024203507039 Centerline is valid? [True, True] Translation: X:29.90, Y:3.28, Z:-0.55 [[ 9.66898528e-01 -2.55156390e-01 -1.56629372e-03 2.98979218e+01] [ 2.55156083e-01 9.66899796e-01 -3.96131278e-04 3.28235282e+00] [ 1.61552451e-03 -1.66306214e-05 9.99998695e-01 -5.51993114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564975926 meters Centerline goodness [0,1] 0.9997284755134281 Centerline is valid? [True, True] Translation: X:29.92, Y:3.29, Z:-0.55 [[ 9.67033538e-01 -2.54642275e-01 -1.85693706e-03 2.99245134e+01] [ 2.54641841e-01 9.67035321e-01 -4.70171311e-04 3.28983412e+00] [ 1.91544922e-03 -1.81824455e-05 9.99998165e-01 -5.53688266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594975926 meters Centerline goodness [0,1] 0.9997285291214215 Centerline is valid? [True, True] Translation: X:29.95, Y:3.30, Z:-0.55 [[ 9.66685933e-01 -2.55961901e-01 -1.34634893e-03 2.99517940e+01] [ 2.55961671e-01 9.66686870e-01 -3.43301959e-04 3.29555446e+00] [ 1.38937005e-03 -1.27485480e-05 9.99999035e-01 -5.53869982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624975925999998 meters Centerline goodness [0,1] 0.9996545939011152 Centerline is valid? [True, True] Translation: X:29.98, Y:3.30, Z:-0.56 [[ 9.66268752e-01 -2.57530430e-01 -1.66600104e-03 2.99797716e+01] [ 2.57530084e-01 9.66270188e-01 -4.22992206e-04 3.30181794e+00] [ 1.71874050e-03 -2.03212351e-05 9.99998523e-01 -5.55336651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654975926 meters Centerline goodness [0,1] 0.9997283615261143 Centerline is valid? [True, True] Translation: X:30.01, Y:3.31, Z:-0.55 [[ 9.65660799e-01 -2.59804942e-01 -7.83479338e-04 3.00079685e+01] [ 2.59804863e-01 9.65661117e-01 -2.02326153e-04 3.30732383e+00] [ 8.09140866e-04 -8.17330798e-06 9.99999673e-01 -5.54406957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684975926 meters Centerline goodness [0,1] 0.9997526589166461 Centerline is valid? [True, True] Translation: X:30.04, Y:3.31, Z:-0.55 [[ 9.64771583e-01 -2.63087798e-01 -7.76279268e-04 3.00365934e+01] [ 2.63087722e-01 9.64771895e-01 -2.00820375e-04 3.31167678e+00] [ 8.01765811e-04 -1.04837525e-05 9.99999679e-01 -5.54720174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714975925999997 meters Centerline goodness [0,1] 0.9998763753245148 Centerline is valid? [True, True] Translation: X:30.07, Y:3.32, Z:-0.55 [[ 9.64128223e-01 -2.65436131e-01 6.55518286e-04 3.00653646e+01] [ 2.65436084e-01 9.64128446e-01 1.58967066e-04 3.31787632e+00] [-6.74199429e-04 2.07335723e-05 9.99999773e-01 -5.52520492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744975926 meters Centerline goodness [0,1] 0.9998028585510104 Centerline is valid? [True, True] Translation: X:30.09, Y:3.33, Z:-0.56 [[ 9.67353596e-01 -2.53429971e-01 -5.19675004e-04 3.00925155e+01] [ 2.53429937e-01 9.67353736e-01 -1.31133610e-04 3.33393535e+00] [ 5.35942744e-04 -4.84863466e-06 9.99999856e-01 -5.55340328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.774975926 meters Centerline goodness [0,1] 0.9997784288141017 Centerline is valid? [True, True] Translation: X:30.12, Y:3.34, Z:-0.56 [[ 9.66828316e-01 -2.55426315e-01 -6.35943960e-04 3.01203177e+01] [ 2.55426263e-01 9.66828526e-01 -1.63183657e-04 3.33956747e+00] [ 6.56530162e-04 -4.66620847e-06 9.99999784e-01 -5.56616807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804975925999997 meters Centerline goodness [0,1] 0.9997536035481089 Centerline is valid? [True, True] Translation: X:30.15, Y:3.35, Z:-0.56 [[ 9.66549552e-01 -2.56478746e-01 -7.84951825e-04 3.01482196e+01] [ 2.56478666e-01 9.66549871e-01 -2.03748823e-04 3.34657020e+00] [ 8.10952328e-04 -4.39006301e-06 9.99999671e-01 -5.57446031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.834975926 meters Centerline goodness [0,1] 0.9997532022014364 Centerline is valid? [True, True] Translation: X:30.18, Y:3.35, Z:-0.56 [[ 9.66249391e-01 -2.57605465e-01 -1.24059499e-03 3.01763701e+01] [ 2.57605268e-01 9.66250187e-01 -3.19074988e-04 3.35325495e+00] [ 1.28092060e-03 -1.12777922e-05 9.99999180e-01 -5.58161864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864975926 meters Centerline goodness [0,1] 0.9998027953755516 Centerline is valid? [True, True] Translation: X:30.20, Y:3.36, Z:-0.56 [[ 9.65936581e-01 -2.58776484e-01 -1.11896424e-03 3.02037429e+01] [ 2.58776323e-01 9.65937229e-01 -2.89632228e-04 3.35987478e+00] [ 1.15579923e-03 -9.79508733e-06 9.99999332e-01 -5.58070623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894975926 meters Centerline goodness [0,1] 0.999703893796575 Centerline is valid? [True, True] Translation: X:30.23, Y:3.37, Z:-0.56 [[ 9.65653521e-01 -2.59827506e-01 -1.71595166e-03 3.02321789e+01] [ 2.59827134e-01 9.65655045e-01 -4.40397858e-04 3.36652523e+00] [ 1.77144485e-03 -2.05790593e-05 9.99998431e-01 -5.60355878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924975926 meters Centerline goodness [0,1] 0.9998273097323301 Centerline is valid? [True, True] Translation: X:30.26, Y:3.37, Z:-0.56 [[ 9.65264663e-01 -2.61269921e-01 -1.46930228e-03 3.02602760e+01] [ 2.61269647e-01 9.65265781e-01 -3.78542533e-04 3.37339260e+00] [ 1.51716899e-03 -1.84903571e-05 9.99998849e-01 -5.58959137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.954975926 meters Centerline goodness [0,1] 0.9997781666707747 Centerline is valid? [True, True] Translation: X:30.29, Y:3.38, Z:-0.56 [[ 9.65055332e-01 -2.62040623e-01 -1.70804869e-03 3.02879127e+01] [ 2.62040253e-01 9.65056844e-01 -4.40667080e-04 3.38032446e+00] [ 1.76383675e-03 -2.23093960e-05 9.99998444e-01 -5.60101065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984975926 meters Centerline goodness [0,1] 0.9996545853790926 Centerline is valid? [True, True] Translation: X:30.32, Y:3.39, Z:-0.56 [[ 9.64777982e-01 -2.63059607e-01 -1.75725696e-03 3.03156992e+01] [ 2.63059218e-01 9.64779582e-01 -4.52977930e-04 3.38663331e+00] [ 1.81452583e-03 -2.52395083e-05 9.99998353e-01 -5.61685093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.014975926 meters Centerline goodness [0,1] 0.9997534699110027 Centerline is valid? [True, True] Translation: X:30.34, Y:3.39, Z:-0.56 [[ 9.64686937e-01 -2.63395220e-01 -1.43920961e-03 3.03419094e+01] [ 2.63394962e-01 9.64688010e-01 -3.69348522e-04 3.39259361e+00] [ 1.48567289e-03 -2.27748661e-05 9.99998896e-01 -5.61228957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044975926 meters Centerline goodness [0,1] 0.9998521111138498 Centerline is valid? [True, True] Translation: X:30.37, Y:3.40, Z:-0.56 [[ 9.65008539e-01 -2.62217828e-01 -5.75280023e-04 3.03695146e+01] [ 2.62217784e-01 9.65008710e-01 -1.52571917e-04 3.40233103e+00] [ 5.95157309e-04 -3.61545012e-06 9.99999823e-01 -5.59367807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.074975926 meters Centerline goodness [0,1] 0.9997041857713356 Centerline is valid? [True, True] Translation: X:30.40, Y:3.41, Z:-0.56 [[ 9.65862968e-01 -2.59044655e-01 -2.14320162e-03 3.03964513e+01] [ 2.59044065e-01 9.65865346e-01 -5.53165155e-04 3.41225318e+00] [ 2.21333865e-03 -2.09019209e-05 9.99997550e-01 -5.62801970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104975926 meters Centerline goodness [0,1] 0.9997042222276996 Centerline is valid? [True, True] Translation: X:30.42, Y:3.42, Z:-0.56 [[ 9.66229827e-01 -2.57672026e-01 -2.24699857e-03 3.04241741e+01] [ 2.57671373e-01 9.66232439e-01 -5.80509791e-04 3.42087368e+00] [ 2.32070404e-03 -1.80813325e-05 9.99997307e-01 -5.63647639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.134975925999996 meters Centerline goodness [0,1] 0.9997536156897529 Centerline is valid? [True, True] Translation: X:30.45, Y:3.43, Z:-0.56 [[ 9.66424759e-01 -2.56943051e-01 -1.85835818e-03 3.04508350e+01] [ 2.56942608e-01 9.66426546e-01 -4.77566599e-04 3.42822746e+00] [ 1.91867409e-03 -1.59592108e-05 9.99998159e-01 -5.63558527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164975926 meters Centerline goodness [0,1] 0.9996790836604211 Centerline is valid? [True, True] Translation: X:30.48, Y:3.44, Z:-0.56 [[ 9.66585887e-01 -2.56333647e-01 -2.18733228e-03 3.04780111e+01] [ 2.56333020e-01 9.66588362e-01 -5.67328626e-04 3.43659785e+00] [ 2.25967534e-03 -1.23136433e-05 9.99997447e-01 -5.64397868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.194975926 meters Centerline goodness [0,1] 0.999704542656654 Centerline is valid? [True, True] Translation: X:30.50, Y:3.44, Z:-0.56 [[ 9.66656868e-01 -2.56068315e-01 -1.87551742e-03 3.05045795e+01] [ 2.56067850e-01 9.66658687e-01 -4.88203824e-04 3.44425123e+00] [ 1.93799874e-03 -8.33413405e-06 9.99998122e-01 -5.64240287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.224975926 meters Centerline goodness [0,1] 0.9997535245982451 Centerline is valid? [True, True] Translation: X:30.53, Y:3.45, Z:-0.56 [[ 9.67059386e-01 -2.54549729e-01 -7.61471247e-04 3.05317569e+01] [ 2.54549649e-01 9.67059686e-01 -2.01644113e-04 3.45284690e+00] [ 7.87716599e-04 1.16959342e-06 9.99999690e-01 -5.63142656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.254975926 meters Centerline goodness [0,1] 0.9998272799052507 Centerline is valid? [True, True] Translation: X:30.56, Y:3.46, Z:-0.56 [[ 9.67354931e-01 -2.53425398e-01 -7.35671911e-05 3.05589097e+01] [ 2.53425397e-01 9.67354934e-01 -2.09924561e-05 3.46078242e+00] [ 7.64856068e-05 1.66336132e-06 9.99999997e-01 -5.62466719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284975926 meters Centerline goodness [0,1] 0.9999013782391084 Centerline is valid? [True, True] Translation: X:30.59, Y:3.47, Z:-0.56 [[ 9.67055549e-01 -2.54565196e-01 -3.55256427e-04 3.05863809e+01] [ 2.54565177e-01 9.67055614e-01 -9.83929596e-05 3.46816213e+00] [ 3.68600145e-04 4.71554254e-06 9.99999932e-01 -5.61784849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.314975926 meters Centerline goodness [0,1] 0.9997284621081215 Centerline is valid? [True, True] Translation: X:30.61, Y:3.47, Z:-0.57 [[ 9.66690550e-01 -2.55947129e-01 -6.68293440e-04 3.06135847e+01] [ 2.55947070e-01 9.66690781e-01 -1.74399062e-04 3.47348958e+00] [ 6.90670047e-04 -2.45782203e-06 9.99999761e-01 -5.66154212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344975926 meters Centerline goodness [0,1] 0.9997528911732727 Centerline is valid? [True, True] Translation: X:30.64, Y:3.48, Z:-0.57 [[ 9.65956069e-01 -2.58704381e-01 -9.56729510e-04 3.06421332e+01] [ 2.58704258e-01 9.65956543e-01 -2.52692913e-04 3.47954452e+00] [ 9.89531894e-04 -3.41974447e-06 9.99999510e-01 -5.65985593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.374975926 meters Centerline goodness [0,1] 0.9997287500308238 Centerline is valid? [True, True] Translation: X:30.67, Y:3.49, Z:-0.57 [[ 9.65736696e-01 -2.59521398e-01 -1.13019666e-03 3.06693738e+01] [ 2.59521226e-01 9.65737358e-01 -2.98766733e-04 3.48693573e+00] [ 1.16900950e-03 -4.78002519e-06 9.99999317e-01 -5.67229245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404975926 meters Centerline goodness [0,1] 0.999851870139489 Centerline is valid? [True, True] Translation: X:30.70, Y:3.49, Z:-0.56 [[ 9.65493997e-01 -2.60425303e-01 -6.37664747e-05 3.06964696e+01] [ 2.60425302e-01 9.65493999e-01 -2.32417200e-05 3.49420970e+00] [ 6.76188806e-05 5.83333774e-06 9.99999998e-01 -5.64516982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.434975926 meters Centerline goodness [0,1] 0.9997780682070377 Centerline is valid? [True, True] Translation: X:30.72, Y:3.50, Z:-0.57 [[ 9.65581243e-01 -2.60101641e-01 1.46190482e-06 3.07231674e+01] [ 2.60101641e-01 9.65581243e-01 -6.34475478e-06 3.50183644e+00] [ 2.38693183e-07 6.50662005e-06 1.00000000e+00 -5.66297846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464975926 meters Centerline goodness [0,1] 0.9996794397593333 Centerline is valid? [True, True] Translation: X:30.75, Y:3.51, Z:-0.57 [[ 9.65792664e-01 -2.59314019e-01 -8.76800196e-04 3.07490453e+01] [ 2.59313915e-01 9.65793062e-01 -2.32272918e-04 3.50941245e+00] [ 9.07039170e-04 -3.03901107e-06 9.99999589e-01 -5.68820988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.494975926 meters Centerline goodness [0,1] 0.9998273139925005 Centerline is valid? [True, True] Translation: X:30.78, Y:3.52, Z:-0.57 [[ 9.65876943e-01 -2.59000785e-01 5.68810825e-04 3.07773716e+01] [ 2.59000746e-01 9.65877111e-01 1.42456712e-04 3.51757807e+00] [-5.86297757e-04 9.72677409e-06 9.99999828e-01 -5.65662849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.524975925999996 meters Centerline goodness [0,1] 0.9997284621081215 Centerline is valid? [True, True] Translation: X:30.80, Y:3.53, Z:-0.57 [[ 9.66197709e-01 -2.57801996e-01 3.43590802e-04 3.08040762e+01] [ 2.57801983e-01 9.66197770e-01 8.27885501e-05 3.52570200e+00] [-3.53319720e-04 8.58828269e-06 9.99999938e-01 -5.67855408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.554975926 meters Centerline goodness [0,1] 0.9996298946433418 Centerline is valid? [True, True] Translation: X:30.83, Y:3.53, Z:-0.57 [[ 9.66193659e-01 -2.57817396e-01 -6.51968942e-05 3.08306299e+01] [ 2.57817395e-01 9.66193661e-01 -2.37044349e-05 3.53333333e+00] [ 6.91042415e-05 6.09418127e-06 9.99999998e-01 -5.69809417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584975926 meters Centerline goodness [0,1] 0.9997041055356922 Centerline is valid? [True, True] Translation: X:30.86, Y:3.54, Z:-0.57 [[ 9.65656179e-01 -2.59822955e-01 4.19274473e-04 3.08579867e+01] [ 2.59822935e-01 9.65656270e-01 1.02855437e-04 3.53902285e+00] [-4.31599227e-04 9.61413588e-06 9.99999907e-01 -5.68923525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.614975926 meters Centerline goodness [0,1] 0.9998026104764489 Centerline is valid? [True, True] Translation: X:30.89, Y:3.55, Z:-0.57 [[ 9.65091167e-01 -2.61913563e-01 5.69913321e-04 3.08863427e+01] [ 2.61913524e-01 9.65091335e-01 1.43285759e-04 3.54540141e+00] [-5.87546891e-04 1.09841857e-05 9.99999827e-01 -5.68333727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644975926 meters Centerline goodness [0,1] 0.9997774700820888 Centerline is valid? [True, True] Translation: X:30.92, Y:3.55, Z:-0.57 [[ 9.64401314e-01 -2.64440971e-01 1.03826746e-03 3.09150516e+01] [ 2.64440837e-01 9.64401873e-01 2.66241306e-04 3.55107171e+00] [-1.07171219e-03 1.77968499e-05 9.99999426e-01 -5.68654965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.674975926 meters Centerline goodness [0,1] 0.9996790202711044 Centerline is valid? [True, True] Translation: X:30.94, Y:3.56, Z:-0.57 [[ 9.63656047e-01 -2.67141903e-01 1.49216831e-03 3.09435583e+01] [ 2.67141626e-01 9.63657202e-01 3.85768488e-04 3.55653459e+00] [-1.54099367e-03 2.68721336e-05 9.99998812e-01 -5.70341307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.704975925999996 meters Centerline goodness [0,1] 0.9997778161799196 Centerline is valid? [True, True] Translation: X:30.97, Y:3.56, Z:-0.57 [[ 9.63744550e-01 -2.66819672e-01 1.92486269e-03 3.09712069e+01] [ 2.66819205e-01 9.63746472e-01 5.00069955e-04 3.56451820e+00] [-1.98850813e-03 3.16506383e-05 9.99998022e-01 -5.69604396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.734975926 meters Centerline goodness [0,1] 0.9997775690771589 Centerline is valid? [True, True] Translation: X:31.00, Y:3.57, Z:-0.57 [[ 9.63987560e-01 -2.65940744e-01 1.87235049e-03 3.09977709e+01] [ 2.65940295e-01 9.63989378e-01 4.89395397e-04 3.57222759e+00] [-1.93507616e-03 2.61623670e-05 9.99998127e-01 -5.70869455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764975926 meters Centerline goodness [0,1] 0.9998025178968156 Centerline is valid? [True, True] Translation: X:31.02, Y:3.58, Z:-0.57 [[ 9.64012670e-01 -2.65848971e-01 1.97391634e-03 3.10249862e+01] [ 2.65848477e-01 9.64014691e-01 5.13368355e-04 3.58026587e+00] [-2.03936280e-03 2.98690545e-05 9.99997920e-01 -5.70437905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.794975926 meters Centerline goodness [0,1] 0.999802405710475 Centerline is valid? [True, True] Translation: X:31.05, Y:3.59, Z:-0.57 [[ 9.63992681e-01 -2.65922464e-01 1.83172312e-03 3.10525298e+01] [ 2.65922038e-01 9.63994420e-01 4.76687849e-04 3.58778045e+00] [-1.89253288e-03 2.75719485e-05 9.99998209e-01 -5.71161411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824975926 meters Centerline goodness [0,1] 0.9997530315378726 Centerline is valid? [True, True] Translation: X:31.08, Y:3.60, Z:-0.57 [[ 9.63951636e-01 -2.66072565e-01 1.62307075e-03 3.10794773e+01] [ 2.66072231e-01 9.63953002e-01 4.22300268e-04 3.59537240e+00] [-1.67692643e-03 2.47770209e-05 9.99998594e-01 -5.72329108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.854975926 meters Centerline goodness [0,1] 0.9997776734764457 Centerline is valid? [True, True] Translation: X:31.11, Y:3.60, Z:-0.57 [[ 9.63670467e-01 -2.67089387e-01 1.57823155e-03 3.11064396e+01] [ 2.67089072e-01 9.63671759e-01 4.11135705e-04 3.60276619e+00] [-1.63070716e-03 2.53290624e-05 9.99998670e-01 -5.72480024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.884975925999996 meters Centerline goodness [0,1] 0.9998269810667854 Centerline is valid? [True, True] Translation: X:31.13, Y:3.61, Z:-0.57 [[ 9.63462242e-01 -2.67840516e-01 1.40212182e-03 3.11339992e+01] [ 2.67840269e-01 9.63463262e-01 3.65112383e-04 3.60987637e+00] [-1.44868475e-03 2.37726895e-05 9.99998950e-01 -5.72759402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.914975926 meters Centerline goodness [0,1] 0.9997284822155851 Centerline is valid? [True, True] Translation: X:31.16, Y:3.62, Z:-0.58 [[ 9.63589865e-01 -2.67383802e-01 6.89298847e-04 3.11609928e+01] [ 2.67383741e-01 9.63590111e-01 1.80824633e-04 3.61673381e+00] [-7.12551130e-04 1.00665207e-05 9.99999746e-01 -5.75434591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944975926 meters Centerline goodness [0,1] 0.9999259515229303 Centerline is valid? [True, True] Translation: X:31.19, Y:3.63, Z:-0.57 [[ 9.64180273e-01 -2.65245926e-01 1.00021745e-03 3.11877531e+01] [ 2.65245799e-01 9.64180791e-01 2.60119762e-04 3.62720902e+00] [-1.03338616e-03 1.45011331e-05 9.99999466e-01 -5.73104438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.974975926 meters Centerline goodness [0,1] 0.9996790202711044 Centerline is valid? [True, True] Translation: X:31.21, Y:3.64, Z:-0.58 [[ 9.64610482e-01 -2.63678799e-01 3.31104790e-04 3.12141852e+01] [ 2.63678787e-01 9.64610538e-01 8.13816426e-05 3.63676222e+00] [-3.40845784e-04 8.80372403e-06 9.99999942e-01 -5.76003220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004975926 meters Centerline goodness [0,1] 0.9997530925162341 Centerline is valid? [True, True] Translation: X:31.24, Y:3.64, Z:-0.58 [[ 9.64373156e-01 -2.64544429e-01 8.12761000e-04 3.12410318e+01] [ 2.64544346e-01 9.64373499e-01 2.09915232e-04 3.64370549e+00] [-8.39337075e-04 1.25747132e-05 9.99999648e-01 -5.75100070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.034975926 meters Centerline goodness [0,1] 0.9996545342381246 Centerline is valid? [True, True] Translation: X:31.27, Y:3.65, Z:-0.58 [[ 9.64065996e-01 -2.65658882e-01 1.45417301e-03 3.12685806e+01] [ 2.65658609e-01 9.64067092e-01 3.81506807e-04 3.65105935e+00] [-1.50327101e-03 1.85158375e-05 9.99998870e-01 -5.75885556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064975926 meters Centerline goodness [0,1] 0.9998270494638534 Centerline is valid? [True, True] Translation: X:31.30, Y:3.66, Z:-0.57 [[ 9.63359644e-01 -2.68205787e-01 1.96261701e-03 3.12973422e+01] [ 2.68205287e-01 9.63361643e-01 5.18835910e-04 3.65684208e+00] [-2.02986474e-03 2.65586808e-05 9.99997939e-01 -5.74449070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.094975926 meters Centerline goodness [0,1] 0.9998271049966656 Centerline is valid? [True, True] Translation: X:31.32, Y:3.66, Z:-0.58 [[ 9.62986794e-01 -2.69538500e-01 2.33077668e-03 3.13244295e+01] [ 2.69537785e-01 9.62989614e-01 6.21399865e-04 3.66380801e+00] [-2.41200492e-03 2.98325198e-05 9.99997091e-01 -5.75708617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124975926 meters Centerline goodness [0,1] 0.9997776899515858 Centerline is valid? [True, True] Translation: X:31.35, Y:3.67, Z:-0.58 [[ 9.62358804e-01 -2.71779309e-01 1.24099981e-03 3.13522707e+01] [ 2.71779113e-01 9.62359604e-01 3.26531488e-04 3.67023940e+00] [-1.28303258e-03 2.30373752e-05 9.99999177e-01 -5.77401220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.154975926 meters Centerline goodness [0,1] 0.999605396206871 Centerline is valid? [True, True] Translation: X:31.38, Y:3.68, Z:-0.58 [[ 9.62051165e-01 -2.72867126e-01 1.04296053e-03 3.13801219e+01] [ 2.72866989e-01 9.62051730e-01 2.73870506e-04 3.67788621e+00] [-1.07811224e-03 2.11120605e-05 9.99999419e-01 -5.79799881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.184975926 meters Centerline goodness [0,1] 0.9996790044198622 Centerline is valid? [True, True] Translation: X:31.41, Y:3.68, Z:-0.58 [[ 9.61740001e-01 -2.73956907e-01 1.94520227e-03 3.14075496e+01] [ 2.73956424e-01 9.61741967e-01 5.15879215e-04 3.68460593e+00] [-2.01211134e-03 3.67589831e-05 9.99997975e-01 -5.78815396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.214975926 meters Centerline goodness [0,1] 0.9999012418833173 Centerline is valid? [True, True] Translation: X:31.43, Y:3.69, Z:-0.58 [[ 9.61696105e-01 -2.74115216e-01 1.20449566e-03 3.14347737e+01] [ 2.74115033e-01 9.61696859e-01 3.17388794e-04 3.69345397e+00] [-1.24536079e-03 2.49388008e-05 9.99999224e-01 -5.77332218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244975926 meters Centerline goodness [0,1] 0.999778177605797 Centerline is valid? [True, True] Translation: X:31.46, Y:3.70, Z:-0.58 [[ 9.61988247e-01 -2.73088674e-01 1.08996220e-03 3.14628502e+01] [ 2.73088520e-01 9.61988865e-01 2.90305163e-04 3.70202269e+00] [-1.12781055e-03 1.83860098e-05 9.99999364e-01 -5.79634750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.274975925999996 meters Centerline goodness [0,1] 0.999778177605797 Centerline is valid? [True, True] Translation: X:31.49, Y:3.71, Z:-0.58 [[ 9.61878462e-01 -2.73475109e-01 1.09072601e-03 3.14894104e+01] [ 2.73474959e-01 9.61879080e-01 2.87473791e-04 3.70944021e+00] [-1.12776346e-03 2.17714025e-05 9.99999364e-01 -5.80081568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304975926 meters Centerline goodness [0,1] 0.9997287901575482 Centerline is valid? [True, True] Translation: X:31.52, Y:3.72, Z:-0.58 [[ 9.62316038e-01 -2.71933224e-01 4.06025686e-04 3.15155192e+01] [ 2.71933204e-01 9.62316124e-01 1.02951095e-04 3.71875096e+00] [-4.18720887e-04 1.13403755e-05 9.99999912e-01 -5.82049794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.334975926 meters Centerline goodness [0,1] 0.9997778161799196 Centerline is valid? [True, True] Translation: X:31.54, Y:3.73, Z:-0.58 [[ 9.62645698e-01 -2.70759829e-01 1.54093493e-03 3.15429173e+01] [ 2.70759518e-01 9.62646931e-01 4.11014121e-04 3.72739994e+00] [-1.59466240e-03 2.15618248e-05 9.99998728e-01 -5.80889183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.364975926 meters Centerline goodness [0,1] 0.9997534759885612 Centerline is valid? [True, True] Translation: X:31.57, Y:3.73, Z:-0.58 [[ 9.61907882e-01 -2.73373751e-01 -1.39610604e-04 3.15706574e+01] [ 2.73373748e-01 9.61907892e-01 -3.98869803e-05 3.73307154e+00] [ 1.45196595e-04 2.01726578e-07 9.99999989e-01 -5.84504290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.394975926 meters Centerline goodness [0,1] 0.9996793290577207 Centerline is valid? [True, True] Translation: X:31.60, Y:3.74, Z:-0.59 [[ 9.61421432e-01 -2.75079646e-01 -1.38311704e-04 3.15990105e+01] [ 2.75079643e-01 9.61421442e-01 -4.33728443e-05 3.74015257e+00] [ 1.44906824e-04 3.65284801e-06 9.99999989e-01 -5.85541231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424975926 meters Centerline goodness [0,1] 0.9997781283897051 Centerline is valid? [True, True] Translation: X:31.63, Y:3.75, Z:-0.58 [[ 9.60977120e-01 -2.76627067e-01 6.63292848e-04 3.16261856e+01] [ 2.76627011e-01 9.60977349e-01 1.76927574e-04 3.74590370e+00] [-6.86352359e-04 1.34613673e-05 9.99999764e-01 -5.84518389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.454975925999996 meters Centerline goodness [0,1] 0.999753797670926 Centerline is valid? [True, True] Translation: X:31.65, Y:3.75, Z:-0.58 [[ 9.60542000e-01 -2.78132433e-01 1.18951882e-03 3.16539438e+01] [ 2.78132253e-01 9.60542737e-01 3.17215373e-04 3.75314062e+00] [-1.23081155e-03 2.61448620e-05 9.99999242e-01 -5.84469317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484975926 meters Centerline goodness [0,1] 0.9997779641782207 Centerline is valid? [True, True] Translation: X:31.68, Y:3.76, Z:-0.58 [[ 9.60088277e-01 -2.79695240e-01 1.03561974e-03 3.16820817e+01] [ 2.79695105e-01 9.60088836e-01 2.75852813e-04 3.76006601e+00] [-1.07144167e-03 2.48147191e-05 9.99999426e-01 -5.84961046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.514975926 meters Centerline goodness [0,1] 0.9998767379942807 Centerline is valid? [True, True] Translation: X:31.71, Y:3.77, Z:-0.58 [[ 9.59570287e-01 -2.81466395e-01 1.23829449e-03 3.17103740e+01] [ 2.81466202e-01 9.59571085e-01 3.31396418e-04 3.76719118e+00] [-1.28150855e-03 3.05398920e-05 9.99999178e-01 -5.84224508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.544975926 meters Centerline goodness [0,1] 0.9998032899751653 Centerline is valid? [True, True] Translation: X:31.74, Y:3.78, Z:-0.59 [[ 9.59605927e-01 -2.81347281e-01 4.15813908e-04 3.17371085e+01] [ 2.81347261e-01 9.59606017e-01 1.06697638e-04 3.77568880e+00] [-4.29036618e-04 1.46004186e-05 9.99999908e-01 -5.85971896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.574975926 meters Centerline goodness [0,1] 0.9997782595841135 Centerline is valid? [True, True] Translation: X:31.76, Y:3.79, Z:-0.59 [[ 9.60181549e-01 -2.79375800e-01 -7.45655283e-04 3.17641983e+01] [ 2.79375721e-01 9.60181838e-01 -2.09596685e-04 3.78579494e+00] [ 7.74520902e-04 -7.06711304e-06 9.99999700e-01 -5.88028614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604975926 meters Centerline goodness [0,1] 0.9999015651146766 Centerline is valid? [True, True] Translation: X:31.79, Y:3.79, Z:-0.59 [[ 9.60955688e-01 -2.76701947e-01 4.44477505e-04 3.17922781e+01] [ 2.76701922e-01 9.60955791e-01 1.18455670e-04 3.79443880e+00] [-4.59900147e-04 9.15712964e-06 9.99999894e-01 -5.86111676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.634975925999996 meters Centerline goodness [0,1] 0.9997290640394089 Centerline is valid? [True, True] Translation: X:31.82, Y:3.81, Z:-0.59 [[ 9.62140577e-01 -2.72553523e-01 2.96041906e-04 3.18189916e+01] [ 2.72553512e-01 9.62140622e-01 7.51687497e-05 3.80584020e+00] [-3.05321452e-04 8.36435717e-06 9.99999953e-01 -5.88860806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664975926 meters Centerline goodness [0,1] 0.9998522094684468 Centerline is valid? [True, True] Translation: X:31.85, Y:3.82, Z:-0.59 [[ 9.62781041e-01 -2.70281167e-01 8.70753631e-04 3.18461448e+01] [ 2.70281067e-01 9.62781435e-01 2.32885708e-04 3.81568485e+00] [-9.01290051e-04 1.11302760e-05 9.99999594e-01 -5.87429515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.694975926 meters Centerline goodness [0,1] 0.9997538279749889 Centerline is valid? [True, True] Translation: X:31.87, Y:3.82, Z:-0.59 [[ 9.62987363e-01 -2.69546541e-01 3.74540310e-05 3.18724247e+01] [ 2.69546541e-01 9.62987363e-01 3.57509993e-06 3.82407168e+00] [-3.70314144e-05 6.65282845e-06 9.99999999e-01 -5.90248508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.724975926 meters Centerline goodness [0,1] 0.9998030623799912 Centerline is valid? [True, True] Translation: X:31.90, Y:3.83, Z:-0.59 [[ 9.62640443e-01 -2.70782141e-01 6.39779058e-04 3.18992124e+01] [ 2.70782089e-01 9.62640656e-01 1.69210095e-04 3.83150172e+00] [-6.61696404e-04 1.03522290e-05 9.99999781e-01 -5.89530328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.754975926 meters Centerline goodness [0,1] 0.9997291174152876 Centerline is valid? [True, True] Translation: X:31.93, Y:3.84, Z:-0.59 [[ 9.62044738e-01 -2.72891778e-01 -5.99492829e-07 3.19277415e+01] [ 2.72891778e-01 9.62044738e-01 -6.02250482e-06 3.83798197e+00] [ 2.22023090e-06 5.63032241e-06 1.00000000e+00 -5.91836803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784975926 meters Centerline goodness [0,1] 0.999802678637496 Centerline is valid? [True, True] Translation: X:31.96, Y:3.84, Z:-0.59 [[ 9.61400006e-01 -2.75153467e-01 -7.73775484e-04 3.19560121e+01] [ 2.75153379e-01 9.61400317e-01 -2.19234538e-04 3.84467318e+00] [ 8.04231139e-04 -2.13485304e-06 9.99999677e-01 -5.92271995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.814975926 meters Centerline goodness [0,1] 0.999630350673994 Centerline is valid? [True, True] Translation: X:31.98, Y:3.85, Z:-0.59 [[ 9.60965340e-01 -2.76666136e-01 -1.21027544e-03 3.19842782e+01] [ 2.76665928e-01 9.60966102e-01 -3.40054353e-04 3.85122597e+00] [ 1.25711520e-03 -8.06153038e-06 9.99999210e-01 -5.94754716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844975926 meters Centerline goodness [0,1] 0.9999259880594069 Centerline is valid? [True, True] Translation: X:32.01, Y:3.86, Z:-0.59 [[ 9.60535142e-01 -2.78158540e-01 2.61863069e-04 3.20119349e+01] [ 2.78158532e-01 9.60535177e-01 6.57540378e-05 3.85815179e+00] [-2.69818737e-04 9.68038298e-06 9.99999964e-01 -5.90789183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.874975926 meters Centerline goodness [0,1] 0.9997529522209595 Centerline is valid? [True, True] Translation: X:32.04, Y:3.87, Z:-0.59 [[ 9.60498370e-01 -2.78283974e-01 -9.55090059e-04 3.20402164e+01] [ 2.78283842e-01 9.60498844e-01 -2.70357110e-04 3.86575705e+00] [ 9.92598948e-04 -6.10856802e-06 9.99999507e-01 -5.94364796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.904975926 meters Centerline goodness [0,1] 0.9997040982393846 Centerline is valid? [True, True] Translation: X:32.07, Y:3.87, Z:-0.59 [[ 9.60603849e-01 -2.77921211e-01 -2.14572848e-04 3.20675274e+01] [ 2.77921204e-01 9.60603873e-01 -6.53853875e-05 3.87425262e+00] [ 2.24291495e-04 3.17511072e-06 9.99999975e-01 -5.94378260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.934975926 meters Centerline goodness [0,1] 0.9998028585510104 Centerline is valid? [True, True] Translation: X:32.09, Y:3.88, Z:-0.59 [[ 9.60852879e-01 -2.77058959e-01 -2.80539208e-04 3.20942286e+01] [ 2.77058946e-01 9.60852920e-01 -8.46324710e-05 3.88271562e+00] [ 2.93005101e-04 3.59345602e-06 9.99999957e-01 -5.94063384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964975926 meters Centerline goodness [0,1] 0.9997043898113022 Centerline is valid? [True, True] Translation: X:32.12, Y:3.89, Z:-0.60 [[ 9.61300431e-01 -2.75501604e-01 -5.89305309e-04 3.21205388e+01] [ 2.75501552e-01 9.61300612e-01 -1.70639768e-04 3.89198566e+00] [ 6.13511084e-04 1.68155494e-06 9.99999812e-01 -5.95993727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.994975926 meters Centerline goodness [0,1] 0.9998277559055118 Centerline is valid? [True, True] Translation: X:32.15, Y:3.90, Z:-0.59 [[ 9.61434963e-01 -2.75032382e-01 -1.07658055e-05 3.21478898e+01] [ 2.75032382e-01 9.61434963e-01 -8.87762679e-06 3.90044522e+00] [ 1.27922565e-05 5.57431566e-06 1.00000000e+00 -5.94387429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.024975925999996 meters Centerline goodness [0,1] 0.9997533543804262 Centerline is valid? [True, True] Translation: X:32.18, Y:3.91, Z:-0.60 [[ 9.61872997e-01 -2.73496329e-01 3.09889326e-04 3.21757173e+01] [ 2.73496317e-01 9.61873047e-01 8.05575107e-05 3.90959978e+00] [-3.20106374e-04 7.26749508e-06 9.99999949e-01 -5.95813557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.054975926 meters Centerline goodness [0,1] 0.9997051307253784 Centerline is valid? [True, True] Translation: X:32.20, Y:3.92, Z:-0.60 [[ 9.62020461e-01 -2.72977340e-01 6.40701908e-05 3.22026217e+01] [ 2.72977340e-01 9.62020463e-01 1.11702195e-05 3.91886924e+00] [-6.46860515e-05 6.74373055e-06 9.99999998e-01 -5.97353726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084975926 meters Centerline goodness [0,1] 0.9996801181102363 Centerline is valid? [True, True] Translation: X:32.23, Y:3.93, Z:-0.60 [[ 9.61702137e-01 -2.74096660e-01 1.47221865e-04 3.22299421e+01] [ 2.74096658e-01 9.61702148e-01 3.45415146e-05 3.92584322e+00] [-1.51051298e-04 7.13437278e-06 9.99999989e-01 -5.98287808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.114975926 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:32.26, Y:3.94, Z:-0.60 [[ 9.62295178e-01 -2.72006891e-01 4.91533892e-04 3.22562686e+01] [ 2.72006860e-01 9.62295303e-01 1.31000727e-04 3.93597913e+00] [-5.08633856e-04 7.63922256e-06 9.99999871e-01 -5.95958496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144975926 meters Centerline goodness [0,1] 0.9996557235952294 Centerline is valid? [True, True] Translation: X:32.28, Y:3.94, Z:-0.60 [[ 9.62453870e-01 -2.71444181e-01 -7.77146032e-04 3.22824131e+01] [ 2.71444091e-01 9.62454184e-01 -2.21598363e-04 3.94377635e+00] [ 8.08119036e-04 2.32650397e-06 9.99999673e-01 -6.01906145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.174975926 meters Centerline goodness [0,1] 0.999802931395492 Centerline is valid? [True, True] Translation: X:32.31, Y:3.95, Z:-0.60 [[ 9.62206246e-01 -2.72321660e-01 -2.32940746e-04 3.23098455e+01] [ 2.72321650e-01 9.62206274e-01 -7.21281363e-05 3.95143408e+00] [ 2.43779101e-04 5.96733506e-06 9.99999970e-01 -5.99251022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.204975925999996 meters Centerline goodness [0,1] 0.9997787393057331 Centerline is valid? [True, True] Translation: X:32.34, Y:3.96, Z:-0.60 [[ 9.62131289e-01 -2.72586392e-01 -2.03538357e-04 3.23369679e+01] [ 2.72586385e-01 9.62131311e-01 -6.39889548e-05 3.95938981e+00] [ 2.13273144e-04 6.08399084e-06 9.99999977e-01 -6.00176989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.234975926 meters Centerline goodness [0,1] 0.9997783797094312 Centerline is valid? [True, True] Translation: X:32.36, Y:3.97, Z:-0.60 [[ 9.61971282e-01 -2.73150602e-01 4.15961947e-05 3.23636828e+01] [ 2.73150602e-01 9.61971283e-01 4.89990725e-06 3.96718307e+00] [-4.13527574e-05 6.64845556e-06 9.99999999e-01 -6.00369845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264975926 meters Centerline goodness [0,1] 0.9997293240483279 Centerline is valid? [True, True] Translation: X:32.39, Y:3.98, Z:-0.60 [[ 9.61905222e-01 -2.73383032e-01 -2.47516211e-04 3.23903349e+01] [ 2.73383021e-01 9.61905254e-01 -7.66905556e-05 3.97501049e+00] [ 2.59053040e-04 6.10231643e-06 9.99999966e-01 -6.01643069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.294975926 meters Centerline goodness [0,1] 0.9997539067306509 Centerline is valid? [True, True] Translation: X:32.42, Y:3.98, Z:-0.60 [[ 9.61665067e-01 -2.74226372e-01 -4.42339142e-04 3.24174605e+01] [ 2.74226341e-01 9.61665169e-01 -1.31817203e-04 3.98242290e+00] [ 4.61529899e-04 5.46295455e-06 9.99999893e-01 -6.01906955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324975926 meters Centerline goodness [0,1] 0.9998277855684307 Centerline is valid? [True, True] Translation: X:32.44, Y:3.99, Z:-0.60 [[ 9.61481283e-01 -2.74870389e-01 1.08433851e-04 3.24445369e+01] [ 2.74870388e-01 9.61481289e-01 2.38663457e-05 3.99020736e+00] [-1.10817271e-04 6.85821012e-06 9.99999994e-01 -6.00915873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.354975926 meters Centerline goodness [0,1] 0.9998277050310131 Centerline is valid? [True, True] Translation: X:32.47, Y:4.00, Z:-0.60 [[ 9.61543461e-01 -2.74651523e-01 -8.44813276e-04 3.24714072e+01] [ 2.74651417e-01 9.61543832e-01 -2.41332197e-04 3.99850476e+00] [ 8.78607250e-04 2.22334754e-08 9.99999614e-01 -6.02887914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.384975925999996 meters Centerline goodness [0,1] 0.9997295170650142 Centerline is valid? [True, True] Translation: X:32.50, Y:4.01, Z:-0.60 [[ 9.61683520e-01 -2.74157197e-01 -1.62465963e-03 3.24986634e+01] [ 2.74156800e-01 9.61684892e-01 -4.66531095e-04 4.00701763e+00] [ 1.69031348e-03 3.24377960e-06 9.99998571e-01 -6.04778938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.414975926 meters Centerline goodness [0,1] 0.9998030769230769 Centerline is valid? [True, True] Translation: X:32.53, Y:4.01, Z:-0.60 [[ 9.61609347e-01 -2.74418023e-01 -1.48719122e-03 3.25252620e+01] [ 2.74417688e-01 9.61610497e-01 -4.29132189e-04 4.01488648e+00] [ 1.54786030e-03 4.54594683e-06 9.99998802e-01 -6.03809041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444975926 meters Centerline goodness [0,1] 0.9997049131952983 Centerline is valid? [True, True] Translation: X:32.55, Y:4.02, Z:-0.61 [[ 9.61662877e-01 -2.74230199e-01 -1.51919946e-03 3.25510395e+01] [ 2.74229855e-01 9.61664077e-01 -4.34646423e-04 4.02247531e+00] [ 1.58015272e-03 1.37348091e-06 9.99998752e-01 -6.06030068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.474975926 meters Centerline goodness [0,1] 0.9998770138974296 Centerline is valid? [True, True] Translation: X:32.58, Y:4.03, Z:-0.60 [[ 9.61410718e-01 -2.75117023e-01 -2.34617715e-04 3.25787810e+01] [ 2.75117013e-01 9.61410747e-01 -7.25848907e-05 4.03009168e+00] [ 2.45533331e-04 5.23656701e-06 9.99999970e-01 -6.03096611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504975926 meters Centerline goodness [0,1] 0.9998521402695976 Centerline is valid? [True, True] Translation: X:32.61, Y:4.04, Z:-0.60 [[ 9.61091199e-01 -2.76230611e-01 5.96586229e-04 3.26055418e+01] [ 2.76230563e-01 9.61091385e-01 1.63359952e-04 4.03709280e+00] [-6.18498904e-04 7.79153775e-06 9.99999809e-01 -6.03051727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.534975926 meters Centerline goodness [0,1] 0.9998276286628909 Centerline is valid? [True, True] Translation: X:32.63, Y:4.05, Z:-0.60 [[ 9.60961842e-01 -2.76680256e-01 6.10960684e-04 3.26320973e+01] [ 2.76680205e-01 9.60962037e-01 1.67783035e-04 4.04508532e+00] [-6.33532276e-04 7.80763352e-06 9.99999799e-01 -6.04097127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564975926 meters Centerline goodness [0,1] 0.9999015166436872 Centerline is valid? [True, True] Translation: X:32.66, Y:4.05, Z:-0.60 [[ 9.60921235e-01 -2.76819113e-01 1.24848221e-03 3.26590325e+01] [ 2.76818892e-01 9.60922046e-01 3.50320945e-04 4.05356006e+00] [-1.29666962e-03 8.97262740e-06 9.99999159e-01 -6.03419946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.594975926 meters Centerline goodness [0,1] 0.999754033844943 Centerline is valid? [True, True] Translation: X:32.69, Y:4.06, Z:-0.61 [[ 9.60850091e-01 -2.77068763e-01 5.69642166e-05 3.26870563e+01] [ 2.77068763e-01 9.60850093e-01 1.03420434e-05 4.06179451e+00] [-5.75995301e-05 5.84585171e-06 9.99999998e-01 -6.05665591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624975926 meters Centerline goodness [0,1] 0.9997291641019328 Centerline is valid? [True, True] Translation: X:32.71, Y:4.07, Z:-0.61 [[ 9.60794950e-01 -2.77259609e-01 -4.16503633e-04 3.27134023e+01] [ 2.77259582e-01 9.60795040e-01 -1.21356844e-04 4.06943510e+00] [ 4.33821976e-04 1.11941957e-06 9.99999906e-01 -6.07489183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.654975926 meters Centerline goodness [0,1] 0.99968 Centerline is valid? [True, True] Translation: X:32.74, Y:4.08, Z:-0.61 [[ 9.60427920e-01 -2.78528183e-01 -5.11376884e-04 3.27401928e+01] [ 2.78528141e-01 9.60428056e-01 -1.53363706e-04 4.07640024e+00] [ 5.33856820e-04 4.86193210e-06 9.99999857e-01 -6.07444361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.684975926 meters Centerline goodness [0,1] 0.9998280309544282 Centerline is valid? [True, True] Translation: X:32.77, Y:4.09, Z:-0.61 [[ 9.60405087e-01 -2.78607335e-01 1.49296097e-04 3.27668672e+01] [ 2.78607333e-01 9.60405098e-01 3.61354843e-05 4.08505973e+00] [-1.53452344e-04 6.89028444e-06 9.99999988e-01 -6.05684188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.714975926 meters Centerline goodness [0,1] 0.9998526775848945 Centerline is valid? [True, True] Translation: X:32.79, Y:4.09, Z:-0.60 [[ 9.60141159e-01 -2.79513250e-01 1.13907349e-03 3.27935981e+01] [ 2.79513066e-01 9.60141835e-01 3.20877801e-04 4.09306850e+00] [-1.18336171e-03 1.02979412e-05 9.99999300e-01 -6.04752597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744975926 meters Centerline goodness [0,1] 0.9998033866647006 Centerline is valid? [True, True] Translation: X:32.82, Y:4.10, Z:-0.61 [[ 9.59705375e-01 -2.81006910e-01 8.42155307e-04 3.28206817e+01] [ 2.81006811e-01 9.59705745e-01 2.35853386e-04 4.09932563e+00] [-8.74497717e-04 1.03016148e-05 9.99999618e-01 -6.05977877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.774975925999996 meters Centerline goodness [0,1] 0.9983046683046684 Centerline is valid? [True, True] Translation: X:32.85, Y:4.11, Z:-0.61 [[ 9.59976756e-01 -2.80078066e-01 -9.50830091e-04 3.28469114e+01] [ 2.80077930e-01 9.59977227e-01 -2.76096151e-04 4.10715775e+00] [ 9.90103711e-04 -1.26063620e-06 9.99999510e-01 -6.10397150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804975926 meters Centerline goodness [0,1] 0.9966571625208928 Centerline is valid? [True, True] Translation: X:32.87, Y:4.12, Z:-0.61 [[ 9.60028916e-01 -2.79900475e-01 -4.51579340e-04 3.28737402e+01] [ 2.79900441e-01 9.60029023e-01 -1.37094940e-04 4.11541135e+00] [ 4.71902211e-04 5.21785041e-06 9.99999889e-01 -6.11656032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.834975926 meters Centerline goodness [0,1] 0.9965080536087545 Centerline is valid? [True, True] Translation: X:32.90, Y:4.12, Z:-0.61 [[ 9.59819578e-01 -2.80612309e-01 -1.76364298e-03 3.29005239e+01] [ 2.80611843e-01 9.59821198e-01 -5.11346091e-04 4.12298905e+00] [ 1.83627193e-03 -4.09911957e-06 9.99998314e-01 -6.14950646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.864975926 meters Centerline goodness [0,1] 0.9975911314308188 Centerline is valid? [True, True] Translation: X:32.93, Y:4.14, Z:-0.61 [[ 9.60404333e-01 -2.78607595e-01 -1.15126221e-03 3.29272901e+01] [ 2.78607389e-01 9.60405023e-01 -3.38767052e-04 4.13529926e+00] [ 1.20006109e-03 4.60318446e-06 9.99999280e-01 -6.13378579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.894975926 meters Centerline goodness [0,1] 0.9974702819530405 Centerline is valid? [True, True] Translation: X:32.95, Y:4.14, Z:-0.61 [[ 9.60494681e-01 -2.78295944e-01 -1.15586807e-03 3.29537655e+01] [ 2.78295735e-01 9.60495376e-01 -3.41419574e-04 4.14359488e+00] [ 1.20522162e-03 6.25852969e-06 9.99999274e-01 -6.14494877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924975926 meters Centerline goodness [0,1] 0.9977633034287821 Centerline is valid? [True, True] Translation: X:32.98, Y:4.15, Z:-0.61 [[ 9.60565417e-01 -2.78052298e-01 -1.00001424e-03 3.29806740e+01] [ 2.78052140e-01 9.60565937e-01 -2.96737754e-04 4.15247513e+00] [ 1.04308823e-03 6.97992604e-06 9.99999456e-01 -6.14043242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.954975925999996 meters Centerline goodness [0,1] 0.9978413913214119 Centerline is valid? [True, True] Translation: X:33.01, Y:4.16, Z:-0.61 [[ 9.60542611e-01 -2.78131826e-01 -7.61183237e-04 3.30073285e+01] [ 2.78131733e-01 9.60542913e-01 -2.27782726e-04 4.16107968e+00] [ 7.94502790e-04 7.08580161e-06 9.99999684e-01 -6.14094651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984975926 meters Centerline goodness [0,1] 0.9977408898929379 Centerline is valid? [True, True] Translation: X:33.03, Y:4.17, Z:-0.61 [[ 9.60355801e-01 -2.78776553e-01 -6.08127333e-04 3.30341736e+01] [ 2.78776492e-01 9.60355993e-01 -1.83602106e-04 4.16877178e+00] [ 6.35202691e-04 6.79174263e-06 9.99999798e-01 -6.14806478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.014975926 meters Centerline goodness [0,1] 0.9977180154095303 Centerline is valid? [True, True] Translation: X:33.06, Y:4.18, Z:-0.61 [[ 9.60112885e-01 -2.79611934e-01 -6.44187369e-04 3.30609088e+01] [ 2.79611867e-01 9.60113101e-01 -1.94323711e-04 4.17608856e+00] [ 6.72827961e-04 6.45026600e-06 9.99999774e-01 -6.14455731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.044975926 meters Centerline goodness [0,1] 0.9976416253132216 Centerline is valid? [True, True] Translation: X:33.09, Y:4.18, Z:-0.61 [[ 9.59949514e-01 -2.80172890e-01 -2.86315704e-04 3.30878882e+01] [ 2.80172875e-01 9.59949557e-01 -9.02525421e-05 4.18382899e+00] [ 3.00134948e-04 6.41999000e-06 9.99999955e-01 -6.14260311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.074975926 meters Centerline goodness [0,1] 0.9971014492753624 Centerline is valid? [True, True] Translation: X:33.12, Y:4.19, Z:-0.62 [[ 9.59936223e-01 -2.80217089e-01 -9.11734986e-04 3.31154904e+01] [ 2.80216956e-01 9.59936656e-01 -2.72201708e-04 4.19224494e+00] [ 9.51483404e-04 5.81267665e-06 9.99999547e-01 -6.17650509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104975926 meters Centerline goodness [0,1] 0.9969013599586848 Centerline is valid? [True, True] Translation: X:33.14, Y:4.20, Z:-0.62 [[ 9.59682503e-01 -2.81084304e-01 -1.05274084e-03 3.31421371e+01] [ 2.81084128e-01 9.59683080e-01 -3.14693933e-04 4.19978736e+00] [ 1.09875310e-03 6.09751928e-06 9.99999396e-01 -6.18017417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.134975925999996 meters Centerline goodness [0,1] 0.9965407262021589 Centerline is valid? [True, True] Translation: X:33.17, Y:4.21, Z:-0.62 [[ 9.59791274e-01 -2.80713266e-01 -8.79351225e-04 3.31688155e+01] [ 2.80713142e-01 9.59791676e-01 -2.64366749e-04 4.20881026e+00] [ 9.18205240e-04 6.89145377e-06 9.99999578e-01 -6.18505109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164975926 meters Centerline goodness [0,1] 0.9961265965531613 Centerline is valid? [True, True] Translation: X:33.20, Y:4.22, Z:-0.62 [[ 9.59605866e-01 -2.81345824e-01 -1.05296266e-03 3.31950100e+01] [ 2.81345651e-01 9.59606444e-01 -3.11584295e-04 4.21595106e+00] [ 1.09809269e-03 2.75165240e-06 9.99999397e-01 -6.19772696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.194975926 meters Centerline goodness [0,1] 0.9961265965531613 Centerline is valid? [True, True] Translation: X:33.22, Y:4.22, Z:-0.62 [[ 9.59495106e-01 -2.81723331e-01 -1.05182867e-03 3.32213923e+01] [ 2.81723155e-01 9.59495682e-01 -3.15447795e-04 4.22395006e+00] [ 1.09809407e-03 6.34612421e-06 9.99999397e-01 -6.20219489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.224975926 meters Centerline goodness [0,1] 0.9961958522518101 Centerline is valid? [True, True] Translation: X:33.25, Y:4.23, Z:-0.62 [[ 9.59169446e-01 -2.82832030e-01 1.26777740e-04 3.32495296e+01] [ 2.82832028e-01 9.59169455e-01 3.13791902e-05 4.23193606e+00] [-1.30476376e-04 5.75884496e-06 9.99999991e-01 -6.19385857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.254975926 meters Centerline goodness [0,1] 0.9963896256999706 Centerline is valid? [True, True] Translation: X:33.28, Y:4.24, Z:-0.62 [[ 9.59022702e-01 -2.83328463e-01 -6.63151350e-04 3.32777237e+01] [ 2.83328392e-01 9.59022931e-01 -2.01092962e-04 4.23997113e+00] [ 6.92952711e-04 4.96311014e-06 9.99999760e-01 -6.19450514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284975926 meters Centerline goodness [0,1] 0.9963221772710555 Centerline is valid? [True, True] Translation: X:33.30, Y:4.25, Z:-0.62 [[ 9.58909031e-01 -2.83713699e-01 -8.56390053e-05 3.33039444e+01] [ 2.83713698e-01 9.58909035e-01 -2.72950919e-05 4.24808662e+00] [ 8.98640073e-05 1.87655118e-06 9.99999996e-01 -6.19788371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.314975925999995 meters Centerline goodness [0,1] 0.9964907114285013 Centerline is valid? [True, True] Translation: X:33.33, Y:4.26, Z:-0.62 [[ 9.58828180e-01 -2.83986506e-01 -4.31803240e-04 3.33312618e+01] [ 2.83986475e-01 9.58828277e-01 -1.34089357e-04 4.25619985e+00] [ 4.52104724e-04 5.94237468e-06 9.99999898e-01 -6.20252568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344975926 meters Centerline goodness [0,1] 0.9966370464922185 Centerline is valid? [True, True] Translation: X:33.36, Y:4.26, Z:-0.62 [[ 9.58711351e-01 -2.84380842e-01 -2.85042346e-04 3.33580673e+01] [ 2.84380828e-01 9.58711394e-01 -9.09466597e-05 4.26465292e+00] [ 2.99136833e-04 6.13101669e-06 9.99999955e-01 -6.19909857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.374975926 meters Centerline goodness [0,1] 0.9965199490246054 Centerline is valid? [True, True] Translation: X:33.39, Y:4.27, Z:-0.62 [[ 9.58517330e-01 -2.85034189e-01 -1.98968218e-04 3.33851947e+01] [ 2.85034181e-01 9.58517351e-01 -6.56082253e-05 4.27263220e+00] [ 2.09415077e-04 6.17387779e-06 9.99999978e-01 -6.20352110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.404975926 meters Centerline goodness [0,1] 0.9968841237518095 Centerline is valid? [True, True] Translation: X:33.41, Y:4.28, Z:-0.62 [[ 9.58318413e-01 -2.85701889e-01 -5.00366216e-04 3.34121516e+01] [ 2.85701847e-01 9.58318543e-01 -1.54965550e-04 4.28001670e+00] [ 5.23784174e-04 5.55078785e-06 9.99999863e-01 -6.21149813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.434975926 meters Centerline goodness [0,1] 0.9972817436023019 Centerline is valid? [True, True] Translation: X:33.44, Y:4.29, Z:-0.62 [[ 9.58088441e-01 -2.86472192e-01 -4.71592843e-04 3.34384628e+01] [ 2.86472154e-01 9.58088557e-01 -1.46648267e-04 4.28891875e+00] [ 4.93838357e-04 5.40379236e-06 9.99999878e-01 -6.21170604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464975926 meters Centerline goodness [0,1] 0.9973771938425335 Centerline is valid? [True, True] Translation: X:33.47, Y:4.30, Z:-0.62 [[ 9.57871177e-01 -2.87197934e-01 3.94437644e-04 3.34655547e+01] [ 2.87197913e-01 9.57871258e-01 1.10421899e-04 4.29610185e+00] [-4.09533423e-04 7.51171344e-06 9.99999916e-01 -6.20407079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.494975926 meters Centerline goodness [0,1] 0.9976983349657199 Centerline is valid? [True, True] Translation: X:33.49, Y:4.30, Z:-0.62 [[ 9.57756778e-01 -2.87579314e-01 3.04284786e-04 3.34918488e+01] [ 2.87579302e-01 9.57756826e-01 8.37677639e-05 4.30487889e+00] [-3.15520707e-04 7.27686284e-06 9.99999950e-01 -6.19922644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.524975925999996 meters Centerline goodness [0,1] 0.9978703613042201 Centerline is valid? [True, True] Translation: X:33.52, Y:4.31, Z:-0.62 [[ 9.57809181e-01 -2.87404885e-01 7.43636487e-05 3.35189273e+01] [ 2.87404885e-01 9.57809184e-01 1.54164911e-05 4.31365006e+00] [-7.56569605e-05 6.60641920e-06 9.99999997e-01 -6.21368926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.554975926 meters Centerline goodness [0,1] 0.9981392160223294 Centerline is valid? [True, True] Translation: X:33.55, Y:4.32, Z:-0.62 [[ 9.57855860e-01 -2.87247653e-01 9.68396324e-04 3.35459251e+01] [ 2.87247514e-01 9.57856349e-01 2.82998860e-04 4.32343382e+00] [-1.00887533e-03 7.09732039e-06 9.99999491e-01 -6.19204662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584975926 meters Centerline goodness [0,1] 0.9980393117984413 Centerline is valid? [True, True] Translation: X:33.57, Y:4.33, Z:-0.62 [[ 9.57604732e-01 -2.88085229e-01 2.81034398e-04 3.35733134e+01] [ 2.88085217e-01 9.57604773e-01 8.17973413e-05 4.33035088e+00] [-2.92684487e-04 2.63233465e-06 9.99999957e-01 -6.22527271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.614975926 meters Centerline goodness [0,1] 0.9980183486238532 Centerline is valid? [True, True] Translation: X:33.60, Y:4.34, Z:-0.62 [[ 9.57700094e-01 -2.87766853e-01 -8.76838592e-04 3.36009473e+01] [ 2.87766728e-01 9.57700495e-01 -2.67913940e-04 4.33967811e+00] [ 9.16845505e-04 4.25623247e-06 9.99999580e-01 -6.24921992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644975926 meters Centerline goodness [0,1] 0.9985523603886545 Centerline is valid? [True, True] Translation: X:33.63, Y:4.35, Z:-0.62 [[ 9.57509712e-01 -2.88400642e-01 -4.69594203e-04 3.36275967e+01] [ 2.88400604e-01 9.57509828e-01 -1.47294590e-04 4.34777323e+00] [ 4.92120919e-04 5.60474878e-06 9.99999879e-01 -6.24089046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.674975926 meters Centerline goodness [0,1] 0.9987749301710197 Centerline is valid? [True, True] Translation: X:33.65, Y:4.36, Z:-0.62 [[ 9.57364221e-01 -2.88883537e-01 -2.23653991e-04 3.36549094e+01] [ 2.88883527e-01 9.57364247e-01 -7.37856212e-05 4.35603954e+00] [ 2.35433786e-04 6.02975991e-06 9.99999972e-01 -6.23895629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.704975925999996 meters Centerline goodness [0,1] 0.9985800323165059 Centerline is valid? [True, True] Translation: X:33.68, Y:4.36, Z:-0.63 [[ 9.57381111e-01 -2.88826816e-01 -6.92219231e-04 3.36815951e+01] [ 2.88826736e-01 9.57381361e-01 -2.14509541e-04 4.36460011e+00] [ 7.24673897e-04 5.43596122e-06 9.99999737e-01 -6.25742920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.734975926 meters Centerline goodness [0,1] 0.9987760397542288 Centerline is valid? [True, True] Translation: X:33.71, Y:4.37, Z:-0.63 [[ 9.57217686e-01 -2.89368572e-01 -3.62985481e-04 3.37081117e+01] [ 2.89368549e-01 9.57217754e-01 -1.15869201e-04 4.37303150e+00] [ 3.80985052e-04 5.87546584e-06 9.99999927e-01 -6.25587015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764975926 meters Centerline goodness [0,1] 0.998823212140528 Centerline is valid? [True, True] Translation: X:33.74, Y:4.38, Z:-0.62 [[ 9.57026585e-01 -2.90000083e-01 2.57714332e-04 3.37355687e+01] [ 2.90000075e-01 9.57026620e-01 7.08239815e-05 4.38080130e+00] [-2.67178437e-04 6.95674231e-06 9.99999964e-01 -6.24959618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.794975926 meters Centerline goodness [0,1] 0.9990680792623111 Centerline is valid? [True, True] Translation: X:33.76, Y:4.39, Z:-0.62 [[ 9.56846063e-01 -2.90594490e-01 6.73418095e-04 3.37622324e+01] [ 2.90594424e-01 9.56846300e-01 1.96205391e-04 4.38949638e+00] [-7.01373819e-04 7.95318694e-06 9.99999754e-01 -6.23712199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824975926 meters Centerline goodness [0,1] 0.9989454322501533 Centerline is valid? [True, True] Translation: X:33.79, Y:4.40, Z:-0.63 [[ 9.56947781e-01 -2.90258153e-01 -1.07238737e-03 3.37893143e+01] [ 2.90257965e-01 9.56948382e-01 -3.29581714e-04 4.39849827e+00] [ 1.12188314e-03 4.12351415e-06 9.99999371e-01 -6.26916323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.854975926 meters Centerline goodness [0,1] 0.9989968928143274 Centerline is valid? [True, True] Translation: X:33.82, Y:4.41, Z:-0.63 [[ 9.56767835e-01 -2.90851488e-01 -8.49150943e-04 3.38165534e+01] [ 2.90851369e-01 9.56768212e-01 -2.63393232e-04 4.40681474e+00] [ 8.89048943e-04 5.02945813e-06 9.99999605e-01 -6.27130666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.884975925999996 meters Centerline goodness [0,1] 0.9988729633713096 Centerline is valid? [True, True] Translation: X:33.84, Y:4.42, Z:-0.63 [[ 9.56740724e-01 -2.90938396e-01 -1.42752401e-03 3.38437971e+01] [ 2.90938065e-01 9.56741789e-01 -4.38841111e-04 4.41520949e+00] [ 1.49344761e-03 4.53608869e-06 9.99998885e-01 -6.29198277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.914975926 meters Centerline goodness [0,1] 0.9989454063864227 Centerline is valid? [True, True] Translation: X:33.87, Y:4.42, Z:-0.63 [[ 9.56576292e-01 -2.91480516e-01 -9.51660684e-04 3.38708865e+01] [ 2.91480367e-01 9.56576766e-01 -2.95237056e-04 4.42373920e+00] [ 9.96392348e-04 5.02636298e-06 9.99999504e-01 -6.29343071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944975926 meters Centerline goodness [0,1] 0.9990689013035382 Centerline is valid? [True, True] Translation: X:33.90, Y:4.43, Z:-0.63 [[ 9.56393217e-01 -2.92080558e-01 -9.80407887e-04 3.38982122e+01] [ 2.92080400e-01 9.56393720e-01 -3.04360327e-04 4.43165639e+00] [ 1.02655368e-03 4.73022546e-06 9.99999473e-01 -6.29008488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.974975926 meters Centerline goodness [0,1] 0.9992155324573446 Centerline is valid? [True, True] Translation: X:33.93, Y:4.44, Z:-0.63 [[ 9.56192088e-01 -2.92739972e-01 -4.38500386e-06 3.39254207e+01] [ 2.92739972e-01 9.56192088e-01 -7.24258146e-06 4.44022776e+00] [ 6.31309901e-06 5.64163318e-06 1.00000000e+00 -6.27104976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004975926 meters Centerline goodness [0,1] 0.9991430180455915 Centerline is valid? [True, True] Translation: X:33.95, Y:4.45, Z:-0.63 [[ 9.56250361e-01 -2.92549404e-01 -3.05362009e-04 3.39522776e+01] [ 2.92549387e-01 9.56250410e-01 -9.97018651e-05 4.44892220e+00] [ 3.21170267e-04 6.00647595e-06 9.99999948e-01 -6.29243521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.034975926 meters Centerline goodness [0,1] 0.99943631595716 Centerline is valid? [True, True] Translation: X:33.98, Y:4.46, Z:-0.63 [[ 9.55973258e-01 -2.93452078e-01 1.00348977e-03 3.39800163e+01] [ 2.93451925e-01 9.55973785e-01 2.99913285e-04 4.45740572e+00] [-1.04732009e-03 7.76692335e-06 9.99999452e-01 -6.26097206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.064975925999995 meters Centerline goodness [0,1] 0.9994857856460736 Centerline is valid? [True, True] Translation: X:34.01, Y:4.47, Z:-0.63 [[ 9.55887895e-01 -2.93731526e-01 3.51033973e-04 3.40069672e+01] [ 2.93731509e-01 9.55887959e-01 1.00350554e-04 4.46598091e+00] [-3.65025270e-04 7.18585889e-06 9.99999933e-01 -6.27954055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.094975926 meters Centerline goodness [0,1] 0.9994371436262633 Centerline is valid? [True, True] Translation: X:34.03, Y:4.48, Z:-0.63 [[ 9.55908713e-01 -2.93663685e-01 -4.15162079e-04 3.40344657e+01] [ 2.93663655e-01 9.55908803e-01 -1.32753513e-04 4.47525288e+00] [ 4.35841972e-04 4.98222645e-06 9.99999905e-01 -6.30304005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124975926 meters Centerline goodness [0,1] 0.9995341310317771 Centerline is valid? [True, True] Translation: X:34.06, Y:4.48, Z:-0.63 [[ 9.55710278e-01 -2.94309124e-01 -6.42679038e-05 3.40613688e+01] [ 2.94309123e-01 9.55710280e-01 -2.64108449e-05 4.48309377e+00] [ 6.91944489e-05 6.32648548e-06 9.99999998e-01 -6.30348099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.154975926 meters Centerline goodness [0,1] 0.9994371160764544 Centerline is valid? [True, True] Translation: X:34.09, Y:4.49, Z:-0.63 [[ 9.55516538e-01 -2.94937441e-01 -2.25393173e-04 3.40881327e+01] [ 2.94937431e-01 9.55516565e-01 -7.58262794e-05 4.49108919e+00] [ 2.37730919e-04 5.97638061e-06 9.99999972e-01 -6.32135864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.184975926 meters Centerline goodness [0,1] 0.9995835986871111 Centerline is valid? [True, True] Translation: X:34.11, Y:4.50, Z:-0.63 [[ 9.55430391e-01 -2.95215742e-01 -6.59144415e-04 3.41149976e+01] [ 2.95215668e-01 9.55430618e-01 -2.09030518e-04 4.50000916e+00] [ 6.91475855e-04 5.12435082e-06 9.99999761e-01 -6.32415662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.214975926 meters Centerline goodness [0,1] 0.999607804686734 Centerline is valid? [True, True] Translation: X:34.14, Y:4.51, Z:-0.63 [[ 9.55413479e-01 -2.95269590e-01 -9.76071141e-04 3.41421534e+01] [ 2.95269436e-01 9.55413978e-01 -3.01748974e-04 4.50790798e+00] [ 1.02164931e-03 9.10623655e-08 9.99999478e-01 -6.34810135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244975926 meters Centerline goodness [0,1] 0.9995836700707761 Centerline is valid? [True, True] Translation: X:34.17, Y:4.52, Z:-0.63 [[ 9.55295960e-01 -2.95650149e-01 -7.86924313e-04 3.41690016e+01] [ 2.95650044e-01 9.55296284e-01 -2.48716395e-04 4.51644509e+00] [ 8.25278911e-04 4.94355891e-06 9.99999659e-01 -6.33765561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.274975925999996 meters Centerline goodness [0,1] 0.9998042621907954 Centerline is valid? [True, True] Translation: X:34.20, Y:4.53, Z:-0.63 [[ 9.55037072e-01 -2.96486384e-01 1.18667572e-04 3.41958798e+01] [ 2.96486383e-01 9.55037080e-01 2.98348011e-05 4.52506920e+00] [-1.22177544e-04 6.68997823e-06 9.99999993e-01 -6.31918750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304975926 meters Centerline goodness [0,1] 0.9997302996126122 Centerline is valid? [True, True] Translation: X:34.22, Y:4.53, Z:-0.63 [[ 9.54826452e-01 -2.97163799e-01 3.51673913e-04 3.42229274e+01] [ 2.97163782e-01 9.54826516e-01 1.01666725e-04 4.53234939e+00] [-3.65999248e-04 7.43067197e-06 9.99999933e-01 -6.32577083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.334975926 meters Centerline goodness [0,1] 0.9997059976479812 Centerline is valid? [True, True] Translation: X:34.25, Y:4.54, Z:-0.63 [[ 9.54808566e-01 -2.97221373e-01 -2.39495627e-04 3.42494367e+01] [ 2.97221363e-01 9.54808596e-01 -8.08547021e-05 4.54144250e+00] [ 2.52704229e-04 6.01754550e-06 9.99999968e-01 -6.34273817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364975926 meters Centerline goodness [0,1] 0.9996816534430405 Centerline is valid? [True, True] Translation: X:34.28, Y:4.55, Z:-0.64 [[ 9.54741880e-01 -2.97435603e-01 -6.43149422e-05 3.42754453e+01] [ 2.97435602e-01 9.54741882e-01 -2.45544021e-05 4.54955089e+00] [ 6.87075223e-05 4.31356244e-06 9.99999998e-01 -6.35509647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.394975926 meters Centerline goodness [0,1] 0.9997064292005089 Centerline is valid? [True, True] Translation: X:34.30, Y:4.56, Z:-0.64 [[ 9.54756616e-01 -2.97387398e-01 -7.34088648e-04 3.43026871e+01] [ 2.97387307e-01 9.54756899e-01 -2.32919350e-04 4.55875818e+00] [ 7.70143480e-04 4.07264448e-06 9.99999703e-01 -6.37295075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424975926 meters Centerline goodness [0,1] 0.999828570029143 Centerline is valid? [True, True] Translation: X:34.33, Y:4.57, Z:-0.64 [[ 9.54466309e-01 -2.98318730e-01 1.59853842e-05 3.43296721e+01] [ 2.98318730e-01 9.54466309e-01 -1.74955877e-06 4.56664207e+00] [-1.47355846e-05 6.43863441e-06 1.00000000e+00 -6.35253024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.454975925999996 meters Centerline goodness [0,1] 0.9998282714292723 Centerline is valid? [True, True] Translation: X:34.36, Y:4.58, Z:-0.64 [[ 9.54413000e-01 -2.98488993e-01 -3.82100503e-04 3.43565000e+01] [ 2.98488967e-01 9.54413077e-01 -1.25358097e-04 4.57514989e+00] [ 4.02099728e-04 5.59061280e-06 9.99999919e-01 -6.35725482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484975926 meters Centerline goodness [0,1] 0.9998286665361269 Centerline is valid? [True, True] Translation: X:34.38, Y:4.58, Z:-0.64 [[ 9.54352340e-01 -2.98683080e-01 -1.71096687e-04 3.43826361e+01] [ 2.98683074e-01 9.54352355e-01 -5.98820462e-05 4.58389723e+00] [ 1.81172280e-04 6.04488649e-06 9.99999984e-01 -6.36529348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.514975926 meters Centerline goodness [0,1] 0.9996332338989682 Centerline is valid? [True, True] Translation: X:34.41, Y:4.59, Z:-0.64 [[ 9.54391053e-01 -2.98556928e-01 -1.21567033e-03 3.44098402e+01] [ 2.98556681e-01 9.54391828e-01 -3.84127106e-04 4.59281821e+00] [ 1.27490964e-03 3.66097450e-06 9.99999187e-01 -6.39711523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.544975926 meters Centerline goodness [0,1] 0.9997310118843841 Centerline is valid? [True, True] Translation: X:34.44, Y:4.60, Z:-0.64 [[ 9.54259558e-01 -2.98978470e-01 -7.55461683e-04 3.44367208e+01] [ 2.98978372e-01 9.54259857e-01 -2.42123882e-04 4.60147965e+00] [ 7.93296585e-04 5.18232441e-06 9.99999685e-01 -6.38719882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.574975926 meters Centerline goodness [0,1] 0.999681559866745 Centerline is valid? [True, True] Translation: X:34.46, Y:4.61, Z:-0.64 [[ 9.54160815e-01 -2.99293451e-01 -7.54755133e-04 3.44636535e+01] [ 2.99293353e-01 9.54161113e-01 -2.42158736e-04 4.60986370e+00] [ 7.92634521e-04 5.16518275e-06 9.99999686e-01 -6.39711544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604975926 meters Centerline goodness [0,1] 0.9996571064684415 Centerline is valid? [True, True] Translation: X:34.49, Y:4.62, Z:-0.64 [[ 9.54060608e-01 -2.99612998e-01 -6.38753806e-04 3.44907438e+01] [ 2.99612927e-01 9.54060822e-01 -2.06331516e-04 4.61866520e+00] [ 6.71229585e-04 5.47387461e-06 9.99999775e-01 -6.39858121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.634975925999996 meters Centerline goodness [0,1] 0.9996821749015965 Centerline is valid? [True, True] Translation: X:34.52, Y:4.63, Z:-0.64 [[ 9.54043542e-01 -2.99667551e-01 -5.28928231e-04 3.45177728e+01] [ 2.99667501e-01 9.54043688e-01 -1.72259363e-04 4.62787699e+00] [ 5.56241182e-04 5.84033189e-06 9.99999845e-01 -6.40234520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664975926 meters Centerline goodness [0,1] 0.999755118033108 Centerline is valid? [True, True] Translation: X:34.54, Y:4.64, Z:-0.64 [[ 9.54077224e-01 -2.99559514e-01 -8.65371520e-04 3.45440500e+01] [ 2.99559385e-01 9.54077616e-01 -2.77875810e-04 4.63710386e+00] [ 9.08871940e-04 5.88482120e-06 9.99999587e-01 -6.40367510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.694975926 meters Centerline goodness [0,1] 0.9996326320687713 Centerline is valid? [True, True] Translation: X:34.57, Y:4.65, Z:-0.64 [[ 9.54423809e-01 -2.98453737e-01 -7.47642100e-04 3.45699964e+01] [ 2.98453640e-01 9.54424102e-01 -2.41304578e-04 4.64738477e+00] [ 7.85585893e-04 7.17032828e-06 9.99999691e-01 -6.41008147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.724975926 meters Centerline goodness [0,1] 0.999926756024317 Centerline is valid? [True, True] Translation: X:34.60, Y:4.66, Z:-0.64 [[ 9.53964418e-01 -2.99915015e-01 1.69481529e-03 3.45976919e+01] [ 2.99914553e-01 9.53965924e-01 5.26535892e-04 4.65579823e+00] [-1.77471205e-03 6.00326466e-06 9.99998425e-01 -6.36857924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.754975926 meters Centerline goodness [0,1] 0.9997305044466767 Centerline is valid? [True, True] Translation: X:34.63, Y:4.66, Z:-0.64 [[ 9.54039253e-01 -2.99681454e-01 3.61508468e-04 3.46252167e+01] [ 2.99681434e-01 9.54039321e-01 1.07784110e-04 4.66399329e+00] [-3.77194193e-04 5.50710410e-06 9.99999929e-01 -6.40284502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784975926 meters Centerline goodness [0,1] 0.9997303789401442 Centerline is valid? [True, True] Translation: X:34.65, Y:4.67, Z:-0.64 [[ 9.53760004e-01 -3.00568796e-01 5.03592488e-04 3.46520218e+01] [ 3.00568758e-01 9.53760137e-01 1.51880044e-04 4.67213163e+00] [-5.25956843e-04 6.50705699e-06 9.99999862e-01 -6.41094851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.814975925999995 meters Centerline goodness [0,1] 0.9997305836537755 Centerline is valid? [True, True] Translation: X:34.68, Y:4.68, Z:-0.64 [[ 9.53477745e-01 -3.01460765e-01 1.26392205e-03 3.46788387e+01] [ 3.01460510e-01 9.53478582e-01 3.91810515e-04 4.68037033e+00] [-1.32323810e-03 7.43997882e-06 9.99999124e-01 -6.40577850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844975926 meters Centerline goodness [0,1] 0.999854383069605 Centerline is valid? [True, True] Translation: X:34.70, Y:4.71, Z:-0.64 [[ 9.58873347e-01 -2.83825584e-01 2.22335715e-03 3.47008095e+01] [ 2.83824722e-01 9.58875923e-01 7.00444702e-04 4.70993476e+00] [-2.33072776e-03 -4.05940300e-05 9.99997283e-01 -6.40920553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.874975926 meters Centerline goodness [0,1] 0.9995638795338356 Centerline is valid? [True, True] Translation: X:34.73, Y:4.72, Z:-0.64 [[ 9.58868879e-01 -2.83848616e-01 6.60729125e-04 3.47270137e+01] [ 2.83848541e-01 9.58869106e-01 2.06399529e-04 4.71860569e+00] [-6.92138966e-04 -1.03630868e-05 9.99999760e-01 -6.44793927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.904975926 meters Centerline goodness [0,1] 0.9997817176396401 Centerline is valid? [True, True] Translation: X:34.75, Y:4.73, Z:-0.64 [[ 9.58513766e-01 -2.85041821e-01 1.58751023e-03 3.47546017e+01] [ 2.85041391e-01 9.58515081e-01 4.95657004e-04 4.72691959e+00] [-1.66293547e-03 -2.25879358e-05 9.99998617e-01 -6.43042663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.934975926 meters Centerline goodness [0,1] 0.9996844507014904 Centerline is valid? [True, True] Translation: X:34.78, Y:4.74, Z:-0.64 [[ 9.58484918e-01 -2.85142061e-01 8.17076615e-04 3.47822800e+01] [ 2.85141949e-01 9.58485266e-01 2.52553330e-04 4.73547601e+00] [-8.55169474e-04 -9.08573914e-06 9.99999634e-01 -6.44957338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964975926 meters Centerline goodness [0,1] 0.9998302083585999 Centerline is valid? [True, True] Translation: X:34.81, Y:4.74, Z:-0.64 [[ 9.58298513e-01 -2.85764550e-01 1.60668706e-03 3.48098413e+01] [ 2.85764109e-01 9.58299860e-01 5.02900587e-04 4.74398852e+00] [-1.68339914e-03 -2.27953903e-05 9.99998583e-01 -6.43678814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.994975926 meters Centerline goodness [0,1] 0.9995630219460089 Centerline is valid? [True, True] Translation: X:34.84, Y:4.75, Z:-0.65 [[ 9.58685426e-01 -2.84466271e-01 1.09266871e-03 3.48366941e+01] [ 2.84466067e-01 9.58686049e-01 3.40548083e-04 4.75347474e+00] [-1.14440069e-03 -1.56513145e-05 9.99999345e-01 -6.45713382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.024975925999996 meters Centerline goodness [0,1] 0.9995160197463944 Centerline is valid? [True, True] Translation: X:34.86, Y:4.77, Z:-0.65 [[ 9.59382881e-01 -2.82106331e-01 7.10997080e-04 3.48622240e+01] [ 2.82106242e-01 9.59383145e-01 2.23457315e-04 4.76535165e+00] [-7.45157338e-04 -1.38044084e-05 9.99999722e-01 -6.46351770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.054975926 meters Centerline goodness [0,1] 0.9995649651972158 Centerline is valid? [True, True] Translation: X:34.89, Y:4.78, Z:-0.65 [[ 9.60063194e-01 -2.79782011e-01 8.31035088e-04 3.48885236e+01] [ 2.79781892e-01 9.60063553e-01 2.58058855e-04 4.77817138e+00] [-8.70046725e-04 -1.52442395e-05 9.99999621e-01 -6.46481878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084975926 meters Centerline goodness [0,1] 0.9995649651972158 Centerline is valid? [True, True] Translation: X:34.91, Y:4.79, Z:-0.65 [[ 9.59952580e-01 -2.80161297e-01 8.31175514e-04 3.49147196e+01] [ 2.80161179e-01 9.59952940e-01 2.57620675e-04 4.78674799e+00] [-8.70064721e-04 -1.44405193e-05 9.99999621e-01 -6.46928175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.114975926 meters Centerline goodness [0,1] 0.999638039622596 Centerline is valid? [True, True] Translation: X:34.94, Y:4.80, Z:-0.65 [[ 9.60973617e-01 -2.76636936e-01 1.30876184e-03 3.49407160e+01] [ 2.76636632e-01 9.60974508e-01 4.10836403e-04 4.79970317e+00] [-1.37133929e-03 -3.27514747e-05 9.99999059e-01 -6.46558853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144975926 meters Centerline goodness [0,1] 0.9997589373960417 Centerline is valid? [True, True] Translation: X:34.97, Y:4.81, Z:-0.65 [[ 9.61223034e-01 -2.75762381e-01 2.32129615e-03 3.49676879e+01] [ 2.75761411e-01 9.61225835e-01 7.34152744e-04 4.80950267e+00] [-2.43374154e-03 -6.55606250e-05 9.99997036e-01 -6.45503763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.174975926 meters Centerline goodness [0,1] 0.9995631067961165 Centerline is valid? [True, True] Translation: X:35.00, Y:4.81, Z:-0.65 [[ 9.59900014e-01 -2.80341453e-01 7.95642141e-04 3.49973517e+01] [ 2.80341344e-01 9.59900343e-01 2.48138242e-04 4.80965774e+00] [-8.33300600e-04 -1.51365151e-05 9.99999653e-01 -6.48971924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.204975925999996 meters Centerline goodness [0,1] 0.9998298368865012 Centerline is valid? [True, True] Translation: X:35.02, Y:4.82, Z:-0.65 [[ 9.61035693e-01 -2.76419465e-01 1.63598332e-03 3.50219178e+01] [ 2.76418980e-01 9.61037084e-01 5.20001629e-04 4.82260986e+00] [-1.71597921e-03 -4.75232868e-05 9.99998527e-01 -6.47780832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.234975926 meters Centerline goodness [0,1] 0.9995388685289907 Centerline is valid? [True, True] Translation: X:35.05, Y:4.84, Z:-0.65 [[ 9.62672224e-01 -2.70667262e-01 1.19249376e-03 3.50479328e+01] [ 2.70667000e-01 9.62672962e-01 3.79202181e-04 4.83687775e+00] [-1.25061912e-03 -4.22786991e-05 9.99999217e-01 -6.49310584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264975926 meters Centerline goodness [0,1] 0.999781569303206 Centerline is valid? [True, True] Translation: X:35.08, Y:4.85, Z:-0.65 [[ 9.62426759e-01 -2.71538066e-01 1.34617723e-03 3.50756170e+01] [ 2.71537737e-01 9.62427699e-01 4.24938994e-04 4.84548025e+00] [-1.41098537e-03 -4.34347401e-05 9.99999004e-01 -6.48762589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.294975926 meters Centerline goodness [0,1] 0.999660441426146 Centerline is valid? [True, True] Translation: X:35.10, Y:4.85, Z:-0.65 [[ 9.62313830e-01 -2.71939540e-01 9.89555379e-04 3.51021215e+01] [ 2.71939365e-01 9.62314338e-01 3.10506454e-04 4.85391470e+00] [-1.03670231e-03 -2.97055941e-05 9.99999462e-01 -6.49800570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324975926 meters Centerline goodness [0,1] 0.9999269806498722 Centerline is valid? [True, True] Translation: X:35.13, Y:4.86, Z:-0.65 [[ 9.61952185e-01 -2.73209414e-01 2.14689409e-03 3.51286738e+01] [ 2.73208563e-01 9.61954578e-01 6.85790348e-04 4.86148189e+00] [-2.25257898e-03 -7.31476738e-05 9.99997460e-01 -6.47697710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.354975926 meters Centerline goodness [0,1] 0.999878298120923 Centerline is valid? [True, True] Translation: X:35.16, Y:4.87, Z:-0.65 [[ 9.61753600e-01 -2.73909434e-01 1.90656236e-03 3.51553443e+01] [ 2.73908772e-01 9.61755488e-01 6.05313821e-04 4.86936175e+00] [-1.99944798e-03 -5.99385916e-05 9.99997999e-01 -6.48659970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.384975925999996 meters Centerline goodness [0,1] 0.9995619905097943 Centerline is valid? [True, True] Translation: X:35.18, Y:4.88, Z:-0.65 [[ 9.61830383e-01 -2.73646201e-01 2.66542848e-04 3.51829028e+01] [ 2.73646189e-01 9.61830420e-01 8.01597699e-05 4.87787207e+00] [-2.78304436e-04 -4.16166760e-06 9.99999961e-01 -6.51953041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.414975926 meters Centerline goodness [0,1] 0.998439214729911 Centerline is valid? [True, True] Translation: X:35.21, Y:4.89, Z:-0.66 [[ 9.61734556e-01 -2.73981489e-01 -8.87276098e-04 3.52106887e+01] [ 2.73981337e-01 9.61734965e-01 -2.90610259e-04 4.88625960e+00] [ 9.32946278e-04 3.63928365e-05 9.99999564e-01 -6.55537402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444975926 meters Centerline goodness [0,1] 0.9990496612895365 Centerline is valid? [True, True] Translation: X:35.24, Y:4.90, Z:-0.65 [[ 9.61592309e-01 -2.74481000e-01 -6.40960820e-04 3.52375647e+01] [ 2.74480920e-01 9.61592523e-01 -2.12428904e-04 4.89539495e+00] [ 6.74650830e-04 2.83384852e-05 9.99999772e-01 -6.54859616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.474975926 meters Centerline goodness [0,1] 0.998731305047942 Centerline is valid? [True, True] Translation: X:35.26, Y:4.91, Z:-0.66 [[ 9.61677162e-01 -2.74183974e-01 -4.30082669e-04 3.52637124e+01] [ 2.74183939e-01 9.61677258e-01 -1.40368504e-04 4.90509951e+00] [ 4.52087515e-04 1.70674241e-05 9.99999898e-01 -6.55497222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504975926 meters Centerline goodness [0,1] 0.9978810463247114 Centerline is valid? [True, True] Translation: X:35.29, Y:4.91, Z:-0.66 [[ 9.61691622e-01 -2.74132371e-01 -8.16640145e-04 3.52903238e+01] [ 2.74132245e-01 9.61691969e-01 -2.64899219e-04 4.91459318e+00] [ 8.57973720e-04 3.08839637e-05 9.99999631e-01 -6.56871791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.534975926 meters Centerline goodness [0,1] 0.9993428258488499 Centerline is valid? [True, True] Translation: X:35.32, Y:4.93, Z:-0.65 [[ 9.61643006e-01 -2.74303352e-01 6.31770028e-04 3.53159393e+01] [ 2.74303279e-01 9.61643214e-01 2.01718660e-04 4.92605631e+00] [-6.62869464e-04 -2.06847481e-05 9.99999780e-01 -6.54666089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.564975925999995 meters Centerline goodness [0,1] 0.9982940560037044 Centerline is valid? [True, True] Translation: X:35.34, Y:4.94, Z:-0.66 [[ 9.61778881e-01 -2.73827177e-01 -2.47219488e-04 3.53430438e+01] [ 2.73827164e-01 9.61778913e-01 -8.48308168e-05 4.93559505e+00] [ 2.60999473e-04 1.38930768e-05 9.99999966e-01 -6.57369479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.594975926 meters Centerline goodness [0,1] 0.9972201901975128 Centerline is valid? [True, True] Translation: X:35.37, Y:4.95, Z:-0.66 [[ 9.61882416e-01 -2.73461937e-01 -8.87009924e-04 3.53704771e+01] [ 2.73461784e-01 9.61882824e-01 -2.91488710e-04 4.94533122e+00] [ 9.32910678e-04 3.78145484e-05 9.99999564e-01 -6.59030605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624975926 meters Centerline goodness [0,1] 0.9991469032588296 Centerline is valid? [True, True] Translation: X:35.40, Y:4.96, Z:-0.66 [[ 9.61636758e-01 -2.74325777e-01 3.36874588e-04 3.53978903e+01] [ 2.74325757e-01 9.61636817e-01 1.03802670e-04 4.95514562e+00] [-3.52426754e-04 -7.40708669e-06 9.99999938e-01 -6.56585528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.654975926 meters Centerline goodness [0,1] 0.99778642666018 Centerline is valid? [True, True] Translation: X:35.42, Y:4.96, Z:-0.66 [[ 9.61916882e-01 -2.73341607e-01 -5.27655841e-04 3.54245838e+01] [ 2.73341554e-01 9.61917026e-01 -1.72411196e-04 4.96457201e+00] [ 5.54688291e-04 2.16149726e-05 9.99999846e-01 -6.59171398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.684975926 meters Centerline goodness [0,1] 0.9986864829364404 Centerline is valid? [True, True] Translation: X:35.45, Y:4.97, Z:-0.66 [[ 9.61930689e-01 -2.73293523e-01 -1.49188073e-05 3.54511959e+01] [ 2.73293522e-01 9.61930689e-01 -1.05999797e-05 4.97462457e+00] [ 1.72477643e-05 6.11923237e-06 1.00000000e+00 -6.58906020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.714975926 meters Centerline goodness [0,1] 0.9991476304125468 Centerline is valid? [True, True] Translation: X:35.48, Y:4.98, Z:-0.66 [[ 9.61735934e-01 -2.73977885e-01 3.35977706e-04 3.54788243e+01] [ 2.73977865e-01 9.61735992e-01 1.03852081e-04 4.98411352e+00] [-3.51575026e-04 -7.82782320e-06 9.99999938e-01 -6.58133469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744975926 meters Centerline goodness [0,1] 0.9988084237147998 Centerline is valid? [True, True] Translation: X:35.51, Y:4.99, Z:-0.66 [[ 9.61555659e-01 -2.74609975e-01 2.76241812e-04 3.55051365e+01] [ 2.74609963e-01 9.61555699e-01 8.38924576e-05 4.99236313e+00] [-2.88659594e-04 -4.80851367e-06 9.99999958e-01 -6.58830839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.774975925999996 meters Centerline goodness [0,1] 0.9975704567541303 Centerline is valid? [True, True] Translation: X:35.53, Y:5.00, Z:-0.66 [[ 9.61812862e-01 -2.73707842e-01 1.90976390e-04 3.55315163e+01] [ 2.73707835e-01 9.61812881e-01 6.02073736e-05 5.00215113e+00] [-2.00162782e-04 -5.63649207e-06 9.99999980e-01 -6.60885815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804975926 meters Centerline goodness [0,1] 0.9986372374857032 Centerline is valid? [True, True] Translation: X:35.56, Y:5.01, Z:-0.66 [[ 9.61440637e-01 -2.75012304e-01 3.66517301e-04 3.55576043e+01] [ 2.75012279e-01 9.61440707e-01 1.17235752e-04 5.01116519e+00] [-3.84625927e-04 -1.19184577e-05 9.99999926e-01 -6.59902052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.834975926 meters Centerline goodness [0,1] 0.9969864145624225 Centerline is valid? [True, True] Translation: X:35.58, Y:5.02, Z:-0.66 [[ 9.61478403e-01 -2.74880379e-01 2.39758701e-04 3.55844193e+01] [ 2.74880368e-01 9.61478433e-01 7.61352813e-05 5.01971019e+00] [-2.51450915e-04 -7.29746863e-06 9.99999968e-01 -6.62421890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864975926 meters Centerline goodness [0,1] 0.9998054238112611 Centerline is valid? [True, True] Translation: X:35.61, Y:5.02, Z:-0.66 [[ 9.61590525e-01 -2.74487440e-01 5.54556337e-04 3.56145075e+01] [ 2.74487385e-01 9.61590685e-01 1.74375298e-04 5.02029595e+00] [-5.81120037e-04 -1.54589162e-05 9.99999831e-01 -6.55863955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.894975926 meters Centerline goodness [0,1] 0.9997812720246919 Centerline is valid? [True, True] Translation: X:35.64, Y:5.03, Z:-0.66 [[ 9.61641893e-01 -2.74307154e-01 6.74988574e-04 3.56422125e+01] [ 2.74307072e-01 9.61642129e-01 2.13792299e-04 5.02920808e+00] [-7.07742207e-04 -2.04374914e-05 9.99999749e-01 -6.56435070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924975926 meters Centerline goodness [0,1] 0.9996837444655281 Centerline is valid? [True, True] Translation: X:35.67, Y:5.04, Z:-0.66 [[ 9.61539190e-01 -2.74667399e-01 4.54286186e-04 3.56684708e+01] [ 2.74667363e-01 9.61539297e-01 1.41302441e-04 5.03771679e+00] [-4.75625194e-04 -1.10902454e-05 9.99999887e-01 -6.58274914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.954975925999996 meters Centerline goodness [0,1] 0.999586425009123 Centerline is valid? [True, True] Translation: X:35.70, Y:5.05, Z:-0.66 [[ 9.61325237e-01 -2.75415599e-01 -1.92731553e-04 3.56954150e+01] [ 2.75415591e-01 9.61325256e-01 -6.96571510e-05 5.04659424e+00] [ 2.04462376e-04 1.38819025e-05 9.99999979e-01 -6.58993558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984975926 meters Centerline goodness [0,1] 0.9995374427889765 Centerline is valid? [True, True] Translation: X:35.72, Y:5.06, Z:-0.66 [[ 9.60867922e-01 -2.77006557e-01 4.51410879e-04 3.57223769e+01] [ 2.77006521e-01 9.60868028e-01 1.41654053e-04 5.05563021e+00] [-4.72985383e-04 -1.10670787e-05 9.99999888e-01 -6.59575443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.014975926 meters Centerline goodness [0,1] 0.9994408790353948 Centerline is valid? [True, True] Translation: X:35.75, Y:5.06, Z:-0.66 [[ 9.60924067e-01 -2.76812022e-01 -2.04590617e-04 3.57502386e+01] [ 2.76812013e-01 9.60924089e-01 -7.28188061e-05 5.06452894e+00] [ 2.16753173e-04 1.33402027e-05 9.99999976e-01 -6.60360917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.044975926 meters Centerline goodness [0,1] 0.9993434969727916 Centerline is valid? [True, True] Translation: X:35.78, Y:5.07, Z:-0.66 [[ 9.60759827e-01 -2.77381267e-01 -4.33356821e-04 3.57773731e+01] [ 2.77381228e-01 9.60759924e-01 -1.48680593e-04 5.07323725e+00] [ 4.57593078e-04 2.26412938e-05 9.99999895e-01 -6.61251220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.074975926 meters Centerline goodness [0,1] 0.9993680731090803 Centerline is valid? [True, True] Translation: X:35.80, Y:5.08, Z:-0.66 [[ 9.60588463e-01 -2.77974051e-01 -4.81599024e-04 3.58039312e+01] [ 2.77974003e-01 9.60588583e-01 -1.64707182e-04 5.08240326e+00] [ 5.08402847e-04 2.43438103e-05 9.99999870e-01 -6.61432134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104975926 meters Centerline goodness [0,1] 0.9998541068910178 Centerline is valid? [True, True] Translation: X:35.83, Y:5.10, Z:-0.66 [[ 9.61132773e-01 -2.76086350e-01 3.46734115e-04 3.58300179e+01] [ 2.76086329e-01 9.61132835e-01 1.07939559e-04 5.09503912e+00] [-3.63058182e-04 -8.01569873e-06 9.99999934e-01 -6.58593829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.134975925999996 meters Centerline goodness [0,1] 0.9993163561784311 Centerline is valid? [True, True] Translation: X:35.86, Y:5.10, Z:-0.66 [[ 9.59740231e-01 -2.80883715e-01 -1.74009189e-03 3.58587772e+01] [ 2.80883135e-01 9.59741806e-01 -5.74539978e-04 5.10144527e+00] [ 1.83141786e-03 6.26466654e-05 9.99998321e-01 -6.61290310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164975926 meters Centerline goodness [0,1] 0.9987345160740795 Centerline is valid? [True, True] Translation: X:35.88, Y:5.11, Z:-0.66 [[ 9.59783319e-01 -2.80735627e-01 -1.86762700e-03 3.58842570e+01] [ 2.80734959e-01 9.59785134e-01 -6.15976812e-04 5.11201066e+00] [ 1.96544727e-03 6.68960783e-05 9.99998066e-01 -6.63279208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.194975926 meters Centerline goodness [0,1] 0.9986827019247189 Centerline is valid? [True, True] Translation: X:35.91, Y:5.12, Z:-0.66 [[ 9.59619324e-01 -2.81294658e-01 -2.01681738e-03 3.59104319e+01] [ 2.81293881e-01 9.59621441e-01 -6.65200064e-04 5.12039987e+00] [ 2.12249843e-03 7.10204481e-05 9.99997745e-01 -6.64110827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.224975926 meters Centerline goodness [0,1] 0.9994406750808589 Centerline is valid? [True, True] Translation: X:35.94, Y:5.13, Z:-0.66 [[ 9.59550750e-01 -2.81533534e-01 -1.10827005e-03 3.59370466e+01] [ 2.81533292e-01 9.59551389e-01 -3.71304881e-04 5.12971582e+00] [ 1.16797684e-03 4.42709620e-05 9.99999317e-01 -6.62926167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.254975926 meters Centerline goodness [0,1] 0.999975664362893 Centerline is valid? [True, True] Translation: X:35.96, Y:5.14, Z:-0.66 [[ 9.59295353e-01 -2.82403924e-01 -6.70553730e-04 3.59647044e+01] [ 2.82403834e-01 9.59295587e-01 -2.26791680e-04 5.13821957e+00] [ 7.07306094e-04 2.81932601e-05 9.99999749e-01 -6.60131734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284975926 meters Centerline goodness [0,1] 0.9991970998272548 Centerline is valid? [True, True] Translation: X:35.99, Y:5.15, Z:-0.66 [[ 9.59415656e-01 -2.81989298e-01 -1.90662749e-03 3.59923253e+01] [ 2.81988592e-01 9.59417547e-01 -6.35046474e-04 5.14703261e+00] [ 2.00832818e-03 7.16263262e-05 9.99997981e-01 -6.64456301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.314975925999995 meters Centerline goodness [0,1] 0.9980315439014313 Centerline is valid? [True, True] Translation: X:36.02, Y:5.16, Z:-0.67 [[ 9.59660002e-01 -2.81155770e-01 -2.02802576e-03 3.60193429e+01] [ 2.81154968e-01 9.59662142e-01 -6.75828351e-04 5.15726296e+00] [ 2.13623258e-03 7.83759201e-05 9.99997715e-01 -6.65829641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344975926 meters Centerline goodness [0,1] 0.9985651053066783 Centerline is valid? [True, True] Translation: X:36.05, Y:5.17, Z:-0.67 [[ 9.59690887e-01 -2.81050996e-01 -1.93389923e-03 3.60468672e+01] [ 2.81050265e-01 9.59692832e-01 -6.45454765e-04 5.16699871e+00] [ 2.03735493e-03 7.59141645e-05 9.99997922e-01 -6.65944380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.374975926 meters Centerline goodness [0,1] 0.9968661937615392 Centerline is valid? [True, True] Translation: X:36.07, Y:5.18, Z:-0.67 [[ 9.60425048e-01 -2.78530814e-01 -2.07665773e-03 3.60721350e+01] [ 2.78529973e-01 9.60427290e-01 -6.89193363e-04 5.17938001e+00] [ 2.18644034e-03 8.35071477e-05 9.99997606e-01 -6.67228155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.404975926 meters Centerline goodness [0,1] 0.9974531871543612 Centerline is valid? [True, True] Translation: X:36.10, Y:5.19, Z:-0.67 [[ 9.60987732e-01 -2.76585993e-01 -1.66340026e-03 3.60989801e+01] [ 2.76585443e-01 9.60989169e-01 -5.56690765e-04 5.19120095e+00] [ 1.75248250e-03 7.49006973e-05 9.99998462e-01 -6.66564875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.434975926 meters Centerline goodness [0,1] 0.9976660507633959 Centerline is valid? [True, True] Translation: X:36.13, Y:5.20, Z:-0.67 [[ 9.60654195e-01 -2.77745929e-01 -8.46385903e-04 3.61252185e+01] [ 2.77745787e-01 9.60654567e-01 -2.82487097e-04 5.20098615e+00] [ 8.91544124e-04 3.62922959e-05 9.99999602e-01 -6.65989860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464975926 meters Centerline goodness [0,1] 0.9970091185410335 Centerline is valid? [True, True] Translation: X:36.15, Y:5.21, Z:-0.67 [[ 9.60036677e-01 -2.79871143e-01 -1.31236428e-03 3.61541985e+01] [ 2.79870801e-01 9.60037572e-01 -4.41088773e-04 5.20615718e+00] [ 1.38336703e-03 5.61689582e-05 9.99999042e-01 -6.68029469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.494975926 meters Centerline goodness [0,1] 0.9972512101972804 Centerline is valid? [True, True] Translation: X:36.18, Y:5.21, Z:-0.67 [[ 9.59519395e-01 -2.81641428e-01 -7.97530964e-04 3.61822160e+01] [ 2.81641300e-01 9.59519726e-01 -2.70604465e-04 5.21405056e+00] [ 8.41460120e-04 3.50325752e-05 9.99999645e-01 -6.68144769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.524975925999996 meters Centerline goodness [0,1] 0.9981996885947839 Centerline is valid? [True, True] Translation: X:36.21, Y:5.22, Z:-0.67 [[ 9.58976786e-01 -2.83483648e-01 -7.38115865e-04 3.62099012e+01] [ 2.83483539e-01 9.58977070e-01 -2.51232841e-04 5.22199826e+00] [ 7.79056592e-04 3.16827648e-05 9.99999696e-01 -6.67942656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.554975926 meters Centerline goodness [0,1] 0.9967870703923668 Centerline is valid? [True, True] Translation: X:36.24, Y:5.23, Z:-0.67 [[ 9.58743322e-01 -2.84272068e-01 -7.96006905e-04 3.62370955e+01] [ 2.84271941e-01 9.58743652e-01 -2.70754616e-04 5.23083834e+00] [ 8.40134542e-04 3.33017527e-05 9.99999647e-01 -6.69854033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584975926 meters Centerline goodness [0,1] 0.9981249695611942 Centerline is valid? [True, True] Translation: X:36.26, Y:5.24, Z:-0.67 [[ 9.58579082e-01 -2.84826311e-01 -3.40913585e-04 3.62639825e+01] [ 2.84826286e-01 9.58579142e-01 -1.20243506e-04 5.24028863e+00] [ 3.61041166e-04 1.81617594e-05 9.99999935e-01 -6.68345571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.614975926 meters Centerline goodness [0,1] 0.9961110300909046 Centerline is valid? [True, True] Translation: X:36.29, Y:5.25, Z:-0.67 [[ 9.58852962e-01 -2.83901428e-01 -9.87998380e-04 3.62914563e+01] [ 2.83901233e-01 9.58853470e-01 -3.35528855e-04 5.25039165e+00] [ 1.04260280e-03 4.12288786e-05 9.99999456e-01 -6.70683581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644975926 meters Centerline goodness [0,1] 0.9958764887088558 Centerline is valid? [True, True] Translation: X:36.32, Y:5.26, Z:-0.67 [[ 9.58863555e-01 -2.83866238e-01 -8.01633396e-04 3.63165980e+01] [ 2.83866111e-01 9.58863889e-01 -2.70533144e-04 5.26036373e+00] [ 8.45452542e-04 3.18478178e-05 9.99999642e-01 -6.71048318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.674975926 meters Centerline goodness [0,1] 0.9958010727894954 Centerline is valid? [True, True] Translation: X:36.34, Y:5.27, Z:-0.67 [[ 9.59043795e-01 -2.83257367e-01 -5.13577598e-04 3.63426794e+01] [ 2.83257315e-01 9.59043932e-01 -1.73579876e-04 5.27118702e+00] [ 5.41711257e-04 2.09960914e-05 9.99999853e-01 -6.70588581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.704975925999996 meters Centerline goodness [0,1] 0.994298607404532 Centerline is valid? [True, True] Translation: X:36.37, Y:5.28, Z:-0.67 [[ 9.59115384e-01 -2.83014990e-01 -4.41776984e-04 3.63685454e+01] [ 2.83014951e-01 9.59115486e-01 -1.49606632e-04 5.28119866e+00] [ 4.66056066e-04 1.84605310e-05 9.99999891e-01 -6.72573748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.734975926 meters Centerline goodness [0,1] 0.9961895978448171 Centerline is valid? [True, True] Translation: X:36.39, Y:5.29, Z:-0.67 [[ 9.59092413e-01 -2.83092917e-01 3.80159591e-04 3.63947982e+01] [ 2.83092889e-01 9.59092488e-01 1.25118913e-04 5.29178108e+00] [-4.00028486e-04 -1.23801234e-05 9.99999920e-01 -6.70699914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764975926 meters Centerline goodness [0,1] 0.9958000534097254 Centerline is valid? [True, True] Translation: X:36.42, Y:5.30, Z:-0.67 [[ 9.57549278e-01 -2.88268418e-01 8.35978428e-04 3.64247162e+01] [ 2.88268284e-01 9.57549643e-01 2.78677810e-04 5.29610116e+00] [-8.80824857e-04 -2.58616684e-05 9.99999612e-01 -6.74124206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.794975926 meters Centerline goodness [0,1] 0.9980814066446474 Centerline is valid? [True, True] Translation: X:36.45, Y:5.30, Z:-0.67 [[ 9.57166728e-01 -2.89534180e-01 1.34641701e-03 3.64529265e+01] [ 2.89533841e-01 9.57167675e-01 4.44829779e-04 5.30414629e+00] [-1.41754027e-03 -3.59429749e-05 9.99998995e-01 -6.72200382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824975926 meters Centerline goodness [0,1] 0.9966761287818133 Centerline is valid? [True, True] Translation: X:36.48, Y:5.31, Z:-0.67 [[ 9.56927033e-01 -2.90326477e-01 1.09092337e-03 3.64794737e+01] [ 2.90326251e-01 9.56927655e-01 3.63226743e-04 5.31395658e+00] [-1.14938909e-03 -3.08577959e-05 9.99999339e-01 -6.74351472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.854975926 meters Centerline goodness [0,1] 0.9986885882895792 Centerline is valid? [True, True] Translation: X:36.51, Y:5.32, Z:-0.67 [[ 9.56615631e-01 -2.91347708e-01 1.74567799e-03 3.65068987e+01] [ 2.91347135e-01 9.56617223e-01 5.79455949e-04 5.32236620e+00] [-1.83876879e-03 -4.57183385e-05 9.99998308e-01 -6.71911282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.884975925999996 meters Centerline goodness [0,1] 0.9986894476264441 Centerline is valid? [True, True] Translation: X:36.53, Y:5.33, Z:-0.67 [[ 9.56229616e-01 -2.92611506e-01 1.85154975e-03 3.65331434e+01] [ 2.92610856e-01 9.56231407e-01 6.18878012e-04 5.33078898e+00] [-1.95160085e-03 -5.00059287e-05 9.99998094e-01 -6.73174795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.914975926 meters Centerline goodness [0,1] 0.9972824768282622 Centerline is valid? [True, True] Translation: X:36.56, Y:5.34, Z:-0.68 [[ 9.55807355e-01 -2.93990680e-01 1.33438219e-03 3.65594259e+01] [ 2.93990345e-01 9.55808286e-01 4.44768944e-04 5.33920249e+00] [-1.40617148e-03 -3.28179466e-05 9.99999011e-01 -6.75407592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944975926 meters Centerline goodness [0,1] 0.998810910502815 Centerline is valid? [True, True] Translation: X:36.59, Y:5.34, Z:-0.68 [[ 9.54682583e-01 -2.97621712e-01 1.57544504e-03 3.65876542e+01] [ 2.97621253e-01 9.54683883e-01 5.23478801e-04 5.34491194e+00] [-1.65985064e-03 -3.08701681e-05 9.99998622e-01 -6.75056960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.974975926 meters Centerline goodness [0,1] 0.9996837444655281 Centerline is valid? [True, True] Translation: X:36.62, Y:5.35, Z:-0.67 [[ 9.53853297e-01 -3.00262679e-01 2.49221076e-03 3.66157986e+01] [ 3.00261529e-01 9.53856552e-01 8.32356495e-04 5.35282867e+00] [-2.62713715e-03 -4.56309748e-05 9.99996548e-01 -6.73401321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004975926 meters Centerline goodness [0,1] 0.9996837444655281 Centerline is valid? [True, True] Translation: X:36.64, Y:5.36, Z:-0.67 [[ 9.53738987e-01 -3.00625571e-01 2.49214331e-03 3.66418379e+01] [ 3.00624422e-01 9.53742242e-01 8.32560174e-04 5.36185290e+00] [-2.62715122e-03 -4.48459569e-05 9.99996548e-01 -6.73847554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.034975926 meters Centerline goodness [0,1] 0.9994657989947309 Centerline is valid? [True, True] Translation: X:36.67, Y:5.37, Z:-0.68 [[ 9.54003943e-01 -2.99790499e-01 1.46053971e-03 3.66689354e+01] [ 2.99790106e-01 9.54005061e-01 4.86595292e-04 5.37234396e+00] [-1.53923892e-03 -2.63584726e-05 9.99998815e-01 -6.75772534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.064975925999995 meters Centerline goodness [0,1] 0.9973779407123261 Centerline is valid? [True, True] Translation: X:36.69, Y:5.38, Z:-0.68 [[ 9.55026327e-01 -2.96521012e-01 6.19632104e-05 3.66937834e+01] [ 2.96521012e-01 9.55026329e-01 1.84862625e-05 5.38450675e+00] [-6.46580628e-05 7.18526455e-07 9.99999998e-01 -6.78244983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.094975926 meters Centerline goodness [0,1] 0.9962400543372792 Centerline is valid? [True, True] Translation: X:36.72, Y:5.40, Z:-0.68 [[ 9.56346381e-01 -2.92235264e-01 3.87255210e-04 3.67203073e+01] [ 2.92235235e-01 9.56346459e-01 1.29425872e-04 5.39714612e+00] [-4.08172953e-04 -1.06063472e-05 9.99999917e-01 -6.78049707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124975926 meters Centerline goodness [0,1] 0.9941808306864195 Centerline is valid? [True, True] Translation: X:36.75, Y:5.41, Z:-0.68 [[ 9.57634644e-01 -2.87985829e-01 2.23674661e-04 3.67463303e+01] [ 2.87985820e-01 9.57634670e-01 7.42859845e-05 5.41043224e+00] [-2.35591921e-04 -6.72370182e-06 9.99999972e-01 -6.78972145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.154975926 meters Centerline goodness [0,1] 0.9944246479043948 Centerline is valid? [True, True] Translation: X:36.77, Y:5.42, Z:-0.68 [[ 9.57707382e-01 -2.87743923e-01 7.54630953e-05 3.67738241e+01] [ 2.87743923e-01 9.57707385e-01 1.98066690e-05 5.41831459e+00] [-7.79708124e-05 2.74505400e-06 9.99999997e-01 -6.78307330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184975926 meters Centerline goodness [0,1] 0.9971848076689722 Centerline is valid? [True, True] Translation: X:36.80, Y:5.43, Z:-0.68 [[ 9.56700776e-01 -2.91072688e-01 5.61229360e-04 3.68011716e+01] [ 2.91072627e-01 9.56700941e-01 1.88004884e-04 5.42608530e+00] [-5.91651743e-04 -1.65059144e-05 9.99999825e-01 -6.77087301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.214975926 meters Centerline goodness [0,1] 0.9957264957264957 Centerline is valid? [True, True] Translation: X:36.83, Y:5.43, Z:-0.68 [[ 9.55507518e-01 -2.94966489e-01 -3.91526770e-04 3.68296371e+01] [ 2.94966458e-01 9.55507598e-01 -1.38021813e-04 5.43275243e+00] [ 4.14818613e-04 1.63936159e-05 9.99999914e-01 -6.80037368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244975926 meters Centerline goodness [0,1] 0.9961845974385769 Centerline is valid? [True, True] Translation: X:36.86, Y:5.44, Z:-0.68 [[ 9.54276653e-01 -2.98924006e-01 -7.13468420e-04 3.68578162e+01] [ 2.98923905e-01 9.54276919e-01 -2.47135930e-04 5.43977575e+00] [ 7.54721308e-04 2.25632824e-05 9.99999715e-01 -6.80693739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.274975925999996 meters Centerline goodness [0,1] 0.996817375671145 Centerline is valid? [True, True] Translation: X:36.88, Y:5.45, Z:-0.68 [[ 9.53172765e-01 -3.02425161e-01 -8.38510262e-04 3.68843336e+01] [ 3.02425025e-01 9.53173133e-01 -2.86947578e-04 5.44732496e+00] [ 8.86025621e-04 1.99241289e-05 9.99999607e-01 -6.81614714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304975926 meters Centerline goodness [0,1] 0.9987864666763749 Centerline is valid? [True, True] Translation: X:36.91, Y:5.45, Z:-0.68 [[ 9.51814531e-01 -3.06672656e-01 -9.89950814e-04 3.69132453e+01] [ 3.06672467e-01 9.51815046e-01 -3.40855059e-04 5.45364933e+00] [ 1.04678101e-03 2.08401400e-05 9.99999452e-01 -6.81229037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.334975926 meters Centerline goodness [0,1] 0.9989802360025252 Centerline is valid? [True, True] Translation: X:36.94, Y:5.46, Z:-0.68 [[ 9.49993932e-01 -3.12264599e-01 -1.53267149e-03 3.69416838e+01] [ 3.12264157e-01 9.49995168e-01 -5.25837285e-04 5.45914838e+00] [ 1.62023088e-03 2.09438583e-05 9.99998687e-01 -6.82987152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.364975926 meters Centerline goodness [0,1] 0.9995390698915602 Centerline is valid? [True, True] Translation: X:36.97, Y:5.47, Z:-0.68 [[ 9.48430170e-01 -3.16984410e-01 -1.04692261e-03 3.69698509e+01] [ 3.16984204e-01 9.48430748e-01 -3.61289860e-04 5.46526652e+00] [ 1.10745685e-03 1.08002735e-05 9.99999387e-01 -6.83391787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.394975926 meters Centerline goodness [0,1] 0.9996123561477892 Centerline is valid? [True, True] Translation: X:37.00, Y:5.47, Z:-0.68 [[ 9.47352907e-01 -3.20188330e-01 -1.37930075e-03 3.69961473e+01] [ 3.20187983e-01 9.47353911e-01 -4.71677995e-04 5.47270953e+00] [ 1.45771175e-03 5.20999627e-06 9.99998938e-01 -6.84642536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424975926 meters Centerline goodness [0,1] 0.9998304263565891 Centerline is valid? [True, True] Translation: X:37.02, Y:5.48, Z:-0.68 [[ 9.46222378e-01 -3.23515295e-01 -1.03207142e-03 3.70233885e+01] [ 3.23515103e-01 9.46222941e-01 -3.52955593e-04 5.47995130e+00] [ 1.09075619e-03 8.37885125e-08 9.99999405e-01 -6.84048187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.454975925999996 meters Centerline goodness [0,1] 0.9995155390838844 Centerline is valid? [True, True] Translation: X:37.05, Y:5.49, Z:-0.69 [[ 9.45575672e-01 -3.25396983e-01 -1.85772515e-03 3.70513805e+01] [ 3.25396358e-01 9.45577497e-01 -6.37825287e-04 5.48864282e+00] [ 1.96416952e-03 -1.38492388e-06 9.99998071e-01 -6.87681036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484975926 meters Centerline goodness [0,1] 0.9998546898839941 Centerline is valid? [True, True] Translation: X:37.08, Y:5.50, Z:-0.68 [[ 9.45101818e-01 -3.26774866e-01 -8.60405779e-04 3.70783969e+01] [ 3.26774728e-01 9.45102210e-01 -3.00113912e-04 5.49795298e+00] [ 9.11241087e-04 2.47933912e-06 9.99999585e-01 -6.82746415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.514975926 meters Centerline goodness [0,1] 0.9997820876007845 Centerline is valid? [True, True] Translation: X:37.10, Y:5.51, Z:-0.68 [[ 9.45468559e-01 -3.25712911e-01 -5.50943600e-04 3.71039815e+01] [ 3.25712856e-01 9.45468719e-01 -1.89989567e-04 5.50866601e+00] [ 5.82781995e-04 1.79748820e-07 9.99999830e-01 -6.84604122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.544975926 meters Centerline goodness [0,1] 0.9996855041610219 Centerline is valid? [True, True] Translation: X:37.13, Y:5.52, Z:-0.69 [[ 9.45802876e-01 -3.24739490e-01 -1.08770594e-03 3.71296870e+01] [ 3.24739270e-01 9.45803502e-01 -3.77895878e-04 5.51863946e+00] [ 1.15147380e-03 4.19417606e-06 9.99999337e-01 -6.86676435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.574975926 meters Centerline goodness [0,1] 0.9998065951068562 Centerline is valid? [True, True] Translation: X:37.16, Y:5.53, Z:-0.69 [[ 9.46647534e-01 -3.22270556e-01 -3.67138111e-04 3.71555260e+01] [ 3.22270529e-01 9.46647605e-01 -1.32119051e-04 5.52966363e+00] [ 3.90128493e-04 6.75238038e-06 9.99999924e-01 -6.85872824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604975926 meters Centerline goodness [0,1] 0.998447656932182 Centerline is valid? [True, True] Translation: X:37.19, Y:5.51, Z:-0.69 [[ 9.34777159e-01 -3.55234099e-01 6.31285074e-04 3.71925077e+01] [ 3.55234035e-01 9.34777371e-01 2.14575558e-04 5.50932865e+00] [-6.66335557e-04 2.36736135e-05 9.99999778e-01 -6.87059492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.634975925999996 meters Centerline goodness [0,1] 0.9987613843351548 Centerline is valid? [True, True] Translation: X:37.22, Y:5.52, Z:-0.69 [[ 9.35413196e-01 -3.53556433e-01 3.14141015e-05 3.72195927e+01] [ 3.53556433e-01 9.35413197e-01 5.43468125e-06 5.52110043e+00] [-3.13066317e-05 6.02298510e-06 9.99999999e-01 -6.88381766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664975926 meters Centerline goodness [0,1] 0.9987624062704749 Centerline is valid? [True, True] Translation: X:37.25, Y:5.53, Z:-0.69 [[ 9.35694362e-01 -3.52811500e-01 -3.25142552e-04 3.72467799e+01] [ 3.52811481e-01 9.35694419e-01 -1.17230931e-04 5.53213825e+00] [ 3.45594492e-04 -5.02170393e-06 9.99999940e-01 -6.90386847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.694975926 meters Centerline goodness [0,1] 0.998642588777118 Centerline is valid? [True, True] Translation: X:37.27, Y:5.54, Z:-0.69 [[ 9.36118739e-01 -3.51683471e-01 -6.65031114e-04 3.72731413e+01] [ 3.51683396e-01 9.36118975e-01 -2.30047611e-04 5.54161337e+00] [ 7.03452187e-04 -1.85285205e-05 9.99999752e-01 -6.91261334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.724975926 meters Centerline goodness [0,1] 0.9989797653460296 Centerline is valid? [True, True] Translation: X:37.30, Y:5.55, Z:-0.69 [[ 9.36344053e-01 -3.51082274e-01 -1.02543745e-03 3.73001292e+01] [ 3.51082092e-01 9.36344614e-01 -3.57725539e-04 5.55234393e+00] [ 1.08575393e-03 -2.50585433e-05 9.99999410e-01 -6.91569812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.754975926 meters Centerline goodness [0,1] 0.9990290790815088 Centerline is valid? [True, True] Translation: X:37.33, Y:5.56, Z:-0.69 [[ 9.36547212e-01 -3.50541336e-01 -3.01622344e-04 3.73269012e+01] [ 3.50541319e-01 9.36547261e-01 -1.09530464e-04 5.56299473e+00] [ 3.20878535e-04 -3.15064340e-06 9.99999949e-01 -6.90918973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784975926 meters Centerline goodness [0,1] 0.9990539721043057 Centerline is valid? [True, True] Translation: X:37.35, Y:5.57, Z:-0.69 [[ 9.36709604e-01 -3.50107166e-01 3.00079371e-04 3.73530428e+01] [ 3.50107151e-01 9.36709652e-01 1.01072642e-04 5.57142717e+00] [-3.16473500e-04 1.03842192e-05 9.99999950e-01 -6.91120568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.814975925999995 meters Centerline goodness [0,1] 0.9991511035653651 Centerline is valid? [True, True] Translation: X:37.38, Y:5.58, Z:-0.69 [[ 9.37016890e-01 -3.49284044e-01 -7.03385489e-05 3.73803607e+01] [ 3.49284043e-01 9.37016892e-01 -2.99773319e-05 5.58193848e+00] [ 7.63790121e-05 3.52113355e-06 9.99999997e-01 -6.91931419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844975926 meters Centerline goodness [0,1] 0.999442478305134 Centerline is valid? [True, True] Translation: X:37.41, Y:5.60, Z:-0.69 [[ 9.38374623e-01 -3.45619582e-01 -4.14190252e-04 3.74061994e+01] [ 3.45619550e-01 9.38374714e-01 -1.48486579e-04 5.59522853e+00] [ 4.39985529e-04 -3.81621088e-06 9.99999903e-01 -6.92870001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.874975926 meters Centerline goodness [0,1] 0.9993442782203226 Centerline is valid? [True, True] Translation: X:37.43, Y:5.61, Z:-0.69 [[ 9.39897877e-01 -3.41454025e-01 -1.06229437e-03 3.74317657e+01] [ 3.41453827e-01 9.39898478e-01 -3.68132251e-04 5.60721914e+00] [ 1.12414910e-03 -1.67177576e-05 9.99999368e-01 -6.93973146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.904975926 meters Centerline goodness [0,1] 0.9997331068785636 Centerline is valid? [True, True] Translation: X:37.46, Y:5.62, Z:-0.69 [[ 9.41636507e-01 -3.36631174e-01 -3.76823272e-04 3.74577645e+01] [ 3.36631146e-01 9.41636582e-01 -1.35659638e-04 5.62060418e+00] [ 4.00497841e-04 8.91617602e-07 9.99999920e-01 -6.92884861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.934975926 meters Centerline goodness [0,1] 0.9996603920046575 Centerline is valid? [True, True] Translation: X:37.48, Y:5.64, Z:-0.69 [[ 9.44426247e-01 -3.28723384e-01 1.65629618e-05 3.74821222e+01] [ 3.28723384e-01 9.44426247e-01 3.71619072e-06 5.63569878e+00] [-1.68640947e-05 1.93496479e-06 1.00000000e+00 -6.93902570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964975926 meters Centerline goodness [0,1] 0.9993205202873229 Centerline is valid? [True, True] Translation: X:37.51, Y:5.65, Z:-0.69 [[ 9.46602156e-01 -3.22404022e-01 7.28031766e-05 3.75066823e+01] [ 3.22404021e-01 9.46602159e-01 2.31712526e-05 5.65012717e+00] [-7.63861492e-05 1.53807922e-06 9.99999997e-01 -6.94477296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.994975926 meters Centerline goodness [0,1] 0.997119132350449 Centerline is valid? [True, True] Translation: X:37.53, Y:5.66, Z:-0.70 [[ 9.48737879e-01 -3.16063965e-01 -7.84711342e-05 3.75313242e+01] [ 3.16063964e-01 9.48737883e-01 -2.90423157e-05 5.66453247e+00] [ 8.36277671e-05 2.75164725e-06 9.99999996e-01 -6.96121540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.024975925999996 meters Centerline goodness [0,1] 0.9959055118110236 Centerline is valid? [True, True] Translation: X:37.56, Y:5.68, Z:-0.70 [[ 9.50245483e-01 -3.11501863e-01 -3.33552153e-04 3.75571319e+01] [ 3.11501840e-01 9.50245542e-01 -1.20941256e-04 5.67721516e+00] [ 3.54629873e-04 1.10217723e-05 9.99999937e-01 -6.96542657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.054975926 meters Centerline goodness [0,1] 0.9965407968262415 Centerline is valid? [True, True] Translation: X:37.58, Y:5.69, Z:-0.69 [[ 9.51450324e-01 -3.07801386e-01 7.67367831e-04 3.75831097e+01] [ 3.07801276e-01 9.51450633e-01 2.60019297e-04 5.69008439e+00] [-8.10146909e-04 -1.11986470e-05 9.99999672e-01 -6.94362764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084975926 meters Centerline goodness [0,1] 0.994181253939776 Centerline is valid? [True, True] Translation: X:37.61, Y:5.70, Z:-0.70 [[ 9.51846410e-01 -3.06575253e-01 -1.60556367e-04 3.76102168e+01] [ 3.06575247e-01 9.51846424e-01 -6.11593600e-05 5.70110857e+00] [ 1.71574950e-04 8.99170939e-06 9.99999985e-01 -6.96723832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.114975926 meters Centerline goodness [0,1] 0.9924614009229952 Centerline is valid? [True, True] Translation: X:37.64, Y:5.71, Z:-0.70 [[ 9.52424389e-01 -3.04774956e-01 -9.95664597e-05 3.76364154e+01] [ 3.04774953e-01 9.52424394e-01 -3.74563835e-05 5.71224721e+00] [ 1.06245293e-04 5.32901005e-06 9.99999994e-01 -6.97938207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144975926 meters Centerline goodness [0,1] 0.9949925008466786 Centerline is valid? [True, True] Translation: X:37.66, Y:5.72, Z:-0.70 [[ 9.52514724e-01 -3.04492327e-01 3.51661682e-04 3.76627756e+01] [ 3.04492305e-01 9.52514789e-01 1.15757018e-04 5.72235509e+00] [-3.70210077e-04 -3.18198823e-06 9.99999931e-01 -6.96626766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174975926 meters Centerline goodness [0,1] 0.9919559388361475 Centerline is valid? [True, True] Translation: X:37.69, Y:5.73, Z:-0.70 [[ 9.52675960e-01 -3.03987553e-01 -2.86709712e-04 3.76885001e+01] [ 3.03987536e-01 9.52676004e-01 -1.02466810e-04 5.73231737e+00] [ 3.04290097e-04 1.04614879e-05 9.99999954e-01 -6.98912773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.204975925999996 meters Centerline goodness [0,1] 0.9908270168493217 Centerline is valid? [True, True] Translation: X:37.71, Y:5.74, Z:-0.70 [[ 9.52583225e-01 -3.04277790e-01 -4.75192680e-04 3.77144908e+01] [ 3.04277742e-01 9.52583343e-01 -1.71418163e-04 5.74161544e+00] [ 5.04819371e-04 1.86995114e-05 9.99999872e-01 -7.00518352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.234975926 meters Centerline goodness [0,1] 0.9928194961558919 Centerline is valid? [True, True] Translation: X:37.74, Y:5.75, Z:-0.70 [[ 9.51599642e-01 -3.07340382e-01 -1.07678957e-04 3.77413734e+01] [ 3.07340380e-01 9.51599648e-01 -3.93637921e-05 5.74844571e+00] [ 1.14565341e-04 4.36447874e-06 9.99999993e-01 -7.00441838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264975926 meters Centerline goodness [0,1] 0.9962276013832129 Centerline is valid? [True, True] Translation: X:37.77, Y:5.76, Z:-0.70 [[ 9.51127434e-01 -3.08798018e-01 6.23339337e-04 3.77687442e+01] [ 3.08797945e-01 9.51127638e-01 2.11556584e-04 5.75671080e+00] [-6.58203526e-04 -8.73136463e-06 9.99999783e-01 -6.98577335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.294975926 meters Centerline goodness [0,1] 0.9959634535434594 Centerline is valid? [True, True] Translation: X:37.80, Y:5.77, Z:-0.70 [[ 9.50597175e-01 -3.10426680e-01 5.36686725e-04 3.77956916e+01] [ 3.10426625e-01 9.50597326e-01 1.84985157e-04 5.76514452e+00] [-5.67597294e-04 -9.24451894e-06 9.99999839e-01 -6.99713973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324975926 meters Centerline goodness [0,1] 0.9941194976163396 Centerline is valid? [True, True] Translation: X:37.82, Y:5.77, Z:-0.70 [[ 9.50082260e-01 -3.11999507e-01 -8.61799000e-05 3.78235688e+01] [ 3.11999505e-01 9.50082264e-01 -3.54206144e-05 5.77343798e+00] [ 9.29292086e-05 6.76441125e-06 9.99999996e-01 -7.02601093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354975926 meters Centerline goodness [0,1] 0.996858537528394 Centerline is valid? [True, True] Translation: X:37.85, Y:5.78, Z:-0.70 [[ 9.48802756e-01 -3.15868928e-01 3.88074393e-04 3.78512126e+01] [ 3.15868901e-01 9.48802835e-01 1.30084768e-04 5.78047885e+00] [-4.09295820e-04 -8.44154200e-07 9.99999916e-01 -7.01663379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.384975925999996 meters Centerline goodness [0,1] 0.9990316645686066 Centerline is valid? [True, True] Translation: X:37.88, Y:5.78, Z:-0.70 [[ 9.46868862e-01 -3.21619772e-01 2.84225312e-04 3.78806626e+01] [ 3.21619759e-01 9.46868904e-01 9.33725839e-05 5.78438293e+00] [-2.99154579e-04 3.00088392e-06 9.99999955e-01 -7.00681723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.414975926 meters Centerline goodness [0,1] 0.9995647232365246 Centerline is valid? [True, True] Translation: X:37.91, Y:5.79, Z:-0.70 [[ 9.45474591e-01 -3.25695210e-01 6.54722718e-04 3.79083511e+01] [ 3.25695134e-01 9.45474817e-01 2.23112383e-04 5.79131726e+00] [-6.91690477e-04 2.29291396e-06 9.99999761e-01 -7.00554586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444975926 meters Centerline goodness [0,1] 0.9998790488400784 Centerline is valid? [True, True] Translation: X:37.93, Y:5.80, Z:-0.70 [[ 9.44603867e-01 -3.28211609e-01 8.21370886e-04 3.79349268e+01] [ 3.28211489e-01 9.44604224e-01 2.80892014e-04 5.79961073e+00] [-8.68062428e-04 4.25167843e-06 9.99999623e-01 -6.99399790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.474975926 meters Centerline goodness [0,1] 0.9996609348510536 Centerline is valid? [True, True] Translation: X:37.96, Y:5.81, Z:-0.70 [[ 9.43372265e-01 -3.31734903e-01 8.50524170e-04 3.79610351e+01] [ 3.31734771e-01 9.43372649e-01 2.95092183e-04 5.80684640e+00] [-9.00253615e-04 3.76665979e-06 9.99999595e-01 -7.01956916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504975926 meters Centerline goodness [0,1] 0.9999033839762325 Centerline is valid? [True, True] Translation: X:37.99, Y:5.82, Z:-0.70 [[ 9.42697790e-01 -3.33639720e-01 2.32656144e-03 3.79889832e+01] [ 3.33638736e-01 9.42700661e-01 8.10347590e-04 5.81537605e+00] [-2.46361515e-03 1.23181351e-05 9.99996965e-01 -7.00368689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534975926 meters Centerline goodness [0,1] 0.9996613285596787 Centerline is valid? [True, True] Translation: X:38.02, Y:5.83, Z:-0.70 [[ 9.42326048e-01 -3.34694489e-01 1.10399543e-03 3.80159993e+01] [ 3.34694271e-01 9.42326694e-01 3.81770151e-04 5.82560262e+00] [-1.16810073e-03 9.74898935e-06 9.99999318e-01 -7.03063966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.564975925999995 meters Centerline goodness [0,1] 0.9997584366016861 Centerline is valid? [True, True] Translation: X:38.04, Y:5.83, Z:-0.70 [[ 9.42315309e-01 -3.34724113e-01 1.27556677e-03 3.80411512e+01] [ 3.34723819e-01 9.42316172e-01 4.43715582e-04 5.83454032e+00] [-1.35050950e-03 8.84259499e-06 9.99999088e-01 -7.04006027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.594975926 meters Centerline goodness [0,1] 0.9997339653671278 Centerline is valid? [True, True] Translation: X:38.07, Y:5.84, Z:-0.70 [[ 9.41855919e-01 -3.36014762e-01 1.22773400e-03 3.80673036e+01] [ 3.36014494e-01 9.41856719e-01 4.25315641e-04 5.84432380e+00] [-1.29926185e-03 1.19503650e-05 9.99999156e-01 -7.04377889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624975926 meters Centerline goodness [0,1] 0.9999276376091466 Centerline is valid? [True, True] Translation: X:38.09, Y:5.85, Z:-0.70 [[ 9.40970795e-01 -3.38480791e-01 2.17210443e-03 3.80929463e+01] [ 3.38479934e-01 9.40973301e-01 7.61797584e-04 5.85288416e+00] [-2.30174613e-03 1.83844871e-05 9.99997351e-01 -7.03352206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.654975926 meters Centerline goodness [0,1] 0.9996138902965805 Centerline is valid? [True, True] Translation: X:38.12, Y:5.86, Z:-0.71 [[ 9.40535811e-01 -3.39693059e-01 1.00666703e-03 3.81199035e+01] [ 3.39692880e-01 9.40536350e-01 3.48804642e-04 5.86231174e+00] [-1.06529345e-03 1.38943654e-05 9.99999432e-01 -7.06822137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 554.73 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%| | 0/1356 [00:00